Pilz PMCtendo DD5 User manual

EtherCAT for
PMCtendo DD5 and PMCprotego D
Operating Manual-1002906-EN-02
}Servo amplifiers

Preface
This document is the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for the user's internal purposes. Suggestions and comments for improving this documenta-
tion will be gratefully received.
Source code from third-party manufacturers or open source software has been used for
some components. The relevant licence information is available on the Internet on the Pilz
homepage.
Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®,
SafetyEYE®, SafetyNET p®, the spirit of safety® are registered and protected trademarks
of Pilz GmbH & Co. KG in some countries.
SD means Secure Digital

Contents
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02 3
Section 1 General information 4
1.1 About this manual 4
1.2 Target group 4
1.3 Definition of symbols 5
1.4 Abbreviations used 6
Section 2 Safety 8
2.1 Intended use 8
2.2 Notes on the online edition (PDF format) 9
Section 3 Installation/commissioning 10
3.1 Assembly/installation 10
3.1.1 Connection technology 11
3.1.2 Commissioning 11
3.1.2.1 Guide to commissioning 11
3.1.2.2 EtherCAT commissioning 12
Section 4 EtherCAT 13
4.1 Slave Register 13
4.2 AL event (interrupt event) and interrupt enable 14
4.2.1 Interrupt enable register (address 0x0204:0205) 14
4.2.2 AL Event (address 0x220:0221) 14
4.3 Phase runup 15
4.3.1 AL Control (address 0x0120:0x0121) 15
4.3.2 AL Status (address 0x0130:0x0131) 16
4.3.3 AL Status Code (address 0x0134:0x0135) 16
4.3.4 EtherCAT communication phases 17
4.4 CANopen over EtherCAT (CoE) state machine 18
4.4.1 Description of states 19
4.4.2 Commands in the control word 20
4.4.3 Bits of the status machine (status word) 21
4.5 Implemented operating modes 22
4.6 Setting the EtherCAT cycle time 22
4.7 Recommended cycle time based on the operating modes 23
4.8 Synchronisation based on the cycle time 23
4.9 Latch- control word and latch status word 24
4.10 Mailbox Handling 25
4.10.1 Mailbox Output 26
4.10.2 Mail Input 27
4.10.3 Example of a mailbox access 28

General information
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02 4
1 General information
1.1 About this manual
This manual describes the assembly, installation and commissioning of the "Expansion
card EtherCAT" for servo amplifiers of the PMCprotego D series and a reference of the
commands that are supported by these servo amplifiers.
The "Expansion card EtherCAT" provides an EtherCAT interface to this servo amplifier. The
operating manual describes the card and its installation at a later stage.
In PMCprotego D the EtherCAT functionality is already integrated. The servo amplifier has
an onboard Ethernet- interface that has been configured in the standard version for the Eth-
erCAT protocols. This manual is a component of the overall documentation of the digital
servo amplifiers. Installation and commissioning of the servo amplifiers and all the standard
functions are described in the relevant operating manual.
1.2 Target group
This manual is aimed at qualified personnel with the following requirements:
Transport Only by personnel with knowledge of managing electrostatically
sensitive assemblies
Unpacking Only by specialists with electrotechnical qualification
Installation Only by specialists with electrotechnical qualification
Commissioning Only by specialists with extensive knowledge of electrical engineer-
ing and drive technology
Programming Software developer, EtherCAT design engineers
The qualified staff must know and observe the following standards:
}IEC 60364 and IEC 60664
}National accident prevention regulations

General information
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02 5
1.3 Definition of symbols
Information that is particularly important is identified as follows:
DANGER!
This warning must be heeded! It warns of a hazardous situation that poses
an immediate threat of serious injury and death and indicates preventive
measures that can be taken.
WARNING!
This warning must be heeded! It warns of a hazardous situation that could
lead to serious injury and death and indicates preventive measures that can
be taken.
CAUTION!
This refers to a hazard that can lead to a less serious or minor injury plus
material damage, and also provides information on preventive measures
that can be taken.
NOTICE
This describes a situation in which the product or devices could be dam-
aged and also provides information on preventive measures that can be
taken. It also highlights areas within the text that are of particular import-
ance.
INFORMATION
This gives advice on applications and provides information on special fea-
tures.

