SMAC VLC-ETC Bedienungsanleitung

VLC-ETC

USER MANUAL

Version 1.3

Disclaimer

The contents of this user manual are intended to be as accurate as possible, but may be subject to

change without prior notification. SMAC shall not be liable for any damages that may arise as a

consequence of the use of information presented in this user manual.

Document Version

Note

Date

1.0

First released version

7/17/2020

1.1

Upgraded the hardware with the associated

pictures, I/O specifications and pinout

information.

11/6/2020

1.2

Updated the firmware version from 1.0.1 to 1.1.0,

with the following changes:

- new cyclic variables: digital inputs and outputs

- new acyclic variables: I2T parameters

- fault indication bits in statusword

- fault reset through controlword

- modified the system macros

7/1/2021

1.3

Fixed the velocity mode system macro, updated

VLC-ETC housing drawing, added a program

example for a 2-axis actuator

10/28/2021

 

 
Contents 
 Introduction .................................................................................................................................... 4 
 Hardware and Software Setup........................................................................................................ 6 
1 Hardware................................................................................................................................. 6 
1.1 Power/signal/communication connectors...................................................................... 6 
1.2 I/O electrical schematics ............................................................................................... 10 
1.3 Optional: disabling the STO........................................................................................... 12 
2 Software Setup...................................................................................................................... 13 
2.1 VLC configuration .......................................................................................................... 13 
2.2 Connecting VLC-ETC to an EtherCAT network (with a TwinCAT example).................... 13 
 Programming the VLC-ETC ............................................................................................................ 16 
1 Servo objects......................................................................................................................... 16 
1.1 Acyclic servo objects...................................................................................................... 16 
1.2 Cyclic servo objects ....................................................................................................... 18 
2 Executing motion through servo objects .............................................................................. 22 
3 Example: executing homing with TwinCAT under Config mode........................................... 22 
4 Example: programming a sequence of motions with TwinCAT PLC under Run mode.......... 25 
5 Example: programming a 2-axis linear-rotary actuator ........................................................ 35 
A Appendix A: VLC System Macros................................................................................................... 49

Introduction

The VLC-ETC is an EtherCAT servo drive that is based on SMAC’s VLC 1-axis integrated controller/driver

and an additional layer that provides the EtherCAT connectivity. The VLC part is pre-programmed with

system macros to accommodate control and monitoring functionalities of the servo drive. Additional

macros can be programmed in the VLC to perform subroutines/functions that can be called from the

EtherCAT master. Background knowledge on the VLC is required to configure the servo parameters of

the VLC-ETC. Please refer to the latest VLCI-X1 manual for more information about the servo drive

parameters and programming. Table 1.1 presents the VLC-ETC specifications.

Table 1.1. VLC-ETC specifications (based on Hardware version 1.0).

Description

EtherCAT servo drive

Operating Modes

Position, Velocity, Torque

Filter Algorithm

PID

Max. Servo Loop Rate

100 µS

Trajectory Generator

Trapezoidal

Servo Position Feedback

Incremental Encoder with Index

Output (Standard)

PWM (space-vector-modulated), 3.5 Amps Cont. and 6.5

Amps Peak (with proper heat mitigation) at 50 VDC Max.

Motor Type

3-Phase Brushless, DC brushed, Linear voice coil

PWM Frequency

20.0 KHz

Current resolution

5.66 mA (approximate)

Encoder and Index Input

Differential

Encoder Supply Voltage

5 VDC

Encoder Input Voltage

5.5 VDC Max., -0.1 VDC Min.

Encoder Count Rate

40 million encoder counts per Second

Position Range

31 Bits

Velocity Range

31 Bits

Acceleration Range

31 Bits

Digital I/O

4x Opto-isolated Digital Inputs w/ common:

•24 V Level Input

4x Solid-state Relay Outputs w/ common:

•200 mA Current

•Tolerant to 60 V

Analog I/O

Input: 1 Channel (differential), 0 to +/-10V With 12-Bit

Resolution.

Output: 1 Channel, 0-10V With 12-Bit Resolution.

