mds_5000

EtherCAT®
Operation manual Fundamentals

Communication
Parameters
V 5.6-H or later
09/2013 en
Table of contents
Operation manual
Table of contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Purpose of the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Other manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Notes on Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1 Component part of the product . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Operation in accordance with its intended use . . . . . . . . . . 6
2.3 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.5 Installation and connection . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.6 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.7 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.8 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . 9
3 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 Install in MDS 5000 or SDS 5000 . . . . . . . . . . . . . . . . . . . . 10
3.2 Installation in the FDS 5000. . . . . . . . . . . . . . . . . . . . . . . . . 13
WE KEEP THINGS MOVING

4 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.1 IN and OUT sockets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2 Connection Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5 Fundamentals of EtherCAT. . . . . . . . . . . . . . . . . . . . 17
5.1 How it functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.2 State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6 User interface of the ECS 5000 . . . . . . . . . . . . . . . . 21
7 Data transmission with PDO and SDO . . . . . . . . . . . 23
7.1 Process data transmission with PDO service . . . . . . . . . . . 24
7.1.1 Process data mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.1.2 Process data - example of fast reference values. . . . . . . . . 25
7.2 Parameter Transmission with SDO Service. . . . . . . . . . . . . 30
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Table of contents
Operation manual
7.2.1 Preselection of the axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.2.2 Expedited Transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.2.3 Error codes for SDO services . . . . . . . . . . . . . . . . . . . . . . . 33
7.2.4 List of the drive parameters . . . . . . . . . . . . . . . . . . . . . . . . . 35
8 Emergency messages . . . . . . . . . . . . . . . . . . . . . . . 37
8.1 Error Device State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.2 State Changes of the EtherCAT® State Machine . . . . . . . . 40
9 Synchronization with distributed clocks . . . . . . . . . . 42
10 Monitoring and diagnosis on the inverter . . . . . . . . . 47
10.1 Diagnostic Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
11 Commissioning with TwinCAT® . . . . . . . . . . . . . . . . 68
11.1 Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
11.2 Device description file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
11.3 Installing the driver for EtherCAT . . . . . . . . . . . . . . . . . . . . . 69
11.4 Startup of the device on EtherCAT® . . . . . . . . . . . . . . . . . . 69
11.5 Monitoring the process data connection to TwinCAT® . . . . 73
11.6 Activation of the synchronization with TwinCAT® . . . . . . . . 75
12 POSITool over EtherCAT . . . . . . . . . . . . . . . . . . . . . 78

12.1 Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
12.2 Activating mailbox gateway . . . . . . . . . . . . . . . . . . . . . . . . . 80
12.3 Reading and sending data using POSITool over EtherCAT. 82
12.3.1Reading inverter data from the EtherCAT® network (reverse

documentation) 82
12.3.2Sending inverter data to EtherCAT® . . . . . . . . . . . . . . . . . . 86
12.4 Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
12.5 Principle of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
13 List of literature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
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Introduction
Operation manual
1 Introduction
1.1 Purpose of the manual
This manual gives you information on the connection of devices of the 5th
generation of STÖBER inverters to the EtherCAT®1 fieldbus system. The
structure of EtherCAT and the principal procedures are also discussed.
Goals of the manual:
• Provide you with a basic knowledge of EtherCAT communication.
• Offer you support when you design an application and configure
communication.
Target readers of this manual are users who are familiar with the control of drive
systems and who have a basic knowledge of EtherCAT.
1.2 Other manuals

The documentation of the MDS 5000 includes the following manuals:
Manual Contents ID Latest versiona)

Commissioning Instructions Reinstallation, replacement, function test 442297 V 5.6-H
Projecting manual Installation and connection 442273 V 5.6-H
Operating manual Set up the inverter 442285 V 5.6-H
a) At the time of publication. You can find all versions at www.stoeber.de > Products > Doc Center.
The documentation of the FDS 5000 includes the following manuals:
Latest versiona)

Manual Contents ID
The documentation of the SDS 5000 includes the following manuals:

You can find information on the POSITool software in the following manuals:
1
EtherCAT® is registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.
ID 441896.05 4
1
Introduction
Operation manual

POSITool operating manual Information on the 442233 V 5.6-H
basic functions of
POSITool
Programming manual Information on 441693 V 5.6-H
programming with
POSITool
Note that the programming functionality of POSITool can only be used after
training by STÖBER ANTRIEBSTECHNIK. You can find information on training at
www. stoeber.de
1.3 Further support

If you have technical questions that are not answered by this document, please
contact:
• Phone: +49 7231 582-3060
• E-mail: applications@stoeber.de
If you have questions about the documentation, please contact:

• E-mail: electronics@stoeber.de
If you have questions about training sessions, please contact:

• E-mail: training@stoeber.de
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Notes on Safety
Operation manual
2 Notes on Safety
The devices may cause risks. For these reasons, comply with the following:
• The safety notes listed in the following sections and points
• The technical rules and regulations.
In addition, always read the appropriate documentation. STÖBER

ANTRIEBSTECHNIK GmbH + Co. KG accepts no liability for damages caused by
non-adherence to the instructions or applicable regulations. Subject to technical
changes to improve the devices without prior notice. This documentation is purely
a product description. It does not represent promised properties in the sense of
warranty law.
2.1 Component part of the product

The technical documentation is a component part of a product.
• Since the technical documentation contains important information, always

keep it handy in the vicinity of the device until the machine is disposed of.
• If the product is sold, disposed of, or rented out, always include the technical
documentation with the product.
2.2 Operation in accordance with its intended use

The ECS 5000 accessory is only intended for establishing communication
between devices from the 5th generation of STÖBER inverters and a EtherCAT®

network.
Improper use includes integration in other communication networks.
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Notes on Safety
Operation manual
2.3 Qualified personnel

Since the devices may harbor residual risks, all configuration, transportation,
installation and commissioning tasks including operation and disposal may only
be performed by trained personnel who are aware of the possible risks.
Personnel must have the qualifications required for the job. The following table
lists examples of occupational qualifications for the jobs:
Activity Possible occupational qualifications

Transportation and storage Worker skilled in storage logistics or comparable
training
Configuration - Graduate engineer (electro-technology or
electrical power technology)
- Technician (m/f) (electro-technology)
Installation and connection Electronics technician (m/f)
Commissioning  - Technician (m/f) (electro-technology)
(of a standard application) - Master electro technician (m/f)
Programming Graduate engineer (electro-technology or
electrical power technology)
Operation - Technician (m/f) (electro-technology)
- Master electro technician (m/f)
Disposal Electronics technician (m/f)
Tab. 2-1: examples of occupational qualifications
In addition, the valid regulations, the legal requirements, the reference books, this
technical documentation and, in particular, the safety information contained

therein must be carefully
• read
• understood and
• complied with
2.4 Transportation and storage

Inspect the delivery for any transport damage immediately after you receive it.
Notify any damage to the transport company immediately. Do not operate the
product if damaged. Store the device in a dry and dust-free room if you do not
install it immediately
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Notes on Safety
Operation manual
2.5 Installation and connection

The accessory installation instructions allow the following actions during the
installation of accessories:
• The housing in the upper slot can be opened.
Opening the housing in another place or for other purposes is not permitted.
Installation and connection work are only permitted after the device has been
isolated from the power!
Apply the 5 safety rules in the order stated before performing any work on the
machine:
1. Enable. Also enable the auxiliary circuits.
2. Secure against restart.
3. Check that voltage is not present.
4. Earth and short circuit.
5. Cover adjacent live parts.
Information
Note that the discharge time of the DC link capacitors is 5 minutes. You
can only determine the absence of voltage after this time period.
Afterwards you can carry out the work.
2.6 Service
Repairs must only be performed by STÖBER ANTRIEBSTECHNIK GmbH + Co.
KG. Send faulty devices with a fault description to:

