EtherCAT®

Fieldbus Interface for S300 / S400 / S600 / S700

Edition: December 2019

Translation of the original manual

For safe and proper use, follow

these instructions.
Keep them for future reference.
 Record of Document Revisions :
Revision Remarks
10/2007 First edition
12/2009 S700 with EC onboard, symbols acc. to ANSI Z535.6B, branding, several minor corrections
12/2010 Company name
08/2011 Status word bits updated
05/2012 Free PDO mapping new, fixed PDO mapping extended
07/2014 Cyclical values corrected, status machine bits corrected, safe voltage changed to 60V, warning notes
updated
04/2016 Table for controlword for a status change corrected, safe voltage changed to 50V, warning sym- bols
updated, european directives updated
07/2016 Control word bit 15, Status word bit 14, Cyclic Setpoint 2308/2355 new, Cyclic Actual Value
2355/3612/2054/2055/2056 new, ASCII commands linked to the Product WIKI
11/2018 Layout of the warning notes updated, user expertise updated, new readers note on cover page
12/2019 Layout updated

Trademarks
Windows is a registered trademark of Microsoft Corporation.
EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Technical changes which improve the performance of the device may be made without prior notice!
This document is the intellectual property of Kollmorgen. 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.

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S300-S400-S600-S700 EtherCAT | Table of Contents

1 Table of Contents
1 Table of Contents 3
2 General Informationen 5
2.1 About this manual 5
2.2 Target group 5
2.3 Using the PDF Format 5
2.4 Use as directed 6
2.5 Symbols Used 6
2.6 Abbreviations used 7
3 Installation / Setup 8
3.1 Assembly, Installation 8
3.1.1 Installing the expansion card (S300, S600) 9
[Link] Font view 9
[Link] LEDs 9
[Link] Connection technology 9
[Link] Connection diagram 9
3.2 Setup 10
3.2.1 Guide to setup 10
3.2.2 Setup Software for S300 and S700 10
3.2.3 EtherCAT Setup 11
4 EtherCAT 14
4.1 Slave Register 14
4.2 AL Event (Interrupt Event) and Interrupt Enable 15
4.2.1 Interrupt Enable Register (Address 0x0204:0x0205) 15
4.2.2 AL Event (Address 0x0220:0x0221) 15
4.3 Phase run-up 16
4.3.1 AL Control (Address 0x0120:0x0121) 16
4.3.2 AL Status (Address 0x0130:0x0131) 16
4.3.3 AL Status Code (Address 0x0134:0x0135) 16
4.3.4 EtherCAT communication phases 17
4.4 CANopen over EtherCAT (CoE) status machine 18
4.4.1 Status description 18
4.4.2 Commands in the control word 19
4.4.3 Status machine bits (status word) 20
4.5 Fixed PDO Mappings 21
4.6 Free PDO Mapping (S300/S700 only) 23
4.6.1 Example: Free PDO Mapping 24
4.7 Supported cyclical setpoint- and actual values 27
4.7.1 Supported cyclical setpoint values 27
4.7.2 Supported cyclical actual values 29
4.8 Supported operation modes 31
4.9 Adjusting the EtherCAT cycle time 31
4.10 Recommended cycle times depending on mode of operation 31
4.11 Synchronization based on cycle time 31
4.12 Latch controlword and Latch statusword 32
4.13 Mailbox Handling 33
4.13.1 Mailbox Output 34
4.13.2 Mail Input 35
4.13.3 Example: Mailbox access 36
5 Index 37

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 S300-S400-S600-S700 EtherCAT |

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 S300-S400-S600-S700 EtherCAT | 2 General Informationen

2 General Informationen
2.1 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 amp-
lifiers. The expansion card and the mounting is described in the servo amplifier's instructions
manual. See chapter 3 for a short description (➜ # 9).
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
Title Publisher
Instructions manual Kollmorgen
Online-Help with ASCII Object Reference Kollmorgen

2.2 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 engin-
eering and drive technology.
Programming: Software developers, EtherCAT project-planners
The qualified personnel must know and observe IEC 60364/ 60664, and regional accident pre-
vention regulations.
Qualified Personnel only!
During operation there are deadly hazards, with the possibility of death, severe injury or material
damage.
The user must ensure that the safety instructions in this manual are followed.
The user 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.

2.3 Using the PDF Format

This document includes several features for ease of navigation
Cross References Table of contents and index include active cross references.
Table of contents and Lines are active cross references. Click on the line and the appro-
index priate page is accessed.
Page/chapter numbers in Page/chapter numbers with cross references are active links.
the text

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 S300-S400-S600-S700 EtherCAT | 2 General Informationen

2.4 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 Ether-
CAT 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 only guarantee the conformity of the servo amplifier with the directives listed in the EU Declar-
ation of Conformity, if the components that we specify are used, and the installation regulations
are followed.

2.5 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 death or serious injury.
Indicates a hazardous situation which, if not avoided, could result
in minor or moderate injury.
Indicates situations which, if not avoided, could result in property
damage.

This symbol indicates important notes.

Warning of a danger (general). The type of danger is specified by

the text next to the symbol.

