EtherCAT for S300/S400/S600/S700

Communication Profile

Fieldbus Interface
Translation of the original manual
Edition 12/2010

Keep the manual as a product component

during the life span of the product.
Pass the manual to future users / owners
of the product.
Datei srethercat_e.***
Record of revisions :

Edition Remarks
10/2007 First edition
12/2009 S700 with EC onboard, symbols acc. to ANSI Z535.6B, randing, several minor corrections
12/2010 Company name

SERVOSTAR is a registered trademark of Kollmorgen Corporation

EtherCAT is a registered trademark of EtherCAT Technology Group

Technical changes which improve the performance of the equipment may be made without prior notice !
Printed in the Federal Republic of Germany
All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any
other method) or stored, processed, copied or distributed by electronic means without the written permission of
Kollmorgen Europe GmbH.
Kollmorgen 12/2010 Contents
Seite

1 General Information
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Hints for the online edition (PDF format) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Use as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.5 Symbols used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.6 Abbreviations used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2 Installation / Setup
2.1 Assembly / Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1.1 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1.2 Installing the expansion card (S300, S600) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1.2.1 Font view. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1.2.2 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1.3 Connection technology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1.4 Connection diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.1 Guide to setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.2 Setup Software for S300 and S700 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.3 Setup Software for S400 and S600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.4 EtherCAT Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3 EtherCAT
3.1 Slave Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 AL Event (Interrupt Event) and Interrupt Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.1 Interrupt Enable Register (Address 0x0204:0x0205) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.2 AL Event (Address 0x0220:0x0221). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3 Phase run-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3.1 AL Control (Address 0x0120:0x0121) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3.2 AL Status (Address 0x0130:0x0131) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3.3 AL Status Code (Address 0x0134:0x0135) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3.4 EtherCAT communication phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.4 CANopen over EtherCAT (CoE) status machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4.1 Status description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4.2 Commands in the control word. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.4.3 Status machine bits (status word) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.5 Fixed PDO Mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.6 Supported cyclical setpoint- and actual values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.6.1 Supported cyclical setpoint values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.6.2 Supported cyclical actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.7 Supported operation modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.8 Adjusting the EtherCAT cycle time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.9 Recommended cycle times depending on mode of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.10 Synchronization based on cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.11 Latch controlword and Latch statusword . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.12 Mailbox Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.12.1 Mailbox Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.12.2 Mailbox Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.12.3 Example: Mailbox access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4 Appendix
4.1 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

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4 EtherCAT for S300/S400/S600/S700

Kollmorgen 12/2010 General Information

1 General Information
1.1 About this manual
This manual describes the installation, setup, range of functions and software protocol of the
EtherCAT interface for SERVOSTAR 300 (S300), SERVOSTAR 400 (S400), SERVOSTAR 600
(S600) and S700 servo amplifiers and a reference for all commands which are used by these servo
amplifiers.
SERVOSTAR 300-EC and SERVOSTAR 600-EC:
The expansion card -EtherCAT- offers EtherCAT compatible connectivity to these servo amplifiers.
The expansion card and the mounting is described in the servo amplifier's instructions manual.
SERVOSTAR 400-EC and S700:
EtherCAT functionality is built-in on delivery in the SERVOSTAR 400-EtherCAT. The S700 servo
amplifier has an EtherNet interface onboard, that has been configured to EtherCAT protocoll.
This manual is part of the complete documentation of the digital servo amplifiers. The installation
and setup of the servo amplifier, as well as all the standard functions, are described in the corre-
sponding instructions manuals.
Other parts of the complete documentation for the digital servo amplifier series:
Title Publisher
Instructions manual for the Servo Amplifier Kollmorgen
Online-Help with ASCII Object Reference Guide Kollmorgen

1.2 Target group

This manual addresses personnel with the following qualifications:
Transport : only by personnel with knowledge of handling electrostatically sensitive
components.
Unpacking: only by electrically qualified personnel.
Installation : only by electrically qualified personnel.
Setup : only by qualified personnel with extensive knowledge of electrical
engineering and drive technology
Programming: Software developers, EtherCAT project-planners
The qualified personnel must know and observe the following standards:
IEC 60364 and IEC 60664
accident prevention regulations

During operation there are deadly hazards, with the possibility of death, severe injury or
material damage. The operator must ensure that the safety instructions in this manual are
followed. The operator must ensure that all personnel responsible for working with the
servo amplifier have read and understood the instructions manual.

Training courses are available on request.

1.3 Hints for the online edition (PDF format)

Bookmarks:
Table of contents and index are active bookmarks.
Table of contents and index in the text:
The lines are active cross references. Click on the desired line and the appropriate page is indica-
ted.
Page/chapter numbers in the text:
Page/chapter numbers with cross references are active. Click at the page/chapter number to reach
the indicated target.

EtherCAT for S300/S400/S600/S700 5

General Information 12/2010 Kollmorgen

1.4 Use as directed

Please observe the chapters "Use as directed” and "Prohibited use" in the instructions manual for
the servo amplifier.
The EtherCAT interface serves only for the connection of the servo amplifier to a master with
EtherCAT connectivity.
The servo amplifiers are components that are built into electrical apparatus or machinery, and can
only be setup and operated as integral components of such apparatus or machinery.

We can only guarantee the conformity of the servo amplifier with the following standards for
industrial areas when the components that we specify are used, and the installation
regulations are followed:
EC EMC Directive 2004/42/EEC
EC Low-Voltage Directive 2006/95/EEC

1.5 Symbols used

Symbol Indication
Indicates a hazardous situation which, if not avoided, will result in death
or serious injury.
Indicates a hazardous situation which, if not avoided, could result in de-
ath or serious injury.
Indicates a hazardous situation which, if not avoided, could result in mi-
nor or moderate injury.
Indicates situations which, if not avoided, could result in property dama-
ge.
This is not a safety symbol.
This symbol indicates important notes.