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
Abteilung VS-EL
Kieselbronner Str.12
75177 Pforzheim, Germany
GERMANY
2.7 Disposal
Please comply with the latest national and regional regulations! Dispose of the
individual parts separately depending on their nature and currently valid
regulations such as, for example:
• Electronic scrap (PCBs)
• Plastic
• Sheet metal
• Copper
• Aluminum
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Notes on Safety
Operation manual
2.8 Presentation of notes on safety
NOTICE
Notice
means that property damage may occur
 if the stated precautionary measures are not taken.
CAUTION!
Caution
with warning triangle means that minor injury may occur
WARNING!
Warning
means that there may be a serious danger of death
DANGER!
Danger

means that serious danger of death exists
Information
indicates important information about the product or a highlighted
portion of the documentation which requires special attention.
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Installation
Operation manual
3 Installation
The ECS 5000 fieldbus must first be installed before the inverter of the 5th
generation of STÖBER inverters can be integrated in an EtherCAT system. We
recommend ordering the option card with installation since the card will already
have been installed by STÖBER ANTRIEBSTECHNIK before delivery.
3.1 Install in MDS 5000 or SDS 5000
WARNING!
Danger of injury/death and property damage due to electric shock!
 Before installing accessories, turn off all voltage supplies! Then wait 5
minutes for the DC link capacitors to discharge. Never begin with accessory
installation until after this!
CAUTION!
Danger of property damage due to electrostatic discharge, among others!
 Provide suitable protective measures while handling open PCBs (e.g., ESD
clothing, environment free of dirt and grease).
 Do not touch the contact surfaces.
You will need the following to install the ECS 5000:

• a TX10 Torx screwdriver

• a Phillips screwdriver
• The covering plate shown below which is included with the ECS 5000 as an
accessory:
• The screw with locking disk which is included with the ECS 5000 as an
accessory.
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Installation
Operation manual
Installing the ECS 5000 in an MDS 5000 or SDS 5000
1. Unscrew the mounting screws and remove the cover plate:
2. From below, stick the RJ45 plug connector of the PCB through the plate
which is included with the ECS 5000 accessories:
3. Secure the plate to the PCB with the included screw with locking disk:
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Installation
Operation manual
4. Insert the option PCB in the inverter so that the gold contacts slide into the
black terminal block:
5. Secure the plate to the inverter with the mounting screws:
 You have installed the accessory.
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Installation
Operation manual
3.2 Installation in the FDS 5000
WARNING!
Danger of injury/death and property damage due to electric shock!
 Before installing accessories, turn off all voltage supplies! Then wait 5
minutes for the DC link capacitors to discharge. Never begin with accessory
installation until after this!
CAUTION!
Danger of property damage due to electrostatic discharge, among others!
 Provide suitable protective measures while handling open PCBs (e.g., ESD
clothing, environment free of dirt and grease).
 Do not touch the contact surfaces.
You will need the following to install the ECS 5000:

• a TX10 Torx screwdriver
• a Phillips screwdriver
• The cover plate shown below which is included with the accessories of the
ECS 5000:
IN OUT

• The screw with the locking disk which is included with the accessories of the
ECS 5000
Installing the ECS 5000 in an FDS 5000
1. Unscrew the mounting screws and remove the cover plate:
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Installation
Operation manual
which is included with the ECS 5000 accessories:
3. Secure the plate to the PCB with the included screw with locking disk:
which is included in the ECS 5000 accessories:
5. Secure the plate to the inverter with the mounting screws:
 You have installed the accessory.
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Electrical installation
Operation manual
4 Electrical installation
There is always exactly one EtherCAT master (for example an industrial PC) and
any number of EtherCAT slaves (drive controllers, etc.) connected. All
subscribers are connected together in a line. The master is connected at the
beginning of the line. It is followed by the slaves in any order. The X201 OUT
socket on the last subscriber remains open.
EtherCAT master The „OUT“ socket on the last station
(e.g.,industrial PC) is not connected. Protect this „OUT”
socket from dirt with a dust-protective
cover for RJ45.
Fig. 4-1 Layout of an EtherCAT network
4.1 IN and OUT sockets

Each EtherCAT slave (e.g., inverter) has an IN (X200) and an OUT (X201) RJ-45
socket. The incoming EtherCAT cable (coming from the direction of the master)
is plugged into the IN socket. The OUT socket is connected to the next station.

