TR-Electronic MP-200 User manual

User Manual
Interface
TR-EMO-BA-GB-0022 v03 09/29/2020
Decentralized positioning drives
_Additional safety instructions
_EtherCAT communication
_Configuration / Parameterization
_Troubleshooting / Diagnosis
MP-200

TR-Electronic GmbH 2016, All Rights Reserved Printed in the Federal Republic of Germany
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D-78647 Trossingen
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Tel.: [phone]
Fax: [phone]
E-mail: [e-mail]
http://www.tr-electronic.de
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regulations is not permitted. Reproduction, translation as well as electronic and
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manufacturer. Violations shall be subject to claims for damages.
Subject to modifications
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Document information
Release date / Rev. date: 09/29/2020
Document / Rev. no.: TR-EMO-BA-GB-0022 v03
File name: TR-EMO-BA-GB-0022-03.docx
Author: MÜJ
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Contents
Contents.............................................................................................................................................. 3
List of tables ....................................................................................................................................... 8
List of figures...................................................................................................................................... 9
List of formulas................................................................................................................................... 9
Revision index .................................................................................................................................... 10
1 General information ........................................................................................................................ 11
1.1 Target group ........................................................................................................................... 11
1.2 Applicability............................................................................................................................. 11
1.3 References.............................................................................................................................. 12
1.4 Abbreviations used / Terminology .......................................................................................... 13
2 Additional safety instructions........................................................................................................ 15
2.1 Definition of symbols and instructions .................................................................................... 15
2.2 Organizational measures........................................................................................................ 15
3 Technical data.................................................................................................................................. 16
3.1 Current firmware versions....................................................................................................... 16
3.2 Electrical characteristics ......................................................................................................... 16
3.3 EtherCAT / DS-402................................................................................................................. 17
3.4 CE Conformity......................................................................................................................... 18
4 EtherCAT Information ..................................................................................................................... 19
4.1 EtherCAT functional principle................................................................................................. 19
4.2 Protocol................................................................................................................................... 20
4.3 EtherCAT State Machine (ESM)............................................................................................. 21
4.3.1 Transition into the OPERATIONAL state................................................................ 22
4.4 Device profile.......................................................................................................................... 23
4.4.1 CANopen over EtherCAT (CoE)............................................................................. 24
4.5 Object dictionary..................................................................................................................... 25
4.6 Process and Service Data Objects......................................................................................... 25
4.6.1 Compatibility with the CiA DS-301 communication profile...................................... 26
4.7 Transmission of SDO messages............................................................................................ 27
4.8 PDO mapping ......................................................................................................................... 29
4.9 Further information ................................................................................................................. 29
5 DSP 402 drive profile....................................................................................................................... 30
5.1 DSP 402 state machine.......................................................................................................... 31

