Delta ASDA A2-E Manual de usuario

ASDA A2-E EtherCAT

Interface Servo Drive

User Manual

www.deltaww.com

ASDA A2-E EtherCAT Interface Servo Drive User Manual

V3.0

DELTA_ASDA-A2-E_UM_EN_20150430

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center

No.18, Xinglong Rd., Taoyuan City,

Taoyuan County 33068, Taiwan

TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia

Delta Electronics (Jiangsu) Ltd.

Wujiang Plant 3

1688 Jiangxing East Road,

Wujiang Economic Development Zone

Wujiang City, Jiang Su Province, P.R.C. 215200

TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District,

ShangHai, P.R.C. 201209

TEL: 86-21-58635678 / FAX: 86-21-58630003

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon,

Tokyo 105-0012, Japan

TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211

Delta Electronics (Korea), Inc.

1511, Byucksan Digital Valley 6-cha, Gasan-dong,

Geumcheon-gu, Seoul, Korea, 153-704

TEL: 82-2-515-5303 / FAX: 82-2-515-5302

Delta Electronics Int’l (S) Pte Ltd.

4 Kaki Bukit Ave 1, #05-05, Singapore 417939

TEL: 65-6747-5155 / FAX: 65-6744-9228

Delta Electronics (India) Pvt. Ltd.

Plot No 43 Sector 35, HSIIDC

Gurgaon, PIN 122001, Haryana, India

TEL : 91-124-4874900 / FAX : 91-124-4874945

Americas

Delta Products Corporation (USA)

Raleigh Ofce

P.O. Box 12173,5101 Davis Drive,

Research Triangle Park, NC 27709, U.S.A.

TEL: 1-919-767-3800 / FAX: 1-919-767-8080

Delta Greentech (Brasil) S.A.

Sao Paulo Ofce

Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista

01332-000-São Paulo-SP-Brazil

TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865

Europe

Deltronics (The Netherlands) B.V.

Eindhoven Ofce

De Witbogt 15, 5652 AG Eindhoven,The Netherlands

TEL: 31-40-2592850 / FAX: 31-40-2592851

*We reserve the right to change the information in this manual without prior notice.

Via Polesine, 1/4

10020 Cambiano ( TO ) Italy

+39 011 9454523

www.e-comtech.it

[email protected]

Revision April, 2015 i

Table of Contents

Chapter 1 CoE Drive Overview.................................................................................1-1

1.1 Communication Specification ...................................................................... 1-1

1.2 The Interface of Delta EtherCAT Servo Drive.............................................. 1-2

1.3 LED Indicators............................................................................................. 1-3

1.4 The Topology............................................................................................... 1-6

1.5 Wiring .......................................................................................................... 1-7

1.5.1 Explanation of I/O (CN1) Connector Signal............................................ 1-8

1.5.2 CN2 Connector....................................................................................... 1-9

1.5.3 CN5 Connector (Full-closed Loop)......................................................... 1-10

1.5.4 CN6 EtherCAT Terminal ........................................................................ 1-11

1.5.5 CN7 Extension DI................................................................................... 1-12

1.5.6 CN-STO.................................................................................................. 1-13

1.5.7 STO with Safety Relay ........................................................................... 1-14

1.5.8 STO Disable........................................................................................... 1-14

1.6 Dimension.................................................................................................... 1-15

1.6.1 220V Series............................................................................................ 1-15

1.6.2 400V Series............................................................................................ 1-17

Chapter 2 System Setup ...........................................................................................2-1

2.1 Parameter Settings of EtherCAT Mode ....................................................... 2-1

2.2 TwinCAT Setup............................................................................................ 2-3

2.3 Synchronization Modes Setting ................................................................... 2-11

ASDA A2-E Table of Contents

ii Revision April, 2015

2.3.1 Two Synchronization Modes of Delta Servo........................................... 2-11

2.3.2 Select the Synchronization Mode........................................................... 2-12

2.3.3 Synchronous Clock Time Setting ........................................................... 2-12

2.4 PDO Mapping.............................................................................................. 2-14

2.4.1 Default PDO Mappings........................................................................... 2-14

2.4.2 Re-define a PDO Mapping ..................................................................... 2-15

2.4.3 Using TwinCAT ...................................................................................... 2-16

Chapter 3 EtherCAT Communication States...........................................................3-1

3.1 State Transition Operation........................................................................... 3-2

Chapter 4 EtherCAT Troubleshooting .....................................................................4-1

Chapter 5 CANopen Operation Mode.......................................................................5-1

