Document Outline

• KHBETCPCBAUTO
  • Contents
    • 1 About this documentation
      • 1.1 Document history
      • 1.2 Conventions used
      • 1.3 Terminology used
      • 1.4 Notes used
    • 2 Safety instructions
    • 3 The "PC-based automation" system
    • 4 The Lenze control system with EtherCAT
      • 4.1 Brief description of EtherCAT
        • 4.1.1 Features
        • 4.1.2 Structure of the EtherCAT bus system
        • 4.1.3 Communication
          • 4.1.3.1 The EtherCAT state machine
          • 4.1.3.2 Addressing of the slaves
          • 4.1.3.3 Working counter
      • 4.2 Required hardware components
        • 4.2.1 The industrial PC - the central component
        • 4.2.2 Field devices
        • 4.2.3 EtherCAT product codes
        • 4.2.4 EtherCAT hardware for the industrial PC
      • 4.3 Required engineering tools
      • 4.4 Interaction of the components
        • 4.4.1 The state machine of the Lenze control technology
        • 4.4.2 Communication between engineering PC and field devices
          • 4.4.2.1 EtherCAT bus not in operation
          • 4.4.2.2 EtherCAT bus in operation (gateway function)
    • 5 Technical data
      • 5.1 General data of the EtherCAT bus
      • 5.2 MC-ETC communication card
      • 5.3 Communication times and drive-specific data
    • 6 Synchronisation with "Distributed clocks"
      • 6.1 Synchronous communication
      • 6.2 Adjusting task cycle time and DC cycle time
      • 6.3 Setting the DC synchronisation with the »EtherCAT Configurator«
      • 6.4 Check of the DC synchronicity
    • 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)
          • 7.2.4.1 Fieldbus scan with the »EtherCAT Configurator«
          • 7.2.4.2 Fieldbus scan with the »scandf« command line tool
        • 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«
          • 7.2.7.1 Setting up the EtherCAT configuration in the device tree
          • 7.2.7.2 Importing missing field devices
          • 7.2.7.3 Setting up a DC synchronisation
          • 7.2.7.4 Set SoftMotion parameters.
          • 7.2.7.5 Executing PDO mapping
          • 7.2.7.6 Editing the EtherCAT I/O image
          • 7.2.7.7 Export of EtherCAT configuration
        • 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
        • 7.3.1 Evaluation of the boot-up error message of the SM_DriveBasic.lib library
        • 7.3.2 Evaluation of the Axis_IO_Group state
        • 7.3.3 Evaluation of the axis state
      • 7.4 Typical commissioning scenarios
        • 7.4.1 Switching on a completely configured system
        • 7.4.2 Switching on a system with an incomplete configuration
        • 7.4.3 Updating the PLC application while the EtherCAT configuration remains unchanged
        • 7.4.4 Stopping and starting the PLC while the configuration remains unchanged
      • 7.5 Detailed overview of the commissioning steps
    • 8 EtherCAT with CANopen or PROFIBUS
      • 8.1 Addressing the PROFIBUS and CANopen stations
      • 8.2 Addressing EtherCAT nodes using CANopen/PROFIBUS nodes
    • 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
        • 9.5.1 ecatStartAsync (FB)
        • 9.5.2 ecatStopAsync (FB)
        • 9.5.3 ecatSetMasterStateAsync (FB)
        • 9.5.4 ecatSetSlaveStateAsync (FB)
        • 9.5.5 ecatGetMasterState (FUN)
        • 9.5.6 ecatGetSlaveState (FUN)
        • 9.5.7 ecatGetSlaveStateAsync (FB)
      • 9.6 Functions for the network management
        • 9.6.1 ecatMasterIsConfigured (FUN)
        • 9.6.2 ecatGetSlaveId (FUN)
        • 9.6.3 ecatGetSlaveIdAtPosition (FUN)
        • 9.6.4 ecatGetSlaveProp (FUN)
      • 9.7 Function blocks and functions for diagnosing the network
        • 9.7.1 ecatGetNumConfiguredSlaves (FUN)
        • 9.7.2 ecatGetNumConnectedSlaves (FUN)
        • 9.7.3 ECATDiagnostic (FB)
        • 9.7.4 ResetMasterStatus (FB)
        • 9.7.5 SMC_ETCErrorString (FUN)
        • 9.7.6 L_ECAT_ReadErrCnt (FB)
        • 9.7.7 L_ECAT_ResetErrCnt (FB)
        • 9.7.8 The global EtherCAT master structure ECAT_MASTER
          • 9.7.8.1 Definition in the SM_EtherCAT.lib library
          • 9.7.8.2 The data type ECAT_STATE
          • 9.7.8.3 Variables
          • 9.7.8.4 Notifications
          • 9.7.8.5 Setting and resetting the master structure
      • 9.8 Function blocks for CANopen over EtherCAT (CoE)
        • 9.8.1 ecatCoeSdoDownloadReq (FB)
        • 9.8.2 ecatCoeSdoUploadReq (FB)
    • 10 Defining the minimum cycle time of the PLC project
      • 10.1 Calculating the total access time to the peripheral devices (TCorrection)
      • 10.2 Detecting the task utilisation of the application (TTask utilisation)
        • 10.2.1 Display of the system utilisation in the »PLC Designer« with the task editor
        • 10.2.2 Detecting the task utilisation
      • 10.3 Calculating the minimum cycle time
      • 10.4 Optimising the system
    • 11 Diagnostics
      • 11.1 Diagnostics with the »EtherCAT Configurator«
        • 11.1.1 "Diagnostics" tab
        • 11.1.2 Representation in the online mode
      • 11.2 Diagnostics with the »PLC Designer«
        • 11.2.1 VISU_ETHERCATMaster visualisation template
        • 11.2.2 VISU_ECATDiagnostic visualisation template
        • 11.2.3 The global variable wState
        • 11.2.4 Error scenario (example)
      • 11.3 Diagnostic codes
      • 11.4 Logbook of the IPC
        • 11.4.1 Displaying the EtherCAT entries of the logbook
        • 11.4.2 Messages in the logbook of the industrial PC
      • 11.5 Error counters of the EtherCAT slaves
        • 11.5.1 Error types: "Errors" and "Forwarded Errors"
        • 11.5.2 Error counter reset from the application
      • 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
        • 11.7.1 IPC logbook messages
        • 11.7.2 General error codes (0x00000000hex, 0x98110001 ... 0x98110038hex)
        • 11.7.3 CANOpen over EtherCAT (CoE) SDO error codes (0x98110040 ... 0x9811005Dhex)
        • 11.7.4 Remote API error codes (0x98110181 ... 0x98110196hex)
      • 11.8 SDO abort codes
    • 12 Parameter reference
      • 12.1 Parameters of the MC-ETC communication card in slot 1
      • 12.2 Interface parameters of the MC-ETC communication card in slot 1
      • 12.3 Parameters of the MC-ETC communication card in slot 2
      • 12.4 Interface parameters of the MC-ETC communication card in slot 2
    • 13 Index