SIEB & MEYER SD4 Serie Handbuch Für Anwender Seite 3

1 Über dieses Handbuch.........................................................
1.1 Abkürzungen.................................................................................................................5
2 Parametrierung in
3 Ansteuerung über
3.1 EtherCAT-Netzwerk......................................................................................................
3.2 Software-Anbindung an die
3.2.1 EtherCAT State Machine
3.2.2 PDO-Mapping...............................................................................................................12
3.2.3 Adressierung und Identifikation....................................................................................
3.2.3.1 Auto-Inkrement-Adresse..............................................................................................................
3.2.3.2 EtherCAT-Adresse.......................................................................................................................
EtherCAT-Adresse im Slave speichern...........................................................................................................
3.2.3.3 Hot Connect.................................................................................................................................
Configured Station Alias (ADO 0x0012):........................................................................................................
Explicit Device Identification (ADO 0x0134)...................................................................................................
3.2.4 Objekte (DS301)...........................................................................................................19
Objekt 0x1000 – Device
Objekt 0x1600 bis 0x1603 – RPDO Mapping Parameter............................................................
Objekt 1A00h bis 1A03h – TPDO Mapping Parameter...............................................................
Objekt 0x1C00 – Sync Manager Communication Type...............................................................
Objekt 0x1C12 – RPDO
Objekt 0x1C13 – TPDO Assignment...........................................................................................
4 Antriebssteuerung..............................................................
4.1 Zustandsmaschine.....................................................................................................
4.1.1 Befehle.........................................................................................................................
Controlword (0x6040)..................................................................................................................
4.1.2 Zustände.......................................................................................................................28
Statusword
4.1.3 Option Codes................................................................................................................29
Abort Connection Option Code
Quick Stop Option Code (0x605A)..............................................................................................
Shutdown Option Code (0x605B)................................................................................................
Disable Operation Option Code (0x605C)...................................................................................
Halt Option Code (0x605D).........................................................................................................
Fault Reaction Option Code
4.2 Betriebsarten..............................................................................................................
4.2.1 Profile Velocity Mode
4.2.2 Velocity Mode (VL).......................................................................................................
4.2.2.1 Soll- und Istwerte im Velocity
vl Target Velocity
vl Velocity Demand (0x6043)..........................................................................................................................
vl Velocity Actual Value (0x6044)....................................................................................................................
vl Velocity Min Max Amount
vl Velocity Acceleration (0x6048)....................................................................................................................
vl Velocity Deceleration
vl Velocity Quick Stop
vl Set-point Factor (0x604B)...........................................................................................................................
vl Dimension Factor (0x604C)........................................................................................................................
4.2.3 Torque Mode.................................................................................................................39
4.2.4 Betriebsart wechseln....................................................................................................
Supported Drive Modes
Mode of Operation
Mode of Operation Display (0x6061)...........................................................................................
4.3 Soll- und
4.3.1 Allgemeine Sollwerte....................................................................................................
Target Velocity (0x60FF)..............................................................................................................
Target Torque
4.3.2 Allgemeine Istwerte......................................................................................................
Position Actual Value (0x6064)....................................................................................................
Velocity Demand Value (0x606B)................................................................................................
Velocity Actual Value
Torque Demand (0x6074)............................................................................................................
Drive Controller SD4x - EtherCAT-Anbindung
drivemaster4..........................................6
EtherCAT................................................7
SPS.................................................................................7
(ESM)...................................................................................10
Type......................................................................................................19
Assignment...........................................................................................23
(0x6041)....................................................................................................................28
(0x6007).....................................................................................29
(0x605E).........................................................................................31
(PV)............................................................................................32
Mode.............................................................................................34
(0x6042)..............................................................................................................................34
(0x6046).............................................................................................................34
(0x6049)....................................................................................................................36
(0x604A)......................................................................................................................36
(0x6502)................................................................................................40
(0x6060)........................................................................................................40
Istwerte........................................................................................................41
(0x6071)................................................................................................................42
(0x606C)....................................................................................................42
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