6 EtherCAT for S300/S400/S600/S700

Kollmorgen 12/2010 General Information

1.6 Abbreviations used

Abbreviation Meaning
AL Application Layer: the protocol that directly used by the process entities.
Category – classification for cables that is also used in Ethernet. Cat 5 is the
Cat
minimum required category for EtherCAT.
DC Distributed Clocks Mechanism to synchronize EtherCAT slaves and master
Data Link, also known as Layer 2. EtherCAT uses Ethernet, which is stan-
DL
dardized as IEEE 802.3.
EtherCAT (ECAT) RT Standard for Industrial Ethernet Control Automation Technology
FPGA Field Programmable Gate Array
FTP File Transfer Protocol
HW Hardware
ICMP Internet Control Message Protocol: Mechanisms for signaling IP errors.
IEC International Electrotechnical Commission: The international standards
IEEE Institute of Electrical and Electronics Engineers, Inc.
ISO Open Systems Interconnection Basic Reference Model (ISO 7498): des-
ISO/OSI Model
cribes the division of communication into 7 layers.
LLDP Lower Layer Discovery Protocol
MAC Media Access Control
Media Independent Interface: Standardized interface between the Ethernet
MII
controller and the routing equipment.
MDI Media Dependant Interface: Use of connector Pins and Signaling.
Media Dependant Interface (crossed): Use of connector Pins and Signaling
MDI-X
with crossed lines.
OSI Open System Interconnect
Organzationally Unique Identifier – are the first 3 Bytes of an Ethernet-Ad-
OUI dress, that will be assign to companies or organizations and can be used for
protocoll identifiers as well (e.g. LLDP)
Physical Device Interface: a set of physical elements that allows access to
PDI
ESC from the process side.
PDO Process Data Object
Protocol Data Unit: Contains protocol information transferred from a protocol
PDU
instance of transparent data to a subordinate level
Ping Frame that verifies whether the partner device is still available.
Physical interface that converts data from the Ethernet controller to electric or
PHY
optical signals.
PLL Phase Locked Loop
PTP Precision Time Protocol in accordance with IEEE 1588
RSTP Rapid Spanning Tree Protocol
RT Real-time, can be run in Ethernet controllers without special support.
RT Frames EtherCAT Messages with EtherType 0x88A4.
RX Receive
RXPDO Receive PDO
S300 SERVOSTAR 300
S400 SERVOSTAR 400
S600 SERVOSTAR 600
SNMP Simple Network Management Protocol
SPI Serial Peripheral Interface
Src Addr Source Address: Source address of a message.
STP Shielded Twisted Pair
TCP Transmission Control Protocol
TX Transmit
TXPDO Transmit PDO
UDP User Datagram Protocol: Non-secure multicast/broadcast frame.
UTP Unshielded Twisted Pair
XML Extensible Markup Language
XML Parser Program for checking XML schemas.
ZA ECAT Access mode EtherCAT
ZA Drive Acces mode Drive

EtherCAT for S300/S400/S600/S700 7

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8 EtherCAT for S300/S400/S600/S700

Kollmorgen 12/2010 Installation / Setup

2 Installation / Setup
2.1 Assembly / Installation
2.1.1 Safety instructions

Install and wire up the equipment only while it is not electrically connected. Make sure that
the control cabinet is safely isolated (lock-out, warning signs etc.).
The individual supply voltages will not be switched on until setup is carried out.
Residual charges in the capacitors can still have dangerous levels several minutes after
switching off the supply voltage. Measure the voltage in the intermediate (DC-link) circuit
and wait until it has fallen below 40V.
Power and control connections can still be live, even though the motor is not rotating.

Electronic equipment is basically not failure-proof. The user is responsible for ensuring that,
in the event of a failure of the servo amplifier, the drive is set to a state that is safe for both
machinery and personnel, for instance with the aid of a mechanical brake.
Drives with servo amplifiers and EtherCAT expansion cards are remote-controlled machines.
They can start to move at any time without previous warning. Take appropriate measures to
ensure that the operating and service personnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the
machines cannot result in dangerous situations for personnel or machinery. Software
limit-switches are not a substitute for the hardware limit-switches in the machine.

Install the servo amplifier as described in the instructions manual. The wiring for the analog
setpoint input and the positioning interface, as shown in the wiring diagram in the
instructions manual, is not required.
Never break any of the electrical connections to the servo amplifier while it is live. This
could result in destruction of the electronics.

Because of the internal representation of the position-control parameters, the position

controller can only be operated if the final limit speed of the drive does not exceed:
rotatory
at sinusoidal² commutation: 7500 rpm
at trapezoidal commutation: 12000 rpm.
linear
at sinusoidal² commutation: 4 m/s
at trapezoidal commutation: 6.25 m/s

All the data on resolution, step size, positioning accuracy etc. refer to calculatory values.
Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account.
If the final limit speed of the motor has to be altered, then all the parameters that were
previously entered for position control and motion blocks must be adapted.

EtherCAT for S300/S400/S600/S700 9

Installation / Setup 12/2010 Kollmorgen

2.1.2 Installing the expansion card (S300, S600)

Fit the EtherCAT expansion card into a the servo amplifier:
l Use a suitable screwdriver to lever off the cover of the option slot (see instructions ma-
nual).
l Take care that no small items (such as screws) fall into the open option slot.
l Push the expansion card carefully into the guide rails that are provided, without twi-
sting it.
l Press the expansion card firmly into the slot, until the front cover touches the fixing
lugs. This ensures that the connectors make good contact.
l Screw the screws on the front cover into the threads in the fixing lugs.

2.1.2.1 Font view

2.1.2.2 LEDs

LED Function
flickering = Booting Error
blinking = Invalid Configuration
ERROR single flash = Unsolicited State Change
double flash = Watchdog Timeout
off = No Error
on = Device is in state OPERATIONAL
blinking = Device is in state PRE-OPERATIONAL
RUN
single flash = Device is in state SAFE-OPERATIONAL
off = Device is in state INIT
on = linked, but not active at X20A (in)
ACT IN flickering = linked and active at X20A (in)
off = not linked at X20A (in)
on = linked, but not active at X20B (out)
ACT OUT flickering = linked and active at X20B (out)
off = not linked at X20B (out)

2.1.3 Connection technology

Connection to the EtherCAT Network via RJ-45 connectors X20 A (in port) and X20 B (out port).

2.1.4 Connection diagram

10 EtherCAT for S300/S400/S600/S700

Kollmorgen 12/2010 Installation / Setup

2.2 Setup
2.2.1 Guide to setup

Only professional personnel with extensive knowledge of control and amplifier technology
are allowed to setup the servo amplifier.

Check that all the safety instructions in the instructions manual for
Check assembly / the servo amplifier and this manual have been observed and im-
installation plemented. Check the setting for the station address and baud
rate.

Connect PC, Use the setup software to set the parameters for the servo ampli-
start setup software fier.

Make sure that any unintended movement of the amplifier

cannot endanger machinery or personnel.

Start up the basic functions of the servo amplifier and optimize the
Setup basic functions current, speed and position controllers. This section of the setup is
described in the in the online help of the setup software.