Warning of danger from electricity and its effects.

Warning of danger from automatic start.

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 S300-S400-S600-S700 EtherCAT | 2 General Informationen

2.6 Abbreviations used

Abbreviation Meaning
AL Application Layer: the protocol that directly used by the process entities.
Cat Category – classification for cables that is also used in Ethernet. Cat 5 is the minimum required cat-
egory for EtherCAT.
DC Distributed Clocks Mechanism to synchronize EtherCAT slaves and master
DL Data Link, also known as Layer 2. EtherCAT uses Ethernet, which is stan- dardized as IEEE 802.3.
ECAT EtherCAT: 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/OSI ISO Open Systems Interconnection Basic Reference Model (ISO 7498): de- scribes the division of com-
Model munication into 7 layers.
LLDP Lower Layer Discovery Protocol
MAC Media Access Control
MII Media Independent Interface: Standardized interface between the Ethernet controller and the routing
equipment.
MDI Media Dependant Interface: Use of connector Pins and Signaling.
MDI-X Media Dependant Interface (crossed): Use of connector Pins and Signaling with crossed lines.
OSI Open System Interconnect
Organzationally Unique Identifier – are the first 3 Bytes of an Ethernet-Ad- dress, that will be assign to
OUI companies or organizations and can be used for protocoll identifiers as well (e.g. LLDP)
PDI Physical Device Interface: a set of physical elements that allows access to ESC from the process side.
PDO Process Data Object
PDU Protocol Data Unit: Contains protocol information transferred from a protocol instance of transparent
data to a subordinate level
Ping Frame that verifies whether the partner device is still available.
PHY Physical interface that converts data from the Ethernet controller to electric or 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
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

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 S300-S400-S600-S700 EtherCAT | 3 Installation / Setup

3 Installation / Setup
3.1 Assembly, Installation

High Voltages up to 900V!

Risk of electric shock. Residual charges in the capacitors can still have dangerous levels several
minutes after switching off the supply voltage. Power and control connections can still be live,
even though the motor is not rotating.
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 indi-
vidual supply voltages will not be switched on until setup is carried out.
Measure the voltage in the intermediate (DC-link) circuit and wait until it has fallen below 50V.

Automatic Start!
Risk of death or serious injury for humans working in the machine. Drives with servo amplifiers
in fieldbus systems are remote-controlled machines. They can start to move at any time without
previous warning.
Implement appropriate protective measures to ensure that any unintended start-up of the
machines cannot result in dangerous situations for personnel or machinery.
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 functional safe, for instance with the aid of a safe mechanical
brake.
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 set-
point input and the positioning interface is not required.
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 pre-
viously entered for position control and motion blocks must be adapted.

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 S300-S400-S600-S700 EtherCAT | 3 Installation / Setup

3.1.1 Installing the expansion card (S300, S600)

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

[Link] Font view

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

[Link] Connection technology

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

[Link] Connection diagram

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 S300-S400-S600-S700 EtherCAT | 3 Installation / Setup

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

Automatic Restart!
Risk of death or serious injury for humans working in the machine. The drive performing
unplanned movements during commissioning cannot be ruled out. Make sure that, even if the
drive starts to move unintentionally, no danger can result for personnel or machinery. The meas-
ures you must take in this regard for your task are based on the risk assessment of the applic-
ation.

Check assembly / Check that all the safety instructions in the instructions manual for the
installation servo amplifier and this manual have been observed and imple-
mented. Check the setting for the station address and baud rate.
Connect PC, start Use the setup software to set the parameters for the servo amplifier.
setup software
Setup basic functions Start up the basic functions of the servo amplifier and optimize the cur-
rent, speed and position controllers. This section of the setup is
described in the in the online help of the setup software.
Save parameters When the parameters have been optimized, save them in the servo
amplifier.

3.2.2 Setup Software for S300 and S700

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 S300-S400-S600-S700 EtherCAT | 3 Installation / Setup

3.2.3 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 Kollmorgen web-
site).
Bit 16 (0x10000) in the DRVCNFG3 parameter influences how the servo amplifier books into the
EtherCAT bus. If bit 16 is set, the ESI file Danaher_S300_S400_S600_S700.xml will be used; if
bit 16 is not set, the file Kollmorgen_S300_S700.xml will be used by the master.
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 Kollmorgen 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

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 S300-S400-S600-S700 EtherCAT | 3 Installation / Setup

2. Setup an NC task

3. Setup a drive in the NC task

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 S300-S400-S600-S700 EtherCAT | 3 Installation / Setup

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"

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 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4 EtherCAT
4.1 Slave Register
The table below gives the addresses of individual registers in the FPGA memory. The data is pro-
vided 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 Controller” description of the EtherCAT user organization ([Link]).
Address Length Description Z ZA
(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

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 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.2 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
interupt 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.

