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ABB MotiFlex e180 Application Manual

Other manuals for MotiFlex e180: Quick Installation Manual
Manual is about: EtherCAT

Summary of MotiFlex e180

  • Page 1

    Abb motion control application guide motiflex e180 ethercat.

  • Page 2

    List of related manuals you can find manuals and other product documents in pdf format on the internet. See section document library on the internet on the inside of the back cover. For manuals not available in the document library, contact your local abb representative. Drive hardware manuals and g...

  • Page 3: Application Guide

    Application guide motiflex e180 ethercat 3axd50000048672 rev b en effective: 2017-01-30  2017 abb uk. All rights reserved. 1. Safety table of contents 4. Mechanical installation 6. Electrical installation: ac input, motor and brake 4. Start-up.

  • Page 5: Table of Contents

    Table of contents 5 table of contents list of related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1. Safety what this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

  • Page 6

    6 table of contents downloading a file to the drive using foe in twincat® . . . . . . . . . . . . . . . . . . . . . . . . . 29 writing object values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 updating an object . . . . . . . . . ....

  • Page 7: Safety

    Safety 7 1 safety what this chapter contains this chapter contains the safety instructions which you must obey when installing, operating and servicing the drive. If ignored, physical injury or death may follow, or damage may occur to the drive, motor or driven equipment. Read the safety instruction...

  • Page 8

    8 safety safety in installation and maintenance these warnings are intended for all who work on the drive, motor cable or motor. Electrical safety warning! Ignoring the following instructions can cause physical injury or death, or damage to the equipment. • only qualified electricians are allowed to...

  • Page 9

    Safety 9 • the dc terminals (udc+, udc-) carry a dangerous dc voltage (over 500 v) when internally connected to the intermediate dc circuit. • depending on the external wiring, dangerous voltages (115 v, 220 v or 230 v) may be present on the terminals of relay outputs (nc, no, com). • the safe torqu...

  • Page 10

    10 safety permanent magnet motor drives these are additional warnings concerning permanent magnet motor drives. Warning! Ignoring the following instructions can cause physical injury or death, increased electromagnetic interference and equipment malfunction: • do not work on the drive when the perma...

  • Page 11: General Safety

    Safety 11 general safety these instructions are intended for all who install and service the drive. Warning! Ignoring the following instructions can cause physical injury or death, increased electromagnetic interference and equipment malfunction: • handle the unit carefully. • take care when lifting...

  • Page 12: Safe Start-Up and Operation

    12 safety safe start-up and operation general safety these warnings are intended for all who plan the operation of the drive or operate the drive. Warning! Ignoring the following instructions can cause physical injury or death, or damage to the equipment. • before you connect voltage to the drive, m...

  • Page 13

    Safety 13 • the drive can be programmed to start up and begin to turn the motor (auto- enable) immediately after an input voltage break or a fault reset. Note: • if an external source for start command is selected and it is on, the drive could start immediately after an input voltage break or fault ...

  • Page 14

    14 safety.

  • Page 15: Introduction to The Manual

    Introduction to the manual 15 2 introduction to the manual what this chapter contains this chapter describes the manual. Target audience this manual is intended for people who wish to connect the motiflex e180 to an ethercat network. Basic information about ethercat connection can be found in the mo...

  • Page 16: Related Documents

    16 introduction to the manual • fault tracing (page 33 ) describes the drive’s led indicators and provides solution to common problems encountered during installation. • reference (page 41 ) lists object table data. Related documents see list of related manuals on page 2 (inside the front cover). Tr...

  • Page 17: Physical Connection

    Physical connection 17 3 physical connection what this chapter contains the chapter briefly describes how to connect the motiflex e180 to an ethercat network. Product overview the motiflex e180 is an ip20 drive module for controlling ac motors. All models support ethercat ‘slave’ operation under the...

  • Page 18: Ethercat Ports

    18 physical connection ethercat ports the e1 and e2 ethernet ports on the top panel of the motiflex e180 are used for ethernet fieldbus connections such as ethercat®. In an ethercat network the e1 (in) port must be connected to the master side of the network. The e2 (out) port, if used, must be conn...

