Delta CMC-EC01 Bedienungsanleitung

CMC-EC01

EtherCAT Communication Card

Operation Manual

20170720

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual 1

Warning

 This operation manual provides information on specifications, installation, basic operation,

setup and details of the communication protocol

 AC motor drive is a delicate electrical and electronic product. For the safety of operator and

the mechanical equipment, please allow professional electrical mechanics to do the trial run

and adjust parameters for you. Should there be any questions, please consult your local Delta

distributors. Our professional staff will be happy to help you

 Please read this operation manual thoroughly and follow the instructions in case damage on

the device or injury on the operation staff occur.

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual

Table of Content

1 Introduction ....................................................................................................................... 3

1.1 EtherCAT Description ........................................................................................................... 3

1.2 Functionality .......................................................................................................................... 3

2 Product Profile and Outline ............................................................................................. 4

2.1 Dimension ............................................................................................................................. 4

2.2 Parts ...................................................................................................................................... 4

2.3 LED indicator ........................................................................................................................ 5

2.4 RJ-45 PIN Definition ............................................................................................................. 5

3 Installation and Wiring ..................................................................................................... 6

3.1 How to Install ........................................................................................................................ 6

3.2 How to Disconnect ................................................................................................................ 6

3.3 Wiring .................................................................................................................................... 7

4 VFD-C2000 Drive Configuration ...................................................................................... 8

5 EtherCAT List and Description of supported Index ....................................................... 9

5.1 Index related to the state machine ........................................................................................ 9

5.2 Index related to the control mode ....................................................................................... 10

5.3 Index related to the speed .................................................................................................. 10

5.4 Index Related to Disconnections ......................................................................................... 11

6 Configuring the Connection with the Beckhoff PLC.................................................... 13

6.1 Basic Configuration ............................................................................................................. 13

6.2 Speed Mode Demo ............................................................................................................. 17

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual 3

1 Introduction

1.1 EtherCAT Description

The application layer of the C2000's EtherCAT communication interface uses the standard

DS402 protocol and complies with the CoE ( CAN Application Protocol over EtherCAT )

definition. Therefore, all of C2000's application layer protocols that comply with the

CANopen DS402 standard can be used on top of EtherCAT.

1.2 Functionality

For the user's convenience, C2000's EtherCAT card currently supports standard DS402

Velocity (Index 6060 = 2). It should be noted, however, that this mode is asynchronous

control mode. C2000 support EtherCAT communication card from v2.02, please make

sure if the drive firmware is supported or not.

Specification

Item Specifications

Connection RJ-45

Ports 2 Port

Interface IEEE802.3, IEEE802.3u

Cable Category 5e shielding 100 M

Speed 10 / 100 Mbps Auto-Defect

Protocol EtherCAT

Environment

Item Specifications

Nosie Immunity

ESD（IEC 61800-5-1, IEC 6100-4-2）

EFT（IEC 61800-5-1, IEC 6100-4-4）

Surge Teat（IEC 61800-5-1, IEC 6100-4-5）

Conducted Susceptibility Test（IEC 61800-5-1, IEC 6100-4-6）

Operation

Temperature -10 °C ~ 50 °C（Temperature），90 %（Humidity）

Storage

Temperature -25 °C ~ 70 °C（Temperature），95 %（Humidity）

Vibration / Shock

Immunity IEC 61800-5-1, IEC 60068-2-6 / IEC 61800-5-1, IEC 60068-2-27

Electrical Specification

Item Specifications

Power Supply 5 Vdc

Power

Consumption 0.8 W

Insulation Voltage 500 Vdc

Weight 27（g）

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual

2 Product Profile and Outline

2.1 Dimension

Unit: mm [inch]

2.2 Parts

1. Screw fixing hole 7. IN LINK indicator

2. Positioning hole 8. Fool-proof groove

3. RUN indicator 9. RJ-45 connection port

4. ERR indicator 10. RJ-45 connection port

5. POWER indicator 11. AC motor drive connection port

6. OUT LINK indicator

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual 5

2.3 LED indicator

Name Status Indication

POWER Green On Power supply in normal status

Off No power supply

LINK Green

On Normal status

Blink Pre-operation(on/off200ms)

