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.