Lust ServoOne User manual

ServoOne
User Manual

The bus modules for
User Manual ServoOne
CANopen/EtherCAT
ID No.: 1100.28B.0-00
Status: 11/2007
We reserve the right to make technical changes.
This guide is currently subject to approval testing and is therefore
not yet final and complete.
The technical data and agreed properties are therefore provisional
and still subject to change in line with further technical developments.
!
ServoOne

User Manual CANopen/EtherCAT 3
How to use the document
Dear User
This manual is intended for project engineers, commissioning engineers or program-
mers of drive and automation solutions on the CANopen and EtherCAT field bus. It is
assumed that you are already familiar with these field bus systems through appropriate
training and from reading the relevant literature. We assume that your drive is already in
operation
– if not, you should first consult the Operation Manual.
This manual applies for the position controller system ServoOne, so you will
see only the abbreviation SO below.
11 General
44 Commissioning and configuration of CANopen
55 Commissioning and configuration of EtherCAT
66 Setting the device parameters for CANopen
33 Mounting and connection of EtherCAT
22 Mounting and connection of CANopen
77 Setting the device parameters for EtherCAT
88 Implemented DS402 functionality
99 Operation modes DS402
1212 Bibliography
1313 Appendix glossary
1414 Index
1111 EDS file, object directory parameter list
1010 Emergency Objects

User Manual CANopen/EtherCAT 4
Pictograms
!
Important! Misoperation may result in damage to the drive or malfunc-
tions.
Danger from electrical voltage! Improper behaviour may endanger human
life.
Danger from rotating parts! Drive may start up automatically.
Note: Useful information

User Manual CANopen/EtherCAT 5
Contents
How to use the document ......................................................................................................... 3
Pictograms .............................................................................................................................. 4
1 General Introduction ........................................................................................................... 7
1.1 Measures for your safety ................................................................................................ 7
1.2 Introduction to CANopen............................................................................................... 7
1.3 Introduction to EtherCAT ............................................................................................... 8
1.4 System requirements...................................................................................................... 8
1.5 Further documentation .................................................................................................. 8
2 Mounting and Connection of CANopen............................................................................ 9
2.1 Setting the address ........................................................................................................ 9
2.2 Meanings of LEDs..........................................................................................................10
2.3 Installation ....................................................................................................................11
2.3 Transmission speeds ......................................................................................................13
2.4 Display of the operating states via 7-segment display....................................................13
2.5 Hardware enable...........................................................................................................14
3 Mounting and Connection of EtherCAT ...........................................................................15
3.1 Installation and cabling .................................................................................................15
3.2 Pin assignment of the RJ-45 socket ...............................................................................16
3.3 Meanings of LEDs..........................................................................................................17
3.4 Display of operating states via 7-segment display..........................................................18
3.5 Hardware enable...........................................................................................................18
4 Commissioning and Configuration of CANopen..............................................................19
4.1 Commissioning .............................................................................................................19
4.2 Commissioning sequence..............................................................................................19
4.2.1 Setting the software address and Baud rate........................................................20
4.3 Commissioning instructions...........................................................................................20
4.4 Testing the higher-order controller................................................................................20
4.5 Data handling ...............................................................................................................21
4.5.1 Saving the settings..............................................................................................21
4.5.2 Restoring factory defaults ...................................................................................21
4.6 Commissioning via DRIVEMANAGER ...................................................................................21
4.7 Control functions ......................................................................................................... 22
4.8 Operation mode selection (Modes of operation) .......................................................... 22
4.8.1 Functionality of operation modes....................................................................... 23
5 Commissioning and Configuration of EtherCAT............................................................. 25
6 Setting the Device Parameters for CANopen .................................................................. 27
6.1 Implemented DS301 functionality .................................................................................27
6.1.1 Communication objects ......................................................................................27
6.1.2 Object directory of DS301...................................................................................27
6.2 Parameter channel (Service Data Objects)......................................................................28
6.2.1 Data types...........................................................................................................29
6.2.2 Representation of data types in the control protocol...........................................29
6.2.3 Access to device parameters .............................................................................. 30
6.3 Examples of SDO handling ........................................................................................... 30
6.3.1 Parameter set download .....................................................................................33
6.4 PDO transmission types................................................................................................ 34
6.5 Event-controlled TxPDO transmission............................................................................ 34

