SEW-Eurodrive FSE24B EtherCAT User manual

Drive Technology \ Drive Automation \ System Integration \ Services
Manual
Communication Interface
FSE24B EtherCAT
®
for MOVITRAC
®
B
Edition 04/2013 20126956 / EN

SEW-EURODRIVE—Driving the world

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 3
Contents
Contents
1 General Information ............................................................................................ 5
1.1 How to use the documentation ................................................................... 5
1.2 Structure of the safety notes ....................................................................... 5
1.2.1 Meaning of the signal words ........................................................ 5
1.2.2 Structure of section safety notes ................................................. 5
1.2.3 Structure of embedded safety notes............................................ 5
1.3 Right to claim under warranty ..................................................................... 6
1.4 Exclusion of liability..................................................................................... 6
1.5 Copyright..................................................................................................... 6
1.6 Other applicable documentation ................................................................. 6
1.7 Product names and trademarks.................................................................. 6
2 Safety Notes ........................................................................................................ 7
2.1 Bus systems................................................................................................ 7
2.2 Safety functions .......................................................................................... 7
2.3 Hoist applications........................................................................................ 7
2.4 Disposal ...................................................................................................... 7
3 Introduction ......................................................................................................... 8
3.1 General information .................................................................................... 8
3.1.1 Content of this manual................................................................. 8
3.1.2 Additional documentation ............................................................ 8
3.2 Characteristics ............................................................................................ 8
3.2.1 MOVITRAC®B and EtherCAT®.................................................. 8
3.2.2 Access to all information.............................................................. 8
3.2.3 Cyclic data exchange via EtherCAT®.......................................... 8
3.2.4 Acyclic data exchange via EtherCAT®........................................ 9
3.2.5 Configuration of the EtherCAT®communication option .............. 9
3.2.6 Monitoring functions..................................................................... 9
3.2.7 Diagnostics .................................................................................. 9
4 Assembly and Installation Notes..................................................................... 10
4.1 Installation of the FSE24B communication option .................................... 10
4.2 Connection and terminal assignment........................................................ 11
4.3 Pin assignment X30 IN/OUT..................................................................... 12
4.3.1 FSE24B – EtherCAT®connection ............................................. 12
4.4 Shielding and routing bus cables .............................................................. 12
4.5 Bus termination ......................................................................................... 13
4.6 Setting the station address ....................................................................... 13
4.7 Status LEDs of FSE24B............................................................................ 13
4.7.1 LED RUN (green) ...................................................................... 14
4.7.2 LED ERR (red)........................................................................... 14
4.7.3 LED SYS-F (red)........................................................................ 15
4.7.4 LED Link/Activity (green) ........................................................... 16
5 Configuration and Startup................................................................................ 17
5.1 Validity of the XML file for the FSE24B communication option................. 17

4Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
Contents
5.2 Configuration of the EtherCAT®master for MOVITRAC®B with XML file 17
5.2.1 XML file for running the FSE24 communication option on
MOVITRAC®B .......................................................................... 17
5.2.2 Project planning procedure........................................................ 17
5.2.3 Configuration of process data objects (PDO) ............................ 17
5.3 Setting the MOVITRAC®B frequency inverter.......................................... 21
6 Operating Behavior in Connection with EtherCAT®...................................... 22
6.1 Control of the MOVITRAC®B frequency inverter .................................... 22
6.1.1 Control example in TwinCAT with MOVITRAC®B .................... 23
6.1.2 Communication timeout between EtherCAT®, FSE24B and
MOVITRAC®B .......................................................................... 24
6.1.3 Unit error.................................................................................... 25
6.2 Parameterization via EtherCAT®.............................................................. 25
6.2.1 SDO services READ and WRITE .............................................. 25
6.2.2 Example of reading a parameter in TwinCAT via EtherCAT®... 26
6.2.3 Example of writing a parameter in TwinCAT via EtherCAT®..... 27
6.3 Parameterization return codes.................................................................. 28
7 Operating MOVITOOLS®MotionStudio via EtherCAT®................................. 29
7.1 About MOVITOOLS®MotionStudio .......................................................... 29
7.1.1 Tasks ......................................................................................... 29
7.1.2 Functional principle.................................................................... 29
7.2 First steps ................................................................................................. 31
7.2.1 Starting the software and creating a project .............................. 31
7.2.2 Establishing communication and scanning the network ............ 31
7.2.3 Configuring units........................................................................ 32
7.3 Connection Mode...................................................................................... 33
7.3.1 Overview.................................................................................... 33
7.3.2 Selecting the communication mode (online or offline) ............... 34
7.4 Communication via EtherCAT®................................................................. 35
7.4.1 Overview.................................................................................... 35
7.4.2 Configuration of the mailbox gateway in the EtherCAT®master38
7.4.3 Configuring the network at the engineering PC ......................... 39
7.4.4 Checking the network settings................................................... 40
7.4.5 Communication settings in MOVITOOLS®MotionStudio .......... 41
7.5 Executing functions with the units............................................................. 43
7.5.1 Parameterizing units .................................................................. 43
7.5.2 Reading or changing unit parameters........................................ 43
7.5.3 Starting up units (online)............................................................ 44
8 Error Diagnostics .............................................................................................. 45
8.1 Diagnostic procedures .............................................................................. 45
9 Technical Data................................................................................................... 48
9.1 FSE24B communication option for MOVITRAC®B .................................. 48
Index................................................................................................................... 49

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 5
1
How to use the documentation
General Information
1 General Information
1.1 How to use the documentation
The manual is part of the product and contains important information on operation and
service. The manual is written for all employees who assemble, install, startup, and ser-
vice the product.
The manual must be accessible and legible. Make sure that persons responsible for the
system and its operation, as well as persons who work independently on the unit, have
read through the manual carefully and understood it. If you are unclear about any of the
information in this documentation, or if you require further information, contact SEW-EU-
RODRIVE.
1.2 Structure of the safety notes
1.2.1 Meaning of the signal words
The following table shows the grading and meaning of the signal words for safety notes,
notes on potential risks of damage to property, and other notes.
1.2.2 Structure of section safety notes
Section safety notes do not apply to a specific action, but to several actions pertaining
to one subject. The used symbols indicate either a general or a specific hazard.
This is the formal structure of a section safety note:
1.2.3 Structure of embedded safety notes
Embedded safety notes are directly integrated in the instructions just before the descrip-
tion of the dangerous action.
This is the formal structure of an embedded safety note:
•SIGNAL WORD Nature and source of hazard.
Possible consequence(s) if disregarded.
– Measure(s) to prevent the danger.
Signal word Meaning Consequences if disregarded
DANGER Imminent danger Severe or fatal injuries
WARNING Possible dangerous situation Severe or fatal injuries
CAUTION Possible dangerous situation Minor injuries
NOTICE Possible damage to property Damage to the drive system or its envi-
ronment
INFORMATION Useful information or tip: Simplifies the
handling of the drive system.
SIGNAL WORD
Type and source of danger.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the danger.

6Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
1Right to claim under warranty
General Information
1.3 Right to claim under warranty
A requirement of fault-free operation and fulfillment of any rights to claim under limited
warranty is that you adhere to the information in the documentation. Therefore, read the
manual before you start operating the device.
Make sure that the manual is available to persons responsible for the plant and its op-
eration, as well as to persons who work independently on the device. You must also en-
sure that the documentation is legible.
1.4 Exclusion of liability
You must observe this documentation and the documentation of the connected devices
from SEW-EURODRIVE to ensure safe operation and to achieve the specified product
characteristics and performance requirements. SEW-EURODRIVE assumes no liability
for injury to persons or damage to equipment or property resulting from non-observance
of these operating instructions. In such cases, any liability for defects is excluded.
1.5 Copyright
© 2010 – SEW-EURODRIVE. All rights reserved.
Copyright law prohibits the unauthorized duplication, modification, distribution, and use
of this document, in whole or in part.
1.6 Other applicable documentation
The following publications and documents apply to the connected units:
•"MOVITRAC
®B" operating instructions
• For units with functional safety, also observe the corresponding manual "Functional
Safety" or "Safe Disconnection – Conditions".
• Installation and startup only by qualified electricians observing the relevant accident
prevention regulations and the operating instructions of the connected units.
1.7 Product names and trademarks
EtherCAT®is a registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 7
2
Bus systems
Safety Notes
2 Safety Notes
2.1 Bus systems
A bus system makes it possible to adapt frequency inverters to the particulars of the ma-
chinery within wide limits. As with all bus systems, there is a danger of invisible, external
(as far as the inverter is concerned) modifications to the parameters which give rise to
changes in the unit behavior. This may result in unexpected, though not uncontrolled,
system behavior.
2.2 Safety functions
MOVITRAC®B inverters may not perform any safety functions without higher-level
safety systems. Use higher-level safety systems to ensure protection of equipment and
personnel. For safety applications, ensure that the information in the publication "Safe
Disconnection for MOVITRAC®B" is observed.
2.3 Hoist applications
MOVITRAC®B may not be used as a safety device in hoist applications. Use monitoring
systems or mechanical protection devices as safety equipment to avoid possible dam-
age to property or injury to people.
2.4 Disposal
Observe the applicable national regulations.
Dispose of the following materials separately in accordance with the country-specific
regulations in force, as:
• Electronics scrap
• Plastics
• Sheet metal

8Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
3General information
Introduction
3 Introduction
3.1 General information
3.1.1 Content of this manual
This user manual illustrates:
• The installation of the FSE24B EtherCAT®communication option in the
MOVITRAC®B frequency inverter.
• The startup of MOVITRAC®B in the EtherCAT®fieldbus system.
• The configuration of the EtherCAT®masters via XML files.
• The operation of MOVITOOLS®MotionStudio via EtherCAT®.
3.1.2 Additional documentation
For information on how to connect MOVITRAC®B simply and effectively to the
EtherCAT®fieldbus system, you should request the following documentation on fieldbus
technology in addition to this user manual for the FSE24B EtherCAT®option:
• Manual "MOVITRAC®B Communication and Fieldbus Unit Profile"
•MOVITRAC
®B system manual
Apart from describing the fieldbus parameters and the corresponding coding, the
"MOVITRAC®B Communication and Fieldbus Unit Profile" manual and the
MOVITRAC®B system manual provide examples to illustrate the different control con-
cepts and possible applications.
3.2 Characteristics
3.2.1 MOVITRAC®B and EtherCAT®
The unit behavior of the inverter that forms the basis of EtherCAT®operation is referred
to as the unit profile. It is independent of any particular fieldbus and is therefore a uni-
form feature. This allows the user to develop fieldbus-independent drive applications.
This makes it much easier to change to other bus systems, such as CANopen (option
FSC).
3.2.2 Access to all information
MOVITRAC®B offers digital access to all drive parameters and functions via the
EtherCAT®communication interface. The frequency inverter is controlled via fast, cyclic
process data. You can use this process data channel to enter setpoints (e.g. setpoint
speed, ramp generator time for acceleration/deceleration, etc.) and to trigger various
drive functions such as enable, controller inhibit, normal stop, rapid stop, etc. At the
same time you can use this channel to read back actual values from the frequency in-
verter, such as the actual speed, current, unit status, error number and reference sig-
nals.
3.2.3 Cyclic data exchange via EtherCAT®
Process data is usually exchanged cyclically between the EtherCAT®master and the
MOVITRAC®B frequency inverters. The cycle time is specified during the configuration
of the EtherCAT®master.