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

Parameter Address Bit ZA ZA Description
Drive ECAT
AL Control Event 0x204 0 r/w r Activation of AL control event for phase run-
up
- 0x204 1 r/w r Reserved
DC Distributed 0x204 2 r/w r Activation of distributed clock (DC) interrupts
Clock for entire communication
- 0x204 3...7 r/w r Reserved
Mail Out Event 0x205 0 r/w r Activation of output event mailbox (SDO, Sync
Manager 0) for object channel.
Mail In Event 0x205 1 r/w r Activation of input event mailbox (SDO, Sync
Manager 1) for object channel.
Pro Out Event 0x205 2 r/w r Activation of output event process data (PDO,
card's cyclical setpoints)
Pro In Event 0x205 3 r/w r Activation of input event process data (PDO,
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.

4.2.2 AL Event (Address 0x0220:0x0221)

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

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 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.3 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.

4.3.1 AL Control (Address 0x0120:0x0121)

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

4.3.2 AL Status (Address 0x0130:0x0131)

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

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

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

Code Description Current Status (Status Resulting Status

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

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 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.3.4 EtherCAT communication phases

INIT:
Initialization, no communication.

PRE-OP:
Mailbox active, slave parameterization and star-
tup parameters.

SAVE-OP:
Cyclical actual values are transferred and the
servo amplifier tries to synchronize.

OPERATIONAL:
Cyclical setpoints are processed, torque enable
can be activated and the servo amplifier must be
synchronized.
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 amp-
(IP) 0x02 lifier synchronization routine As the EC interface is not yet generating cyc-
lical interrupts, warning n17 appears on the amplifier (no sync).
(PI) 0x01 Deactivation of all EtherCAT events apart from AL control and stopping of
mailbox activities
The amplifier checks the communication configuration provided by the
master in pre-op status. Non-fatal faults are automatically cleared (no
COLDSTART).
Mapping of various setpoints and actual values (PDO mapping) Mapping
can be set in advance via the mailbox. The EtherCAT interface produces
cyclical interrupts, thereby enabling it to obtain cyclical actual values. The
(PS) 0x04 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
(SP) 0x02 loss 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 mail-
box activities are also stopped.
The amplifier only completes this transition after successful synchroni-
zation, the synchronization warning (n17) is canceled. Failing this, syn-
(SO) 0x08 chronization 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
(OP) 0x02 loss 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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 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.4 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’ (➜ # 21)).
The status word is only
updated and written by the
amplifier in Safe-Op and
Operational stati.

The control word is only read

in during Operational status.

4.4.1 Status description

Status Description
Not Ready to Switch On The servo amplifier is not ready to switch on; the controller has not indi-
cated readiness for service. The servo amplifier is still in the boot phase
or in fault status.
Switch On Disable In 'Switch On Disable' status, the amplifier cannot be enabled via the
EtherCAT interface, because (for example) there is no connection to a
power source.
Ready to Switch On In 'Ready to Switch On' status, the servo amplifier can be enabled via
the control word.
Switched On In 'Switched On' status, the amplifier is enabled, but the setpoints of the
EtherCAT-interface are not yet transferred. The amplifier is idle, and a
pos- itive edge in bit 3 of the control word activates setpoint transfer
(transition to 'Operation Enable' status).
Operation Enable In this status, the servo amplifier is enabled and setpoints are trans-
ferred 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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 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.4.2 Commands in the control word

The servo amplifier evaluates the bits of the control word. Commands for a status change:
Transition Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Quit fault Common set- Enable for Bit 3 and show Enable Enable if
point enable Bit 5 in the Statusword Switch On Bit1=1
0 - - - - -
1 - - - 0 -
2 - - - 1 0
3 - - 1 1 P
4 - P 1 1 1
5 - N 1 1 1
6 - - - 1 N
7 - - - N -
8 - - - 1 N
9 - - - N -
10 - - - N -
11 - 1 N 1 1
12 - - - N -
13 - 1 1 1 1
14 - 1 1 1 1
15 P - - - -
16 - 1 P 1 1
Bits labeled "-" 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
2 Activation of bit 5 display in the status word if Bit0 & Bit1 = 1. Enable for bit 3 in the control
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.
15 Toggle bit for ASCII communication via flexible PDO. Every change of this bit causes a
transfer of ASCII data bytes from the mapped PDO 0x2355 to the internal ASCII command
processing.

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.
2 If neither bit 1 nor bit 2 are showing a negative edge, braking with the DECDIS ramp and
continuation of the enabled state.
3 Deactivation of setpoint transfer from EtherCAT interface and stopping of drive in speed
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
15 Toggle bit for ASCII communication via flexible PDO. Every change of this bit causes a
transfer of data bytes from the mapped PDO 0x2355 to the internal command processing.

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4.4.3 Status machine bits (status word)

Bit 6 = Bit 5 = Bit 3 = Bit 2 = Bit 1 = Bit 0 =
Status Switch on no emer- Error Operation Switched Ready to
Disabled gency stop Enable on switch on
active
Not Ready to Switch On 1 - 0 0 0 0
Switch On Disabled 1 - 0 0 0 0
Ready to Switch On 0 - 0 0 0 1
Switch On 0 1 0 0 1 1
Operation Enable 0 1 0 1 1 1
Fault 0 1 1 0 0 0
Fault reaction active 0 0 1 1 1 1
Quick Stop Active 0 0 0 0 1 1
Bits labeled "-" are irrelevant. 0 and 1 indicate the status of individual bits.

