Usermanual_EtherCAT_SoE_SG5
Documentation of the EtherCAT SoE Interface of the
following Drives:
- E1250-SE-UC (E1250-EC-UC)
- E1450-SE-QN -0S (E1450-EC-QN-0S)
- E1450-SE-QN -1S (E1450-EC-QN-1S)
EtherCAT SoE Interface
User Manual
SoE
© 2012 NTI AG
This work is protected by copyright.
Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including
photocopying,
recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in
part, without the prior written consent of NTI AG.
LinMot® is a registered trademark of NTI AG.
Note:
The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.
NTI AG reserves itself the right to make changes at any time and without notice to reflect further technical advance or product
improvement.
Document version 4.3.2 / Whp, October 2012
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
1 SYSTEM OVERVIEW..................................................................................................................... 4
1.1 REFERENCES....................................................................................................................................... 4
1.2 CONNECTING IN AND OUT.................................................................................................................... 4
2 SETUP IN THE PLC........................................................................................................................ 5
2.1 COPY DEVICE DESCRIPTION FILE........................................................................................................... 5
2.2 SCAN THE ETHERCAT SLAVE DEVICES................................................................................................... 5
3 PROCESS DATA OBJECT (PDO) CONFIGURATION.............................................................. 9
3.1 INPUT PDO MODULES........................................................................................................................ 9
3.1.1. Default Inputs: AT 1.............................................................................................................. 9
3.1.2. Input: DC bus voltage S-0-0380............................................................................................ 9
3.1.3. Input: State Var P-1-2914..................................................................................................... 9
3.1.4. Input: X4 inputs P-1-3205..................................................................................................... 9
3.2 OUTPUT PDO MODULES................................................................................................................... 10
3.2.1. Default Outputs: MDT 1..................................................................................................... 10
3.3 TYPICAL STARTUP TELEGRAMS............................................................................................................ 10
4 ASYNCHRONOUS CONFIGURATION PROTOCOL SOE...................................................... 11
4.1 GENERIC LINMOT SOE PARAMETER MAPPING...................................................................................... 12
5 ETHERCAT SOE PARAMETERS AND VARIABLES.............................................................. 13
5.1 PARAMETERS .................................................................................................................................... 13
6 CONNECTING TO THE ETHERCAT NETWORK................................................................... 14
6.1 PIN ASSIGNMENT OF THE CONNECTORS X17-X18................................................................................. 14
7 TWINCAT DEMO PROGRAM.................................................................................................... 15
8 POSITION DRIVE TUNING......................................................................................................... 20
9 CONTACT ADDRESSES.............................................................................................................. 21
NTI AG / LinMot
User Manual EtherCAT Interface
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SoE
1 System overview
EtherCAT is the open real-time Ethernet network originally developed by Beckhoff. The
LinMot act as Slave in this network and is implemented with the standard ASIC ET1100 from
Beckhoff. With the SoE (Sercos over Ethernet) Protocol it is possible to use the Sercos
functionality over the EtherCAT bus, the drive behaves as a Sercos drive.
For further information on the EtherCAT fieldbus please visit:
http://www.ethercat.org/
1.1 References
All user manuals are distributed with the LinMot-Talk software the newest versions can be
downloaded from the LinMot homepage in the download section.
Ref
1
2
Title
Source
User Manual Motion Control SW
LinMot Drive Configuration over Fieldbus Interfaces SG5
www.linmot.com
www.linmot.com
1.2 Connecting In and Out
Other Devices
Out
In
PLC /
Master
In the EtherCAT the cabling is directed, so In and Out is different! The right realtime
RJ45 (X17) connector is the input and the left realtime RJ45 (X18) connector is the
output.
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
2 Setup in the PLC
In the following steps the integration of a LinMot EtherCAT Sercos Servo Drive in the PLC is
described. In the example a Beckhoff master PLC is used. The easiest way is the online
configuration when the device is connected to the EtherCAT network.
2.1 Copy Device Description File
The LinMot Servo Drive is described with *.xml device description file distributed with the
LinMot-Talk software. This file is only used when offline configuration is desired.
Copy this file to PLC so it can access it.
Example Source path of EtherCAT Device description file:
C:\Programme\LinMot\LinTalk1100 3.11 Build 20091204\Firmware\Interfaces\EtherCAT\XML\LinMot_ECAT_Servos_V1_4.xml
Example Destination path of EtherCAT Device description file:
C:\TwinCAT\Io\EtherCAT\LinMot_ECAT_Servos_V1_4.xml
The PLC recognize the LinMot SE Servo drive even without this file, because all the relevant
informations is read out from the drive if connected.
