AN014 - EtherCAT configuration nr.02

The purpose of this application note is to illustrate a simple guide for using RosettaCNC board B with EtherCAT command.

The proposed configuration is for demonstration purposes only.

1. What is the configuration nr.02

The configuration nr.02 consists of a series of Inovance ServoDrives model SV660N. Up to 7 ServoDrives can be connected. The spindle is driven by analogic output. No EtherCAT Spindle device is provided for this configuration.

2. Necessary material

We need:

  • A RosettaCNC board B purchased with EtherCAT option (see “Order Code” “Motor control type” at value E).
  • From 1 to 7 ServoDrives purchased from RosettaCNC team (preconfigured to be ready to go)

3. Preliminary operations

  • Install the latest version of the RosettaCNC software
  • Close the application software. Open the application folder and replace the RosettaCNC1.ini with the attached.
  • Open the “Board firmware manager” panel and start to download the EtherCAT firmware named RosettaCNC-BE-02.
  • Open Board settings panel, press Import.. button and load the attached XML file.

At the end connect RosettaCNC software to the board. The software, only at the first run, takes some time (3-4 minutes) to generate a cache and be fast in subsequent runs. You can see the progress in the progress bar at the bottom in the RosettaCNC software.

4. Addressing

This configuration uses the Auto Increment Address of the EtherCAT slave device. Auto-increment addressing can be used to address each slave device is via its physical position in the communication ring. The first slave in the ring is X-axis, the second Y-axis, etc. This is the slave list:

  • X-Axis
  • Y-Axis
  • Z-Axis
  • A-Axis
  • B-Axis
  • C-Axis
  • V-Axis

If the machine misses an Axis the physical cable must follow the next axis present.

5. Update EtherCAT ring configuration

Update Advanced Parameter from 121 to 129 according to ServoDrive presence.

Reboot system

6. Attached files

7. ServoDrive settings

Same servo drive settings are available on Advanced parameters. Other must be set by Inovance software or with servo drive keyboard.

  • If servo drive has absolute encoder check parameter H00-00 have 14101 value and set parameter H02-01 to 1 “Absolute position linear Mode 1”.
  • To reverse shaft direction use parameter H02-02. Take care that it is possible to change it only if the servo drive is not active. After changes turn on again.
  • If you need to create a new absolute origin coordinate powerup drive without EtherCAT, set H0D-20 at 2. After that, the actual position became the zero coordinate.
  • D01 is configured as WARNING state. D02 is configured as Fault state. D03 is configured as Break output.

8. Note

  • Depending on the machine's requirements, the STO safety signals must be wired correctly.
  • The multi-turn data range in the absolute encoder is -32768 to 32768 revolutions. If the number of forward revolutions is larger than 32767 or the number of reverse revolutions is smaller than -32768 E735.0 Fault will occur.
  • Last modified: 2023/03/30 16:08
  • (external edit)