Presented by:

Hermann Kamphues

Klaus Zimmer

Compax3 with EtherCAT

Agenda:

� Overview

� Settings for Compax3

� Operation modes DS402

AgendaAgenda

� Operation modes DS402

� XML-Files

� Available EtherCAT Masters

� Application examples

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• EtherCat option for EME Drives

• Ethernet based Real Time Communication

• CAN over EtherCat (CoE) Protocol

• Beckhoff master and also other suppliers

• SLVD-N EtherCat

Electromechanical Division Europe

• 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� Profil: Motion Control CiADS402

� 100 Mbits (Fast Ethernet)

(Launch done 2008)

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viewC3 I31 EtherCAT

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viewC3 I31 EtherCAT

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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.

-128 to -1 Manufacturer-specific operation modes

0 No mode change/no mode assigned

+1 Profile position mode

+2 Velocity mode

+3 Profile velocity mode

+4 Torque profile mode

+5 Reserved

+6 Homing mode

+7 Interpolated position mode

+8 Cyclic sync position mode

+9 Cyclic sync velocity mode

+10 Cyclic sync torque mode

+11 to +127 Reserved

reflected in the object modes of operation display.

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����

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mappingC3 I31 EtherCAT

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mapping C3 I31 EtherCAT

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Settings for Compax3

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Signal structureC3 I31 EtherCAT

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mappingcommunication

PLC => C3PLC => C3

<- pointer!

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Switch off: 819.3

mapping

PLC <= C3PLC <= C3

communication

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Switch off : 819.4

<- pointer!

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)

� 0=linear Interpolation (Default)

�-1=linear Interpolation

�-2=Quadratic Interpolation �-2=Quadratic Interpolation

�-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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