2.2 Scan the EtherCAT slave devices
Connect the EtherCAT LinMot Servo Drive to the EtherCAT-Master and power on the signal
supply. Then scan for the connected devices in the System Manager:
Scan for EtherCAT slave devices
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User Manual EtherCAT Interface
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SoE
With the question Add drives to NC-configuration select yes.
This steps add the servo drive and its NC-axis to the project.
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
Now the NC encoder has to be set to the correct value push the calulate button for this
reason.
After this action the value should stand at this value (2^32).
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User Manual EtherCAT Interface
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SoE
Now the servo drive can be used with system manager NC functionality when started.
With the LinMot Talk SW also a little Demo program is distributed, where also the integration
into the PLC is done, see chapter 7 for this topic.
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
3 Process Data Object (PDO) Configuration
The cyclic process data is configured in the master and transmitted to the slave during
startup. The default mapping is documented in the tables below. The inputs and outputs
correspond to the PLC point of view. For a detailed description of the exchanged data and its
meaning refer to [1].
For a detailed description of the PDO data refer to [1] or have a look at the TwinCAT demo
program, which is included with the LinMot-Talk software.
3.1 Input PDO Modules
3.1.1.
Default Inputs: AT 1
Index
Size
[Byte]
6
2
4
S-0-0016
S-0-0135
S-0-0051
Byte
Offset
0
2
Name
Variables
Sdrive status word
Position feedback
value 1
Default input PDO mapping of 6 Bytes
3.1.2.
Input: DC bus voltage S-0-0380
Index
S-0-0380
3.1.3.
Size
Byte
Name
[Byte] Offset
4
0
DC bus Voltage
Data
Type
Int32
Input: State Var P-1-2914
Index
P-1-2914
3.1.4.
Data
Type
RECORD
Uint16
Int32
Size
Byte
Name
[Byte] Offset
2
0
State Var
Data
Type
Uint16
Input: X4 inputs P-1-3205
Index
P-1-3205
Size
Byte
Name
[Byte] Offset
2
0
X4 inputs
NTI AG / LinMot
Data
Type
Uint16
User Manual EtherCAT Interface
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SoE
3.2 Output PDO Modules
3.2.1.
Default Outputs: MDT 1
Index
Size
Byte
Name
[Byte] Offset
Data
TypeS-00024
S-0-0024
6
Variables
RECOR
D
S-0-0134
2
0
Master control word
Uint16
S-0-0047
4
2
Position command value Int32
Default output PDO mapping of 6 Bytes
3.3 Typical Startup Telegrams
This figure shows the startup telegram list of LinMot SoE servo drive
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
4 Asynchronous Configuration Protocol SoE
For configuration purpose (Parameter Handling) the standard Sercos over EtherCAT SoEProtocol is used.
LinMot Object Dictionary
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User Manual EtherCAT Interface
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SoE
4.1 Generic LinMot SoE Parameter Mapping
Apart from the above described parameters with the LinMot servo drives, there exists a
generic parameter mapping of the LinMot parameters by UPID to the SoE parameter index
by adding the UPID to 0x8000h. Reading and writing the value accesses the RAM value of
the UPID. Writing to the default value accesses the ROM value of the UPID.
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
5 EtherCAT SoE Parameters and Variables
5.1 Parameters
The EtherCAT SoE Interface has an additional parameter tree branch (Parameters 
EtherCAT SoE), which can be configured with the distributed LinMot-Talk software.
With these parameters, the EtherCAT interface can be enabled or disabled.
The LinMot-Talk software can be downloaded from http://www.linmot.com under the section
download, software & manuals.
EtherCAT Dis-/Enable
With the Dis-/Enable parameter the LinMot Servo Drive can be run without the Ethernet
EtherCAT Interface going online. So in a first step the system can be configured and run
without any bus connection.
ETHERCAT\ Dis-/Enable
Disable
Servo Drive runs without ETHERCAT SoE.
Enable
Servo Drive runs with ETHERCAT SoE connection.
IMPORTANT: If the ETHERCAT Interface is disabled, the integrated
ETHERCAT-ASIC rests in reset state! No messages will be sent to other
devices connected to the ETHERCAT-Network via the E1250 or E1450 drive.