Remaining status word bits:

Bit 7: 1 = Warning present
Bit 8: 1 = Following error present (in all positioning modes (OPMODE = 4, 5, 6, 8))
Bit 9: 1 = Reference point set
Bit 10: 1 = Target reached (in Position)
Bit 11: 1 = Hardware limit switch or Software limit switch reached
Bit 12: 1 = EtherCAT communication OK
Bit 13: 1 = Homing error / emergency stop activated
Bit 14: 1 = Actual servo amplifier error Fxx can only be cleared by a hardware reset
CAUTION: EtherCAT communication lost!
Bit 15: 1 = Motion task active (in profile position mode)

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4.5 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 0x1714. 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 0x1B0C.
The sequence describes how to select the fixed command value mapping 0x1701 via SDO’s:
1. SDO write access to object 0x1C12Sub0 Data:0x00
2. SDO write access to object 0x1C12Sub1 Data:0x1701
3. SDO write access to object 0x1C12Sub0 Data:0x01
1. Position interface
0x1701: Position setpoint (4 Byte), Controlword(2 Byte), total (6 Byte); default for
S400/S600
0x1B01: Position [Link] (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 [Link] (4 Byte), Statusword (2 Byte), total (6 Byte)
3. Torque interface
0x1703: Current setpoint (2 Byte), Controlword (2 Byte), total (4 Byte)
0x1B03: Position [Link] (4 Byte), Current [Link] (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 [Link] (4 Byte), Current [Link] (2 Byte), OPMODE 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 [Link] (4 Byte), Current [Link] (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 [Link] (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), Current setpoint (2Byte),
Current limit (2 Byte), Controlword (2 Byte), Latchcontrolword (2 Byte), total
(16 Byte)
0x1B07: Position [Link] (4 Byte), Position [Link] 2 (4 Byte), Current [Link] (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 macro variable-Switch and extension „Tor-
que“+„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), Latch-
controlwort (2 Byte), total (18 Byte)
0x1B08: Position [Link] (4 Byte), Current [Link] (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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9. S300/S700 only: Position interface with extension for setting / reading of digital I/O
0x170A: Position setpoint (4 Byte), Controlword (2 Byte), set value for digital output1/bit
0 and output2/bit 1 (2 Byte), total (10 Byte)
0x1B0A: Position [Link](4 Byte), OPMODE message (2 Byte), Statusword (2 Byte),
digital input state (2 Byte), total (8 Byte)
10. S300/S700 only: Motion tasks interface + digital/analog I/O + actual drive values
0x1710: target position O_P (4 Byte), target velocity O_V (4 Byte), motion task control
word O_C (4 Byte), MT acceleration O_ACC (4 Byte), MT deceleration O_DEC
(4 Byte), MT profile O_TAB (2 Byte), Controlword (2 Byte), Latch control word
(2 Byte), total (26 Bytes)
0x1B0B: Position [Link] (4 Byte), Position actual value 2 (4 Byte), Velocity actual
value (4 Byte), Current actual value (2 Byte), Statusword (2 Byte), Drive error
status (4 Byte), Drive warnings (4 Byte), digital input state (4 Byte), analog
input 1 (2 Byte), analog input 2 (2 Byte), following error (4 Byte),Motion task
status TRJSTAT (4 Byte), Total (40 Byte)
11. S300/S700 only: Position interface with latch extension
0x1711: Position set point (4 Byte), Velocity feed forward (4 Byte), current feed forward
(2 Byte), current limit (2 Byte), control word (2 Byte), latch control word (2 Byte),
total (16 Byte)
e.g. 0x1B06
12. S300/S700 only: Velocity interface with latch extension
0x1712: velocity set point (4 Byte), velocity feed forward (4 Byte), current feed forward
(2 Byte), current limit (2 Byte), control word (2 Byte), latch control word (2 Byte),
total (16 Byte)
e.g. 0x1B06
13. S300/S700 only: Macro program interface
0x1714: control word (2 Byte), user variable DPRVAR2 (2 Byte), user variable
DPRVAR3 (4 Byte), user variable DPRVAR4 (4 Byte), user variable DPRVAR5
(4 Byte), user variable DPRVAR6 (4 Byte), total (20 Byte)
0x1B0C: Position act. Value (4 Byte), velocity actual value (4 Byte), status word (2 Byte),
user variable DPRVAR9 (2 Byte), user variable DPRVAR10 (4 Byte), user vari-
able DPRVAR11 (4 Byte), user variable DPRVAR12 (2 Byte), user variable
DPRVAR13 (2 Byte), user variable DPRVAR14 (4 Byte), total (28 Byte)

Fixed mappings with more than 22 bytes can only be used with S300/S700 only in combination
with extended mapping memory (XML version 2, DRVCNFG3 = 0x10000).

