Lenze EtherCAT Controller-based Automation - Manual (Page 3)

Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
3
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
7 Commissioning of the system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
7.1 Sample projects (Application Samples) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
7.2 Overview of the commissioning steps _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40
7.3 Detailed description of the commissioning steps _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
7.3.1 Planning the bus topology _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
7.3.2 Installing field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
7.3.3 Create a project folder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
7.3.4 Commissioning the i700 servo inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44
7.3.4.1 i700 parameter management in the Controller-based Automation
system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
7.3.4.2 i700 parameter management in »EASY Starter« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
7.3.4.3 Exchanging i700 parameter sets between »PLC Designer« and
»EASY Starter« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
7.3.4.4 Overview of the commissioning steps _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
7.3.4.5 Checking the wiring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
7.3.4.6 Entering motor and controller settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54
7.3.4.7 Setting the feedback system for servo control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
7.3.4.8 Integrating the L_SMC_AxisBasicControl function block _ _ _ _ _ _ _ _ _ _ _ _ 59
7.3.4.9 Executing manual control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 65
7.3.4.10 Optimising control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
7.3.5 Commissioning other Lenze field devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70
7.3.6 Creating a PLC program with a target system (Logic/Motion) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 71
7.3.7 Configuring the communication parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73
7.3.8 Determining the physical EtherCAT configuration (fieldbus scan) _ _ _ _ _ _ _ _ _ _ _ _ _ 75
7.3.9 Importing missing devices / device description files _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
7.3.10 Creating a control configuration (adding field devices) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
7.3.11 Creating a task _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
7.3.12 Setting a DC synchronisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87
7.3.13 Setting SoftMotion parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92
7.3.14 Processing EtherCAT I/O mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95
7.3.14.1 Entering the settings for PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96
7.3.14.2 Configuring individual PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97
7.3.14.3 PDO mapping for logic devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
7.3.14.4 Using PDO mapping settings from »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
7.3.15 Compiling the PLC program code _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
7.3.16 Logging in on the controller with the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
7.3.17 Starting the PLC program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
7.3.18 Start parameters of the Servo Drives 9400 HighLine CiA 402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
7.3.19 Optimising the task utilisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 104
7.4 State diagram for commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105
8 Mixed operation - EtherCAT with other bus systems _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 106
8.1 CANopen and EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 107
8.2 PROFIBUS as the logic bus and EtherCAT as a logic bus or motion bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108
8.3 EtherCAT and PROFINET _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109