Contents
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5.1.1 Operating condition................................................................................................. 32
5.1.2 State transitions ...................................................................................................... 33
5.1.3 Change mode of operation ..................................................................................... 34
5.2 “Profile Position (PP)” operating mode ................................................................................... 35
5.2.1 Control word............................................................................................................ 35
5.2.2 Status word............................................................................................................. 36
5.2.3 Perform positioning................................................................................................. 37
5.2.3.1 Absolute / relative positioning.................................................................... 38
5.2.3.2 Transfer of new movement records........................................................... 39
5.2.3.3 Termination of a positioning movement .................................................... 39
5.2.3.4 Relevant parameters ................................................................................. 39
5.3 “Profile Velocity (PV)” operating mode ................................................................................... 40
5.3.1 Control word............................................................................................................ 40
5.3.2 Status word............................................................................................................. 41
5.3.3 Perform speed ramp............................................................................................... 42
5.3.4 Relevant parameters............................................................................................... 43
5.4 “Homing (HM)” operating mode.............................................................................................. 44
5.4.1 Control word............................................................................................................ 44
5.4.2 Status word............................................................................................................. 45
5.4.3 Perform position adjustment................................................................................... 46
5.4.4 Relevant parameters............................................................................................... 46
5.5 “Cyclic Synchronous Position (CSP)” operating mode ........................................................... 47
5.5.1 Control word............................................................................................................ 47
5.5.2 Status word............................................................................................................. 48
5.5.3 Perform operating mode......................................................................................... 49
5.5.4 Relevant parameters............................................................................................... 49
5.6 “Cyclic Synchronous Velocity (CSV)” operating mode ........................................................... 50
5.6.1 Control word............................................................................................................ 50
5.6.2 Status word............................................................................................................. 51
5.6.3 Perform operating mode......................................................................................... 52
5.6.4 Relevant parameters............................................................................................... 52
5.7 “Cyclic Synchronous Torque (CST)” operating mode............................................................. 53
5.7.1 Control word............................................................................................................ 53
5.7.2 Status word............................................................................................................. 54
5.7.3 Perform operating mode......................................................................................... 55
5.7.4 Relevant parameters............................................................................................... 55
5.8 Units........................................................................................................................................ 56
5.8.1 Object 0x608F: Position encoder resolution........................................................... 56
5.8.2 Object 0x6090: Speed encoder resolution.............................................................. 56
5.8.3 Object 0x6093: Position factor................................................................................ 57
5.8.4 Object 0x6094: Speed factor .................................................................................. 59
5.8.5 Object 0x6097: Acceleration factor......................................................................... 61
6 Installation- / connection notes, pin assignments....................................................................... 66
7 Optional holding brake / ballast circuit......................................................................................... 67
8 Commissioning................................................................................................................................ 67
8.1 Device description file............................................................................................................. 67

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9 Object directory............................................................................................................................... 68
9.1 Object types, data types ......................................................................................................... 68
9.2 Communication-Specific Standard Objects CiA DS-301........................................................ 69
9.2.1 Object 0x1000: Device Type................................................................................... 70
9.2.2 Object 0x1001: Error Register ................................................................................ 70
9.2.3 Object 0x1003: Pre-defined Error Field .................................................................. 71
9.2.4 Object 0x1008: Manufacturer's Device Name........................................................ 72
9.2.5 Object 0x1009: Manufacturer's Hardware Version................................................. 72
9.2.6 Object 0x100A: Manufacturer's Software Version.................................................. 72
9.2.7 Object 0x1010: Save Backup Parameters.............................................................. 73
9.2.8 Object 0x1011: Reset Backup Parameters............................................................. 74
9.2.9 Object 0x1018: Identity........................................................................................... 75
9.2.10 Structure of the mapping parameter..................................................................... 76
9.2.10.1 Objects 0x1600-0x1601: Receive PDO mapping.................................... 77
9.2.10.2 Objects 0x1A00-0x1A01: Transmit PDO mapping.................................. 78
9.2.11 Object 0x1C00: Sync Manager Communication Type.......................................... 79
9.2.12 Object 0x1C12: SM2 PDO assignment ................................................................ 81
9.2.13 Object 0x1C13: SM3 PDO assignment ................................................................ 82
9.3 Manufacturer-specific objects................................................................................................. 83
9.3.1 Object 0x2EF3: TrAbeData.MVI16 ......................................................................... 83
9.3.2 Object 0x2F04: DS402M.MPU32 ........................................................................... 85
9.3.3 Object 0x2F0E: DS402M.MPX ............................................................................... 89
9.4 Objects of the DSP 402 device profile.................................................................................... 91
9.4.1 Object 0x6007: Abort Connection Code ................................................................. 93
9.4.2 Object 0x603F: Error Code..................................................................................... 93
9.4.3 Object 0x6040: Control word .................................................................................. 93
9.4.4 Object 0x6041: Status word.................................................................................... 94
9.4.5 Object 0x605A: Quick Stop Option Code ............................................................... 94
9.4.6 Object 0x605B: Shutdown Option Code................................................................. 95
9.4.7 Object 0x605C: Disable Operation Option Code.................................................... 95
9.4.8 Object 0x605D: Stop Option Code ......................................................................... 96
9.4.9 Object 0x605E: Fault Reaction Option Code.......................................................... 96
9.4.10 Object 0x6060: Operation Mode........................................................................... 97
9.4.11 Object 0x6061: Operation Mode Display.............................................................. 97
9.4.12 Object 0x6062: Required Position ........................................................................ 97
9.4.13 Object 0x6064: Actual Position............................................................................. 98
9.4.14 Object 0x6065: Following Error Window............................................................... 98
9.4.15 Object 0x6066: Following Error Timeout .............................................................. 98
9.4.16 Object 0x6067: In-Position Window...................................................................... 99
9.4.17 Object 0x6068: In-Position Timeout...................................................................... 99
9.4.18 Object 0x6069: Sensor Velocity............................................................................ 99
9.4.19 Object 0x606B: Required Velocity........................................................................ 100
9.4.20 Object 0x606C: Actual Velocity ............................................................................ 100
9.4.21 Object 0x606D: Velocity Window.......................................................................... 100
9.4.22 Object 0x606E: Velocity Window Timeout............................................................ 101
9.4.23 Object 0x606F: Velocity Threshold....................................................................... 101
9.4.24 Object 0x6070: Velocity Threshold Timeout......................................................... 101
9.4.25 Object 0x6071: Target Torque.............................................................................. 102
9.4.26 Object 0x6072: Torque Limit................................................................................. 102
9.4.27 Object 0x6073: Limit for Torque generating Current ............................................ 102
9.4.28 Object 0x6074: Required Torque.......................................................................... 103
9.4.29 Object 0x6075: Motor rated Current/mA............................................................... 103