When the parameters have been optimized, save them in the ser-
Save parameters
vo amplifier.

2.2.2 Setup Software for S300 and S700

2.2.3 Setup Software for S400 and S600

Screen page in process.

EtherCAT for S300/S400/S600/S700 11

Installation / Setup 12/2010 Kollmorgen

2.2.4 EtherCAT Setup

Prerequisites for this startup example
— Correctly configured EtherCAT card in the master
— TwinCAT software from Beckhoff (NC-Mode setup)
— XML description of the servo amplifier (the XML file on the CD-ROM or
on the Danaher Motion website)
Copy the XML description of the servo amplifier into the TwinCAT system (usually to the folder
named c:\TwinCAT\IO\EtherCAT) and restart the TwinCAT system. TwinCAT will now offer you a
choice of Danaher Motion servo amplifiers that support EtherCAT.
Continue as follows:
1. Click with right mouse button to I/O-Devices, add a new box and select the servo amplifier

12 EtherCAT for S300/S400/S600/S700

Kollmorgen 12/2010 Installation / Setup

2. Setup a NC task

3. Setup a drive in the NC task

EtherCAT for S300/S400/S600/S700 13

Installation / Setup 12/2010 Kollmorgen

4. Select the axis type and choose the axis

5. Create, check, activate and start the configuration

Enable the axis:

click "Set" button (see arrow, servo amplifier power and enable signal must be present, motor and
feedback must be configured).
Move the axis:
click buttons "F1"…"F4"

14 EtherCAT for S300/S400/S600/S700

Kollmorgen 12/2010 EtherCAT

3 EtherCAT
3.1 Slave Register
The table below gives the addresses of individual registers in the FPGA memory. The data is provi-
ded in little-endian format, with the ’least significant byte’ occupying the lowest address. A detailed
description of all registers and FPGA memory locations is available in the “EtherCAT Slave Control-
ler” description of the EtherCAT user organization (www.ethercat.org).

Length ZA ZA
Address Description
(Byte) ECAT* Drive*
0x0120 2 AL Control r/w r/-
0x0130 2 AL Status r/- r/w
0x0134 2 AL Status Code r/- r/w
0x0204 2 Interrupt Enable Register r/- r/w
0x0220 2 AL Event (IRQ Event) r/w r/-
0x0800 8 Sync Manager 0 (Mail Out Control Register) r/w r/-
0x0808 8 Sync Manager 1 (Mail In Control Register) r/w r/-
0x0810 8 Sync Manager 2 (Process data Output Control Register) r/w r/-
0x0818 8 Sync Manager 3 (Process data Input Control Register) r/w r/-
0x0820 8 Sync Manager 4 r/w r/-
0x0828 8 Sync Manager 5 r/w r/-
0x0830 8 Sync Manager 6 r/w r/-
0x0838 8 Sync Manager 7 r/w r/-
0x0840 8 Sync Manager 8 r/w r/-
0x1100 64 ProOut Buffer (Process data Output, setpoints ECAT) r/w r/-
0x1140 72 ProIn (Process data Input, act. values ECAT) r/- r/w
0x1800 512 Mail Out Buffer (Object Channel Buffer ECAT) r/w r/-
0x1C00 512 Mail In Buffer (Object Channel Buffer Drive) r/- r/w
* ZA ECAT = Acces mode EtherCAT
ZA Drive = Access mode Drive

EtherCAT for S300/S400/S600/S700 15

EtherCAT 12/2010 Kollmorgen

3.2 AL Event (Interrupt Event) and Interrupt Enable

Communication between the drive and the EtherCAT FPGA is completely interrupt-driven. The
interrupt enable register and the AL event register are responsible for the EtherCAT interface inter-
rupt functionality.
The servo amplifier activates individual EtherCAT interface events when the corresponding bit of
the interrupt enable register is set to 1. When it is set to 0, the events are deactivated.

3.2.1 Interrupt Enable Register (Address 0x0204:0x0205)

ZA ZA
Parameter Address Bit Description
Drive ECAT
Activation of AL control event for phase
AL Control Event 0x204 0 r/w r
run-up
- 0x204 1 r/w r Reserved
DC Distributed Activation of distributed clock (DC) interrupts
0x204 2 r/w r
Clock for entire communication
- 0x204 3...7 r/w r Reserved
Activation of output event mailbox (SDO,
Mail Out Event 0x205 0 r/w r
Sync Manager 0) for object channel.
Activation of input event mailbox (SDO, Sync
Mail In Event 0x205 1 r/w r
Manager 1) for object channel.
Activation of output event process data
Pro Out Event 0x205 2 r/w r
(PDO, card's cyclical setpoints)
Activation of input event process data (PDO,
Pro In Event 0x205 3 r/w r
servo amplifier's cyclical actual values)
- 0x205 4...7 r/w r Reserved
When the relevant bit of the AL event register is set to 1, the EtherCAT interface tells the servo
amplifier which event it should process in the interrupt routine.

3.2.2 AL Event (Address 0x0220:0x0221)

ZA ZA
Parameter Address Bit Description
Drive ECAT
Processing of AL control event for
AL Control Event 0x220 0 r r/w
phase run-up
Sync Manager Watch- Processing of a Sync Manager watch-
0x220 1 r r/w
dog Event dog event
Distributed Clock (DC) Processing of a distributed clock (DC)
0x220 2 r r/w
Event event
- 0x220 3...7 r r/w Reserved
Activation of output event mailbox
Sync Manager 0 Event 0x221 0 r r/w (SDO, Sync Manager 0) for object
channel.
Activation of input event mailbox
Sync Manager 1 Event 0x221 1 r r/w (SDO, Sync Manager 1) for object
channel.
Activation of output event process
Sync Manager 2 Event 0x201 2 r r/w
data (PDO, card's cyclical setpoints)
Activation of input event process data
Sync Manager 3 Event 0x201 3 r r/w (PDO, servo amplifier's cyclical actual
values)
Sync Manager 4 –
0x221 4...7 r r/w Reserved
Sync Manager 7 Event
Sync Manager 8 –
0x222 0…7 r r/w Reserved
Sync Manager 15 Event

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3.3 Phase run-up

The AL control, AL status and AL status code registers are responsible for communication phase
run-up (also referred to as EtherCAT status change), for current status display and for any fault
messages. The servo amplifier responds to every EtherCAT interface transition request made by
the AL control register and to every AL control event (interrupts) by means of the AL status register.
Any fault messages are displayed in the AL status code register.