User Manual CANopen/EtherCAT 6
6.6 PDO mapping................................................................................................................35
6.6.1 Mapping - general ..............................................................................................35
6.6.2 Mapping notes....................................................................................................35
6.7 Heartbeat function....................................................................................................... 36
7 Setting the Device Parameters for EtherCAT................................................................... 37
7.1 Supported EtherCAT functionality.................................................................................37
7.2 Configuration for the operation in a controller............................................................. 40
8 Implemented DS402 Functionality ....................................................................................41
8.1 Device control and state machine..................................................................................41
8.1.1 General information............................................................................................41
8.1.2 State machine .....................................................................................................41
8.1.3 Device states .......................................................................................................42
8.2 Option codes................................................................................................................ 44
8.3 Device control objects ..................................................................................................45
8.4 Units and scalings, factor group ....................................................................................45
8.5 I/O map, object 60FDH..................................................................................................47
8.5.1 Object 60FDh – Digital inputs .............................................................................47
8.5.2 Object 2079h – MPRO_INPUT_STATE ................................................................ 48
8.5.3 Object 208Fh – MRPO_OUTPUT_STATE............................................................. 48
9 Operation modes DS402.................................................................................................... 49
9.1 DS402 compatible operation modes ............................................................................ 49
9.1.1 Parameter setting of ServoOne for activation via DS402: ................................... 49
9.1.2 Control word DS402 .......................................................................................... 50
9.1.3 Status word DS402 .............................................................................................51
9.2 Profile Velocity Mode ....................................................................................................53
9.2.1 Mode-dependent bits in the control word ......................................................... 54
9.2.2 Mode-dependent bits in the status word ........................................................... 54
9.3 Homing mode ...............................................................................................................55
9.3.1 Mode-specific bits in the control word............................................................... 56
9.3.2 Mode-specific bits in the status word ................................................................ 56
9.4 Profile position mode ....................................................................................................57
9.4.1 Mode-specific bits in the control word............................................................... 58
9.4.2 Mode-specific bits in the status word ................................................................ 58
9.4.3 Functional description........................................................................................ 58
10 Emergency Objects .............................................................................................................61
10.1 Error acknowledgement, general ..................................................................................61
10.2 Error acknowledgment via bus system...........................................................................61
11 EDS File, Object Directory Parameter List........................................................................ 63
11.1 EDS file, object directory .............................................................................................. 63
12 Bibliography ....................................................................................................................... 65
13 Appendix Glossary ............................................................................................................. 67
Index .......................................................................................................................................... 69