General information
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02 6
1.4 Abbreviations used
Abbreviation Meaning
AL Application Layer: The protocol used dir-
ectly by the process instances.
Cat Category - Classification also for the cables
used for Ethernet communication. EtherCAT
cables must be classified at least in cat-
egory 5.
DC Distributed Clocks Mechanism (Distributed
Clock procedure) to sychronise EtherCAT-
Slaves and Masters.
DL Data Link, also Layer 2. EtherCAT used in
accordance with IEEE 802.3 standardised
Ethernet communication.
EtherCAT (ECAT) RT standard for industrial Ethernet Control
Automation Technology
FPGA Field Programmable Gate Array (logic block
that can be modified on-site)
FTP File Transfer Protocol
HW Hardware
ICMP Internet Control Message Protocol: Protocol
to display IP errors.
IEC International Electrotechnical Commission:
International standardisation committee
IEEE Institute of Electrical and Electronics Engin-
eers, Inc.
IOS/OSI Model ISO Open Systems Interconnection Basic
Reference Model (ISO 7498) (ISO-OSI layer
model): Describes the dividing of the com-
munication in seven layers.
LLDP Lower Layer Discovery Protocol
MAC Media Access Control
MII Media Independent Interface: Standard in-
terface between Ethernet Controller and the
routers.
MDI Media-independent interface:
Signal transmission using pins.
MDI-X Media-dependent interface (crossover):
Crossed wiring
OSI Open System Interconnect
OUI Organizationally Unique Identifier - the first
3 Bits of an Ethernet address. They are as-
signed to companies or organisation and
the can also be used for Protocol Identifiers
(e.g.LLDP).

General information
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02 7
Abbreviation Meaning
PDI Physical Device Interface: A set of physical
elements that enable access from the pro-
cess side.
PDO Process Data Object
PDU Protocol Data Unit: Includes protocol inform-
ation from a protocol instance via transpar-
ent data to a subordinate layer.
Ping Program for checking the accessibility of the
partner device.
PHY Physical interface, data conversion in elec-
trical or optical signals.
PLL Phase Locked Loop
PTP Precision Time Protocol in accordance with
IEEE 1588
RSTP Rapid Spanning Tree Protocol
RT Real-time, possible in Ethernet Controller
without additional support.
RT Frames EtherCAT transmission with EtherType
0x88A4.
RX Receive
RXPDO Receive PDO
SNMP Simple Network Management Protocol
SPI Serial Peripheral Interface
Src Addr. Source Address: Source address of a trans-
mission.
STP Shielded Twisted Pair
TCP Transmission Control Protocol
TX Transmit
TXPDO Transmit PDO
UDP User Datagram Protocol: Unsafe Multicast-
Broadcast protocol
UTP Unshielded Twisted Pair
XML Extensible Markup Language
XML Parser Program for checking XML structures
ZA ECAT Access type EtherCAT
ZA Drive Access type amplifier

Safety
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02 8
2 Safety
WARNING!
Risk of death or serious injury and material damage during operation
The operator must ensure that the safety guidelines in this manual are
taken into account. The operator must ensure that every person entrusted
with work at the servo amplifier have read and understood this operating
manual.
We offer training and induction courses on request.
2.1 Intended use
Please note the chapters "Intended use" and "Improper use" in the operating manual of the
servo amplifier.
The sole purpose of the EtherCAT interface is to connect the servo amplifier to a Master
with EtherCAT connection.
The servo amplifiers are installed as components in electrical apparatus or machinery and
can only be commissioned as integrated plant components.
INFORMATION
We guarantee compliance of the servo amplifier with the following
standards in the industrial sector only when using the components
named by us and when complying with the installation manual:
EU EMC Directive 2004/42/EG
EU Low Voltage Directive 2006/95/EG

Safety
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02 9
2.2 Notes on the online edition (PDF format)
Bookmarks:
Table of contents and index are active bookmarks.
Table of contents and index in the text:
The lines are active cross-references. Click the required line to display the corresponding
page.
Page number in the text:
Page numbers/chapter numbers with cross references are active. Click on the page num-
ber/chapter number to go to the specified target.

Installation/commissioning
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02 10
3 Installation/commissioning
3.1 Assembly/installation
WARNING!
Risk of electrocution!
Install and wire the devices always in a voltage-free state. Ensure that there
is a safe enabling of the control cabinet (lock, warning signs etc.). The indi-
vidual voltages are switched on only when commissioning. Residual
charges in the capacitors may still show hazardous values several minutes
after the mains voltage is switched off. Measure the voltage in the interme-
diate circuit and wait until the voltage has dropped below 40VDC. Control
and power connections may still carry voltage, even when the motor is not
rotating.
WARNING!
Possible loss of the safety
Electronic devices are not fail-safe as a matter of principle. The user is re-
sponsible that the drive is led to a safe condition for machinery or personnel
when the servo amplifier fails, e.g. by using a mechanical brake. Drives with
servo amplifiers in EtherCAT networks are remotely operated machines.
They can set in motion at any time without prior notice. Warn the operator
and maintenance personnel by corresponding instructions. Use a relevant
protective measure to ensure that an unintended startup of the machine
does not lead to a hazardous situation for man and machine. Software end
switches do not replace the hardware end switches of the machine.
NOTICE
Wire the servo amplifier as described in the operating manual. The wiring of
the analogue set value input and the position interface after the connection
image of the operating manual may be omitted.