3.3.1 AL Control (Address 0x0120:0x0121)

ZA ZA
Parameter Address Bit Description
Drive ECAT
0x01: Init Request
0x02: PreOperational Request
Status 0x120 3...0 r w 0x03: Bootstrap Mode Request
0x04: Safe Operational Request
0x08: Operational Request
0x00: No fault acknowledgement
Acknowled-
0x120 4 r w 0x01: Fault acknowledgement on
gement
positive edge
Reserved 0x120 7...5 r w -
Applic. specific 0x120 15...8 r w -

3.3.2 AL Status (Address 0x0130:0x0131)

ZA ZA
Parameter Address Bit Description
Drive ECAT
0x01: Init
0x02: PreOperational
Status 0x130 3...0 w r 0x03: Bootstrap Mode
0x04: Safe Operational
0x08: Operational
0x00: Acknowledgement
Status change 0x130 4 w r
0x01: Error, e.g. forbidden transition.
Reserved 0x130 7...5 w r -
Applic. specific 0x130 15...8 w r -

3.3.3 AL Status Code (Address 0x0134:0x0135)

ZA ZA
Parameter Address Bit Description
Drive ECAT
Status 0x134 7...0 w r See table below
Status 0x135 7...0 w r See table below

Current Status
Code Description Resulting Status
(Status change)
0x0000 No error All Current Status
Invalid requested state I -> S, I -> O, P -> O,
0x0011 Current Status + E
change O -> B, S -> B, P -> B
Invalid sync manager
0x0017 P -> S, S -> O Current Status + E
configuration
0x001A Synchronize error O, S -> O S+E
No other codes are supported.

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EtherCAT 12/2010 Kollmorgen

3.3.4 EtherCAT communication phases

INIT:
Init
Initialization, no communication
PRE-OP:
(IP) (PI) (IB) (BI) Mailbox active, slave parameterizati-
on and startup parameters
Boot SAVE-OP:
(SI)
Pre-Op (optional) Cyclical actual values are transferred
and the servo amplifier tries to syn-
(OI)
(PS) (SP) chronize.
OPERATIONAL:
(OP) Safe-Op
Cyclical setpoints are processed, tor-
que enable can be activated and the
(SO) (OS)
servo amplifier must be synchroni-
zed.
Operational

Description of the individual communication transitions

Transi- AL Control
Description
tion (Bit 3...0)
(IB) 0x03 Hardware reset request by controller
(BI) - Servo amplifier hardware reset
Activation of mailbox (SyncManager 0 and 1) and activation of servo ampli-
(IP) 0x02 fier synchronization routine As the EC interface is not yet generating cyclical
interrupts, warning n17 appears on the amplifier (no sync).
Deactivation of all EtherCAT events apart from AL control and stopping of
(PI) 0x01
mailbox activities
The amplifier checks the communication configuration provided by the mas-
ter in pre-op status. Non-fatal faults are automatically cleared (no COLD-
START).
Mapping of various setpoints and actual values (PDO mapping) Mapping
(PS) 0x04 can be set in advance via the mailbox. The EtherCAT interface produces
cyclical interrupts, thereby enabling it to obtain cyclical actual values. The
amplifier begins to synchronize with the ECAT interface’s cyclical IRQs. The
Pro_In and Pro_Out events are activated; these are responsible for the
amplifier’s cyclical setpoints (Pro_Out) and actual values (Pro_In).
The ECAT interface stops producing cyclical interrupts. As a result, the loss
(SP) 0x02 of synchronization warning appears on the amplifier (n17) and the actual
values are no longer updated.
Deactivation of all EtherCAT events apart from AL control. In addition, the
ECAT interface stops sending interrupts, causing the amplifier to lose syn-
(SI) 0x01
chronization (warning n17) and cease updating actual values. All mailbox
activities are also stopped.
The amplifier only completes this transition after successful synchronization,
the synchronization warning (n17) is canceled. Failing this, synchronization
(SO) 0x08 fault (F28) is set after a time-out period has elapsed. This transition enables
processing of the control word, making it possible to transfer and process
the cyclical PDO setpoints.
(OS) 0x04 Blocking of setpoint transfer
The ECAT interface stops producing cyclical interrupts. As a result, the loss
(OP) 0x02 of synchronization warning appears on the amplifier (n17) and the actual
values are no longer updated.
Deactivation of all EtherCAT events apart from AL control. In addition, the
ECAT interface stops sending interrupts, causing the amplifier to lose syn-
(OI) 0x01
chronization (warning n17) and cease updating actual values. Stopping of
all mailbox activities.

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3.4 CANopen over EtherCAT (CoE) status machine

The status machine for the control and status words corresponds to the CANopen status machine
in accordance with DS402. Control and status words are captured in every instance of fixed PDO
mapping (see chapter entitled ‘Fixed PDO Mapping‘, page 22).
The status word is only updated
and written by the amplifier in
Safe-Op and Operational sta-
Start tuses.

Not Ready to The control word is only read in

Switch On 13 during Operational status.

Fault
1 Reaction
Active
15 14

Switch On Disabled Fault

2 7

Ready to
Switch On

3 6 10 12

9 8 Switched
On
4 5
11
Operation Quick Stop
Enable Active
16

3.4.1 Status description

Status Description
The servo amplifier is not ready to switch on; the controller has not indica-
Not Ready to
ted readiness for service. The servo amplifier is still in the boot phase or in
Switch On
fault status.
In 'Switch On Disable' status, the amplifier cannot be enabled via the Ether-
Switch On Disable CAT interface, because (for example) there is no connection to a power
source.
In 'Ready to Switch On' status, the servo amplifier can be enabled via the
Ready to Switch On
control word.
In 'Switched On' status, the amplifier is enabled, but the setpoints of the Et-
herCAT-interface are not yet transferred. The amplifier is idle, and a positi-
Switched On
ve edge in bit 3 of the control word activates setpoint transfer (transition to
'Operation Enable' status).
In this status, the servo amplifier is enabled and setpoints are transferred
Operation Enable
from the EtherCAT interface.
Quick Stop Active The servo amplifier follows a quick stop ramp.
Fault Reaction Active The servo amplifier responds to a fault with an emergency stop ramp.
Fault A fault is pending, the drive is stopped and disabled.

