Table Of Contents - Toshiba TOSVERT VF-MB1 Function Manual

Tosvert vf-mb1/s15 series ethercat option unit ipe003z

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Table of Contents

OVERVIEW .................................................................................................................................................5

1.1.

Communication and Services ..............................................................................................................5

NAMES AND FUNCTIONS ........................................................................................................................6

2.1.

Outline ..................................................................................................................................................6

2.2.

RJ45 connector pin layout ...................................................................................................................7

2.3.

LED indicator........................................................................................................................................8

PARAMETERS ...........................................................................................................................................9

3.1.

Communication parameters.................................................................................................................9

3.2.

Communication parameters for IPE003Z ............................................................................................9

3.3.

The details of the parameter setting ..................................................................................................12

Network error detection (c100 - c103) ..............................................................................12

3.3.1.

COMMUNICATION OBJECT ...................................................................................................................13

4.1.

Communication Profile .......................................................................................................................13

4.2.

RPDO: Receive PDO .........................................................................................................................14

4.3.

TPDO: Transmit PDO ........................................................................................................................14

4.4.

MB1/S15 specific profile.....................................................................................................................14

4.5.

Application Profile (CiA402) ...............................................................................................................15

4.6.

Abort code (CiA 301)..........................................................................................................................16

DRIVE PROFILE.......................................................................................................................................17

5.1.

CiA 402 Drive profile ..........................................................................................................................17

5.2.

TOSHIBA Drive profile .......................................................................................................................17

CIA

402 - IEC61800-7 FUNCTIONAL PROFILE....................................................................................24

6.1.

Velocity mode object ..........................................................................................................................24

6.1.1.

CiA 402 profile ............................................................................................................................24

6.1.2.

TOSHIBA drive profile.................................................................................................................25

6.1.3.

Object 0x6040: Controlword .......................................................................................................26

6.1.4.

Object 6041: Statusword ............................................................................................................26

6.1.5.

CiA402 State Chart .....................................................................................................................28

6.1.6.

Object 0x6042: vl_target_velocity...............................................................................................30

6.1.7.

Object 0x6043: vl_velocity_demand ...........................................................................................30

6.1.8.

Object 0x6044: vl_velocity_actual_value....................................................................................30

6.1.9.

Object 0x6046: vl_velocity_min_max_amount ...........................................................................30

6.1.10.

Object 0x6048: vl_velocity_acceleration.................................................................................31

6.1.11.

Object 0x6049: vl_velocity_deceleration.................................................................................31

6.1.12.

Object 0x604A: vl_velocity_quick_stop...................................................................................31

6.1.13.

Object 0x605A: Quick stop option code..................................................................................31

6.1.14.

Object 0x6060: Mode of operation ..........................................................................................32

6.1.15.

Object 0x6061: Mode of operation display..............................................................................32

6.1.16.

Object 0x6502: Supported drive mode ...................................................................................32

6.2.

Object 603F: Error Code ....................................................................................................................33

ETHERCAT STATE MACHINE (ESM).....................................................................................................34

EXAMPLE: VF-MB1 WITH TWINCAT

8.1.

Hardware............................................................................................................................................36

8.2.

TwinCAT

software installation ..........................................................................................................36

8.3.

ESI file (EtherCAT Slave Information) ...............................................................................................36

8.4.

MB1 configuration ..............................................................................................................................36

8.5.

System Manager: Declare your computer on Ethernet network........................................................37

8.6.

System Manager: Install the master ..................................................................................................38

8.7.