CAUTION!
Unexpected movements!
The connection order determines the address of devices in the EtherCAT
network. Connecting devices differently will cause the addressing to change,
resulting in faulty control.
 Make certain based on parameter A256 that the connection order of the
devices is unchanged, especially after working on the switch cabinet.
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Electrical installation
Operation manual
4.2 Connection Cable

Ethernet patch or crossover cables in CAT5e quality can be used as the
connection cables. Lengths of 0.2 to 100 m are permitted for an EtherCAT
network.
RJ-45 socket
If you want to make the cables yourself, be sure to select suitable crimp tools and
use great care. Afterwards check the quality with a cable tester to avoid
transmission problems.
The individual contacts of the RJ-45 socket are allocated as per the "T 568-B"
standard as shown in the table below.
3
2 1 4
12345678
Pin Color Cable Core Pair Function

1 white/orange 2 TxData +
2 orange 2 TxData -
3 white/green 3 RecvData +
4 blue 1 Unused

5 white/blue 1 Unused
6 green 3 RecvData -
7 white/brown 4 Unused
8 brown 4 Unused
Information
Since a very large selection of inexpensive Ethernet cables is available
in various lengths, it is easier and quicker to buy Ethernet cables
instead of making them yourself. If you do purchase Ethernet cables,
make sure that they are of CAT5e quality.
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Fundamentals of EtherCAT
Operation manual
5 Fundamentals of EtherCAT
Fieldbuses have been an established part the world of automation technology for
many years now. Since higher and higher speeds are required but the technical
limits of this technology have already been reached, new solutions needed to be
found.
At least in theory, the Ethernet which is familiar to all of us from the office world,
is very fast with its 100 Mbit/s speed which is available everywhere today.
However, these networks do not offer real-time capability due to the kind of
cabling that they use and the rules governing access rights.
This problem was corrected with EtherCAT. EtherCAT means "Ethernet for
Controller and Automation Technology." It was developed by Beckhoff
Automation GmbH and is now supported by the international organization
EtherCAT Technology Group (ETG). EtherCAT is an open technology which is
standardized by the IEC since 2005.
Various protocols can be transmitted via EtherCAT. STÖBER
ANTRIEBSTECHNIK offers the widely-used communication profile CANopen as
per DS 301 ().
CANopen®
Processdata
Application
CANopen® Processdata
SDO PDO
CoE CoE

Mailbox Processdata
EtherCAT®
Fig. 5-1 EtherCAT systems
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Operation manual
5.1 How it functions

Ethernet transfers data within packets. With other real-time Ethernet systems
each packet is received by the stations, interpreted via a complicated software
system, and the process data then removed. After this a response packet is
generated.
With EtherCAT, the stations on the hardware interface (see ) pick out the data
intended for them from the data stream. Similarly the station's own response data
are added to the telegram. The master sends the telegram to the first station. This
station and all other stations receive the packet, change it as described, and send
it on to the next station.
IN OUT
Forward
Forward
Backward
Input Output
data data
Fig. 5-2 Data processing, EtherCAT stations
When the packet arrives at the last station, this station determines that no cable
is plugged into a next station. Using a "logical short circuit" it sends the data via
the other core pair through all stations back to the master (full duplex).

Short
IN circuit
Forward
Forward
Backward
Input Output
data data
Fig. 5-3 Data processing, last EtherCAT station
EtherCAT uses the plug-in sequence together with full duplex technology to
create a logical ring.
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Operation manual
5.2 State machine

The following state machine is implemented in every EtherCAT slave. Which
communication services are active via EtherCAT are defined for each state. The
EtherCAT master controls the state machine.
Power
on
Initializing
(IP)
(PI) Pre-
Operational (SP)
(SI) (PS) Safe-

(OP) (SO) Operational
(OI) (OS)
Operational
Fig. 5-4 EtherCAT state machine
State table:
State Description
Initialising Inverter configuration starts. Stored values are loaded.
Pre-Operational Inverter is ready for parameterization in preparation for
actual operation via SDO.

