SEW-Eurodrive Moviaxis MS XFE24A User manual

Gearmotors \ Industrial Gear Units \ Drive Electronics \ Drive Automation \ Services
MOVIAXIS
®
MX Multi-Axis Servo Inverter
XFE24A EtherCAT
Fieldbus Interface
M anual
Edition 08/2007
11550619 / EN

SEW-EURODRIVE – Driving the world

Manual – XFE24A EtherCAT Fieldbus Interface 3
Contents
1 General Information ............................................................................................... 5
1.1 Structure of the safety notes ............................................................................ 5
1.2 Right to claim under warranty .......................................................................... 6
1.3 Exclusion of liability .......................................................................................... 6
1.4 Integral part of the product ............................................................................... 6
1.5 Documentation note ......................................................................................... 6
1.6 Product names and trademarks ....................................................................... 6
1.7 Waste disposal................................................................................................. 6
2 Safety Notes ........................................................................................................... 7
2.1 General information.......................................................................................... 7
2.2 Target group..................................................................................................... 7
2.3 Transport / putting into storage ........................................................................ 8
2.4 Installation / assembly...................................................................................... 8
2.5 Electrical Connection ....................................................................................... 8
2.6 Startup / operation............................................................................................ 8
3 Introduction ............................................................................................................ 9
3.1 Content of the manual...................................................................................... 9
3.2 Additional documentation................................................................................. 9
3.3 Features ........................................................................................................... 9
3.3.1 MOVIAXIS®and EtherCAT................................................................... 9
3.3.2 Access to all information..................................................................... 10
3.3.3 Cyclical data exchange via EtherCAT ................................................ 10
3.3.4 Acyclical data exchange via EtherCAT .............................................. 10
3.3.5 Configuration of the EtherCAT option card ......................................... 10
3.3.6 Monitoring functions............................................................................ 11
3.3.7 Diagnostics ......................................................................................... 11
3.3.8 PDO Editor.......................................................................................... 11
4 Assembly and Installation ................................................................................... 12
4.1 Prerequisites .................................................................................................. 12
4.2 Pin assignment............................................................................................... 13
4.3 Routing and shielding the bus cable .............................................................. 14
4.4 Bus termination .............................................................................................. 15
4.5 Setting the station address............................................................................. 15
4.6 Operating displays and settings ..................................................................... 16
5 EtherCAT Configuration and Startup ................................................................. 18
5.1 Validity of the XML files for XFE24A .............................................................. 18
5.2 Configuring the EtherCAT master for MOVIAXIS®using the XML file........... 18
5.2.1 XML file for operation with MOVIAXIS®.............................................. 18
5.2.2 Configuration procedure ..................................................................... 18
5.2.3 PDO configuration for operation in the MOVIAXIS®........................... 19
5.3 Settings on the MOVIAXIS®servo inverter using the example of
single-axis positioning .................................................................................... 22

