Presented by: Hermann Kamphues Klaus Zimmer

Presented by:
Hermann Kamphues
Klaus Zimmer
Compax3 with EtherCAT
Agenda:
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ƒ
Overview
ƒ
Settings for Compax3
ƒ
Operation modes DS402
ƒ
XML-Files
ƒ
Available EtherCAT Masters
ƒ
Application examples
Agenda
Electromechanical Division Europe
• EtherCat option for EME Drives
• Ethernet based Real Time Communication
• CAN over EtherCat (CoE) Protocol
• Beckhoff master and also other suppliers
• SLVD-N EtherCat
• SLVD-N EtherCat option
• Launched
• C3 EtherCat
• C3 EtherCat option card (I31)
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Compax3 S/M/H/F with EtherCat
EtherCat
‹ Profil: Motion Control CiADS402
‹ 100 Mbits (Fast Ethernet)
(Launch done 2008)
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C3 I31 EtherCAT
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view
C3 I31 EtherCAT
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view
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Object 6060h: Modes of operation
This object shall indicate the requested operation mode.
NOTE This object shows only the value of the requested
operation mode, the actual operation mode of the PDS is
reflected in the object modes of operation display.
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-128 to -1
0
+1
+2
+3
+4
+5
+6
+7
+8
+9
+10
+11 to +127
Manufacturer-specific operation modes
No mode change/no mode assigned
Profile position mode
Velocity mode
Profile velocity mode
Torque profile mode
Reserved
Homing mode
Interpolated position mode
Cyclic sync position mode
Cyclic sync velocity mode
Cyclic sync torque mode
Reserved
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C3 I31 EtherCAT
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mapping
C3 I31 EtherCAT
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mapping
Settings for Compax3
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C3 I31 EtherCAT
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Signal structure
mapping
communication
PLC => C3
<- pointer!
Switch off: 819.3
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mapping
communication
PLC <= C3
Switch off : 819.4
<- pointer!
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Synchronizations method
Selection of the synchronization method
the selection is made via object 820.24
PLL synchronization (Object 820.24 = 0)
During the PLL synchronization, the system
clock of the slave device is synchronized to the
system clock
Timestamp method (Object 820.24 = 1)
During the timestamp method, the slave is not
synchronized to the master clock.
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Interpolation method
Setting the interpolation method via object 3925.1 (CANopen No.: 0x60C0.0)
ƒ 0=linear Interpolation (Default)
ƒ-1=linear Interpolation
ƒ-2=Quadratic Interpolation
ƒ-3=Cubical (Spline-) Interpolation
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Interpolationmode
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Interpolationmode
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Interpolationmode
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C3 I31 EtherCAT link
C3 I31 T11 EtherCat
Application_Compax3_controlled_TwinCAT_v09_eng.pdf
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