英威腾SV-DA100交流伺服驱动器EtherCAT技术指南_V1.00
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3 CiA402 设备规约 ........................................................................................................................................................................................... 9 3.1 CANopen over EtherCAT(CoE)状态机..................................................................................................................................................9
4.2 Overview of Object Group 1000h..........................................................................................................................................................23 4.3 Overview of Object Group 6000h..........................................................................................................................................................23 4.4 Overview of Object Group 2000h..........................................................................................................................................................24 5 故障及诊断 ............................................................................................................................................................................ 25 5.1 EtherCAT 通信故障表及处理方法......................................................................................................................................................25 5.2 SV-DA100 伺服故障表及故障码 ........................................................................................................................................................25 6 参考文献 ....................................................................................................................................................................................................... 29
3.2 Profile Position Mode ...........................................................................................................................................................................12 3.3 Cyclic Synchronous Position Mode ......................................................................................................................................................15 3.4 Homing Mode .......................................................................................................................................................................................16 3.5 Profile Velocity Mode ...........................................................................................................................................................................19 3.6 Cyclic Synchronous Velocity Mode ......................................................................................................................................................20 3.7 Cyclic Synchronous Torque Mode ........................................................................................................................................................21 3.8 Touch Probe Function ........................................................................................................................................................................... 22 4 对象字典 ....................................................................................................................................................................................................... 23 4.1 对象规格描述......................................................................................................................................................................................23
图22从站状态机示意图表22状态说明状态描述init不能pdo通信initpreop主站初始化dc时钟同步主站请求向preop状态转换主站设置al控制寄存器从站确定邮箱是否正常初始化preoperationpreop不能进行过程数据通信pdopreopsafeop主站为过程数据配置同步管理器syncmanager通道及fmmu通道主站通过sod配置pdo数据映射和syncmanagerpdo参数设置主站请求safeop状态转换从站检查负责pdo数据的syncmanager配置是否正确如果从站发出启动同步请求检查分布时钟的设置是否正确safeoperationsafeop输出被设置为安全状态safeopop主站请求向op状态转换operationalop可以pdo通信224pdo过程数据映射ethercat从站的过程数据由同步管理器通道对象组成每个同步管理器通道对象描述了ethercat过程数invtsvda100ethercat技术指南v100september2014据的一致性区域并且包含多个过程数据对象
2 软件配置 ......................................................................................................................................................................................................... 4 2.1 EtherCAT 应用基本设置........................................................................................................................................................................4 2.2 EtherCAT 通信 .......................................................................................................................................................................................4 2.3 支持的通信规格....................................................................................................................................................................................8
INVT SV-DA100 EtherCAT 技术指南
INVT SV‐DA100 EtherCAT 技术指南
Version: V1.00 Date: September, 2014
INVT SV-DA100 EtherCAT 技术指南
目录
1 硬件配置 ......................................................................................................................................................................................................... 3 1.1 端子接线................................................................................................................................................................................................3 1.2 驱动器接线............................................................................................................................................................................................3
4.2 Overview of Object Group 1000h..........................................................................................................................................................23 4.3 Overview of Object Group 6000h..........................................................................................................................................................23 4.4 Overview of Object Group 2000h..........................................................................................................................................................24 5 故障及诊断 ............................................................................................................................................................................ 25 5.1 EtherCAT 通信故障表及处理方法......................................................................................................................................................25 5.2 SV-DA100 伺服故障表及故障码 ........................................................................................................................................................25 6 参考文献 ....................................................................................................................................................................................................... 29
3.2 Profile Position Mode ...........................................................................................................................................................................12 3.3 Cyclic Synchronous Position Mode ......................................................................................................................................................15 3.4 Homing Mode .......................................................................................................................................................................................16 3.5 Profile Velocity Mode ...........................................................................................................................................................................19 3.6 Cyclic Synchronous Velocity Mode ......................................................................................................................................................20 3.7 Cyclic Synchronous Torque Mode ........................................................................................................................................................21 3.8 Touch Probe Function ........................................................................................................................................................................... 22 4 对象字典 ....................................................................................................................................................................................................... 23 4.1 对象规格描述......................................................................................................................................................................................23
图22从站状态机示意图表22状态说明状态描述init不能pdo通信initpreop主站初始化dc时钟同步主站请求向preop状态转换主站设置al控制寄存器从站确定邮箱是否正常初始化preoperationpreop不能进行过程数据通信pdopreopsafeop主站为过程数据配置同步管理器syncmanager通道及fmmu通道主站通过sod配置pdo数据映射和syncmanagerpdo参数设置主站请求safeop状态转换从站检查负责pdo数据的syncmanager配置是否正确如果从站发出启动同步请求检查分布时钟的设置是否正确safeoperationsafeop输出被设置为安全状态safeopop主站请求向op状态转换operationalop可以pdo通信224pdo过程数据映射ethercat从站的过程数据由同步管理器通道对象组成每个同步管理器通道对象描述了ethercat过程数invtsvda100ethercat技术指南v100september2014据的一致性区域并且包含多个过程数据对象
2 软件配置 ......................................................................................................................................................................................................... 4 2.1 EtherCAT 应用基本设置........................................................................................................................................................................4 2.2 EtherCAT 通信 .......................................................................................................................................................................................4 2.3 支持的通信规格....................................................................................................................................................................................8
INVT SV-DA100 EtherCAT 技术指南
INVT SV‐DA100 EtherCAT 技术指南
Version: V1.00 Date: September, 2014
INVT SV-DA100 EtherCAT 技术指南
目录
1 硬件配置 ......................................................................................................................................................................................................... 3 1.1 端子接线................................................................................................................................................................................................3 1.2 驱动器接线............................................................................................................................................................................................3