  • Page 19

    Physical connection 19 e1 / e2: ethernet port configuration the rotary switches are situated on the front panel of the motiflex e180. The rotary switches are read once at startup. They select the mode of operation for the ethernet fieldbus connectors e1 and e2 on the top panel of the drive. Set both...

  • Page 20

    20 physical connection.

  • Page 21: Start-Up

    Start-up 21 4 start-up what this chapter contains this chapter describes software installation and the start-up procedure of the drive. Safety warning! Read the safety instructions on the first pages of this manual before performing any maintenance on the equipment. Ignoring the safety instructions ...

  • Page 22: Install Mint Workbench

    22 start-up configure the pc ethernet adapter it is necessary to alter the pc's ethernet adapter configuration to operate correctly with the motiflex e180. By default, the motiflex e180 has a static ip address of 192.168.0.1. This can be changed using the configuration tool in mint workbench. Note! ...

  • Page 23: Start The Motiflex E180

    Start-up 23 enable the ethernet adapter for mint workbench before mint workbench can use the ethernet adapter to discover the motiflex e180, the adapter must be enabled in the mint sidebar. 1. On the windows 7 task bar in the notification area, right-click the mint http server icon and choose open m...

  • Page 24

    24 start-up motiflex e180 is powered correctly and the startup sequence (see power on checks , above) has completed. Ensure you have enabled the ethernet adapter for mint workbench (see page 23 ). Click scan to re-scan the ports. It can take up to 5 seconds for mint workbench to detect the motiflex ...

  • Page 25

    Start-up 25 • click the direct button on the mint workbench motion tool bar, and select ‘rt ethernet (cia402)’ in the axis 0 drop-down. • set the control ref. Source to ‘rt ethernet (cia402)’ on the select operating mode and source page of the mint workbench operating mode wizard or commissioning wi...

  • Page 26

    26 start-up file access over ethercat (foe) the motiflex e180 supports file access over ethercat (foe). This is useful if you do not wish to install mint workbench to transfer files. The following file types can be uploaded and downloaded using foe: if the foe server is inactive for more than 1 seco...

  • Page 27

    Start-up 27 7. Now select the drive by double-clicking its node in the tree (double-click 'drive 1' if the tabbed window is not displayed). 8. Activate the 'run' mode..

  • Page 28

    28 start-up 9. Under file access over ethercat, click upload… to upload one of the firmware components from the drive. 10. In this example, the file name has been customised by adding a '_123' suffix. This is acceptable as a file name, but the prefix must be omitted when entering the string name for...

  • Page 29

    Start-up 29 downloading a file to the drive using foe in twincat ® 1. To download a file (e.G. New firmware) to the drive, access the file access over ethercat options as described in steps 1. To 8. Above. 2. Click the download… button. 3. You can open any file (e.G. A .Hex firmware file) using the ...

  • Page 30: Writing Object Values

    30 start-up writing object values the drive’s object dictionary contains 4 different types of objects: • constant objects: static values. • live objects: pdo mapped, cyclically updated, e.G. Axis position value. • configuration objects: sdo device configuration during operation. • configuration obje...

  • Page 31

    Start-up 31 immediate apply mode it is possible to override the normal behavior for valid on reset objects to allow objects that are linked to parameters (keywords) to be written with immediate effect. This provides improved usability in plc programs since it allows parameter access via objects. To ...

  • Page 32: Further Configuration

    32 start-up further configuration a range of application notes on www.Abbmotion.Com describe how to configure and control the drive using an ethercat master. The topics describe the microflex e150, but the methods also apply to motiflex e180: an203 using twincat with the microflex e150 describes how...

  • Page 33: Fault Tracing

    Fault tracing 33 5 fault tracing what this chapter contains this section explains common problems and their solutions. The led indicators are described in motiflex e180 indicators on page 35 . Problem diagnosis if you have followed all the instructions in this manual in sequence, you should have few...

  • Page 34

    34 fault tracing have the following information ready: • the serial number of your motiflex e180 (if known). • open the help, supportme menu item in mint workbench to view details about your system. • the catalogue and specification numbers of the motor that you are using. • a clear description of w...