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User Manual EtherCAT Interface
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SoE
6 Connecting to the EtherCAT Network
6.1 Pin Assignment of the Connectors X17-X18
The ETHERCAT connector is a standard RJ45 female connector with a pin assignment as
defined by EIA/TIA T568B:
X17 – X18
ETHERCAT Connector
Pin
RJ-45
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Wire color code
Assignment 100BASE-TX
1
WHT/ORG
Rx+
2
ORG
Rx-
3
WHT/GRN
Tx+
4
BLU
-
5
WHT/BLU
-
6
GRN
Tx-
7
WHT/BRN
-
8
BRN
-
case
-
-
Use standard patch cables (twisted pair, S/UTP, AWG26) for
wiring. This type of cable is usually referred to as a “Cat5eCable”.
User Manual EtherCAT Interface
NTI AG / LinMot
SoE
7 TwinCAT Demo Program
With the LinMot-Talk software a TwinCAT demo program is included as start point for new
LinMot users, to get familiar with the concepts that stands behind LinMot motion SW. For
getting started with this demo program connect a LinMot EtherCAT Servo Drive directly to
the master. Wire the signal supply (24V DC) and the motor power supply. Wire also the
“Safety Voltage Enable” on X4.12 to 24V. Then connect the motor to the servo power on the
signal supply and configure the motor with the help of the LinMot-Talk software.
The demo program files are saved under the path:
C:\Program Files\LINMOT\LinMot-Talk 4 Build 20100616\Firmware\Interfaces\EtherCAT_SoE\TwinCAT_Demo\
Open the TwinCAT demo program in the TwinCAT System Manager:
The main issue of the distributed demo, is to show, how the with LinMot motors needed drive
based homing procedure can be done. The demo program has following program parts:
In the FB SercosHoming the drive based homing is done. The AxCtrl program handles the
user inputs of the HOMING_PANEL visualization.
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User Manual EtherCAT Interface
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SoE
Change the EtherCAT device to the one of your runtime environment:
Activate the configuration:
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
Open the demo PLC program in the TwinCAT PLC control program:
Login and load the program into your target system:
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User Manual EtherCAT Interface
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SoE
Start the PLC program:
Change to the Visualisation Control panel view:
Buttons:
– NC Enable (Dis-/Enable position control on servo drive and enable NC)
– Start Homing, starts the drive based homing procedure (released when finished)
– Ax-/ Ax+, command manual motion of NC
– Ax1, Go Point to Point NC motion to Target Position
– Ax1 Reset, Reset the NC if NC error
– Drive Reset, Reset the errors on the drive
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
Enable the Axis with the button “NC Enable” now “Ready” should be highlighted:
Push the homing button is released when finished now “Calibrated” should be highlighted:
Now the drive is ready for normal NC operation. Tests can be done with manual or point to
point motions with the demo program.
NTI AG / LinMot
User Manual EtherCAT Interface
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SoE
8 Position Drive Tuning
It is possible that, depending on the cycle time, a quiet noisy motion is generated, this
because of the twice derivation of the position signal to generate the acceleration value. In
this case, it is recommended to set the position controller value “FF Acceleration” (UPID
0x13A0 and 0x13B4) to zero.
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User Manual EtherCAT Interface
NTI AG / LinMot
SoE
9
Contact Addresses
--------------------------------------------------------------------------------------------------------------------------SWITZERLAND
NTI AG / LinMot
Haerdlistr. 15
CH-8957 Spreitenbach
Sales and Administration:
+41-(0)56-419 91 91
[email protected]
Tech. Support:
+41-(0)56-544 71 00
[email protected]
Tech. Support (Skype) :
skype:support.linmot
Fax:
Web:
+41-(0)56-419 91 92
http://www.linmot.com
-------------------------------------------------------------------------------------------------------------------------USA
LinMot, Inc.
5750 Townline Road
Elkhorn, WI 53121
Sales and Administration:
877-546-3270
262-743-2555
Tech. Support:
877-804-0718
262-743-1284
Fax:
800-463-8708
262-723-6688
E-Mail:
Web:
[email protected]
http://www.linmot-usa.com
-------------------------------------------------------------------------------------------------------------------------Please visit http://www.linmot.com to find the distributor nearest to you.
Smart solutions are…
NTI AG / LinMot
User Manual EtherCAT Interface
Page 21/21
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