Safe mode (on 200ms/ off 1000ms)

Off Initial

ERROR Red Blink

Basic configuration error (on/off 200ms)

Status witch error (on200ms /off1000ms)

Timeout(on 200ms twice /off1000ms)

Off No error

IN LINK Green

On Network connected

Blink Network in operation

Off Network not connected

OUT LINK Green

On Network connected

Blink Network in operation

Off Network not connected

2.4 RJ-45 PIN Definition

RJ-45 Sketch No. Signal Definition

1 Tx+ Positive pole for data transmission

2 Tx- Negative pole for data transmission

3 Rx+ Positive pole for data receiving

4 -- N / C

5 -- N / C

6 Rx- Negative pole for data receiving

7 -- N / C

8 -- N / C

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual

3 Installation and Wiring

In this section, we illustrate how to connect CMC-EC01 to VFD-C2000 and the network

3.1 How to Install

How to connect CMC-EIP01 to VFD-C2000 series AC motor drive:

 Switch off the power supply of VFD-C2000

 Open the front cover of VFD-C2000

 Place the insulation spacer into the positioning pin at Slot 1 (see Figure 1) and aim

the two holes on the PCB at the positioning pin. Press the pin to clip the holes with

the PCB (see Figure 2).

 Crew up at torque 6~8 kg-cm [5.2~6.9 lb-in.] [0.59~0.78 Nm ] after the PCB is

clipped with the holes (see Figure3) .

Figure1 Figure 2 Figure 3

3.2 How to Disconnect

How to disconnect CMC-EIP01 from VFD-C2000

 Switch off the power of VFD-C2000

 Open the front cover of VFD-C2000

 Remove the two screws (see Figure 4).

 Twist open the card clip and insert the slot type screwdriver to the hollow to prize the

PCB off the card clip (see Figure 5).

 Twist and open the other card clip to remove the PCB (see Figure 6).

Figure 4 Figure 5 Figure 6

DC-

DC+

CAUTION

CL001

禁止移除上蓋，

維修除外。

Donotremove

thiscover,except

forservicing

警告

B1 B2

DC++1

DC-

直流共母?

DC-/DC+

MOTOR /

制??阻

電源

POWER /

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual 7

3.3 Wiring

The CMC-EC01 moves packets directionally from IN (left) to OUT (right), with the

correct wiring method shown below:

After hardware installation is complete, turn on the power and look at parameter P9-60.

The value displayed should be "6", and the word "EtherCAT" should also be displayed. If

not, please check the version of the inverter and whether the card has been correctly

connected. (C2000 of version v2.02 or above may support CMC-EC01)

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual

4 VFD-C2000 Drive Configuration

To control the C2000 via EtherCAT, all you need to do is configure relative parameters

so that the command input source is set to the EtherCAT communications interface.

Relative settings are as follows：

[NOTE]：

1. In order for the PLC or control PC to be able to recognize the C2000, the product

description file (ESI file) of the C2000 must be loaded. The file name of the C2000

product description file is "CMC-EC01 with C2000.xml," and this file can be obtained

from Delta's website.

2. To have C2000 calculate correctly the output frequency by sending a target speed

command, please enter motor pole number parameter based on the motor type set at

Pr. 05-33. For example, set Pr. 05-04 if it is asynchronous motor, or set Pr. 05-37 if it is

synchronous motor.

Parameter Value / Display Description

Pr. 00-20 8 set the communications card as the frequency source if speed

control is required

Pr. 00-21 5 set the communications card as the control source

Pr. 09-60 6 check whether P9-60 automatically displays EtherCAT as the

communications card type

EtherCAT Communication Card: CMC-EC01

CMC-EC01 Operation Manual 9

5 EtherCAT List and Description of supported Index

The C2000 currently supports the standard DS402 specification. Therefore, its state

machine and control follow DS402 protocol definitions. These definitions are described in

detail in the following sections.

5.1 Index related to the state machine：

In the DS402 definition, state machine state changes are conducted via the Index

6040 control word (bit0~3 and 7). The current state of the state machine is shown in the

6041 status word (bit0~6). Therefore, corresponding bit definitions are as follows:

Index 6040:

Index 6041:

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