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EtherCAT 12/2010 Kollmorgen

3.4.2 Commands in the control word

The servo amplifier evaluates the individual bits of the control word.
Commands in the Controlword for a status change:

Transition Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

Enable for
Common set- Bit 3 and show Enable Switch Enable if
Quit fault
point enable Bit 5 in the On Bit1=1
Statusword
0 X X X X X
1 X X X 0 X
2 X X X 1 0
3 X X 1 1 P
4 X P 1 1 1
5 X N 1 1 1
5 X X N 1 1
6 X X X 1 N
7 X X X N X
8 X X X 1 N
9 X X X N X
10 X X X N X
11 X 1 N 1 1
12 X X X N X
13 X 1 1 1 1
14 X 1 1 1 1
15 P X X X X
Bits labeled X are irrelevant.
0 and 1 indicate the status of individual bits.
P indicates a positive edge in the bit; N indicates a negative edge.

Actions on positive edges in control word bits:

Bit Action
0 Enabling of the servo amplifier when the switch-on inhibit is canceled (Bit1=1)
1 Cancellation of switch-on inhibit
Activation of bit 5 display in the status word if Bit0 & Bit1 = 1. Enable for bit 3 in the control
2
word
3 Setpoint enabling if Bit0, Bit1 and Bit2 = 1
Sending of clear fault command (CLRFAULT). If bit 19 of the ASCII SERCSET parameter is
7 set and a fault necessitating a hardware reset is pending, the servo amplifier generates an
F29.
11 Start of a reference run if the drive is in referencing mode (OPMODE 8)
12 Sending of a SAVE command.

Actions on negative edges in control word bits:

Bit Action
0 Disabling of the drive (sending of the DIS ASCII command)
1 If Bit 1 is not showing a negative edge, braking with the DECSTOP ramp and disabling.
If neither bit 1 nor bit 2 are showing a negative edge, braking with the DECDIS ramp and
2
continuation of the enabled state.
Deactivation of setpoint transfer from EtherCAT interface and stopping of drive in speed
3
control mode (OPMODE 0)
7 Resetting of clear fault (CLRFAULT) command channel
11 Resetting of reference run command channel
12 Resetting of SAVE command channel

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Kollmorgen 12/2010 EtherCAT

3.4.3 Status machine bits (status word)

Bit 6 = Bit 5 = Bit 3 = Bit 2 = Bit 1 = Bit 0 =

Status Switch on no emergency Error Operation Switched Ready to
Disabled stop active Enable on switch on
Not Ready to
1 X 0 0 0 0
Switch On
Switch On
1 X 0 0 0 0
Disabled
Ready to
0 X 0 0 0 1
Switch On
Switch On 0 1 0 0 1 1
Operation
0 1 0 1 1 1
Enable
Fault 0 1 1 0 0 0
Fault reacti-
0 0 1 1 1 1
on active
Quick Stop
0 0 0 0 1 1
Active
Bits labeled X are irrelevant.
0 and 1 indicate the status of individual bits.

EtherCAT for S300/S400/S600/S700 21

EtherCAT 12/2010 Kollmorgen

3.5 Fixed PDO Mappings

Various ready-to-use mappings can be selected for cyclical data exchange via objects 0x1C12 and
0x1C13. Using object 1C12 subindex 1 (Sync Manager 2 PDO assignment), a fixed mapping for the
cyclical setpoint can be set with values 0x1701 to 0x1708. Using object 1C13 subindex 1 (Sync
Manager 3 PDO assignment), a fixed mapping for the cyclical drive actual values can be set with
values 0x1B01 to 0x1B08.
1. Position interface
0x1701: Position setpoint (4 Byte), Controlword(2 Byte), total (6 Byte);
default for S400/S600
0x1B01: Position act.value (4 Byte), Statusword (2 Byte), total (6 Byte)
2. Velocity interface
0x1702: Velocity setpoint (4 Byte), Controlword (2 Byte), total (6 Byte);
default for S300/S700
0x1B01: Position act.value (4 Byte), Statuswort (2 Byte), total (6 Byte)
3. Torque interface
0x1703: Current setpoint (2 Byte), Controlword (2 Byte), total (4 Byte)
0x1B03: Position act.value (4 Byte), Current act.value (2 Byte), Statusword (2 Byte),
total (8 Byte)
4. Position-, velocity- and Torque-interface with operation mode switch
0x1704: Position setpoint (4 Byte), Velocity setpoint (4 Byte), Current setpoint (2 Byte),
Opmode request (2 Byte), Controlword (2 Byte), total (14 Byte)
0x1B04: Position act.value (4 Byte), Current act.value (2 Byte),
Op.mode status (2 Byte), Statusword (2 Byte), total (10 Byte)
5. Position- and Velocity-interface with extension „Torque“
0x1705: Position setpoint (4 Byte), Velocity setpoint (4 Byte),
Additive Current setpoint(2 Byte), Current limit (2 Byte),
Controlword (2 Byte), total (14 Byte)
0x1B05: Position act.value (4 Byte), Current act.value (2 Byte),
Drive-following-error (4 Byte), Statusword (2 Byte), total (12 Byte)
6. Position- and Velocity-interface with extension „Latch“
0x1706: Position setpoint (4 Byte), Velocity setpoint (4 Byte),
Controlword (2 Byte), Latchcontrolword (2 Byte), total (12 Byte)
0x1B06: Position act.value (4 Byte), Statusword (2 Byte), Latchstatusword (2 Byte),
Latchposition (4 Byte), total (12 Byte)
7. Positioninterface 1 + 2, Velocity- and Torque-interface and extension „Latch“
0x1707: Position setpoint (4 Byte), Velocity setpoint (4 Byte),
Torque setpoint (2Byte), Torque limit (2 Byte),
Controlword (2 Byte), Latchcontrolword (2 Byte), total (16 Byte)
0x1B07: Position act.value (4 Byte), Position act.value 2 (4 Byte),
Torque act.value (2 Byte), Drive-following-error (4 Byte),
Statusword (2 Byte), Latchstatusword (2 Byte), Latchposition (4 Byte),
total (22Byte)
8. Position-, Velocity- and Torque-interface with Opmode-Switch and extension „Torque“+„Latch“
0x1708: Position setpoint (4 Byte), Velocity setpoint (4 Byte),
Current setpoint (2 Byte), Current limit (2 Byte),
Opmode request (2 Byte), Controlword (2 Byte),
Latchcontrolwort (2 Byte), total (18 Byte)
0x1B08: Position act.value(4 Byte), Current act.value (2 Byte),
Drive-following-error (4 Byte), Opmode message (2 Byte),
Statusword (2 Byte), Latchstatusword (2 Byte), Latchposition (4 Byte),
total (20 Byte)

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Kollmorgen 12/2010 EtherCAT

3.6 Supported cyclical setpoint- and actual values

The following cycle segmentation applies to cyclical setpoint- and actual values that are not proces-
sed in the bus cycle or when the field bus is in IDLE.