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4.6 Free PDO Mapping (S300/S700 only)

In addition to the fixed PDO mapping the free mapping of real-time objects is possible. This map-
ping is only available when the parameter DRVCNFG3 bit 16 (0x10000) is set to 1. The configura-
tion is similar to the described sequence for the fixed mappings:
1. The mapping selection is cleared (write 0 to object 0x1C12 sub 0 and 1C13 sub 0)
2. The free mapping is built with the objects 0x1600 sub 1 .. n (receive-direction) and/or 0x1a00
sub 1 ... m (transmit direction) in the CANopen manner.
3. SDO write access to the objects 0x1C12 sub 0 and/or 0x1C13 sub 0 with the number 1.
Example see (➜ # 24).
The cyclically used data are visible in the PDO assignment window for the Inputs and Outputs of
the Sync Managers. Default setting are the fixed PDOs 0x1701 and 0x1B01 (visible contents
when selected in the PDO list)..

If the free mapping is required, the PDO configuration check box must be checked and changed.

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4.6.1 Example: Free PDO Mapping

For the free mapping of the outputs the fixed mapping 0x1701 has to be switched off and one free
mappable PDO 0x1600 can be used instead. The maximum number of bytes for each direction
(inputs/outputs) is 64.

========>

After that the default mapping of the PDO 0x1600 can be extended::

A list of possible objects for the mapping will be shown and a new entry can be chosen.

In this case the setpoint for the interpolated pos- The same is valid for the Tx-PDO direction.
ition mode is selected. Here the value of the actual internal position is
selec- ted.

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This results in the startup SDO list for this sample free mapped configuration.

If this shall be used in the NC, the interpolation set point position has to be linked from the axis to
the NC axis.

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After doing this configuration the mapping can be activated as usual (see setup):

Now the NC-screen should show a position in the online window, which changes a bit in the last
digits.

After enabling the power stage with the All-button, the drive can be moved via the jog-buttons or
via the functions in the function menu.

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4.7 Supported cyclical setpoint- and actual values

The following cycle segmentation applies to cyclical setpoint- and actual values that are not processed 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 250µs / 1ms

4.7.1 Supported cyclical setpoint values

Abbreviation "Sub" means "Subindex".

Name CAN Object- Data Description

number type
Current limit 0x2061 Sub 0 INT16 This can be used in all operating modes to limit the current actual value;
the current limit value is processed in each EtherCAT bus cycle (ASCII:
PTBASE); the current setpoint is given incrementally; 3280 increments
correspond to the peak current for the device; the current limitation can
be recorded with the DPRILIMIT macro variable.
DPRVAR1 (32 bits) 0x2090 Sub 1 INT32 Write access to macro variable DPRVAR1
DPRVAR2 (32 bits) 0x2090 Sub 2 INT32 Write access to macro variable DPRVAR2
DPRVAR3 (32 bits) 0x2090 Sub 3 INT32 Write access to macro variable DPRVAR3
DPRVAR4 (32 bits) 0x2090 Sub 4 INT32 Write access to macro variable DPRVAR4
DPRVAR5 (32 bits) 0x2090 Sub 5 INT32 Write access to macro variable DPRVAR5
DPRVAR6 (32 bits) 0x2090 Sub 6 INT32 Write access to macro variable DPRVAR6
DPRVAR7 (32 bits) 0x2090 Sub 7 INT32 Write access to macro variable DPRVAR7
DPRVAR8 (32 bits) 0x2090 Sub 8 INT32 Write access to macro variable DPRVAR8
Latch Controlword 0x20A4 Sub 0 UINT16 This object is used to activate the drive's latch status machine; the latch
control word is processed independently of the EtherCAT bus cycle
(ASCII:PTBASE).
Digital software 0x20B1 Sub 0 INT32 Value for the digital software inputs (ASCII: SOFTIN)
inputs
Jog velocity 0x2300 Sub 0 INT32 Defines the velocity for the jog mode (ASCII: VJOG)
State of digital out- 0x2302 Sub 0 INT16 Defines states of the digital output 1 and 2
put Bit0 = output 1, Bit1 = output 2
Motion task control 0x2303 Sub 0 INT32 Defines the control word for the actual motion task (ASCII: O_C)
word
DPRVAR1 (lower 0x2305 Sub 0 INT16 Write access to the lower 16 bits of the macro variable DPRVAR1
16 bits)
DPRVAR2 (lower 0x2306 Sub 0 INT16 Write access to the lower 16 bits of the macro variable DPRVAR2
16 bits)
additive current set- 0x2307 Sub 0 INT16 This can be used in positioning and speed control operating modes for
point pilot current control; the additive current setpoint is processed in each
EtherCAT bus cycle (ASCII: PTBASE); the current setpoint is given incre-
mentally; 3280 increments correspond to the peak current for the
device; the additive current setpoint can be recorded with the IVORCMD
macro variable.
Additive velocity 0x2308 INT32 Can be used in positioning operating modes. Usually the additive velo-
setpoint (velocity city setpoint is calculated automatically according to the position set-
feed forward) point change. When bit 0x20 in parameter FFTSW is set to 1 the
automatically calculation is switched off and the additive velocity set-
point can be commanded by EtherCAT. The velocity feed forward is
given incrementally; 2^32/(60*4000)=17896 increments corresponds to
1 RPM. The received value is multiplied with the feed-forward gain
GPFFV. The additive velocity setpoint can be recorded with the macro
variable VVORCMD (received value) or with VSETFF (value multiplied
with GPFFV).

