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SM-EtherCAT User Guide 57
Issue Number: 2 www.controltechniques.com
Safety
Information
Introduction
Mechanical
Installation
Electrical
Installation
Getting
Started
Protocols
Drive profile (DSP-402)
support
Advanced
features
Diagnostics
Quick
Reference
Glossary Of
Terms
Index
Commander SK / Commander SL
The software version of the Solutions Module can be identified by looking at Pr 15.02 and
Pr 15.51.
The software version takes the form of xx.yy.zz, where Pr 15.02 displays xx.yy and
Pr
15.51 displays zz (e.g. for software version 01.01.00 Pr 15.02 will display 1.01 and
Pr
15.51 will display 0).
9.2 Network configuration objects
9.2.1 SM-EtherCAT network loss trip
SM-EtherCAT resets an internal timer when a valid message is received from the
EtherCAT network. The network loss trip is triggered when no new messages are
received before the timer times out. The SM-EtherCAT will trip the drive and the SM-
EtherCAT error code parameter (Pr MM.50) will show 120.
After power-up or reset the network loss trip is not armed until one of the following
events occur:
• SYNC message is received.
• RxPDO is received
Once the trip has been armed, a minimum of one of the above messages must be
received or transmitted in each time period set in sub-index 2 of the Network loss
behavior object (0x2813).
Table 9.4 Network loss behavior object
0x2813 Network loss behavior
Sub-index 0:
Access: RO Range: N/A Size: 1 byte Unit: N/A
Default: 2
Description: The number of last sub-indexes in this object.
Sub-index 1: Maximum time interval
Access: RW Range: 0 to 65535 Size: 2 bytes Unit: ms
Default: 0 (by default the network loss behavior is disabled)
Description: The maximum time, in ms, allowed between accesses to PDOs (read or write). If no PDO
access occurs for this period, the option will start network loss handling. If a value of zero is
set, no network loss handling will occur.
Sub-index 2: Trip type
Access: RW Range: 0 to 2 Size: 1 byte Unit: N/A
Default: 0
Description: Network loss trip type. If this value is set to 0, a network loss trip will never occur; however,
a network loss will still be handled by stopping the drive and indicating a warning as
previously described. If this value is set to 1, the network loss trip will occur only after the
motor has been stopped according to the Fault reaction option code. If the value is set to 2,
the network loss trip will occur immediately on network loss (this implies that the motor will
coast).