Lenze EtherCAT control technology User Manual
Ä.eу'д, Pc-based automation l-force controls
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Table of contents
Document Outline
- KHBETCPCBAUTO
- Contents
- 1 About this documentation
- 2 Safety instructions
- 3 The "PC-based automation" system
- 4 The Lenze control system with EtherCAT
- 5 Technical data
- 6 Synchronisation with "Distributed clocks"
- 7 Commissioning of the system
- 7.1 Overview of commissioning steps
- 7.2 Detailed commissioning steps
- 7.2.1 Planning the bus topology
- 7.2.2 Installing field devices
- 7.2.3 Creating a project folder
- 7.2.4 Determining the physical EtherCAT configuration (fieldbus scan)
- 7.2.5 Configuration in the »Engineer«
- 7.2.6 Inserting devices available on the fieldbus into the »EtherCAT Configurator« project
- 7.2.7 Creating the configuration in the »EtherCAT Configurator«
- 7.2.8 Configuration in the »PLC Designer«
- 7.2.8.1 Set-up of control configuration
- 7.2.8.2 Creating a task
- 7.2.8.3 Configuring the communication parameters
- 7.2.8.4 Compiling project data
- 7.2.8.5 Logging on to the control system with the »PLC Designer«
- 7.2.8.6 Loading the control configuration onto the IPC
- 7.2.8.7 Loading the master configuration onto the EtherCAT master
- 7.2.8.8 Loading and starting the PLC program
- 7.3 Checking the system startup
- 7.4 Typical commissioning scenarios
- 7.5 Detailed overview of the commissioning steps
- 8 EtherCAT with CANopen or PROFIBUS
- 9 EtherCAT function libraries
- 9.1 Usability
- 9.2 Function blocks/functions required for a »PLC Designer« project (overview)
- 9.3 Properties of function blocks
- 9.4 The EC_T_STATE structure
- 9.5 Function blocks and functions for master/slave states
- 9.6 Functions for the network management
- 9.7 Function blocks and functions for diagnosing the network
- 9.8 Function blocks for CANopen over EtherCAT (CoE)
- 10 Defining the minimum cycle time of the PLC project
- 11 Diagnostics
- 11.1 Diagnostics with the »EtherCAT Configurator«
- 11.2 Diagnostics with the »PLC Designer«
- 11.3 Diagnostic codes
- 11.4 Logbook of the IPC
- 11.5 Error counters of the EtherCAT slaves
- 11.6 Error scenarios
- 11.6.1 Compilation error in »PLC Designer«
- 11.6.2 EtherCAT bus does not enter the Pre-Operational state
- 11.6.3 Control unit/PLC does not enter the RUN state
- 11.6.4 EtherCAT bus does not enter the Operational state
- 11.6.5 Error during EtherCAT data transmission
- 11.6.6 Shafts make clicking noises
- 11.6.7 Shafts do not rotate
- 11.6.8 Logbook message: "Cannot spawn Remote API Server"
- 11.6.9 Logbook message: "Ethernet cable not connected"
- 11.6.10 Logbook message: "Ethernet cable connected"
- 11.6.11 Logbook messages: "Slave at index X missing" with "Cyclic command WKC error ..."
- 11.6.12 Logbook message: "Cyclic command WKC error ..."
- 11.7 System error messages
- 11.8 SDO abort codes
- 12 Parameter reference
- 13 Index
- Contents