4Manual – XFE24A EtherCAT Fieldbus Interface
Contents
6 Operating Behavior on EtherCAT ....................................................................... 25
6.1 Control of the MOVIAXIS®multi-axis servo inverter ...................................... 25
6.1.1 Control example in TwinCAT with MOVIAXIS®.................................. 26
6.1.2 EtherCAT timeout monitoring (MOVIAXIS®)....................................... 28
6.1.3 Response fieldbus timeout.................................................................. 29
6.2 Parameter setting via EtherCAT .................................................................... 30
6.2.1 SDO services READ and WRITE ....................................................... 30
6.2.2 Reading a parameter via TwinCAT (example).................................... 31
6.2.3 Writing a parameter via TwinCAT (example) ...................................... 32
6.3 Configuration return codes............................................................................. 34
6.3.1 Elements............................................................................................. 34
6.3.2 Error class........................................................................................... 34
6.3.3 Error code ........................................................................................... 34
6.3.4 Additional code ................................................................................... 34
6.3.5 List of implemented error codes for SDO services ............................. 35
7 Motion Control via EtherCAT .............................................................................. 36
7.1 EtherCAT introduction.................................................................................... 36
7.1.1 Speed setpoint interface (Velocity mode) ........................................... 39
7.1.2 Settings for Velocity mode (speed interface) ...................................... 40
7.1.3 Position setpoint interface (Position mode)......................................... 44
7.1.4 Settings for Position mode ................................................................. 45
7.2 Settings in the EtherCAT master.................................................................... 47
7.2.1 Settings for Velocity mode ................................................................. 47
7.2.2 Settings for Position mode ................................................................. 48
7.3 Example: TwinCAT ........................................................................................ 48
7.3.1 Velocity mode ..................................................................................... 50
8 Operating MOVITOOLS®MotionStudio via EtherCAT ...................................... 52
8.1 Introduction .................................................................................................... 52
8.2 Required hardware......................................................................................... 53
8.3 Required software .......................................................................................... 53
8.4 Installation ...................................................................................................... 53
8.5 Configuration of the mailbox gateway ............................................................ 54
8.6 Network settings on the engineering PC........................................................ 54
8.7 Configuration of the SEW communication server .......................................... 56
8.7.1 Establishing communication ............................................................... 56
8.7.2 Procedure ........................................................................................... 56
8.8 Automatic search for connected units (unit scan) .......................................... 58
8.9 Activating online operation ............................................................................. 59
8.10 Known problems when operating MOVITOOLS®MotionStudio .................... 59
9 Error Diagnostics ................................................................................................. 60
9.1 Diagnostic procedures ................................................................................... 60
9.2 List of errors ................................................................................................... 62
10 Technical Data...................................................................................................... 63
10.1 XFE24A option for MOVIAXIS®..................................................................... 63
11 Index...................................................................................................................... 64

Manual – XFE24A EtherCAT Fieldbus Interface 5
1
Structure of the safety notes
General Information
1 General Information
1.1 Structure of the safety notes
The safety notes in these operating instructions are structured as follows:
Symbol SIGNAL WORD
Nature and source of hazard.
Possible consequence(s) if disregarded.
• Measure(s) to avoid the hazard.
Symbol Signal Word Meaning Consequences if
disregarded
Example:
General hazard
Specific hazard,
e.g. electric shock
HAZARD Imminent hazard Severe or fatal injuries
WARNING Possible hazardous situation Severe or fatal injuries
CAUTION Possible hazardous situation Minor injuries
STOP Possible damage to property Damage to the drive system or its environ-
ment
NOTE Useful information or tip.
Simplifies drive system handling

6Manual – XFE24A EtherCAT Fieldbus Interface
1Right to claim under warranty
General Information
1.2 Right to claim under warranty
A requirement of fault-free operation and fulfillment of any rights to claim under limit-
ed warranty is that you adhere to the information in this manual and the "MOVIAXIS®
Multi-Axis Servo Inverter" operating instructions. Therefore, read the operating in-
structions before you start operating the unit!
Make sure that the operating instructions are available to persons responsible for the
system and its operation as well as to persons who work independently on the unit. You
must also ensure that the documentation is legible.
1.3 Exclusion of liability
You must comply with the information contained in this manual and the "MOVIAXIS®
Multi-Axis Servo Inverter" operating instructions to ensure safe operation of the
MOVIAXIS®multi-axis servo inverter and to achieve the specified product characteris-
tics and performance requirements. SEW-EURODRIVE assumes no liability for injury to
persons or damage to equipment or property resulting from non-observance of the op-
erating instructions. In such cases, any liability for defects is excluded.
1.4 Integral part of the product
This manual is an integral part of the EtherCAT XFE24A fieldbus interface and contains
important notes on operation and service.
1.5 Documentation note
• You must adhere to the information in the documentation to ensure:
– Fault-free operation
– Fulfillment of any rights to claim under limited warranty
• Consequently, read through this manual carefully before you start installation and
startup of the frequency inverters with the EtherCAT XFE24A option card.
• This manual assumes that the user has access to and is familiar with the
"MOVIAXIS®Multi-Axis Servo Inverter" operating instructions and the "MOVIAXIS®
Multi-Axis Servo Inverter" project planning manual.
1.6 Product names and trademarks
The brands and product names in this manual are trademarks or registered trademarks
of the titleholders.
1.7 Waste disposal
Please follow the current national regulations.
Dispose of the following materials separately in accordance with the country-specific
regulations in force, as:
• Electronics scrap
• Plastics
• Sheet metal
• Copper, etc.