S400/S600 S300/S700
Mapping 1-5 Mapping 6 Mapping 7-8
2 ms cycle 1 ms cycle 4 ms cycle 1 ms cycle

3.6.1 Supported cyclical setpoint values

CAN-
Data-
Name Object- Description
type
number
This is used in cyclical synchronous position interface mode
(ASCII:OPMODE 5) with a linear or quadratic interpolation
(only /) in 250 µs steps; the position setpoint is processed in
Position each EtherCAT bus cycle (ASCII:PTBASE); the position set-
INT32
setpoint point is given in increments per motor revolution, whereby bit
resolution can be set with the ASCII PRBASE parameter;
the position setpoint can be recorded with the NEWPOS
MACRO variable.
This is used in cyclical synchronous speed interface mode
(ASCII: OPMODE 0); The speed setpoint is processed in
Velocity each EtherCAT bus cycle (ASCII: PTBASE); the speed set-
INT32
setpoint point is given incrementally. (65536 * 16*32)/(60*4000) =
1RPM; the speed setpoint can be recorded with the VCMD
MACRO variable.
This is used in cyclical synchronous torque interface mode
(ASCII: OPMODE 2); The current setpoint is processed in
Current each EtherCAT bus cycle (ASCII: PTBASE); the current set-
INT16
setpoint point is given incrementally; a unit of 3280 increments corre-
sponds to the peak current for the device; the current set-
point can be recorded with the ICMD MACRO variable.
This can be used in positioning and speed control operating
modes for pilot current control; the additive current setpoint
additive is processed in each EtherCAT bus cycle (ASCII:PTBASE);
current INT16 the current setpoint is given incrementally; 3280 increments
setpoint correspond to the peak current for the device; the additive
current setpoint can be recorded with the IVORCMD
MACRO variable.
This can be used in all operating modes to limit the current
actual value; the current limit value is processed in each Et-
herCAT bus cycle (ASCII:PTBASE); the current setpoint is
Current limit INT16
given incrementally; 3280 increments correspond to the
peak current for the device; the current limitation can be re-
corded with the DPRILIMIT MACRO variable.
This object is used to set the drive's operating mode (AS-
Opmode
0x6060 UINT16 CII:OPMODE); the operating mode request is processed in-
request
dependently of the EtherCAT bus cycle
This object is used to activate the drive's status machine; the
Controlword 0x6040 UINT16 control word is processed independently of the EtherCAT
bus cycle when the field bus is in IDLE.
This object is used to activate the drive's latch status machi-
Latch
0x20A4 UINT16 ne; the latch control word is processed independently of the
Controlword
EtherCAT bus cycle (ASCII:PTBASE).

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3.6.2 Supported cyclical actual values

CAN-
Data-
Name Object- Description
type
number
This object is used to return position value 1 of the motor en-
coder; if a second, external encoder is set up for positioning
control, external actual position value 2 is returned in actual
position value 1; the actual position value is processed in each
Position actu-
INT32 EtherCAT bus cycle (ASCII:PTBASE); the actual position va-
al value 1
lue is returned in increments per motor revolution, whereby
the bit resolution can be set with the ASCII PRBASE parame-
ter; actual position value 1 can be recorded with the PFB
MACRO variable
This object is used to return position value 2 of a second, ex-
ternal encoder; the actual position value is processed in each
EtherCAT bus cycle (ASCII:PTBASE); the actual position va-
Position actu-
INT32 lue is returned in increments per motor revolution, whereby
al value 2
the bit resolution can be set with the ASCII PRBASE parame-
ter; actual position value 2 can be recorded with the PFB0
MACRO variable
This object is used to return the current actual value; the cur-
rent actual value is processed in each EtherCAT bus cycle
Current actu- (ASCII:PTBASE); the current actual value is given incremen-
INT16
al value tally; a unit of 3280 increments corresponds to the peak cur-
rent for the device; the current actual value can be recorded
with the I MACRO variable
This object is used to return the internal drive tracking error;
the tracking error is processed in each EtherCAT bus cycle
Internal follo- (ASCII:PTBASE); the tracking error is returned in increments
INT32
wing error per motor revolution, whereby the bit resolution can be set
with the ASCII PRBASE parameter; the tracking error can be
recorded with the PE MACRO variable.
Message: This object is used to return the drive's operating mode (AS-
Operation 0x6061 INT16 CII:OPMODE); the operating mode request is processed inde-
modes pendently of the EtherCAT bus cycle (ASCII:PTBASE).
This object is used to return the drive's status; the status word
Status word 0x6041 UINT16 is processed independently of the EtherCAT bus cycle when
the field bus is in IDLE.
Latch This object is used to return the drive's latch status; see also
UINT16
Status word the description of the latch control and latch status words.
ID range
from This object is used to return the drive's actual latched position.
Latch
0x20A0 INT32 The value provided (positive/negative edge, latch 1/2) is de-
Position
.. termined by the latch control word.
0x20A3

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3.7 Supported operation modes

The following values are used for selection and feedback operating modes:
— cyclic synchronous position mode 0x08 und 0xFA
— cyclic synchronous velocity mode 0x09 und 0xFE
— cyclic synchronous torque mode 0x0A und 0xFD
— homing mode 0x06 und 0xF9
Negative values correspond to manufacturer-specific settings in 6060.

3.8 Adjusting the EtherCAT cycle time

The cycle time to be used in the servo amplifier for the cyclical setpoints and actual values can eit-
her be stored in the PTBASE parameter in the amplifier or configured in the startup phase.
This takes place via SDO mailbox access (see chapter) to CANopen objects 60C2 subindex 1 and
2.
Subindex 2, known as the interpolation time index, defines the power of ten of the time value (e.g.
-3 means 10-3 or milliseconds) while subindex 1, known as interpolation time units, gives the num-
ber of units (e.g. 4 means 4 units).
If you wish to run a 2 ms cycle, this can be achieved by means of various combinations. For exam-
ple,
Index = -3, Units = 2
or
Index = -4, Units = 20 etc.
The PTBASE parameter is counted in increments of 250 microseconds within the device. This
means, for example, that 2 ms equates to a PTBASE of 8.

3.9 Recommended cycle times depending on mode of operation

The minimum cycle time for the servo amplifier is largely dependent on the drive configuration
(second actual position value encoder, latches). As far as possible, the drive’s analog evaluations
should be deactivated (ANOUT1=0, ANOUT2=0, ANCNFG= -1).