  • Page 35: Motiflex E180 Indicators

    Fault tracing 35 motiflex e180 indicators ethercat® mode the ethernet leds display the overall condition of the ethernet interface once the startup sequence has completed. The led codes conform to the ethercat technology group (etg) standard at the time of production. Net err (red) off: no errors or...

  • Page 36

    36 fault tracing led flash periods the following diagram shows the definitions of the terms ‘blinking’, ‘flashing’ and ‘flickering’ used in the previous sections, as defined by the ethercat technology group. Led flash timing definitions: net run (green) off: initialisation state (or not powered). Bl...

  • Page 37

    Fault tracing 37 drive status display the drive status display indicates errors and general motiflex e180 status information. When an error occurs the drive displays a sequence starting with the symbol e, followed by the five digit error code. For example, error code 10015 is displayed: the decimal ...

  • Page 38

    38 fault tracing user defined symbols can be displayed using mint keywords led and leddisplay. Dwell. A dwell (wait) ‘move’ is in progress. See the mint keyword movedwell. Flying shear. A flying shear is in progress. See the mint keyword fly. Follow move. The drive is in follow mode. See the mint ke...

  • Page 39

    Fault tracing 39 power drive does not start when applying ac power: • check that the motor output phases are not short circuited. The drive trips on a motor phase short circuit and will not restart unless ac power is removed. Remove all power from the drive, correct the short circuit and restart the...

  • Page 40

    40 fault tracing ethernet cannot connect to the drive: • check that the pc's ethernet adapter has been correctly configured, as described in configure the pc ethernet adapter on page 22 . How do i configure my ethercat manager to operate with the motiflex e180? • an ethercat esi file (.Xml) that des...

  • Page 41: Reference

    Reference 41 6 reference what this chapter contains this chapter contains reference information about the motiflex e180 ethercat implementation..

  • Page 42: Introduction

    42 reference introduction the ethercat protocol provides deterministic communication over a standard 100 mbit/s (100base-tx) fast ethernet (ieee 802.3u) connection. This makes it suitable for the transmission of control and feedback signals between the motiflex e180 and other ethercat enabled contro...

  • Page 43

    Reference 43 sm (syncmanager) synchronisation • sm synchronisation can be used for all applications with less critical timing requirements. Any network topology is converted into a daisy chain structure, so even a star topology is logically a chain. This creates a network where the hop delay is equa...

  • Page 44: Nmt State Machine

    44 reference nmt state machine the motiflex e180’s operating states/modes are defined by an nmt state machine based upon that used by canopen. The state machine is important because it defines the behavior of the valid on reset objects (see object dictionary on page 46 ). The following diagram shows...

  • Page 45

    Reference 45 (nmt_gt8) nmt_swreset (nmt_gt2) reset (nmt_gt14) auto [error] (nmt_emt1) auto [nodeid 241] (nmt_est1) auto [nodeid 0] (nmt_ct1) auto [nodeid 1-239] (nmt_mt1) auto [nodeid 240] (nmt_gt6) internal communication error (nmt_gt7) nmt_resetconfiguration (nmt_gt5) nmt_resetcommunication (nmt g...

  • Page 46: Object Dictionary

    46 reference object dictionary the object dictionary contains 4 different types of objects: constant objects constant object contain the same value during their entire life time, for example the manufacturer device name object (1008h). The value is set once during firmware boot-up and does not chang...

  • Page 47

    Reference 47 *the sm threshold increments by 8 for every error and decrements by 1 for every successful operation. The threshold value is 15 to guarantee that 2 consecutive errors trigger the error. Error detection if the drive is in error then the fault bit (bit 3) will be set in the status word ob...

  • Page 48

    48 reference object 4144h: first error this object holds detailed information about the error which initially caused the drive to go into the error state (see page 61 ). Subsequent errors are not recorded by the object. The object’s sub-indexes provide the same information as the mint keywords errco...

  • Page 49: Object Dictionaries

    Reference 49 object dictionaries ethercat protocol objects: 1000h - 2000h the following objects are specific to ethercat communications: index sub- ind. Object name type attr. Pdo mapping content example 1000h 0 var nmt_devicetype_u32 uint32 const no 131474 1001h 0 var err_errorregister_u8 uint8 ro ...