Manual – XFE24A EtherCAT Fieldbus Interface 7
2
General information
Safety Notes
2 Safety Notes
The following basic safety notes are intended to prevent injury to persons and damage
to property. The operator must make sure that the basic safety notes are read and ob-
served. Make sure that persons responsible for the plant and its operation, as well as
persons who work independently on the unit, have read through this manual and the
"MOVIAXIS®Multi-Axis Servo Inverter" operating instructions carefully and understood
them." If you are unclear about any of the information in this documentation, or if you
require further information, please contact SEW-EURODRIVE.
2.1 General information
Never install damaged products or take them into operation. Submit a complaint to the
shipping company immediately in the event of damage.
During operation, multi-axis servo inverters can have live, bare and movable or rotating
parts as well as hot surfaces, depending on their enclosure.
Removing covers without authorization, improper use as well as incorrect installation or
operation may result in severe injuries to persons or damage to property.
Refer to the documentation for more information.
2.2 Target group
Only qualified personnel are authorized to install, startup or service the units or correct
unit faults (observing IEC 60364 or CENELEC HD 384 or DIN VDE 0100 and IEC 60664
or DIN VDE 0110 as well as national accident prevention guidelines).
Qualified personnel in the context of these basic safety notes are persons familiar with
installation, assembly, startup and operation of the product who possess the necessary
qualifications.
All activity in the other areas of transportation, storage, operation, and disposal must be
carried out by persons who are appropriately trained.
NOTE
This communication system allows you to adjust the MOVIAXIS®multi-axis servo in-
verter to a variety of different applications. As with all bus systems, there is a danger
of invisible, external (as far as the servo drive is concerned) modifications to the
parameters which give rise to changes in the unit behavior. This may result in
unexpected (not uncontrolled) system behavior.

8Manual – XFE24A EtherCAT Fieldbus Interface
2Transport / putting into storage
Safety Notes
2.3 Transport / putting into storage
You must observe the notes in the manual on transportation, storage and proper han-
dling.
2.4 Installation / assembly
Adhere to the instructions in section 4, "Mechanical Installation"
2.5 Electrical Connection
Observe the applicable national accident prevention guidelines when working on live
multi-axis servo inverters (for example, BGV A3).
Perform electrical installation according to the pertinent regulations (e.g. cable cross
sections, fusing, protective conductor connection). Additional information is contained in
the documentation.
You will find notes on EMC-compliant installation, such as shielding, grounding, ar-
rangement of filters and routing of lines, in the documentation of the multi-axis servo in-
verters. Always observe these notes even with multi-axis servo inverters bearing the CE
marking. The manufacturer of the system or machine is responsible for maintaining the
limits established by EMC legislation.
Preventive measures and protection devices must correspond to the regulations in force
(e.g. EN 60204 or EN 61800-5-1).
Required preventive measures: The unit must be grounded.
All electrical connection cables may only be plugged or unplugged in a de-energized
state.
2.6 Startup / operation
You are allowed to perform installation and startup of the EtherCAT XFE24A fieldbus
interface only when observing applicable accident prevention regulations and the
"MOVIAXIS®Multi-Axis Servo Inverter" operating instructions!
Adhere to the instructions in section 5, "EtherCAT Configuration and Startup".