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 9
3
Characteristics
Introduction
3.2.4 Acyclic data exchange via EtherCAT®
Acyclic READ/WRITE services are introduced in line with the EtherCAT®specification.
They are transmitted during normal cyclical operation along with the messages without
affecting the performance of the process data communication via EtherCAT®.
Read and write access to the drive parameters is made possible via SDO (Service Data
Objects), which are implemented according to CoE (CAN application protocol over
EtherCAT®) or VoE services (Vendor-specific over EtherCAT®).
This parameter data exchange enables you to implement applications in which all the
important drive parameters are stored in the higher-level programmable controller, so
that there is no need to make parameter settings manually on the drive inverter itself.
3.2.5 Configuration of the EtherCAT®communication option
The EtherCAT®communication option is designed so that all fieldbus-specific settings
are made during startup of the EtherCAT®system. This means the frequency inverter
can be integrated into the EtherCAT®environment and switched on quickly.
3.2.6 Monitoring functions
Using a fieldbus system requires additional monitoring functions for the drive technol-
ogy, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop con-
cepts. You can, for example, adapt the monitoring functions of MOVITRAC®B specifi-
cally to your application. You can determine, for instance, which of the frequency in-
verter's error responses should be triggered in the event of a bus error. For many appli-
cations, a rapid stop would be the preferred response, but you can also set other error
responses. As the control terminals also function in fieldbus operation, you can still im-
plement fieldbus-independent emergency stop concepts via the terminals of the fre-
quency inverter.
3.2.7 Diagnostics
The MOVITRAC®B inverter offers numerous diagnostic options for startup and service
purposes. For example, you can use the integrated fieldbus monitor to control both set-
point values sent from the higher-level controller as well as the actual values.

10 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
4Installation of the FSE24B communication option
Assembly and Installation Notes
4 Assembly and Installation Notes
4.1 Installation of the FSE24B communication option
INFORMATION
•MOVITRAC
®B does not need a certain firmware status if you only want to use pro-
cess data objects with 3 process data words.
The MOVITRAC®firmware 18225632.11 is required if
– 10 process data words are to be transmitted to and from MOVITRAC®B
– Advanced diagnostics via parameter group 09_ (bus diagnostics) is to be used
• Always attach the front module to the unit with the screw that is included in the de-
livery. For size 0, mount the spacer bolt first. The bolt is already installed in sizes 1
and higher. The screw establishes a high-frequency EMC connection between the
basic unit and the front module.
• The FSE24B communication option cannot be used together with other communi-
cation options (FSC) or I/O expansions (FIO) in MOVITRAC®B.
• When using the FSE24B communication option, one additional diagnostic interface
(RS485) is available.
• The system bus (CAN) of MOVITRAC®B is used for an internal connection to the
FSE24B front module, which means it is no longer available for other functions.
• The FSE24B can be supplied with DC 24 V via the X47 connector, so that the bus
is still operational even when MOVITRAC®is switched off or the FSE24B commu-
nication option is unplugged. MOVITRAC®B is also supplied with power.
• If the FSE24B communication option is only supplied with power by MOVITRAC®
B, the voltage supply must not be deactivated via parameter P808 Auxiliary voltage
output VIO24.
• If the communication option FSE24B is supplied only via MOVITRAC®B, resetting
an inverter error may cause the communication unit to perform a reset as well,
which briefly interrupts the EtherCAT®line. In order to prevent the brief interruption
of the EtherCAT®line, the FSE24B must be supplied with DC 24 V via X47.