  • Page 50

    50 reference notes 1001h: the error register gives simplified information about the fault status of the drive, for example a bit is enabled if a power fault is detected. This object is not normally used because communication fails if a power fault is detected. 1010h, 1011h: the store and restore obj...

  • Page 51

    Reference 51 and appears on the network as “save”. 1011h must be written with 0x64616f6c which results in “load” on the bus. 10f3h: the diagnosis history is a mapping of the mint workbench error log into objects. 1600h, 1a00h: two large pdos are used, as for powerlink. If the device is simpler then ...

  • Page 52

    52 reference manufacturer specific objects the following table lists the common manufacturer specific objects applicable to motiflex e180 on ethercat and ethernet powerlink: index sub- ind. Obj. Name type attr. Pdo mapping units description 2000h 0 arr comms array uint8 ro no - number of comms array...

  • Page 53

    Reference 53 index sub- ind. Obj. Name type attr. Pdo mapp ing units description 4001h 0 var output active level uint8 ro no - output active levels 1 output active levels - bank 0 uint32 rw no - maps to outputactivelevel 4003h 0 var input mode uint8 ro no - input mode (edge / level triggering) 1 inp...

  • Page 54

    54 reference 400fh 0 arr latch uint8 ro no - number of latch channels 1 channel 0 (main encoder) int32 ro no user units maps to latch(0) 2 channel 1 (step & dir. Inputs) ro no user units maps to latch(1) 3 channel 2 (master incremental encoder) ro no user units maps to latch(2) 4010h 0 arr latch ena...

  • Page 55

    Reference 55 4017h 0 arr latch trigger edge uint8 ro no - number of latch channels 1 latch channel 0 int16 rw no - maps to latchtriggeredge(0) 2 latch channel 1 rw no - maps to latchtriggeredge(1) 3 latch channel 2 rw no - maps to latchtriggeredge(2) 4 latch channel 3 rw no - maps to latchtriggeredg...

  • Page 56

    56 reference 4028h 0 arr analog input dead band hysteresis uint8 ro no - number of analog inputs 1 channel 0 int16 rw no % maps to adcdeadbandhysteresis(0) 2 channel 1 rw no % maps to adcdeadbandhysteresis(1) 4029h 0 arr analog input dead band offset uint8 ro no - number of analog inputs 1 channel 0...

  • Page 57

    Reference 57 403dh 0 arr enc_absencodersingain_ai16 array ro no - number of encoder inputs 1 channel 0 (main encoder) int16 rw no 0.01% maps to absencodersingain(0) 2 channel 1 (step & direction inputs) rw no 0.01% maps to absencodersingain(1) 3 channel 2 (extra / master incremental encoder) rw no 0...

  • Page 58

    58 reference 4045h 0 arr enc_encparamendat2_2cmd_ai 32 array ro no - number of encoder inputs 1 channel 0 (main encoder) int32 rw no - maps to encoderparameter(0,5) 2 channel 1 (step & dir. Inputs) rw no - maps to encoderparameter(1,5) 3 channel 2 (extra / master incremental encoder) rw no - maps to...

  • Page 59

    Reference 59 405ch 0 var ax0_sentineltriggerhighvalueflo at_r32 real32 rw no - maps to sentineltriggervaluefloat 405dh 0 var ax0_sentineltriggerlowvalueinte ger_i32 int32 rw no - maps to sentineltriggervalueintege r 405eh 0 var ax0_sentineltriggerhighvalueinte ger_i32 int32 rw no - maps to sentinelt...

  • Page 60

    60 reference 4067h 0 arr enc_absencodercosoffset_ai16 array ro no - encoder scale 1 channel 0 (main encoder) int16 rw no mv maps to absencodercosoffset(0) 2 channel 1 (step & direction inputs) rw no - (not required) 3 channel 2 (master incremental encoder) rw no - (not required) 4068h 0 arr enc_abse...