Manual – XFE24A EtherCAT Fieldbus Interface 9
3
Content of the manual
Introduction
3 Introduction
3.1 Content of the manual
This user manual describes
•MOVIAXIS
®startup on the EtherCAT fieldbus system.
• The configuration of the EtherCAT master using XML files.
• Operating MOVITOOLS®MotionStudio via EtherCAT.
3.2 Additional documentation
For information on how to connect MOVIAXIS®straightforwardly and effectively to the
EtherCAT fieldbus system, in addition to this user manual on the EtherCAT option, you
should request the following publication:
•"MOVIAXIS
®Multi-Axis Servo Inverter" operating instructions
•"MOVIAXIS
®Multi-Axis Servo Inverter" project planning manual
The "MOVIAXIS®Multi-Axis Servo Inverter" project planning manual contains a list of all
parameters of the servo inverter that can be read or written via the various communica-
tion interfaces, such as system bus and also via the fieldbus interface.
3.3 Features
The MOVIAXIS®multi-axis servo inverter enables you to use the XFE24A option to con-
nect to higher-level automation systems via EtherCAT thanks to its powerful, universal
fieldbus interface.
3.3.1 MOVIAXIS®and EtherCAT
The unit behavior of the servo inverter which forms the basis of EtherCAT operation is
referred to as the unit profile. It is independent of any particular fieldbus and is therefore
a uniform feature. This feature allows the user to develop fieldbus-independent drive ap-
plications. This makes it much easier to change to other bus systems, such as Profibus
(option XFP11A).

10 Manual – XFE24A EtherCAT Fieldbus Interface
3Features
Introduction
3.3.2 Access to all information
MOVIAXIS®offers digital access to all drive parameters and functions via the EtherCAT
interface. The servo drive is controlled via fast, cyclic process data. Via this process data
channel, you can enter setpoints such as the setpoint speed, ramp generator time for
acceleration / deceleration, etc. as well as trigger various drive functions such as enable,
control inhibit, normal stop, rapid stop, etc. At the same time you can also use this chan-
nel to read back actual values from the servo inverter, such as actual speed, current,
unit status, error number or reference signals.
3.3.3 Cyclical data exchange via EtherCAT
Process data is usually exchanged cyclically between EtherCAT master and the
MOVIAXIS®multi-axis servo inverter. The cycle time is determined when configuring the
EtherCAT master.
3.3.4 Acyclical data exchange via EtherCAT
Acyclical READ- / WRITE services are introduced in line with the EtherCAT specifica-
tion. They are transmitted during normal cyclical operation along with the messages
without affecting the performance of the process data communication via EtherCAT.
READ / WRITE access to the drive parameters is enabled using SDO services (Service
Data Objects), which are implemented via CoE (CANopen over EtherCAT) or VoE ser-
vices (Vendor-specific over EtherCAT).
This parameter data exchange enables you to implement applications in which all the
important drive parameters are stored in the master programmable controller, so that
there is no need to make parameter settings manually on the servo drive itself.
3.3.5 Configuration of the EtherCAT option card
The EtherCAT option card is designed so that all specific fieldbus settings are made
when the EtherCAT system starts up. This means the servo inverter can be integrated
into the EtherCAT environment and switched on within a very short period of time.
61211AXX
Figure 1: EtherCAT with MOVIAXIS®
SEW
Drive
EtherCAT
Ethernet
Header
Frame
Header
EtherCAT
Header Data
...
EtherCAT
Master
SEW
Drive
SEW
Drive
FCS
I/O
Drive 1 Drive 2 Drive 3

Manual – XFE24A EtherCAT Fieldbus Interface 11
3
Features
Introduction
3.3.6 Monitoring functions
Using a fieldbus system requires additional monitoring functions for the drive technolo-
gy, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop concepts.
You can, for example, adapt the monitoring functions of MOVIAXIS®specifically to your
application. You can determine, for instance, which of the servo inverter’s fault respons-
es should be triggered in the event of a bus error. It is a good idea to use a rapid stop
function for many applications. However you can also freeze the last setpoints so that
the drive continues to operate with the most recently valid setpoints (for example, con-
veyor belt). As the range of functions for the control terminals is also guaranteed in field-
bus mode, you can continue to implement rapid stop concepts using the terminals of the
servo drive, irrespective of the fieldbus used.
3.3.7 Diagnostics
The MOVIAXIS®multi-axis servo inverter offers numerous diagnostic options for startup
and service. For example, you can use the integrated fieldbus monitor to control setpoint
values sent from the higher-level controller as well as the actual values.
3.3.8 PDO Editor
Furthermore, you are supplied with a variety of additional information about the status
of entire process data flow. The PDO Editor in conjunction with the MOVITOOLS®
MotionStudio PC software offers you an easy-to-use diagnostic tool for setting all drive
parameters (including the fieldbus parameters) and for displaying the fieldbus and unit
status information in detail.