[Chapter 1]
User Manual CANopen/EtherCAT 7
1 General Introduction
1.1 Measures for your safety
The ServoOne family drive devices are quick and safe to handle. For your own safety and
for the safe functioning of your device, please be sure to observe the following points:
Read the Operation Manual first
1.
Follow the safety instructions•
Electric drives are dangerous:
Electrical voltages > 230 V/460 V:
Dangerously high voltages may still be present 10 minutes after
the power is cut. So always make sure the system is no longer live.
Rotating parts
Hot surfaces
•
•
•
Your qualification:
In order to prevent personal injury and damage to property, only
personnel with electrical engineering qualifications may work on the
device.
Knowledge of national accident prevention regulations (e. g. VBG4
in Germany)
Knowledge of layout and interconnection with the CAN bus field bus
•
•
•
U
V
N
L+
RB
L-
L3
L2
L1
U
V
N
L+
RB
L-
L3
L2
L1
During installation observe the following instructions:
Always comply with the connection conditions and technical specifi-
cations.
Electrical installation standards, e.g. for cable cross-section, shiel-
ding, etc.
Do not touch electronic components and contacts (electrostatic
discharge may destroy components).
•
•
•
1.2 Introduction to CANopen
CANopen is an interconnection concept based on the CAN (Controller Area Network)
serial bus system. CAN has many specific advantages, in particular multi-master capabi-
lity, real-time capability, resistant response to electromagnetic interference and the high
level of availability and low cost of controller chips. These advantages have resulted in
CAN being introduced into widespread use in automation too.
Simplified cross-manufacturer communication
The integration of any number of devices in a manufacturer-specific network involves
substantial expense. CANopen was developed to solve this problem. In CANopen the
use of CAN identifiers (message addresses), the time response on the bus, the network
management (e. g. system start and user monitoring) and coding of the data contents
is specified in a uniform way. CANopen makes it possible for devices from different
manufacturers to communicate in a network at minimal cost. CANopen uses a subset
of the communication services offered by CAL to define an open interface. The selected
CAL services are summarised in a kind of “user guide“. This guide is called the CANopen
Communication Profile.
CANopen functionality of ServoOne
The CANopen Communication Profile is documented in CiA DS-301 and regulates “how“
communication is executed. It distinguishes between process data objects (PDOs) and
service data objects (SDOs). The Communication Profile additionally defines a simplified
network management system.
Based on the communication services of DS-301 (Rev. 4.01), the device profile for vari-
able-speed drives DSP-402 (Rev2.0) was compiled. It describes the operation modes and
device parameters supported.
The following sections will provide you with an overview of the CANopen functionality
integrated in ServoOne. There then follows the information necessary for commissioning.

User Manual CANopen/EtherCAT 8
1.3 Introduction to EtherCAT
As far as real-time Ethernet systems are concerned, EtherCAT has become well es-
tablished in the area of automation. The decisive factor here is not only the IEEE802.3/
100BaseTX Ethernet physics known in the home office area, but also the excellent value
for money with regard to implementation in the master and slave modules.
Interconnection can be optionally executed in a star, ring or line structure using standard
patch or crossover cables and is therefore easily adapted to the machine infrastructure.
To reduce the amount of training required, familiar communication and device profiles
were used as of the application layer. In this way, users familiar with CANopen profiles
such as CiA DS301 or DSP402 can change over to this new field bus technology with
minimal training.
In ServoOne we have combined all our past experiences in the CANopen area with this
new field bus technology and achieved maximum compatibility and functionality.
1.4 System requirements
It is assumed you have a standard CANopen setup program and a CANopen interface
driver.
For the precise protocol definitions refer to the CAL specification.
With the aid of these objects it is possible to configure the actual CANopen communica-
tion very flexibly and adapt it to the specific needs of the user.
1.5 Further documentation
Operation Manual, for commissioning of the drive unit
Application Manual, for additional parameter setting to adapt to the application.
The Application Manual can be downloaded as a PDF file from our website at
http://www.lust-tec.de. Follow the Service link.
CiA DS-301 (Rev. 4.0): Application Layer and Communication Profile
CiA DSP-402 (Rev. 2.0): Device Profile Drives and Motion Control
EtherCAT Communication Specification Version 1.0 2004
EtherCAT Indicator Specification Proposal V0.91 2005
IEC61158-2-12 to IEC61158-6-12
•
•
•
•
•
•
•