Interface Cycle time S400/S600 Cycle time S300/S700

Position ³ 1 ms (³ 1000 µs) ³ 0.25 ms (³ 250 µs)
Velocity ³ 0.50 ms (³ 500 µs) ³ 0.25 ms (³ 250 µs)
Torque ³ 0.25 ms (³ 250 µs) ³ 0.25 ms (³ 250 µs)

3.10 Synchronization based on cycle time

On all Kollmorgen servo amplifiers, the internal PLL is able to even out an average deviation of up
to 1000 ppm in the cycle time provided by the master. By way of an example, if the cycle time is set
to 1 ms, the drive will still be able to synchronize with an average deviation of up to +/- 1µs in the
cycle time from the master by using its internal PLL. Average deviation in the cycle time refers to
the average length of all cycles.
Depending on the cycle time set, the servo amplifier will allow the following levels of jitter in the
master cycle time without reporting a synchronization fault.
Cycle time >= 1ms => permissible jitter = 320µs
Cycle time <= 750µs => permissible jitter = 70µs
On the second consecutive master interrupt beyond the allowed jitter level, the drive reports a F28
synchronization error, or warning n17. Synchronization monitoring can be switched off via the
SERCSET ASCII command, bits 17 and 18.

EtherCAT for S300/S400/S600/S700 25

EtherCAT 12/2010 Kollmorgen

3.11 Latch controlword and Latch statusword

Latch Controlword (2 Byte)

Bit Value (bin) Value (hex) Description

0 00000000 00000001 xx01 Enable extern latch 1 (positive rise)
1 00000000 00000010 xx02 Enable extern latch 1 (negative rise)
2 00000000 00000100 xx04 Enable extern latch 2 (positive rise)
3 00000000 00001000 xx08 Enable extern latch 2 (negative rise)
4 00000000 00010000 xx10 Enable intern latch C (positive rise)
5-7 Reserve
8-12 00000001 00000000 01xx Read external latch 1 (positive rise)
00000010 00000000 02xx Read external latch 1 (negative rise)
00000011 00000000 03xx Read external latch 2 (positive rise)
00000100 00000000 04xx Read external latch 2 (negative rise)
00000101 00000000 05xx Read external latch C (positive rise)
13-15 Reserve

Latch Statusword (2 Byte)

Bit Value (bin) Value (hex) Description

0 00000000 00000001 xx01 External latch 1 valid (positive rise)
1 00000000 00000010 xx02 External latch 1 valid (negative rise)
2 00000000 00000100 xx04 External latch 2 valid (positive rise)
3 00000000 00001000 xx08 External latch 2 valid (negative rise)
4 00000000 00010000 xx10 Internal latch C valid (positive rise)
5-7 Reserve
8-11 00000001 00000000 X1xx Acknowledge value external latch 1 (positive rise)
00000010 00000000 X2xx Acknowledge value external latch 1 (negative rise)
00000011 00000000 X3xx Acknowledge value external latch 2 (positive rise)
00000100 00000000 X4xx Acknowledge value external latch 2 (negative rise)
00000101 00000000 x5xx Acknowledge value internal latch C (positive rise)
12-15 00010000 00000000 1xxx Status Digital Input 4
00100000 00000000 2xxx Status Digital Input 3
01000000 00000000 4xxx Status Digital Input 2
10000000 00000000 8xxx Status Digital Input 1

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3.12 Mailbox Handling

With EtherCAT, acyclical data traffic (object channel or SDO channel) is called mailbox. This sys-
tem is based around the master:

The master (EtherCAT controller) sends data to the slave (servo amplifier). This
Mailbox Output: is essentially a (read/write) request from the master. Mailbox output operates via
Sync Manager 0.
The slave (servo amplifier) sends data to the master (EtherCAT controller). The
Mailbox Input:
master reads the slave's response. Mailbox input operates via Sync Manager 1.

The timing diagram illustrates the mailbox access process:

t
1 2 3 4 5 6

1) The EtherCAT master writes the mailbox request to the mail-out buffer.
On the next interrupt, the EtherCAT interface activates a Sync Manager 0 event (mailbox
2)
output event) in the AL event register.
The servo amplifier reads 16 bytes from the mail-out buffer and copies them to the internal
3)
mailbox output array.
The servo amplifier identifies new data in the internal mailbox output array and performs an
4) SDO access to the object requested by the EtherCAT interface. The response from the ser-
vo amplifier is written to an internal mailbox input array.
The servo amplifier deletes all data in the internal mailbox output array so that a new mail-
5)
box access attempt can be made.
The servo amplifier copies the response telegram from the internal mailbox input array to
6)
the mail-in buffer of the EtherCAT interface.

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3.12.1 Mailbox Output

An interrupt by the EtherCAT-interface with a Sync Manager 0 - Event starts a Mailbox Output Pro-
cess. A 1 in the Mail Out Event-Bit of the AL Event register signalizes the servo amplifier, that the
EtherCAT-interface wants to send a Mailbox message and that it has already stored the required
data in the Mail Out Buffer. Now 16 Byte data are read by the servo amplifier with the IRQ process.
The bytes are defined as follows:

Address 0x1800 Address 0x180F

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

CAN over EtherCAT specific data CAN specific data

(CoE Header) (standard CAN SDO)
Byte 0 Length of the data (Low Byte)
Byte 1 Length of the data (High Byte)
Byte 2 Address (Low Byte)
Byte 3 Address (High Byte)
Bit 0...5: Channel
Byte 4
Bit 6...7: Priority
Bit 0...3: Type 1 = Reserved: ADS over EtherCAT
2 = Reserved: Ethernet over EtherCAT
Byte 5
3 = Can over EtherCAT…)
Bit 4...7: Reserved
PDO Number
Byte 6
(with PDO transmissions only, Bit 0 = LSB of the PDO number, see Byte 7 for MSB)
Bit 0: MSB of the PDO number, see Byte 6)
Bit 1...3: Reserved
Bit 4...7: CoE specific type 0: Reserved
1: Emergency message
2: SDO request
Byte 7 3: SDO answer
4: TXPDO
5: RxPDO
6: Remote transmission request of a TxPDO
7: Remote transmission request of a RxPDO
8…15: reserved
Control-Byte in the CAN telegram:
Byte 8 write access: 0x23=4Byte, 0x27=3Byte, 0x2B=2Byte, 0x2F=1Byte
read access: 0x40
Byte 9 Low Byte of the CAN object number (Index)
Byte 10 High Byte of the CAN object number (Index)
Byte 11 Subindex according to CANopen Specification for the servo amplifier
Byte 12 Data with a write access (Low Byte)
Byte 13 Data with a write access
Byte 14 Data with a write access
Byte 15 Data with a write access (High Byte)
The servo amplifier answers to ever telegram with an answer in the Mailbox Input buffer.