12 Manual – XFE24A EtherCAT Fieldbus Interface
4Prerequisites
Assembly and Installation
4 Assembly and Installation
4.1 Prerequisites
For operation on EtherCAT bus systems, only MOVIAXIS®units that fulfill the following
criteria may be used:
• The designation "XFE24A" is on the nameplate,
• The component XFE24A has already been installed at the factory. For information
on the option card slots, refer to the "MOVIAXIS®Multi-Axis Servo Inverter" operat-
ing instructions.
62190axx
Figure 2: MOVIAXIS®axis system with XFE24A fieldbus card
NOTE
For the installation of the EtherCAT bus, you can use commercially available cables
that are intended for EtherCAT bus systems.
The EtherCAT cables are not included in the scope of delivery of SEW-EURODRIVE.

Manual – XFE24A EtherCAT Fieldbus Interface 13
4
Pin assignment
Assembly and Installation
4.2 Pin assignment
Use prefabricated, shielded RJ45 plug connectors compliant with IEC 11801, edition
2.0, category 5.
XFE24A - Ether-
CAT connection
The XFE24A option is equipped with a linear bus structure with two RJ45 connectors.
The EtherCAT master is connected (via EtherCAT slaves, if necessary) with a shielded
twisted pair cable to X30IN (RJ45). Other EtherCAT units are then connected vie
X31OUT (RJ45).
54174axx
Figure 3: Pin assignment of an RJ45 plug connector
A = Front view
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
According to IEC 802.3, the maximum cable length for 100 MBaud Ethernet is 100 m
(100BaseT), e.g. between 2 XFE24A interfaces.

14 Manual – XFE24A EtherCAT Fieldbus Interface
4Routing and shielding the bus cable
Assembly and Installation
4.3 Routing and shielding the bus cable
Only use shielded cables and connection elements that also meet the requirements of
category 5, class 2 according to IEC11801, edition 2.0.
Correct shielding of the bus cable attenuates electrical interference that may occur in
industrial 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 metallized housing.
• Connect the shielding in the connector over a wide surface area.
• Apply the shielding of the bus cables 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, if necessary,
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.
In case of fluctuations in the ground 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 according in accordance with relevant
VDE regulations in such a case.

Manual – XFE24A EtherCAT Fieldbus Interface 15
4
Bus termination
Assembly and Installation
4.4 Bus termination
A bus terminator (e.g. using bus terminating resistors) is not necessary. If no follow-up
unit is connected to an EtherCAT unit, this is automatically detected.
4.5 Setting the station address
The address of EtherCAT units from SEW-EURODRIVE cannot be set at the unit. These
units are recognized via their position in the bus structure and are then assigned an ad-
dress by the EtherCAT master. This can be displayed in MOVITOOLS®MotionStudio or
via Index 8454.0.