Contents
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9.4.30 Object 0x6076: Motor rated Torque/mNm............................................................ 103
9.4.31 Object 0x6077: Actual Torque .............................................................................. 104
9.4.32 Object 0x6078: Actual Current.............................................................................. 104
9.4.33 Object 0x6079: Actual DC Link Circuit Voltage/mV.............................................. 104
9.4.34 Object 0x607A: Target Position............................................................................ 105
9.4.35 Object 0x607B: Position Range Limits ................................................................. 105
9.4.36 Object 0x607C: Home Offset................................................................................ 106
9.4.37 Object 0x607D: Software Position Limits.............................................................. 106
9.4.38 Object 0x607E: Polarity ........................................................................................ 107
9.4.39 Object 0x607F: Max Profile Velocity..................................................................... 107
9.4.40 Object 0x6080: Max Motor Speed ........................................................................ 107
9.4.41 Object 0x6081: Profile Velocity............................................................................. 108
9.4.42 Object 0x6083: Profile Acceleration...................................................................... 108
9.4.43 Object 0x6084: Profile Deceleration ..................................................................... 108
9.4.44 Object 0x6085: Quick Stop Deceleration.............................................................. 109
9.4.45 Object 0x608F: Position Encoder Resolution....................................................... 109
9.4.46 Object 0x6090: Velocity Encoder Resolution........................................................ 110
9.4.47 Object 0x6093: Position Factor............................................................................. 111
9.4.48 Object 0x6094: Velocity Encoder Factor .............................................................. 112
9.4.49 Object 0x6097: Acceleration Factor...................................................................... 113
9.4.50 Object 0x6098: Homing Method ........................................................................... 113
9.4.51 Object 0x6099: Homing speeds............................................................................ 114
9.4.52 Object 0x609A: Homing Acceleration................................................................... 114
9.4.53 Object 0x60B0: Position Offset............................................................................. 115
9.4.54 Object 0x60B1: Velocity Offset............................................................................. 115
9.4.55 Object 0x60B2: Torque Offset .............................................................................. 115
9.4.56 Object 0x60C5: Max Acceleration ........................................................................ 116
9.4.57 Object 0x60C6: Max Deceleration........................................................................ 116
9.4.58 Object 0x60F4: Following Error ............................................................................ 116
9.4.59 Object 0x60FD: Digital Inputs............................................................................... 117
9.4.60 Object 0x60FE: Digital Outputs ............................................................................ 117
9.4.61 Object 0x60FF: Target Velocity ............................................................................ 118
9.4.62 Object 0x6402: Motor Type .................................................................................. 118
9.4.63 Object 0x6502: Supported Drive Modes............................................................... 118
9.4.64 Object 0x6508: Runtime in 0.1 hours ................................................................... 119
9.4.65 Object 0x6510: Measuring Range in revolutions.................................................. 119
10 Projecting with TwinCAT System Manager V2.10...................................................................... 120
10.1 Installation of the ESI file ...................................................................................................... 120
10.2 Connection of the encoTRive device.................................................................................... 120
10.3 Creation of a TwinCAT project for an encoTRive device ..................................................... 121
10.4 Changing data objects.......................................................................................................... 122
10.5 Storing and resetting backup parameters............................................................................. 123
10.6 Stop conditions, Digital Inputs and Hardware Limit Switches .............................................. 124
10.6.1 Turning on the drive.............................................................................................. 124
10.6.2 Stop conditions: Priorities, Behavior..................................................................... 124
10.6.3 Control of the Digital Inputs................................................................................... 127
10.6.4 Operation of the Digital Inputs as Limit Switches ................................................. 128
10.7 Control word and Status word .............................................................................................. 131
10.7.1 General ................................................................................................................. 131
10.7.2 Status bit 27- Warning.......................................................................................... 131