User Manual CANopen/EtherCAT 9
[Chapter 2]
2 Mounting and Connection
of CANopen
Attention: Do NOT insert or remove the CANopenconnector during opera-
tion.
2.1 Setting the address
Step Action Note
1.
Find out which address is assigned to
the module you are installing. Ask your project engineer.
2.
Select the mode of addressing:
by bus address parameter
by DIP switch (S4)
by bus address parameter and DIP switch (S4)
•
•
•
See below
Address setting finished; for further procedure see Installation.
!!
Three possible methods of address assignment
Only using bus address parameter 2005-COM_CAN_Adr: You will find parameter
2005-COM_CAN_Adr (factory setting 1) in the “field bus“ subject area under
CANopen.
Only using DIP switch S4
Combination of bus address parameter and DIP switch S4
CAN address = hardware address (S4) + Parameter 2005-COM_CAN_Adr
This option is advantageous, for example, if you intend always to use the same
parameter set with up to 15 drives, but the lowest address is 30. Parameter
2005-COM_CAN_Adr is then set to 30. The device address is then defined using
the coding switch, which ranges from 0-15.
Type:
In:
Out:
35633Lahnau
www.lust-tec.de
MadeinGermany
US
C
LISTED
Ind.Cont.Eq.
19BB
SN.:
SOA84.006.0000.0000.0
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REL
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ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit>3min.
Betriebsanleitung
beachten!
Capacitordischarge
time>3min.
Payattentiontothe
operationmanual!
one
Servo
56
x
3
x
1
x
2
x
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x
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ϑ-
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ϑ-
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ϑ-
ϑ+
12345678
x
32
s
4
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33
h
14
h
15
ACHTUNG
WARNING
Kondensatorenent-
ladezeit >3min.
Betriebsanleitung
beachten!
Capacitor discharge
time>3 mi
Payattentio
oper
12345678
s
4
x
33
h
14
h
15
Figure Position of CAN connection on ServoOne
1.
2.
3.

User Manual CANopen/EtherCAT 10
Address setting using DIP switch
An address between 0 and 127 can be decimally selected using DIP switch S4 on the
position controller.
The DIP switch is assigned as follows: Positions 1-7 are reserved for the address setting,
position 8 for the activation/deactivation of the 120 Ohm bus termination in the device.
Function/assignment:
Dip switch 1 - ðsignificance 20 = 1
Dip switch 2 - ðsignificance 21 = 2
Dip switch 3 - ðsignificance 22 = 4
...
Dip switch 7 - ðsignificance 26 = 64
Dip switch 8 = Bus termination ON/OFF
12345678
Figure DIP switch
Example of use of the DIP switches:
Setting address “3“ using the Dip switch:
- ðSet switch 1 and switch 2 to ON
- ð20 + 21 = 3
- ðResultant device address = 3
- ð(If the software address = 0 is set)
IMPORTANT: Switch 8 = Bus termination!!!
Note: Changes to the CAN address are applied on a
- Reset node command
- Restart (device power-up).
Note: The active bus address can be found in the boot-up message.
2.2 Meanings of LEDs
The CAN option of ServoOne has two diagnosis LEDs (H14, H15).
ACHTUNG
WARNING
Kondensatorenent-
ladezeit >3min.
Betriebsanleitung
beachten!
Capacitor discharge
time>3min.
Pay attention to the
operation manual!
12345678
x
32
s
4
x
33
h
14
h
15
Figure Device with CANopen option
!!

User Manual CANopen/EtherCAT 11
[Chapter 2]
The LEDs have the following function:
LED Function Meaning
H14 (yellow LED) CANopen
network state
The LED displays the current network state.
NMT STOPPED
ðflashing with 800 ms cycle
NMT PRE-OPERATIONAL
ðflashing with 1600 ms cycle
NMT OPERATIONAL
ðpermanently lit.
•
•
•
H15 (green LED) Voltage supply CAN
option
Permanently lit, if the 24V supply of the option
from CAN bus applies.
Table Meanings of LEDs
2.3 Installation
Step Action Note
1.
Make sure the hardware enable is wired on
ServoOne (X4). see Operation Manual
2.
Wire the CAN connection using connector X32
Connection of CAN signal cables
Connection of interface power supply
Activation of the internal bus terminating
resistor on the final drive controller
•
•
•
see Specification of CAN bus
connection table and Assign-
ment of connection X19 table
3.
Switch on the drive device.
Electrical installation is finished; for how to proceed further, refer to section 4
“Commissioning and configuration“.
The CANopen interface is integrated in ServoOne. The connection is made via connec-
tor X32. The interface is isolated from the drive controller electronics. The supply to the
isolated secondary side is provided by the customer via connector X32.