16 Manual – XFE24A EtherCAT Fieldbus Interface
4Operating displays and settings
Assembly and Installation
4.6 Operating displays and settings
Switch F1 must be set to position 0.
RUN LED green / orange
The LED RUN (green / orange) indicates the status of the XFE24A option.
ERR LED red
The LED ERR (red) indicates an EtherCAT error.
[1] Switch F1
• Switch position 0: Delivery condition
• Switch position 1: Reserved for added functions
[2] LED RUN; color: Green / orange
[3] LED ERR; color: Red
[4] LED link IN; color: Green
[5] LED link OUT; color: Green
[1]
[2]
[3]
[4]
[5]
Status State Description
Off INIT The XFE24A option is in the INIT state.
Flashing green PRE-OPERATIONAL The XFE24A option is in the PRE-OPERATIONAL state.
Flashing once
(green) SAFE-OPERATIONAL The XFE24A option is in the SAFE-OPERATIONAL state.
Green OPERATIONAL The XFE24A option is in the OPERATIONAL state.
Flickering green INITIALISATION or
BOOTSTRAP
• The XFE24 option is starting up and has not yet reached the INIT state.
• The XFE24A option is in the BOOTSTRAP state. The firmware is being down-
loaded.
Flashing orange NOT CONNECTED The XFE24A option was not yet addressed by an EtherCAT master after switching it
on.
Status Error Description
Off No error The EtherCAT communication of the XFE24A option is in operating state.
Flickering Boot error A boot error was detected. The INIT state was reached, but the "Change" parameter
in the AL status register is set to "0x01:change/error".
Flashing Invalid configuration General configuration error.
Flashing once Unprompted state
change
The slave application has changed the EtherCAT state by itself. The "Change" param-
eter in the AL state register is set to "0x01:change/error".
Flashing twice Timeout of the applica-
tion 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 – XFE24A EtherCAT Fieldbus Interface 17
4
Operating displays and settings
Assembly and Installation
LED link IN LED
link OUT
Each EtherCAT connection for incoming EtherCAT cables (X30) and outgoing Ether-
CAT cables (X31) has a "Link/Activity" LED. The LED shows whether the EtherCAT link
to the previous unit (X30) or the next unit (X31) in line exists / is active.
Definition of
display statuses
Display Definition Timeline
On The display is on permanently.
Off The display is off permanently.
Flickering
The display switches between on and
off in common mode with a frequency
of 10 Hz.
58094AXX
Flickering once The display flickers once very shortly,
followed by an off phase.
58095AXX
Flashing
The display switches between on and
off in common mode with a frequency
of 2.5 Hz (200 ms switched on, 200 ms
switched off). 58096AXX
Flashing once
The display flashes once shortly (200
ms), followed by a longer off phase
(1,000 ms).
58097AXX
Flashing twice The display flashes twice in quick suc-
cession, followed by an off phase.
58100AXX
Flashing three
times
The display flashes three times in quick
succession, followed by an off phase.
58101AXX
Flashing four
times
The display flashes four times in quick
succession, followed by an off phase.
58102AXX
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

18 Manual – XFE24A EtherCAT Fieldbus Interface
5Validity of the XML files for XFE24A
EtherCAT Configuration and Startup
5 EtherCAT Configuration and Startup
This section provides you with information on configuration of the EtherCAT master and
startup of the servo inverter for fieldbus operation.
5.1 Validity of the XML files for XFE24A
The XML file is necessary for using XFE24A as a fieldbus option in MOVIAXIS®.
5.2 Configuring the EtherCAT master for MOVIAXIS®using the XML file
5.2.1 XML file for operation with MOVIAXIS®
An XML file (SEW_XFE24A.XML) is provided for configuring the EtherCAT master . This
file must be copied into a special folder of your project planning software.
Refer to the manuals for the appropriate project planning software for details on the
procedure.
The XML files standardized by the EtherCAT Technology Group (ETG) can be read by
all EtherCAT masters.
5.2.2 Configuration procedure
Proceed as follows for configuring MOVIAXIS®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
MOVIAXIS+XFE24A.
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 a name to the unit.
3. Select the process data configuration required for your application (see section "PDO
configuration for operation in the MOVIAXIS®").
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 RUN and ERR
LEDs indicate the communication status of the XFE24A option (see section 4.6 "Oper-
ating displays and settings" and section 9 "Error Diagnostics").
The current version of the XML file for the XFE24A option card is available on the SEW
homepage (http://www.sew-eurodrive.de) under the heading "Software".
Entries in the XML file must not be changed or expanded. SEW assumes no liability for
servo inverter malfunctions caused by a modified XML file!
00
I