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 11
4
Connection and terminal assignment
Assembly and Installation Notes
4.2 Connection and terminal assignment
Front view of FSE24B Terminal description, LED Function
3035170571
X44: RJ10 plug connector RS485 interface for diagnostic purposes.
LED RUN (green) Shows the operating status of bus electronics and communi-
cation.
LED ERR (red) Displays EtherCAT®errors.
LED SYS-F (red) Displays the status of the communication between FSE24B
and MOVITRAC®B.
X47 Connection of the DC 24 V supply for the FSE24B communi-
cation option and MOVITRAC®B.
1: DC 24 V
2: GND
X30 IN: RJ45 plug connector Incoming EtherCAT®connection.
X30 OUT: RJ45 plug connector Outgoing EtherCAT®connection.
X47
RUN
X44
FSE24B
ERR
SYS-F
X30 OUTX30 IN
X47 X30 OUTX30 IN
12

12 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
4Pin assignment X30 IN/OUT
Assembly and Installation Notes
4.3 Pin assignment X30 IN/OUT
Use prefabricated, shielded RJ45 plug connectors to IEC11801 edition 2.0, category 5.
4.3.1 FSE24B – EtherCAT®connection
The FSE24B communication option is equipped with two RJ45 connectors for a linear
bus structure. The EtherCAT®master is connected (if necessary, via additional
EtherCAT®slaves) to X30 IN (RJ45) with a shielded, twisted-pair cable. Additional
EtherCAT®units are then connected via X30 OUT (RJ45).
4.4 Shielding and routing bus cables
Only use shielded cables and connection elements that also meet the requirements of
category 5, class D according to IEC11801, edition 2.0.
Correct shielding of the bus cable attenuates electrical interference that can occur in in-
dustrial environments. The following measures ensure the best possible shielding:
• Manually tighten the mounting screws on the connectors, modules, and equipotential
bonding conductors.
• Use only connectors with a metal housing or a metalized housing.
• Connect the shielding in the connector over a wide surface area.
• Apply the shielding of the bus cable on both ends.
• Route signal and bus cables in separate cable ducts. Do not route them parallel to
power cables (motor leads).
• Use metallic, grounded cable racks in industrial environments.
• Route the signal cable and the corresponding equipotential bonding close to each
other using the shortest possible route.
• Avoid using plug connectors to extend bus cables.
• Route the bus cables closely along existing grounding surfaces.
3011902475
A View from front
B View from back
[1] Pin 1 TX+ Transmit Plus
[2] Pin 2 TX−Transmit Minus
[3] Pin 3 RX+ Receive Plus
[6] Pin 6 RX−Receive Minus
[3] [2] [1]
236
1
[6]
AB
INFORMATION
In accordance with IEC 802.3, the maximum permitted cable length for 100 MBd
Ethernet (100BaseT), e.g. between two FSE24B units, is 100 m.

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 13
4
Bus termination
Assembly and Installation Notes
4.5 Bus termination
Bus termination (e.g. with bus terminating resistors) is not necessary. If no slave is con-
nected to an EtherCAT®device, it recognizes this immediately.
4.6 Setting the station address
EtherCAT®devices from SEW-EURODRIVE do not have an address that can be set on
the unit. The units are detected by their position in the bus structure and are assigned
an address by the EtherCAT®master. The addresses can be displayed, for example,
using the FBG60B keypad (parameter P093).
You can set a fixed, additional device ID at the back of the FSE24B using the DIP
switches S1 and S2. The device ID can be read in MOVITOOLS®MotionStudio via pa-
rameter group P09_ or via SDO access to index 10497, subindex 3, from the EtherCAT®
master.
4.7 Status LEDs of FSE24B
The FSE24B EtherCAT®communication option has three LEDs that indicate the current
status of the FSE24B, the EtherCAT®system, and the connection to MOVITRAC®B.
INFORMATION
In case of fluctuations in the earth potential, a compensating current may flow via the
bilaterally connected shield that is also connected to the protective earth (PE). Make
sure you supply adequate equipotential bonding in accordance with relevant VDE reg-
ulations in such a case.
3012714763
FSE24B
RUN
ERR
SYS-F