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Name CAN Object- Data Description

number type
Motion task velocity 0x2310 Sub 0 INT16 Defines the digital override value (ASCII: DOVRIDE)
override
Opmode request 0x2352 Sub 0 UINT16 This object is used to set the drive's operating mode (ASCII: OPMODE);
the operating mode request is processed independently of the Ether-
CAT bus cycle
ASCII input data 0x2355 INT32 Contains up to 4 bytes of ASCII data. In conjunction with bit 0x8000 of
control word (toggle-bit) these data bytes are transferred to the ASCII
command interpreter and processed in the background task (similar to
the processing of the serial port ASCII data). Not valid bytes should be
set to 0.
Controlword 0x6040 Sub 0 UINT16 This object is used to activate the drive's status machine; the control
word is processed independently of the EtherCAT bus cycle when the
field bus is in IDLE.
Current setpoint 0x6071 Sub 0 INT16 Used in cyclical synchronous torque interface mode (ASCII: OPMODE
2); The current setpoint is processed in each EtherCAT bus cycle
(ASCII: PTBASE); the current setpoint is given incrementally; a unit of
3280 increments corresponds to the peak current for the device; the cur-
rent setpoint can be recorded with the ICMD macro variable.
Motion task target 0x607A Sub 0 INT32 Defines the target position for the actual motion task (ASCII: O_P)
position
Motion task target 0x6081 Sub 0 INT32 Defines the target velocity for the actual mo- tion task (ASCII: O_V)
velocity
Motion task accel- 0x6083 Sub 0 INT32 Defines the acceleration value for the actual motion task (ASCII: O_
eration ACC)
Motion task decel- 0x6084 Sub 0 INT32 Defines the acceleration value for the actual motion task (ASCII: O_
eration DEC)
Motion task profile 0x6086 Sub 0 INT32 Defines the profile number for table motion task (ASCII: O_TAB)
number
Position setpoint 0x60C1 Sub 0 INT32 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 each EtherCAT bus
cycle (ASCII: PTBASE); the position setpoint 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.
Velocity setpoint 0x60FF Sub 0 INT32 This is used in cyclical synchronous speed interface mode (ASCII:
OPMODE 0); The speed setpoint is processed in each EtherCAT bus
cycle (ASCII: PTBASE); the speed setpoint is given incrementally.
(1 RPM = 2^32/(128*4000*60) = 139,81 counts); the speed setpoint can
be recorded with the VCMD macro variable.

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4.7.2 Supported cyclical actual values

Abbreviation "Sub" means "Subindex".

Name CAN Object- Data Description

number type
Motion task status value 0x1002 Sub 0 INT32
Status value for the motion task functionality (ASCII: TRJSTAT)
Drive errors 0x1003 Sub 0 INT32
Active drive errors (ASCII: ERRCODE)
Drive warnings 0x2000 Sub 0 INT32
Active drive warnings (ASCII: STATCODE)
DPRVAR9 0x2030 Sub 1 INT32
Actual value of macro variable DPRVAR9
DPRVAR10 0x2030 Sub 2 INT32
Actual value of macro variable DPRVAR10
DPRVAR11 0x2030 Sub 3 INT32
Actual value of macro variable DPRVAR11
DPRVAR12 0x2030 Sub 4 INT32
Actual value of macro variable DPRVAR12
DPRVAR13 0x2030 Sub 5 INT32
Actual value of macro variable DPRVAR13
DPRVAR14 0x2030 Sub 6 INT32
Actual value of macro variable DPRVAR14
DPRVAR15 0x2030 Sub 7 INT32
Actual value of macro variable DPRVAR15
DPRVAR16 0x2030 Sub 8 INT32
Actual value of macro variable DPRVAR16
Position actual value 2 0x2050 INT32
This object is used to return position value 2 of a second,
external encoder; the actual position value is processed in
each EtherCAT bus cycle (ASCII: PTBASE); the actual position
value is returned in increments per motor revolution, whereby
the bit resolution can be set with the ASCII PRBASE para-
meter; actual position value 2 can be recorded with the PFB0
MACRO variable
ENDAT 2.2 diagnose 0x2054 Sub INT16 This contains up to 16 ENDAT2.2-encoder diagnose inform-
information 1..16 ation. Diagnose data has to be supported by the encoder and
by the firmware (5.91 and newer) and configured in the drive
(s. ASCII commands EN22CNFG and EN22DCNT. The mean-
ing of the transmitted value can be found in the ENDAT doc-
umentation.
ENDAT 2.2 additio- 0x2055 Sub INT16 This contains up to 16 ENDAT2.2-encoder additional inform-
nal information 1 1..16 ation 1 (AI1). This data has to be supported by the encoder and
by the firmware (5.91 and newer) and configured in the drive
(s. ASCII commands EN22CNFG and EN22A1CNT. The mean-
ing of the transmitted value can be found in the ENDAT doc-
umentation.
ENDAT 2.2 additio- 0x2056 Sub INT16 This contains up to 16 ENDAT2.2-encoder additional inform-
nal information 2 1..16 ation 2 (AI2). This data has to be supported by the encoder and
by the firmware (5.91 and newer) and configured in the drive
(s. ASCII commands EN22CNFG and EN22A2CNT. The mean-
ing of the transmitted value can be found in the ENDAT doc-
umentation.
Latch Position 0x20A0 INT32 This object is used to return the drive's actual latched position.
The value provided (positive/negative edge, latch 1/2) is
determined by the latch control word.
Latch Status word 0x20A5 UINT16 This object is used to return the drive's latch status; see also
the description of the latch control and latch status words.
Analog input 1 0x20B2 Sub 1 INT16 Actual value of analog input 1 (in mV, ASCII: ANIN1)
Analog input 2 0x20B2 Sub 2 INT16 Actual value of analog input 2 (in mV, ASCII: ANIN2)
DPRVAR9 (lower 16 bits) 0x2350 Sub 1 INT16 Actual value of the lower 16 bits of macro variable DPRVAR9
DPRVAR10 (lower 16 bits) 0x2350 Sub 2 INT16 Actual value of the lower 16 bits of macro variable DPRVAR10
DPRVAR11 (lower 16 bits) 0x2350 Sub 3 INT16 Actual value of the lower 16 bits of macro variable DPRVAR11
DPRVAR12 (lower 16 bits) 0x2350 Sub 4 INT16 Actual value of the lower 16 bits of macro variable DPRVAR12
DPRVAR13 (lower 16 bits) 0x2350 Sub 5 INT16 Actual value of the lower 16 bits of macro variable DPRVAR13
DPRVAR14 (lower 16 bits) 0x2350 Sub 6 INT16 Actual value of the lower 16 bits of macro variable DPRVAR14
DPRVAR15 (lower 16 bits) 0x2350 Sub 7 INT16 Actual value of the lower 16 bits of macro variable DPRVAR15
DPRVAR16 (lower 16 bits) 0x2350 Sub 8 INT16 Actual value of the lower 16 bits of macro variable DPRVAR16