User Manual CANopen/EtherCAT 12
Type:
In:
Out:
35633Lahnau
www.lust-tec.de
MadeinGermany
US
C
LISTED
Ind.Cont.Eq.
19BB
SN.:
SOA84.006.0000.0000.0
24
23
22
21
20
19
18
17
16
15
14
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REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit>3min.
Betriebsanleitung
beachten!
Capacitordischarge
time>3min.
Payattentiontothe
operationmanual!
one
Servo
56
x
3
x
1
x
2
x
4
x
5
x
10
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9
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ϑ-
ϑ+
ϑ-
ϑ+
ϑ-
ϑ+
ϑ-
ϑ+
12345678
x
19
s
4
L-
L1 L+
N
24 VDC
CAN-Bus
11 12 13 14 15 16 17 18 19 20
1 2 3 4 5 6 7 8 9 10
11 12 13 14 15 16 17 18 19 20
1 2 3 4 5 6 7 8 9 10
SPS/PLC
Type:
In:
Out:
35633Lahnau
www.lust-tec.de
MadeinGermany
US
C
LISTED
Ind.Cont.Eq.
19BB
SN.:
SOA84.006.0000.0000.0
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ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit>3min.
Betriebsanleitung
beachten!
Capacitordischarge
time>3min.
Payattentiontothe
operationmanual!
one
Servo
56
x
3
x
1
x
2
x
4
x
5
x
10
x
9
x
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ϑ-
ϑ+
ϑ-
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ϑ-
ϑ+
ϑ-
ϑ+
12345678
x
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s
4
Figure System connection
Connection Spring-type terminal
Wave terminating resistance
- Bus termination -
120 W (internal)
Activation of the bus termination in the device
via switch 8 in the CAN option
Max. Input frequency 1 MHz
Ext. voltage supply +24 V +25 %, 50 mA
(isolated from drive controller)
Voltage ripple Max. 3 Vss
Current consumption Max. 50 mA per user
Cable type 4-wire, surge impedance 120 W
Table Specification of CAN bus connection
Terminal X32 PIN PIN Function Description
10 5 CAN_+24V external 24V supply
9 4 CAN_H CAN High
8 3 CAN_SHLD CAN Shield (optional)
7 2 CAN_L CAN Low
6 1 CAN_GND CAN Ground (0V)
Table Assignment of connection X19
Note: Both connectors of terminal X32 are connected to each other in the
device.
Note: The external 24 V supply for the option board is essential. It is not sup-
plied by the device.

User Manual CANopen/EtherCAT 13
[Chapter 2]
2.3 Transmission speeds
The CAN bus can be operated at the following Baud rates:
Transmission
speed
Maximum line length across
the complete network 1)
1000 kBaud 25 m Factory setting
500 KBaud 100 m
250 kBaud 2) 250 m
125 kBaud 2) 500 m
50 kBaud 3) 1000 m
25 kBaud 3) 2500 m
1) Rounded bus length estimation (worst case) on basis 5 ns/m
propagation delay and a total effective device internal in-out
delay as follows:
1M-800 kbit/s: 210 ns
500 - 250 kbit/s: 300 ns (includes 2 * 40 ns for optocouplers)
125 kbit/s: 450 ns (includes 2 * 100 ns for optocouplers)
50 -10 kbit/s: Effective delay = delay recessive to dominant plus
dominant to recessive divided by two.
2) For bus length greater than about 200 m the use of optocouplers is recommended. If optocouplers are
placed between CAN Controller and transceiver this affects the maximum bus length depending upon
the propagation delay of the optocouplers i.e. -4m per 10 ns propagation delay of employed optocoup-
ler type.
3) For bus length greater than about 1 km bridge or repeater devices may be needed.
Table Transmission speeds
When selecting the transmission rate it should, however, be ensured that the line length
does not exceed the permissible line length for the transmission rate in question.
2.4 Display of the operating states via 7-segment display
D1 D2 Meaning Parameter
System states
8. 8.
Device in reset state
0.
Auto-initialisation on device startup (Start)
S.*
)
1.
1) Not ready to switch on (no DC-link voltage) (NotReadyToSwitchOn)
S.*
)
2.
1) Switch-on inhibit (DC-link is OK, power stage
not ready) (SwitchOnDisabled)
3.
Ready to switch on (power stage is ready) (ReadyToSwitchOn)
4.
On (power is connected to the device)2) (SwitchedOn)
5.
Drive ready (current applied to drive and drive
ready for reference input) 2) (OperationEnable)
6.
Quick stop 2) (QuickStopActive)
7.
Fault response active 2) (FaultReactionActive)
E R
Fault (see below) (Fault)
Displayed in the event of a fault
E R.
Display for errors or non-acknowledgeable errors
X X
Error number (decimal)
Y Y
Error localization (decimal)
1) S. flashes, if the function STO (Safe Torque Off) is active, the display is not lit if the function is not
active.
*) It does not involve a “safe display“ under the terms of EN 61800-5-2.
2) The point flashes if the power stage is active.