14 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
4Status LEDs of FSE24B
Assembly and Installation Notes
4.7.1 LED RUN (green)
The RUN LED (green) indicates the status of the FSE24B communication option.
4.7.2 LED ERR (red)
The LED ERR (red) indicates an EtherCAT®error.
Condition State Description
Off INIT Option FSE24B communication option is in the state INIT.
Flashing PRE-OPERATIONAL Mailbox communication is possible but no process data
communication
Flashing once SAFE-OPERATIONAL Mailbox and process data communication is possible. The
slave outputs are not output yet.
On OPERATIONAL Mailbox and process data communication is possible.
Condition Error Description
Off No error The EtherCAT®communication of FSE24B is in the operat-
ing state.
Flickering Boot error A boot error was detected. The state INIT was achieved, but
the "Change" parameter in the AL status register has been
set to "0x01:change/error".
Flashing Invalid configuration General configuration error.
Flashing once Unprompted state
change
The slave application has changed the EtherCAT®state
automatically. The "Change" parameter in the AL state regis-
ter is set to "0x01:change/error".
Flashing twice Timeout of the appli-
cation watchdog
A watchdog timeout has occurred in the application.
Flashing three
times
Reserved -
Flashing four
times
Reserved -
On PDI watchdog timeout A PDI watchdog timeout occurred.

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 15
4
Status LEDs of FSE24B
Assembly and Installation Notes
Definition of display statuses
4.7.3 LED SYS-F (red)
The LED SYS-F (red) shows the status of the communication between the FSE24B front
module and MOVITRAC®B.
Display Definition Timeline
On Display is switched on permanently.
Off Display is switched off permanently.
Flickering The display switches between on and
off with a frequency of 10 Hz.
3013055499
Flickering once The display flickers once very shortly,
followed by an off phase.
3013416843
Flashing Display switches on and off at a fre-
quency of 2.5 Hz (200 ms on, 200 ms
off).
3013456907
Flashing once The display flashes once shortly (200
ms), followed by a longer off phase
(1000 ms).
3013459851
Flashing twice The display flashes twice in quick suc-
cession, followed by an off phase.
3013463435
Flashing three
times
The display flashes three times in quick
succession, followed by an off phase.
3013466379
Flashing four
times
The display flashes four times in quick
succession, followed by an off phase.
3014762123
on
off
50ms
50ms
50ms
on
off
on
off
200ms 200ms
200ms 1s
on
off
200ms 1s
on
off
200ms 200ms
200ms
on
off
200ms 200ms 1s200ms 200ms
200ms
on
off
200ms 200ms 1s200ms 200ms 200ms 200ms
Condition Error Description
Off No error Communication between the FSE24B front module and
MOVITRAC®B is without faults.
On No communication No communication between the FSE24B front module and
MOVITRAC®B.
Check the P88. parameters in MOVITRAC®B:
• Baud rate (CAN) = 500 kBd
• Profile (CAN) = MOVILINK®
• SBus address = 0

16 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
4Status LEDs of FSE24B
Assembly and Installation Notes
4.7.4 LED Link/Activity (green)
Each EtherCAT®port for incoming EtherCAT®cables (X30 IN) and outgoing EtherCAT®
cables (X30 OUT) has a "Link/Activity" LED. It indicates whether the EtherCAT®con-
nection to the preceding or following unit is available and active.
[1] = No function
3036161675
X47 X30 OUTX30 IN
12
LED "Link/Activity"
[1]