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Name CAN Object- Data Description

number type
State of software outputs 0x2351 Sub 0 INT32
Actual value of the digital software outputs (ASCII: SOFTOUT)
Message: Operation 0x2353 INT16
This object is used to return the drive's operating mode (ASCII:
modes OPMODE); the operating mode request is processed inde-
pendently of the EtherCAT bus cycle (ASCII: PTBASE).
ASCII output data 0x2355 INT32 This contains up to 4 bytes of ASCII data generated by the
ASCII command interpreter as answer for the ASCII input data
(object 0x2355). These data are processed in the background
task (similar to the processing of the serial port ASCII data). Not
valid bytes are set to 0.
Actual current value 0x3570 Sub 0 INT32 Actual current value of the motor in mA (ASCII: I).
Actual Motor temperature 0x3612 INT16 Actual motor temperature in configured units (ASCII: TEMPM)
Actual velocity value 0x3618 Sub 0 INT32 Actual velocity value of the motor in SI units (ASCII: V).
Actual bus voltage value 0x361A Sub 0 INT16 Actual value of the DC Bus in volt (ASCII: VBUS)
Status word 0x6041 UINT16 This object is used to return the drive's status; the status word
is processed independently of the EtherCAT bus cycle when
the field bus is in IDLE.
Actual position setpoint 0x6062 Sub 0 INT32 Actual position set point in internal units. The position setpoint
0x60FC Sub 0 is given in increments per motor revolution, whereby bit res-
olution can be set with the ASCII PRBASE parameter 1 revo-
lution = 2^PRBASE increments. The position setpoint can be
recorded with the S_SET MACRO variable.
Position actual value 1 0x6063 INT32 This object is used to return position value 1 of the motor
encoder; 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
EtherCAT bus cycle (ASCII: PTBASE); the actual position value
is returned in increments per motor revolution, whereby the bit
resolution can be set with the PRBASE parameter; actual pos-
ition value 1 can be recorded with the PFB MACRO variable.
Actual position value 0x6064 Sub 0 INT32 Actual position of the motor feedback in SI units (ASCII: )PFB
Actual velocity (counts) 0x606C Sub 0 INT32 Actual motor velocity in counts
( 1 RPM = 2^32/(128*4000*60) = 139.81 counts)
Current actual value 0x6077 INT16 This object is used to return the current actual value; the cur-
rent actual value is processed in each EtherCAT bus cycle
(ASCII: PTBASE); the current actual value is given incre-
mentally; a unit of 3280 increments corresponds to the peak
current for the device; the current actual value can be recorded
with the I MACRO variable
Internal following error 0x60F4 INT32 This object is used to return the internal drive tracking error; the
tracking error is processed in each EtherCAT bus cycle (ASCII:
PTBASE); the tracking error is returned in increments 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.
Digital I/O 0x60FD Sub 0 INT16 State of the digital inputs/outputs
Bit 0 – digital output 2
Bit 1 – digital output 1
Bit 2 – hardware enable
Bit 3 – digital input 4
Bit 4 – digital input 3
Bit 5 – digital input 2
Bit 6 – digital input 1
Bit 7 – digital input 5 (S700 only)
Bit 8 – digital input 6 (S700 only)

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4.8 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.