User Manual CANopen/EtherCAT 14
Example of the flash sequence:
ER > 02 > 05 * ER > 02 > 05 ...
Error: ER = “Fault“
Error name: 02 = “Error in the parameter list“
Description of error: 05 = “Function for checking current parameter list“
2.5 Hardware enable
ServoOne has a control input for ENPO hardware enable on the control terminal.
This input must be configured to operate the power stage at 24 V.
The device also provides the function “STO (Safe Torque Off)“ (see Operation Manual or
Application Manual ServoOne), category 3, control terminal ISDSH. For these devices the
relevant function logic must be implemented by way of the higher-order controller as
per the Application Manual.
Note: Without configuration of the inputs ENPO and ISDSH the device stays
in state 1 = “Not Ready to Switch On“ or 2 = “Switch On Disabled“.
Only after correct configuration can the state be exited by a “Shutdown“
command via bus.
�

User Manual CANopen/EtherCAT 15
[Chapter 3]
3 Mounting and Connection
of EtherCAT
3.1 Installation and cabling
Setup of the EtherCAT network
In an EtherCAT network there is always one EtherCAT master (e. g. an industrial PC)
and a variable number of slaves (e. g. servo controller, bus terminals etc.). Each Ether-
CAT slave has two Ethernet ports. Slave to slave cabling is thus possible. All EtherCAT
users are generally put together in a line with the master at the beginning of the circuit.
On the last slave in the line the second Ethernet port remains open.
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REL
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ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit> 3 min.
Betriebsanleitung
beachten!
Capacitordischarge
time> 3 min.
Payattentionto the
operationmanual!
one
Servo
56
x3
x1
x2
x4
x5
12345678
x
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s4
x
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ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit> 3 min.
Betriebsanleitung
beachten!
Capacitordischarge
time> 3 min.
Payattentionto the
operationmanual!
one
Servo
56
x3
x1
x2
x4
x5
12345678
x
19
s4
x
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16
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REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit> 3 min.
Betriebsanleitung
beachten!
Capacitordischarge
time> 3 min.
Payattentionto the
operationmanual!
one
Servo
56
x3
x1
x2
x4
x5
12345678
x
19
s4
x
15
x
16
IPC
Figure EtherCAT connection
IN and OUT socket (RJ-45 input/output)
Each EtherCAT slave has two RJ-45 sockets. The upper port (X15) is the (IN) input and
the lower port (X16) is the (OUT) output of the slave. The incoming cable (from the
direction of the master) is connected using the IN port, the outgoing cable is connected
to the next slave using the OUT port. The OUT port remains blank for the last slave in
the series. In the case of a slave an open output leads internally to a logical short circuit
of the transmit (Tx) and receive (Rx) cables. For this reason every EtherCAT network can
be regarded as a logical ring in terms of its topology.
Figure EtherCAT option
Type:
In:
Out:
35633Lahnau
www.lust-tec.de
MadeinGermany
US
C
LISTED
Ind.Cont.Eq.
19BB
SN.:
SOA84.006.0000.0000.0
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit>3min.
Betriebsanleitung
beachten!
Capacitordischarge
time>3min.
Payattentiontothe
operationmanual!
one
Servo
56
x
3
x
1
x
2
x
4
x
5
x
10
x
9
x
6
x
7
x
8
x
11
L1
L2
L3
ϑ-
ϑ+
ϑ-
ϑ+
ϑ-
ϑ+
ϑ-
ϑ+
x
15
x
16
ACHTUNG
WARNING
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
Capacitor discharge
time > 3 min.
Payattention to the
operation manual!
x
15
x
16
upper RJ-45 port = input
lower RJ-45 port = output