5.1 Profile Position Mode................................................................................... 5-1

5.1.1 Description ............................................................................................. 5-1

5.1.2 Operation Procedures ............................................................................ 5-1

5.1.3 Advanced Setting Procedures................................................................ 5-2

5.1.4 Associated Object List............................................................................ 5-3

5.2 Interpolation Position Mode ......................................................................... 5-4

5.2.1 Description ............................................................................................. 5-4

5.2.2 Operation Procedures ............................................................................ 5-5

5.2.3 Associated Object List............................................................................ 5-5

5.3 Cyclic Synchronous Position Mode.............................................................. 5-6

5.3.1 Description ............................................................................................. 5-6

Table of Contents ASDA A2-E

Revision April, 2015 iii

5.3.2 The Function of CSP Mode.................................................................... 5-6

5.3.3 Operation Procedures ............................................................................ 5-6

5.3.4 Associated Object List............................................................................ 5-7

5.4 Homing Mode .............................................................................................. 5-8

5.4.1 Description ............................................................................................. 5-8

5.4.2 Operation Procedures ............................................................................ 5-8

5.4.3 Associated Object List............................................................................ 5-9

5.5 Profile Velocity Mode................................................................................... 5-10

5.5.1 Description ............................................................................................. 5-10

5.5.2 Operation Procedures ............................................................................ 5-10

5.5.3 Advanced Setting Procedures................................................................ 5-11

5.5.4 Associated Object List............................................................................ 5-11

5.6 Cyclic Synchronous Velocity Mode.............................................................. 5-12

5.6.1 Description ............................................................................................. 5-12

5.6.2 The Function of CSV Mode.................................................................... 5-12

5.6.3 Operation Procedures ............................................................................ 5-12

5.6.4 Associated Object List............................................................................ 5-13

5.7 Profile Torque Mode.................................................................................... 5-14

5.7.1 Description ............................................................................................. 5-14

5.7.2 Operation Procedures ............................................................................ 5-14

5.7.3 Advanced Setting Procedures................................................................ 5-14

5.7.4 Associated Object List............................................................................ 5-15

5.8 Cyclic Synchronous Torque Mode............................................................... 5-16

5.8.1 Description ............................................................................................. 5-16

5.8.2 The Function of CST Mode .................................................................... 5-16

ASDA A2-E Table of Contents

iv Revision April, 2015

5.8.3 Operation Procedures ............................................................................ 5-16

5.8.4 Associated Object List............................................................................ 5-17

5.9 Limit Position Handling Procedure............................................................... 5-18

5.9.1 Description ............................................................................................. 5-18

5.9.2 Operation Procedures ............................................................................ 5-18

5.10 Touch Probe Function ................................................................................. 5-19

5.10.1 Description ............................................................................................. 5-19

5.10.2 Touch Probe Function............................................................................ 5-19

5.10.3 Touch Probe Status................................................................................ 5-20

5.10.4 Associated Object List............................................................................ 5-21

Chapter 6 Object Dictionary Entries ........................................................................6-1

6.1 Specifications for Objects............................................................................ 6-1

6.1.1 Object Type............................................................................................ 6-1

6.1.2 Data Type............................................................................................... 6-1

6.2 Overview of Object Group 1000h................................................................. 6-2

6.3 Overview of Object Group 6000h................................................................. 6-3

6.4 Details of Objects......................................................................................... 6-6

Chapter 7 Safety Function (Safe Torque Off, STO).................................................7-1

7.1 Description of Terminal Block...................................................................... 7-1

7.1.1 Functional Safety Standard and Certificates ........................................... 7-3

7.2 STO Safety Function ................................................................................... 7-3

7.3 Related Parameter Descriptions of STO Function....................................... 7-5

7.4 Related Alarm Descriptions of STO Function .............................................. 7-6

Table of Contents ASDA A2-E

Revision April, 2015 v

Chapter 8 Alarm List..................................................................................................8-1

8.1 EtherCAT Communication Fault Messages................................................. 8-1

8.2 Error Code Table......................................................................................... 8-4

8.3 SDO Error Message Abort Codes................................................................ 8-7

Chapter 9 Reference..................................................................................................9-1

ASDA A2-E Table of Contents

vi Revision April, 2015

(This page is intentionally left blank.)

