Lenze EtherCAT Controller-based Automation - Manual (Page 159)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
159
10 Restarting the EtherCAT fieldbus
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
10 Restarting the EtherCAT fieldbus
During operation it may be required to restart the EtherCAT fieldbus. This can for instance be
necessary after fatal faults like a cable break.

How to restart the EtherCAT fieldbus:
1. Activate the controller inhibit for the inverters.
2. Request restart of the EtherCAT master.
In the function block L_IODrvEtherCAT (FB) ( 140) from the Function library
L_IODrvEtherCAT.lib ( 110) , set the input xRestart = TRUE:
Ethercat_Master.xRestart := TRUE;
The following steps are only required for Motion devices:
3. Execute the SMC3_ReInitDrive function block from the SM3_Basic.lib function library:
bExecute input:= TRUE;
4. Execute the MC_Reset function block from the SM3_Basic.lib function library:
bExecute input:= TRUE;

Note!
When the EtherCAT bus is restarted, the control mode of the Motion drives is set to the
"CyclicSyncPosition" mode. If a different control mode was active before the restart,
change the control mode by means of the SMC_SetControllerMode function block.