User Manual CANopen/EtherCAT 16
IMPORTANT: Errors in cabling (incorrect connection of input and output)
can lead to faulty addressing by the master.
Connecting cable
Ethernet patch cables or crossover cables are suitable connection cables as per
the CAT5e specification. Cables lengths of 0.3 to a max. 100 m are permissible.
!!
3.2 Pin assignment of the RJ-45 socket
The RJ-45 socket is assigned as follows:
PIN Colour Cable wire pairs Function
1 white/orange 2 TxData +
2 orange 2 TxData -
3 white/green 3 RecvData +
4 blue 1 Unused
5 white/blue 1 Unused
6 green 3 RecvData -
7 white/brown 4 Unused
8 brown 4 Unused
Table Pin assignment
1 2 3 4 5 6 7 8
24
1
3
Pair #
Figure RJ-45 socket
NOTE: Ethernet cables are available in the IT specialist trade in various
lengths. Use CAT5e cable or better.

User Manual CANopen/EtherCAT 17
[Chapter 3]
3.3 Meanings of LEDs
There are 2 LEDs on each RJ-45 socket.
ACHTUNG
WARNING
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
Capacitor discharge
time > 3min.
Pay attention to the
operation manual!
x15
x16
Figure Device with EtherCAT option
They have the following meanings:
LED Function Meaning
Upper
LED Link LED
off = no Link
ðNo connection with another user
on = Link
ðConnection with another user exists. Currently no data ex-
change.
toggle = activity
ðFlashing of the LED signals that data is being exchanged.
Lower LED Speed LED
off = 10 mbit/s
ðThere is a connection with a transmission rate of 10 mbit/s.
on = 100 mbit
ðThere is a connection with a transmission rate of 100 mbit/s.
Table LED meanings

User Manual CANopen/EtherCAT 18
3.4 Display of operating states via 7-segment display
D1 D2 Meaning Parameter
System states
8. 8.
Device in reset state
0.
Auto-initialization on device startup (Start)
S.*
)
1.
1) Not ready to switch on (no DC-link voltage) (NotReadyToSwitchOn)
S.*
)
2.
1) Switch-on inhibit (DC-link is OK,
power stage not ready) (SwitchOnDisabled)
3.
Ready to switch on (power stage is ready) (ReadyToSwitchOn)
4.
On (power is connected to the device)2) (SwitchedOn)
5.
Drive ready (current applied to drive and ready
for reference input) 2) (OperationEnable)
6.
Emergency stop 2) (QuickStopActive)
7.
Fault response active 2) (FaultReactionActive)
E R
Fault (see below) (Fault)
Appears in the event of error
E R.
Display for errors or non-acknowledgeable errors
X X
Error number (decimal)
Y Y
Error localization (decimal)
1) S. flashes, if the function STO (Safe Torque Off) is active, the display is not lit if the function is not active.
*) It does not involve a “safe display“ under the terms of EN 61800-5-2.
2) The point flashes if the power stage is active.
Example of the flash sequence:
ER > 02 > 05 * ER > 02 > 05 ...
Error: ER = “Fault“
Error name: 02 = “Error in the parameter list“
Description of error: 05 = “Function for checking current parameter list“
3.5 Hardware enable
ServoOne has a control input for ENPO hardware enable on the control terminal.
This input must be configured to operate the power stage at 24 V.
The device also provides the function “STO (Safe Torque Off)“ (see Operation Manual or
Application Manual ServoOne), category 3, control terminal ISDSH. For these devices the
relevant function logic must be implemented by way of the higher-order controller as
per the Application Manual.
Note: Without configuration of the inputs ENPO and ISDSH the device stays
in state 1 = “Not Ready to Switch On“ or 2 = “Switch On Disabled“.
Only after correct configuration can the state be exited by a “Shutdown“
command via bus.
➢