  • Page 61

    Reference 61 412eh 0 var cip_eipenabled_bool bool rw no - internal 412fh 0 arr cip_assemblyinstance_au8 array ro - internal 1 assemblyinstance_u8 uint8 ro no - internal 2 assemblyinstance_u8 ro no - internal 4130h 0 arr cip_assembly_0h_au32 array rw no - internal 1 epath_u32 uint32 rw no - internal ...

  • Page 62

    62 reference 4151h 0 arr mtc_serveraddress_aipad array ro no - internal 1 mtc_serveraddress_aipad[1] uint32 rw no - internal 2 mtc_serveraddress_aipad[2] rw no - internal 3 mtc_serveraddress_aipad[3] rw no - internal 4 mtc_serveraddress_aipad[4] rw no - internal 5 mtc_serveraddress_aipad[5] rw no - ...

  • Page 63

    Reference 63 4155h 0 arr mtc_servertimeout_au32 array ro no - internal 1 mtc_servertimeout_au32[1] uint32 rw no - internal 2 mtc_servertimeout_au32[2] rw no - internal 3 mtc_servertimeout_au32[3] rw no - internal 4 mtc_servertimeout_au32[4] rw no - internal 5 mtc_servertimeout_au32[5] rw no - intern...

  • Page 64

    64 reference 4d00h 0 rec nic_nattable_00h_rec rec ro no - internal 1 nic_nattable_00h_rec.Genaddr ess_ipv4 uint32 rw no - internal 2 nic_nattable_00h_rec.Rteaddr ess_ipv4 uint32 rw no - internal 3 nic_nattable_00h_rec.Mask_ip v4 uint32 rw no - internal 4 nic_nattable_00h_rec.Valid_bo ol bool rw no -...

  • Page 65

    Reference 65 500bh 0 rec ax0_torquefilter_1_rec rec - number of torque filter 1 parameters 1 torquefiltertype_i16 int16 rw no - maps to torquefiltertype(0, 1) 2 torquefilterfreq_u16 uint16 rw no hz maps to torquefilterfreq(0, 1) 3 torquefilterband_u16 uint16 rw no hz maps to torquefilterband(0, 1) 4...

  • Page 66

    66 reference 502ch 0 rec ax0_comparepos_ai32 array ro no - number of position compare channels 1 comparepos_channel0_i32 int32 rw no pos units maps to comparepos(0, 0) 2 comparepos_channel1_i32 rw no pos units maps to comparepos(0, 1) 502eh 0 var ax0_controlmodestartup_u16 uint16 rw no - maps to con...

  • Page 67

    Reference 67 5201h 0 rec ax1_controlrate_rec rec ro no - control loop frequencies 1 profilerrate_i32 int32 rw no hz maps to controlrate(1,0) 2 positionlooprate_i32 rw no hz maps to controlrate(1,1) 3 velocitylooprate_i32 rw no hz maps to controlrate(1,2) 5203h 0 var ax1_axisposencoder_i16 int16 rw n...

  • Page 68

    68 reference 60b9h 0 var ax0_touchprobestatus_u16 uint16 ro poss. - internal 60bah 0 var ax0_touchprobepositionpos1_i 32 int32 ro poss. - internal 60bbh 0 var ax0_touchprobepositionneg1_i 32 int32 ro poss. - internal 60bch 0 var ax0_touchprobepositionpos2_i 32 int32 ro poss. - internal 60bdh 0 var a...

  • Page 69

    Reference 69 6410h 0 rec ax0_motorparameters_rec rec ro no - number of motor parameters 1 motorlinearpolepitch_r32 uint32 rw no µm maps to motorlinearpolepitch 2 motorpoles_i16 int16 rw no - maps to motorpoles 3 motorflux_u32 uint32 rw no µwb maps to motorflux 6 motorpeakcurrent_u32 uint32 rw no ma ...

  • Page 70

    70 reference.

  • Page 71

    Further information product and service inquiries address any inquiries about the product to your local abb representative, quoting the type designation and serial number of the unit in question. A listing of abb sales, support and service contacts can be found by navigating to www.Abb.Com/searchchc...

  • Page 72

    Contact us www.Abb.Com/motion www.Abb.Com/drives www.Abb.Com/drivespartners www.Abb.Com/plc 3axd50000048672 rev b (en) effective: 2017-01-30