Manual – XFE24A EtherCAT Fieldbus Interface 19
5
Configuring the EtherCAT master for MOVIAXIS® using the XML file
EtherCAT Configuration and Startup
5.2.3 PDO configuration for operation in the MOVIAXIS®
In the CoE (CANopen over EtherCAT) version, EtherCAT uses the process data objects
(PDO) defined in the CANopen standard for cyclical communication between master
and slave. In line with CANopen, a difference is made between Rx (receive) and Tx
(transmit) process data objects.
Rx process data
objects
Rx process data objects (Rx-PDO) are received by the EtherCAT slave. They transfer
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 sent back to the EtherCAT master by the Ether-
CAT slave. They transfer process input data (actual values, statuses, digital input infor-
mation, etc.).
For communication with MOVIAXIS®via XFE24A, there is a PDO type available for cy-
clical process input and output data.
•OutputData1 (Standard 16 PO)
Static PDO with 16 cyclical process output data words which are permanently linked
with the standard process data of the MOVIAXIS®(→"MOVIAXIS®Multi-Axis Servo
Inverter" project planning manual).
•InputData1 (Standard 16 PI)
Static PDO with 16 cyclical process input data words which are permanently linked
with the standard process data of the MOVIAXIS®(→"MOVIAXIS®Multi-Axis Servo
Inverter" project planning manual).
List of possible process data objects (PDO) for XFE24A MOVIAXIS®
Index Size Name Mapping Sync Manager Sync Unit
1600hex
(5632dez)
32 Byte OutputData1 (Standard 16 PO) Fixed con-
tent
20
1A00hex
(5632dez)
32 Byte InputData1 (Standard 16 PI) Fixed con-
tent
30
61990AXX
Figure 4: Using process data objects OutputData1 and InputData1
EtherCAT
Master SEW
Drive
EtherCAT acycl. Mailbox
Communication
cycl. InputData1
(Standard 16 PI)
acycl. Mailbox
Communication
cycl. OutputData1
(Standard 16 PO)
Ethernet
Header
Frame
Header
EtherCAT
Header Data ... FCS
Drive
00
I

20 Manual – XFE24A EtherCAT Fieldbus Interface
5Configuring the EtherCAT master for MOVIAXIS® using the XML file
EtherCAT Configuration and Startup
Static PDO for 16
cyclical process
data words
The process output data transferred with OutputData1 are permanently assigned ac-
cording to the following table. The process output data PO1 ... PO16 can be linked to
different process data (control words, setpoints) via the PDO Editor in the MOVIAXIS®
multi-axis servo inverter (→"MOVIAXIS®Multi-Axis Servo Inverter" project planning
manual).
Assignment of the
permanently con-
figured process
output data for
PDO OutputData1
61992AXX
Figure 5: Assignment of standard process output data for OutputData1
PO 1 PO 2 PO 3 PO 4 PO 5 PO12 PO13 PO14 PO15 PO 16
acycl. Mailbox
Communication
cycl. OutputData1
(Standard 16 PO)
...
Index.Subindex Offset in the PDO Name Data type Size in bytes
3DB8.0hex
(15800.0dez) 0.0 PO1 UINT
2
3DB9.0hex
(15801.0dez) 2.0 PO2 UINT
3DBA.0hex
(15802.0dez) 4.0 PO3 UINT
3DBB.0hex
(15803.0dez) 6.0 PO4 UINT
3DBC.0hex
(15804.0dez) 8.0 PO5 UINT
3DBD.0hex
(15805.0dez) 10.0 PO6 UINT
3DBE.0hex
(15806.0dez) 12.0 PO7 UINT
3DBF.0hex
(15807.0dez) 14.0 PO8 UINT
3DC0.0hex
(15808.0dez) 16.0 PO9 UINT
3DC1.0hex
(15809.0dez) 18.0 PO10 UINT
3DC2.0hex
(15810.0dez) 20.0 PO11 UINT
3DC3.0hex
(15811.0dez) 22.0 PO12 UINT
3DC4.0hex
(15812.0dez) 24.0 PO13 UINT
3DC5.0hex
(15813.0dez) 26.0 PO14 UINT
3DC6.0hex
(15814.0dez) 28.0 PO15 UINT
3DC7.0hex
(15815.0dez) 30.0 PO16 UINT
00
I