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10.7.3 Status bit 29- Remote........................................................................................... 131
10.7.4 Status bit 210 - Target Reached ............................................................................ 131
10.7.5 Status bit 211 - Internal limit active ........................................................................ 132
10.7.6 Status bit 212 - Set-point-acknowledge, Zero Speed ............................................ 132
10.7.7 Status bit 213 - Following error .............................................................................. 132
10.8 Profile Position Mode (operating mode 1) ............................................................................ 133
10.9 Profile Velocity Mode (operating mode 3) ............................................................................ 136
10.10 Cyclic synchronous modes (operating modes 8, 9, 10) ..................................................... 137
10.11 Backup-EEPROM, runtime................................................................................................. 137
10.12 Position adjustment by Homing (operating mode 6) .......................................................... 138
10.13 Manual tuning of the position and speed regulation........................................................... 141
10.14 Gear backlash cancellation (Opmodes -48=0xD0)............................................................. 143
11 TwinCAT System Manager –Example program (Download).................................................... 144
12 Troubleshooting and diagnosis options..................................................................................... 145
12.1 SDO error codes................................................................................................................... 145
12.2 EMCY error information........................................................................................................ 146
12.2.1 EncoTRive RE - Emergencies.............................................................................. 146
12.2.2 Error register, object 0x1001 ................................................................................ 146
12.2.3 Error code, object 0x1003 (Bit 0-15)..................................................................... 147
12.2.3.1 General.................................................................................................... 147
13 EncoTRive RE - Accessories, Test Setup................................................................................... 151
13.1 Power supply cables with Solenoid Valve or M23 Connectors ............................................ 151
13.2 Test parameters for "EncoTRive RELC" .............................................................................. 151
14 EtherCAT Conformance Test Tool 1.20.80.0 .............................................................................. 152

List of tables
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List of tables
Table 1: References.............................................................................................................................. 12
Table 2: Abbreviations used / Terminology........................................................................................... 14
Table 3: States, State Machine ............................................................................................................. 21
Table 4: States of the status word......................................................................................................... 32
Table 5: Operating states, status word.................................................................................................. 32
Table 6: State transitions....................................................................................................................... 34
Table 7: Change operating state........................................................................................................... 34
Table 8: Control word (object 0x6040), “Profile Position” operating mode ........................................... 35
Table 9: Status word (object 0x6041), “Profile Position” operating mode............................................. 36
Table 10: Positioning parameter ........................................................................................................... 39
Table 11: Control word (object 0x6040), “Profile velocity” operating mode .......................................... 40
Table 12: Status word (object 0x6041), “Profile velocity” operating mode............................................ 41
Table 13: Speed ramp parameter ......................................................................................................... 43
Table 14: Control word (object 0x6040), “Homing” operating mode..................................................... 44
Table 15: Status word (object 0x6041), “Homing” operating mode....................................................... 45
Table 16: Definition of the homing status bits 10, 12, 13 ...................................................................... 45
Table 17: Control word (object 0x6040), “Cyclic synchronous position (CSP)” operating mode .......... 47
Table 18: Status word (object 0x6041), “Cyclic synchronous position (CSP)” operating mode ........... 48
Table 19: Control word (object 0x6040), “Cyclic synchronous velocity (CSV)” operating mode .......... 50
Table 20: Status word (object 0x6041), “Cyclic synchronous velocity (CSV)” operating mode............ 51
Table 21: Control word (object 0x6040), “Cyclic synchronous torque (CST)” operating mode ............ 53
Table 22: Status word (object 0x6041), “Cyclic synchronous torque (CST)” operating mode.............. 54
Table 23: Object codes in encoTRive ................................................................................................... 68
Table 24: Attributes ............................................................................................................................... 68
Table 25: encoTRive data types............................................................................................................ 68
Table 26: Communication specific standard objects............................................................................. 69
Table 27: Profile specific objects........................................................................................................... 92
Table 28: Values for Quick Stop Option Code ...................................................................................... 94
Table 29: Values for Shutdown Option Code........................................................................................ 95
Table 30: Values for Disable Operation Option Code........................................................................... 95
Table 31: Values for Halt Option Code.................................................................................................. 96
Table 32: Values for Fault Reaction Option Code................................................................................. 96
Table 33: Values for operating mode .................................................................................................... 97
Table 34: Direction reversal................................................................................................................. 107
Table 35: SDO Abort Codes................................................................................................................ 145
Table 36: EMCY Error register, object 0x1001.................................................................................... 146
Table 37: EMCY Error code, object 0x1003........................................................................................ 150

