Granite Devices EHTHERFOX User manual

EHTHERFOX
Quickstart Guide
Etherfox –QUICKSTART GUIDE
[email protected]
V1.0.0

ETHERFOX –QUICKSTART GUIDE
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Setup
Item
Description
Connector
1
Ethercat LEDs
2
EtherFox status LEDs
3
Ethercat Port 0
X1
4
Ethercat Port 1
X2
5
Rotary switch
6
Micro USB connector (Enabled only when Rotary is set to 0)
X3
7
Simplemotion bus port
X4
8
Power supply connector (24VDC)
X5
Connect Ethercat
Connect Ehernet cable from Ethercat Master to Etherfox Ethercat Port 0 –connector (X1).
Ethercat master is typically PC or PLC with Ethercat master software.
Connect Simplemotion
Connect Simplemotion cable from Etherfox bus port (X4) to slave drive Simple motion port.
Connect Power Supply
Do not connect the cable when power supply is ON.
Connect 24VDC power supply to Etherfox X5 connector.

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Configure drives using USB-connector
1. Connect USB cable between EtherFox USB port (X3) and PC USB host port
2. Select position 0 form rotary switch
3. Power up the device and drives
4. Start Granity software and select USB-COM port
5. Configure drives using Granity (https://granitedevices.com/wiki/Granity)
6. Exit Granity
7. Select rotary position that indicates the number of drives connected to Simplemotion bus
8. Disconnect USB cable
Configuring Etherfox with Twincat 3
Twincat installation can be read from Beckhoff information system documentation and is not described
in this document.
Copy description file
Copy EtherFOX.xml description file to Twincat installation directory*.
*Installation directory may vary depending on installation settings
Reload Device Descriptions from using TWINCAT dropdown menu from Twincat.
Create a Project

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Create new project.
Scan devices.

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Append NC- configuration to Twincat Project.
Select Operation mode
Set drive operation mode from Drive settings
Set operation mode value from DC page to DC-Synchron

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Configuring number of drives
Set number of drives from Slots page. Select axis from slot and select csv –axis from right panel. Use
middle buttons to select module to a slot.
Configure Encoder settings
Select Encoder settings from Axis menu.

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Set following values to Encoder parameters:
Encoder Scaling Factor value
0.0140625
Encoder Mask (maximum encoder value)
0x3FFFFFFF
Encoder Sub Mask (absolute range maximum value)
0x00006400

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Axis Type should be CANopen DS402.
Link to PLC is appended only if a PLC item is appended to project and is not necessary for testing

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Configure Axis parameters
Configure axis limits and motion parameters to match your drive configuration values.
Set limit values to less or equal to drive configuration parameters to avoid drive faults.

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Activate current configuration
Activate current configuration and set Run mode

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Check that InputToggle variable chages states between 0 and 1.
Select Axis menu item from MOTION and select Online page

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Make sure that motor can run safely before enabling drive. Make sure that there nothing connected to
Axis on test phase.
Axis torque can be enabled using Enable sections Set - button.
Axis status should be Ready and Not moving.
Use F1 / F2 buttons to Jog axis.
Disable controller after test session.

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Drive Inputs
Actual Position
CiA402 Specific actual position.
Status Word
CiA402 Specific status word bits. No vendor specific values.
Error Codes - 0x603
Drive and Etherfox error codes can be read from Error Code input.
Etherfox bridge error codes listed below:
Error Code (HEX)
Description
0xEC01
Invalid gain or division value in drive configuration parameters
0xEC02
Invalid drive configuration mode, use supported drive mode (Velocity)
0xEC03
Simplemotion bus read/write error
0xEC04
Drive does not support Ethercat feature set
0xEC05
System init failure
0xEC06
Communication error
0xEC07
Drive fault stop
0xEC08
Drive STO active
0xEC09
Drive in permanent stop mode
0xEC0A
Drive status bits indicate error
0xEC0B
Servo ready status invalid from fast update response
0xEC0C
Cia402 CSP mode not supported use CSV mode
0xEC0D
SM Sync not supported, use DC-sync

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If drive fault is active, drive specific error codes are shown directly on error code input.
Drive specific error codes are listed on the following web page:
https://granitedevices.com/wiki/Fault_location
Troubleshooting
LED
1
LED
2
LED
3
LED
4
Descption
Blin
k
Blin
k
When LED1 & LED2 blinks at startup constantly the number of drives
found does not mismatch the drives configured with rotary switch.
Please check drive count with Granity tool and select correct drive count
with rotary switch