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 17
5
Validity of the XML file for the FSE24B communication option
Configuration and Startup
5 Configuration and Startup
This chapter contains information about the configuration of the EtherCAT®master and
startup of MOVITRAC®B for fieldbus operation.
5.1 Validity of the XML file for the FSE24B communication option
5.2 Configuration of the EtherCAT®master for MOVITRAC®B with XML file
5.2.1 XML file for running the FSE24 communication option on MOVITRAC®B
For the configuration of the EtherCAT®master, you can use a special XML file
(SEW_FSE24B.XML). Copy this file into a designated directory of your configuration
software.
Refer to the manuals of the respective configuration software for details on the proce-
dure.
The XML files standardized by the EtherCAT®Technology Group (ETG) can be read by
all EtherCAT®masters.
5.2.2 Project planning procedure
Proceed as follows to configure MOVITRAC®B with EtherCAT®fieldbus interface:
1. Install (copy) the XML file according to the requirements of your project planning soft-
ware. Once the file has been installed correctly, the unit appears next to the slave
stations (under SEW-EURODRIVE →Drives) with the designation MOVIT-
RAC+FSE24B.
2. Use the menu item [Insert] to add the unit to the EtherCAT®structure. The address
is assigned automatically. For easier identification, you can give the unit a name.
3. Select the process data configuration required for your application (see chapter
"PDO configuration").
4. Link the I/O or periphery data with the input and output data of the application pro-
gram.
After configuration, you can start the EtherCAT®communication. The LEDs RUN and
ERR indicate the communication status of FSE24B (see chapter "Status LEDs of
FSE24B").
5.2.3 Configuration of process data objects (PDO)
In the CoE (CAN application protocol over EtherCAT®) variant, EtherCAT®uses the pro-
cess data objects (PDO) defined in the CANopen standard for cyclic communication be-
INFORMATION
The latest versions of the XML files for FSE24B are available on the SEW website
(www.sew-eurodrive.com) under the heading "Software".
INFORMATION
Do not edit or amend the entries in the XML file. SEW assumes no liability for inverter
malfunctions caused by a modified XML file!

18 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
5Configuration of the EtherCAT®master for MOVITRAC®B with XML file
Configuration and Startup
tween master and slave. In line with CANopen, a difference is made between Rx (re-
ceive) and Tx (transmit) process data objects.
Rx process data
objects
Rx process data objects (Rx-PDO) are received by the EtherCAT®slave. They transport
process output data (control values, setpoints, digital output signals) from the
EtherCAT®master to the EtherCAT®slave.
Tx process data
objects
Tx process data objects (TX-PDO) are returned from the EtherCAT®slave to the
EtherCAT®master. They transfer process input data (actual values, statuses, digital
input information, etc.).
Two PDOs of different size can be used for cyclic process input and output data for com-
munication with the FSE24B of MOVITRAC®B.
•OutputData1 (standard 3 PO)
Static PDO with 3 cyclic process output data words that are connected in fixed con-
figuration with the standard process data of MOVITRAC®B (see "MOVITRAC®B
Communication and Fieldbus Unit Profile" manual).
•OutputData1 (standard 10 PO)
Static PDO with 10 cyclic process output data words that are connected in fixed con-
figuration with the standard process data of MOVITRAC®B (see "MOVITRAC®B
Communication and Fieldbus Unit Profile" manual). The process output data words
4 – 10 can only be used via IPOSplus®.
•InputData1 (standard 3 PI)
Static PDO with 3 cyclic process input data words that are connected in fixed config-
uration with the standard process data of MOVITRAC®B (see "MOVITRAC®B Com-
munication and Fieldbus Unit Profile" manual).
•InputData1 (standard 10 PI)
Static PDO with 10 cyclic process input data words that are connected in fixed con-
figuration with the standard process data of MOVITRAC®B (see "MOVITRAC®B
Communication and Fieldbus Unit Profile" manual). The process input data words 4
– 10 can only be used via IPOSplus®.
List of the possible process data objects (PDO) for FSE24B MOVITRAC®B
INFORMATION
• Either 3 or 10 process data words can be transmitted in each direction.
If, for example, PDO OutputData1 (standard 3 PO) is used, PDO InputData1 (stan-
dard 3 PI) must be used as well.
• Both input PDO or both output PDO may not be activated at the same time.
Index Size Name Mapping Sync Manager Sync Unit
1600hex
(5632dec)
6 bytes OutputData1 (standard 3 PO) Fixed con-
tent
20
1601hex
(5633dec)
20 bytes OutputData1 (standard 10 PO) Fixed con-
tent
20

Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT® 19
5
Configuration of the EtherCAT®master for MOVITRAC®B with XML file
Configuration and Startup
Example: Static PDO for 10 cyclic process data words
The process output data transported with OutputData1 are assigned according to the
following table. The process output data PO1 – PO3 can be linked with various process
data (control words, setpoints) via the process data configuration in the MOVITRAC®B
frequency inverter (see "MOVITRAC®B Communication and Fieldbus Unit Profile" man-
ual). The process output data PO4 – PO10 are only available in IPOSplus®.
Assignment of the preset process output data
1A00hex
(6656dec)
6 bytes InputData1 (standard 3 PI) Fixed con-
tent
30
1A01hex
(6657dec)
20 bytes InputData1 (standard 10 PI) Fixed con-
tent
30
Index Size Name Mapping Sync Manager Sync Unit
3015756555
PO 1 PO 2 PO 3 PO 4 PO 5 PO 6 PO 7 PO 8 PO 9 PO 10
MOVITRAC
®
Process Data 1...3 or
IPOS
plus®
Process Data 1...3
MOVI TRA C
®
Process Data 4...10
acycl. Mailbox
Comm unication
cycl. OutputData1
(Standard 10 PO)
IPOS
plus®
Index.Subindex Offset in the PDO Name Data type Size in bytes
3DB8.0hex
(15800.0dec)
0.0 PO1 UINT
2
3DB9.0hex
(15801.0dec)
2.0 PO2 UINT
3DBA.0hex
(15802.0dec)
4.0 PO3 UINT
3DBB.0hex
(15803.0dec)
6.0 PO4 UINT
3DBC.0hex
(15804.0dec)
8.0 PO5 UINT
3DBD.0hex
(15805.0dec)
10.0 PO6 UINT
3DBE.0hex
(15806.0dec)
12.0 PO7 UINT
3DBF.0hex
(15807.0dec)
14.0 PO8 UINT
3DC0.0hex
(15808.0dec)
16.0 PO9 UINT
3DC1.0hex
(15809.0dec)
18.0 PO10 UINT

20 Manual – MOVITRAC® B Communication Interface FSE24B EtherCAT®
5Configuration of the EtherCAT®master for MOVITRAC®B with XML file
Configuration and Startup
Example: Assignment of the preset process output data
The process input data transferred with InputData1 are permanently assigned according
to the following table. The process input data PI1 – PI3 can be linked with various pro-
cess data (status words, actual values) via the process data configuration in the
MOVITRAC®B frequency inverter (see "MOVITRAC®B Communication and Fieldbus
Unit Profile" manual). The process input data PI4 – PI10 are only available in IPOSplus®.
3015784203
Index.Subindex Offset in the PDO Name Data type Size in bytes
3E1C.0hex
(15900.0dec)
0.0 PI1 UINT
2
3E1D.0hex
(15901.0dec)
2.0 PI2 UINT
3E1E.0hex
(15902.0dec)
4.0 PI3 UINT
3E1F.0hex
(15903.0dec)
6.0 PI4 UINT
3E20.0hex
(15904.0dec)
8.0 PI5 UINT
3E21.0hex
(15905.0dec)
10.0 PI6 UINT
3E22.0hex
(15906.0dec)
12.0 PI7 UINT
3E23.0hex
(15907.0dec)
14.0 PI8 UINT
3E24.0hex
(15908.0dec)
16.0 PI9 UINT
3E25.0hex
(15909.0dec)
18.0 PI10 UINT
acycl. Mailbox
Communication
cycl. InputData1
(Standard 10 PI)
PI 1 PI 2 PI 3 PI 4 PI 5 PI 6 PI 7 PI 8 PI 9 PI 10
MOVITRAC
®
Process Data 1...3 or
IPOS
plus®
Process Data 1...3
MOVITRAC®
Process Data 4...10
IPOS
plus®