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List of figures
Figure 1: EtherCAT functional principle................................................................................................. 19
Figure 2: Ethernet frame structure ........................................................................................................ 20
Figure 3: EtherCAT state machine........................................................................................................ 21
Figure 4: CANopen over EtherCAT communication mechanism.......................................................... 23
Figure 5: CANopen organized in the ISO/OSI layer model................................................................... 24
Figure 6: EtherCAT organized in the ISO/OSI layer model................................................................... 24
Figure 7: Structure of the object dictionary............................................................................................ 25
Figure 8: Comparison of PDO/SDO characteristics.............................................................................. 25
Figure 9: DSP 402 state machine ......................................................................................................... 31
Figure 10: Positioning ramp................................................................................................................... 37
Figure 11: Absolute positioning (top) and relative positioning (bottom)................................................ 38
Figure 12: Speed ramp.......................................................................................................................... 42
Figure 13: Cyclic synchronous position control function (CSP) ............................................................ 49
Figure 14: Cyclic synchronous velocity control function (CSV)............................................................. 52
Figure 15: Cyclic synchronous torque control function (CST)............................................................... 55
List of formulas
Formula 1: Position encoder resolution................................................................................................. 56
Formula 2: Default value, position encoder resolution.......................................................................... 56
Formula 3: Speed encoder resolution ................................................................................................... 56
Formula 4: Default value, speed encoder resolution............................................................................. 56
Formula 5: Position factor...................................................................................................................... 57
Formula 6: Gear ratio ............................................................................................................................ 57
Formula 7: Default value, position factor............................................................................................... 57
Formula 8: Speed factor........................................................................................................................ 59
Formula 9: Default value, speed factor ................................................................................................. 59
Formula 10: Acceleration factor ............................................................................................................ 61
Formula 11: Default for acceleration factor ........................................................................................... 61

Revision index
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Revision index
Revision
Date
Index
First release
11/23/16
00
TwinCAT System Manager –Example program (Download)
02/06/17
01
Added chapters:
- 3.1, Current firmware versions
- 9.3.3, Object 0x2F0E: DS402M.MPX
- 10.6, Stop conditions, Digital Inputs and Hardware Limit Switches
- 10.7, Control word and Status word
- 12.2.1,EncoTRive RE - Emergencies
Diverse corrections in the chapters:
- 10.5, Storing and resetting backup parameters
- 10.8, Profile Position Mode (operating mode 1)
- 10.9, Profile Velocity Mode (operating mode 3)
Reference to the EtherCAT Conformance Test Tool:
- 10, Projecting with TwinCAT System Manager V2.10
02/14/17
02
Adaptations, up to point of time: MAH 6-May-2019; in document
“EncoTRiveReManualEng.rtf”. The document is now fully integrated and no
longer needs to be referenced.
09/29/20
03