STO (Safe Torque Off)

2x Opto-isolated STO Inputs:

•24 V Level Input

1x Opto-isolated STO Feedback Output:

•200 mA Current

•Tolerant to 60 V

LEDs

2 x 2 LEDs:

•EtherCAT LED: Run (green), Error (red)

•Servo Drive LED: Power ON (green), Fault (red)

Communication Interface

•1x serial/UART (micro USB port): 9600 baud default,

selectable between 2400 –460800

•2x EtherCAT RJ-45 ports

Supply Voltage

+24 to +48 VDC

Protections

•Driver overtemperature at 150 degrees C

•Overcurrent

•Overload

•Reverse polarity connection

•I2T

•(excessive) servo position error

VLC program space

•Macro storage: 53728 bytes

•Maximum number of macros: 512

•Maximum number of program registers: 2048

Hardware and Software Setup

2.1 Hardware

2.1.1 Power/signal/communication connectors

Figure 2.1 shows the VLC-ETC in its housing. The front and rear sides’ connectors as well as LED

status indicators are depicted in Figures 2.2 and 2.3. Pinout details of the connectors are

presented in the following pages of this manual.

Figure 2.1. VLC-ETC.

Figure 2.2. VLC-ETC front side connectors and LED status indicators.

Figure 2.3. VLC-ETC rear side connectors and LED status indicators.

EtherCAT RUN

EtherCAT ERROR

Servo drive fault

Servo drive power

J1 (EtherCAT input) / J2 (EtherCAT output)

RJ-45 Jack.

Signal

Description

TD+

Transmit data +

TD-

Transmit data -

RD+

Receive data +

RD-

Receive data -

J3 –I/O and STO interface

DSUB26 High Density Female Connector.

Pin number

Signal

Description

GPI_COM

Common terminal for general purpose digital inputs

GPO_COM

Common terminal for general purpose digital outputs

GPI2

General purpose digital input 2

GPI0

General purpose digital input 0

GND

Ground

STO_FB

STO feedback output

AN_OUT0

Analog output 0

GPO2

General purpose digital output 3

GPO0

General purpose digital output 1

STO2

STO input 2

STO1

STO input 1

GPI3

General purpose digital input 2

GPI1

General purpose digital input 1

GND

Ground

Not connected

AN_OUT1

Analog output 1

GPO3

General purpose digital output 2

GPO1

General purpose digital output 0

19 - 22

+5V

+5V power for external circuitry

GND

Ground

AN_IN0+

Analog input 0 (differential) +

AN_IN0-

Analog input 0 (differential) -

STO_COM

Common terminal for STO inputs and output

J4 - Power interface

6 pin terminal block header, 5 mm pitch.

Pin number

Signal

Description

RTN

Power supply return / ground

V+

Power supply positive

Actuator phase U (positive for single-phase actuators)

Actuator phase V (negative for single-phase actuators)

Actuator phase W

GND

Ground

J5 –Encoder interface

DSUB15 Female Connector.

Pin number

Signal

Description

A+

A positive

I+

Index positive

B+

B positive

4, 5, 6

+5V

+5V supply for encoder

7, 8

Not connected

A-

A negative

I-

Index negative

B-

B negative

12, 13

GND

Ground

14, 15

Not connected

J6 - Serial interface

Note: when this port is connected to a PC, the VLC becomes accessible through a serial

terminal software (such as Tera Term) for configuration and programming purposes, while

the EtherCAT communication is being interrupted. To operate the VLC-ETC in EtherCAT

mode, make sure to first power cycle the VLC-ETC after disconnecting the micro usb cable

from this port.

USB Type B (micro) Female Connector.

Pin number

Signal

Description

USB+

+5 VDC

USB D-

Data -

USB D+

Data +

4, 5

USB- (GND)

Ground

2.1.2 I/O electrical schematics

Digital inputs

+5 V

GPI_COM

GPI0

To μC

4.7KΩ

(5 –24 VDC)

(5–24 VDC)

To μC

4.7KΩ

GPIx

Internal to VLC-ETC

Optocouplers

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