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3.12.2 Mailbox Input

The servo amplifier answers to ever CoE telegram with a 16 Byte answer telegram in the Mailbox
Input buffer. The bytes are defined as follows:

Address 0x1C00 Address 0x1C0F

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

CAN over EtherCAT specific data CAN specific data

(CoE Header) (standard CAN SDO)
Byte 0 Length of the data (Low Byte)
Byte 1 Length of the data (High Byte)
Byte 2 Address (Low Byte)
Byte 3 Address (High Byte)
Bit 0...5: Channel
Byte 4
Bit 6...7: Priority
Bit 0...3: Type 1 = Reserved: ADS over EtherCAT
2 = Reserved: Ethernet over EtherCAT
Byte 5
3 = Can over EtherCAT…)
Bit 4...7: Reserved
PDO Number
Byte 6
(with PDO transmissions only, Bit 0 = LSB of the PDO number, see Byte 7 for MSB)
Bit 0: MSB of the PDO number, see Byte 6)
Bit 1...3: Reserved
Bit 4...7: CoE specific type 0: Reserved
1: Emergency message
2: SDO request
Byte 7 3: SDO answer
4: TXPDO
5: RxPDO
6: Remote transmission request of a TxPDO
7: Remote transmission request of a RxPDO
8…15: reserved
Control-Byte in the CAN telegram:
- write access OK: 0x60
Byte 8 - read access OK + length of answer: 0x43 (4 Byte), 0x47 (3 Byte), 0x4B (2Byte), 0x4F
(1Byte)
- error with read- or write access: 0x80
Byte 9 Low Byte of the CAN object number (Index)
Byte 10 High Byte of the CAN object number (Index)
Byte 11 Subindex according to CANopen Specification for the Kollmorgen servo amplifier
Byte 12 Data (Low Byte)
- error code Fehlercode according to CANopen Specification
Byte 13 Data
in case of an error
Byte 14 Data - data value of the object in case of successfull read access
Byte 15 Data (High Byte)

EtherCAT for S300/S400/S600/S700 29

EtherCAT 12/2010 Kollmorgen

3.12.3 Example: Mailbox access

In the example below PDOs 0x1704 are mapped. (see Chapter ’Fixed PDO Mappings’ on page 22):
The master sents this Mailbox-Output message:

Byte 0 0x0A The next 10 Bytes contain data (Byte 2 ... Byte 11)
Byte 1 0x00 The next 10 Bytes contain data (Byte 2 ... Byte 11)
Byte 2 0x00 Address 0
Byte 3 0x00 Address 0
Byte 4 0x00 Channel 0 and Priority 0
Byte 5 0x03 CoE Object
Byte 6 0x00 PDO Number 0
Byte 7 0x20 PDO Number 0 and SDO-Request
Byte 8 0x2B 2 Byte write access
Byte 9 0x12 SDO-Object 0x1C12
Byte 10 0x1C SDO-Object 0x1C12
Byte 11 0x01 Subindex 1
Byte 12 0x04 Data value 0x00001704
Byte 13 0x17 Data value 0x00001704
Byte 14 0x00 Data value 0x00001704
Byte 15 0x00 Data value 0x00001704

The answer of the servo amplifier must be:

Byte 0 0x0E The next 14 Bytes contain data (Byte 2 ... Byte 15)
Byte 1 0x00 The next 14 Bytes contain data (Byte 2 ... Byte 15)
Byte 2 0x00 Address 0
Byte 3 0x00 Address 0
Byte 4 0x00 Channel 0 and Priority 0
Byte 5 0x03 CoE Object
Byte 6 0x00 PDO Number 0
Byte 7 0x20 PDO Number 0 and SDO-Answer
Byte 8 0x60 Successful write access
Byte 9 0x12 SDO-Object 0x1C12
Byte 10 0x1C SDO-Object 0x1C12
Byte 11 0x01 Subindex 1
Byte 12 0x00 Data value 0x00000000
Byte 13 0x00 Data value 0x00000000
Byte 14 0x00 Data value 0x00000000
Byte 15 0x00 Data value 0x00000000

30 EtherCAT for S300/S400/S600/S700

Kollmorgen 12/2010 Appendix

4 Appendix
4.1 Index
A Abbreviations. . . . . . . . . . . . . 7
AL control . . . . . . . . . . . . . . 17
AL event . . . . . . . . . . . . . . 16
AL status . . . . . . . . . . . . . . 17
AL status code . . . . . . . . . . . 17
Assembly. . . . . . . . . . . . . . . 9
C CoE . . . . . . . . . . . . . . . . . 19
Communication Phases. . . . . . . 18
Control word . . . . . . . . . . . . 20
Cycle time, adjustment . . . . . . . 25
Cycle time, suggested . . . . . . . 25
cyclical actual values . . . . . . . . 24
cyclical setpoint values . . . . . . . 23
E EtherCat Setup . . . . . . . . . . . 12
Expansion card . . . . . . . . . . . 10
I Installation . . . . . . . . . . . . . . 9
Interrupt Enable . . . . . . . . . . . 16
Interrupt Event . . . . . . . . . . . 16
L Latch controlword . . . . . . . . . . 26
Latch statusword . . . . . . . . . . 26
M Mailbox . . . . . . . . . . . . . . . 27
O Operation modes . . . . . . . . . . 25
P PDO Mappings . . . . . . . . . . . 22
Phase run-up . . . . . . . . . . . . 17
S Setup . . . . . . . . . . . . . . . . 11
Slave Register . . . . . . . . . . . 15
Status machine . . . . . . . . . . . 21
Symbols . . . . . . . . . . . . . . . 6
Synchronization . . . . . . . . . . . 25
T Target group . . . . . . . . . . . . . 5
U Use as directed. . . . . . . . . . . . 6

EtherCAT for S300/S400/S600/S700 31

Service

We are committed to quality customer service. In order to serve in the most effective way,
please contact your local sales representative for assistance.
If you are unaware of your local sales representative, please contact the Customer Support.

Europa
Kollmorgen Customer Support Europe
Internet www.kollmorgen.com
E-Mail [email protected]
Tel.: +49 (0)2102 - 9394 - 2250
Fax: +49 (0)2102 - 9394 - 3110

North America
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Internet www.kollmorgen.com
E-Mail [email protected]
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