4.9 Adjusting the EtherCAT cycle time

The cycle time to be used in the servo amplifier for the cyclical setpoints and actual values can
either be stored in the PTBASE parameter in the amplifier or configured in the startup phase.
This takes place via SDO mailbox access (➜ # 33) to CANopen objects 60C2 subindex 1 & 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
example,
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.

4.10 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 ≥ 1 ms (≥ 1000 µs) ≥ 0.25 ms (≥ 250 µs)
Velocity ≥ 0.50 ms (≥ 500 µs) ≥ 0.25 ms (≥ 250 µs)
Torque ≥ 0.25 ms (≥ 250 µs) ≥ 0.25 ms (≥ 250 µs)

4.11 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.

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4.12 Latch controlword and Latch statusword

Latch Controlword (2 Byte)
Bit Value (bin) Value (hex) Description
0 00000000 00000001 xx01 Enable external latch 1 (positive rise)
1 00000000 00000010 xx02 Enable external latch 1 (negative rise)
2 00000000 00000100 xx04 Enable external latch 2 (positive rise)
3 00000000 00001000 xx08 Enable external latch 2 (negative rise)
4 00000000 00010000 xx10 Enable internal 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

32 Kollmorgen | [Link] | December 2019

 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.13 Mailbox Handling

With EtherCAT, acyclical data traffic (object channel or SDO channel) is called mailbox.
This sys- tem is based around the master:
Mailbox Output: The master (EtherCAT controller) sends data to the slave (servo amplifier).
This is essentially a (read/write) request from the master. Mailbox output
operates via Sync Manager 0.
Mailbox Input: The slave (servo amplifier) sends data to the master (EtherCAT controller).
The master reads the slave's response. Mailbox input operates via Sync
Manager 1.

The timing diagram illustrates the mailbox access process:

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

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 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.13.1 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)
Byte 4 Bit 0...5: Channel
Bit 6...7: Priority
Byte 5 Bit 0...3: Type
1 = Reserved: ADS over EtherCAT
2 = Reserved: Ethernet over EtherCAT
3 = Can over EtherCAT…)
Bit 4...7: Reserved
Byte 6 PDO Number
(with PDO transmissions only, Bit 0 = LSB of the PDO number, see Byte 7 for MSB)
Byte 7 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
3: SDO answer
4: TXPDO
5: RxPDO
6: Remote transmission request of a TxPDO
7: Remote transmission request of a RxPDO
8…15: reserved
Byte 8 Control-Byte in the CAN telegram:
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.

34 Kollmorgen | [Link] | December 2019

 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.13.2 Mail 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)
Byte 4 Bit 0...5: Channel
Bit 6...7: Priority
Byte 5 Bit 0...3: Type
1 = Reserved: ADS over EtherCAT
2 = Reserved: Ethernet over EtherCAT
3 = Can over EtherCAT…)
Bit 4...7: Reserved
Byte 6 PDO Number
(with PDO transmissions only, Bit 0 = LSB of the PDO number, see Byte 7 for MSB)
Byte 7 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
3: SDO answer
4: TXPDO
5: RxPDO
6: Remote transmission request of a TxPDO
7: Remote transmission request of a RxPDO
8…15: reserved
Byte 8 Control-Byte in the CAN telegram:
write access: OK: 0x60
read access: OK + length: 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 servo amplifier
Byte 12 Data (Low Byte)
Byte 13 Data Error code according to CANopen Specification in case of an
error
Byte 14 Data Data value of the object in case of successfull read access
Byte 15 Data (High Byte)

Kollmorgen | [Link] | December 2019 35

 S300-S400-S600-S700 EtherCAT | 4 EtherCAT

4.13.3 Example: Mailbox access

In the example below PDOs 0x1704 are mapped. (see Chapter ’Fixed PDO Mappings’ (➜ # 21)).
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

36 Kollmorgen | [Link] | December 2019

 S300-S400-S600-S700 EtherCAT | 5 Index

T
5 Index Target group 5

U
A
Use as directed 6
Abbreviations 7
AL Control 16
AL Event 15
AL Status 16
AL Status Code 16
Assembly 8

C
CoE 18
Communication phases 17
Control word 19
Cycle time
Adjustment 31
Recommendation 31
Cyclical actual values 29
Cyclical setpoint values 27

E
EtherCAT Setup 11
Expansion card 9

I
Installation 8
Interrupt Enable 15
Interrupt Event 15

L
Latch controlword 32
Latch statusword 32
LEDs 9

M
Mailbox 33

O
Operation modes 31

P
PDO Mapping
Fixed PDO Mapping 21
Free PDO Mapping 23
Phase run-up 16

S
Setup 10
Setup Software 10
Slave Register 14
Status machine 18, 20
Symbols used 6
Synchronization 31

Kollmorgen | [Link] | December 2019 37

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