User Manual CANopen/EtherCAT 19
[Chapter 4]
4 Commissioning and Configura-
tion of CANopen
4.1 Commissioning
The DriveManager user interface is used for general commissioning of the drive system.
The DriveManager includes tools to identify motor data, provide access to a motor data-
base for servo motors, and for general device configuration.
Initial commissioning is a separate subject with regard to operation via the user interface,
and is detailed in the device‘s Application Manual.
4.2 Commissioning sequence
Preconditions:
The drive device is wired as specified in the Operation Manual and first commis-
sioning is complete. (To test CAN communication, it is sufficient to connect the
voltage supply of the CAN option and the control voltage).
If current is to be applied to the motor, the hardware enable (ENPO) and the
“STO (Safe Torque Off)“ must also be correctly configured.
Note: For more detailed information on optimisation of the software func-
tions and control circuits refer to the device application manual.
•
•
Step Action Note
1.
Check the wiring. Please note that hardware
enable ENPO (X4) is not configured.
2.
Switch on the mains power and the
24 V supply to the CAN interface.
3.
Configure the drive unit using
the Application Manual.
(Inputs/outputs, software
functions, etc.)
4.
Test the control quality and optimise
the controller settings as necessary
using the Operation Manual.
5.
Set the parameters for the CAN communica-
tion. The Baud rate and the device address
are required. The address can be selected by
software and hardware.
The mapping must also be completed and
the active operation mode selected as per
DS301/402.
Software and hardware address
are added...
6.
Test the drive on the higher-order controller
- see section 3.4.
7.
Finally, save the setting. Save device setting ð
Non volatile in device
Note: For more information on the subject of “Units and scalings“ refer to
section 5.4.

User Manual CANopen/EtherCAT 20
4.2.1 Setting the software address and Baud rate
The software address and Baud rate can be set using the following device parameters via
DriveManager:
Parameter Function Description
2005-COM_CAN_Adr CANopen address
Address assignment via parameter
For more information on setting the
address, see section 2.1
2006-COM_CAN_Baudrate Baud rate Permissible Baud rates - see section 2.3
Table Parameters on the Bus Systems function screen
Note: ServoOne has a default Baud rate of 1 mbit.
4.3 Commissioning instructions
For a variety of reasons, it may be that a drive device does not respond to a telegram:
There is no reply if the telegram frame (Baud rate, data length) on the master
computer is not correct.
There is no reply if a drive device is addressed with the wrong bus address.
There is no reply if the serial connection between the master computer and the
drive device is not correctly set up.
There is no reply if the 24 V supply to the CAN connection is missing or the
cabling is faulty.
There is no valid reply if several devices with the same device address are con-
nected to the bus.
There is no reply if the device has certain network states.
4.4 Testing the higher-order controller
To activate changed settings the device must be switched off and back on again. When
the power is connected, after an initialisation period of a few seconds the device must
transmit a one-off boot-up message (ID 700h + node ID = 701h for device address 1).
If this happens, the communication is OK.
Note: During transfer of data to the device via SDO telegrams the number
of data bytes transferred should be taken into account. For this the correct
length information must be transferred in the control byte.
Alternatively, however, an SDO transfer without specification of the data
length is also possible. The correct operation of the control byte in the
SDO telegram should also be observed.
•
•
•
•
•
•