Revision April, 2015 1-1

Chapter 1 CoE Drive Overview

1.1 Communication Specification

EtherCAT

Communication

Physical layer 100BASE-TX

Communication

connector RJ45 × 2 (Connector CN6A=IN, CN6B=OUT)

Network topology Line connection

Baud rate 2 x 100 Mbps (full duplex)

Frame data length Maximum 1484 bytes

SyncManager

SM0: Mailbox output

SM1: Mailbox input

SM2: Process data output

SM3: Process data input

FMMU

(Fieldbus Memory

Management Units)

FMMU0: Process data output area

FMMU1: Process data input area

FMMU2: Mailbox status area

Device profile CoE: CANopen over EtherCAT

Synchronization

mode DC synchronization ( SYNC0 )

Non- synchronized ( Free Run )

Communication

object

SDO: Service Data Object

PDO: Process Data Object

EMCY: Emergency Data Object

LED indicator

(On RJ45

Connector)

EtherCAT ERR (ER) × 1

EtherCAT Link/Activity (L/A) × 2

EtherCAT RUN (RN) × 1

Application layer

specifications IEC61800-7 CiA402 Drive Profile

The supported CiA402 operation

modes

Profile Position Mode (PP)

Profile Velocity Mode (PV)

Profile Torque Mode (PT)

Homing Mode (HM)

Interpolated Position Mode(IP)

Cycle Synchronized Position Mode (CSP)

Cycle Synchronized Velocity Mode (CSV)

Cycle Synchronized Torque Mode (CST)

ASDA A2-E Chapter 1 Coe Drive Overview

1-2 Revision April, 2015

1.2 The Interface of Delta EtherCAT Servo Drive

Figure 1 The Interface of Delta EtherCAT Servo Drive

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff

Automation GmbH, Germany.

Run indicator (RUN)

Link/Activity of EtherCAT

output port indicator (L/A)

Error indicator (ERR)

EtherCAT output

port (CN6)

EtherCAT input port

(CN6)

Link/Activity of EtherCAT

input port indicator (L/A)

Chapter 1 CoE Drive Overview ASDA A2-E

Revision April, 2015 1-3

1.3 LED Indicators

Indicator

state Indicator pattern

OFF

Blinking

OFF

200ms 200ms

Single

Flash

OFF

200ms 1000ms

OFF

Figure 2. RJ45 LED indicator pattern

ERROR (ERR) LED

The ERR LED indicator shows the error status of EtherCAT communication.

Indicator state Slave State

Off No error

Blinking State change error

Single Flash Synchronization error

SyncManager error

On PDI Watchdog timeout

Tabla de contenidos

Otros manuales de Servoaccionamiento de Delta

Delta

Delta ASDA-A3 Series Manual de usuario

Delta

Delta ASD-B2-1521-F Manual de usuario

Delta

Delta ASDA-A3 Series Manual de usuario

Delta

Delta ASDA-A2 Series Manual de usuario

Delta

Delta ASDA-A2 Series Manual de usuario

Delta

Delta VFD007FP4EA-41 Manual de usuario

Delta

Delta ASDA Series Suplemento

Delta

Delta ASD-A2R-0221 Series Manual de usuario

Delta

Delta ASDA-B3 Series Manual de usuario

Delta

Delta ASDA-M Series Manual de usuario

Delta

Delta ASDA-A2 Series Manual de usuario

Delta

Delta ASD-A2 Series Manual de usuario

Delta

Delta VFD-VJ Series Manual de usuario

Delta

Delta PCI-DMC-A01 Manual de usuario

Delta

Delta ASDA-B3 Series Manual de usuario

Delta

Delta ASDA-A2 Series Manual de usuario

Delta

Delta VFD-VJ Series Manual de usuario

Delta

Delta VFD-VJ Series Manual de usuario

Delta

Delta ASDA-A+ Manual de usuario

Delta

Delta ASDA-B2 Series Manual de usuario

Delta

Delta ASDA-M Series Manual de usuario

Delta

Delta ASDA-A2R Manual de usuario

Delta

Delta ASDA-A2 Series Manual de usuario

Delta

Delta ASDA-B2-F Series Manual de usuario

Manuales populares de Servoaccionamiento de otras marcas

Mitsubishi Electric

Mitsubishi Electric MELSERVO-J5 MR-J5-G Series Manual de usuario

Robotis

Robotis XH430-W350-T Manual de usuario

NTI AG

NTI AG LinMot C1250 Series Manual de usuario

Welcon

Welcon WE2A D048 Series Manual de usuario

Parallax

Parallax 900-00005 Manual de usuario

Festo

Festo TP 1410 Manual de usuario

Axor

Axor MAGNUM 400 Manual de usuario

Siemens

Siemens SINAMICS S120 Manual de usuario

Danfoss

Danfoss 176F6494 Manual de usuario

THORLABS

THORLABS TDC001 Manual de usuario

TECO

TECO JSDAP Series Manual de usuario

Rockwell Automation

Rockwell Automation Allen-Bradley Kinetix 6000 Manual de usuario

GSK

GSK DA98D Manual de usuario

Lenze

Lenze m850 Guía

Baumuller

Baumuller b maXX 3000 Manual

Baumuller

Baumuller b maXX 5000 Manual

Baumuller

Baumuller b maXX 5500 Manual

Danfoss

Danfoss VLT HVAC Drive FC 102 Manual de usuario