Safe-Operational EtherCAT master reads actual values from the inverter via
PDO and SDO.
Operational EtherCAT master and inverter exchange reference values
and actual values via PDO and SDO.
State transitions:
Transition Actions
IP Start mailbox communication
PI Stop mailbox communication
PS Start input update
SP Stop input update
SO Start output update
OS Stop output update
OP Stop output update, stop input update
SI Stop input update, stop mailbox communication
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Operation manual
Transition Actions
OI Stop output update, stop input update, stop mailbox
communication
A PLC usually performs the startup in this sequence of states:

Initialising - Pre-Operational - Safe-Operational - Operational
If, for example, the TwinCAT® software from Beckhoff Automation GmbH is used,
these steps can be executed automatically by the System Manager or individually
as needed. When a controller program is started on the TwinCAT® PLC, the
startup is executed automatically.
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User interface of the ECS 5000
Operation manual
6 User interface of the ECS 5000

The ECS 5000 EtherCAT option is equipped with status LEDs in addition to the
RJ-45 sockets X200 IN and 201 OUT. These LEDs have the following functions:
• The yellow "LINK/ACT" LED of the IN socket flashes during data
communication via the EtherCAT bus.
• The green "RUN Indicator" LED uses different flashing patterns to show the
communication state as per the EtherCAT protocol.
• The red "ERROR Indicator" LED uses different flashing patterns to show
different error states.
The following tables show the exact descriptions:
Yellow
Red Green
Fig. 6-1 Placement of the LEDs
Description of the RUN Indicator (green LED)
State Description
Init State LED is continuously off; Communication between master and

the drive is not possible.
Preoperational on
blinking 200 200
ms ms
(ERR) off
No process data communication is possible in this state.

Safeoperational on
single flash 200 200 1000 ms 200
ms ms ms
(ERR) off
The actual values of the drive are transferred to the master.
Reference values can only be sent to the drive via SDO.
Operational LED is continuously on. Complete process data
communication is active. Reference values can now be sent to
the drive and actual values received from the drive.
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User interface of the ECS 5000
Operation manual
Description of the ERROR Indicator (red LED)
Error Description
No Error No error; LED is continuously off.
Booting Error Error while the ECS 5000 option board is being initialized.
LED flickers.
on
flickering
off
Invalid Configuration invalid.
Configuration LED flashes.
on
blinking 200 200
ms ms
(ERR) off
Unsolicited Slave changed the state without being asked.

State Change LED: 1 flash
on
single flash 200 1000 ms 200
ms ms
(ERR) off
Application Watchdog; LED: 2 flashes

Watchdog 200 200 200 1000 ms
Timeout ms ms ms
PDI Watchdog Watchdog; LED is continuously on.

Timeout

Description of the LINK/ACT LED (yellow LED)
As soon as the X200 IN socket is connected with another active EtherCAT port,
this LED becomes active. When data are being exchanged, this LED flashes.
When no data are being exchanged, the LED is continuously on. When the IN
socket is not connected to any other active EtherCAT port, this LED is
continuously off.
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Data transmission with PDO and SDO
Operation manual
7 Data transmission with PDO and SDO

As the exchange of effective data represents the essential task of an EtherCAT
system, the description begins with the PDO and SDO communication services.
SDO
All parameter of the inverter can be read and changed in the parameter channel
by the SDO service (SDO = Service Data Object). The desired parameter
(communication object) is addressed within an SDO telegram by the index and
subindex.
Drive controller with EtherCAT accessories

Set of all
Parameter channel communication objects
Parameter, Indications
SDO(tx) (act. values), control
commands, Reference
SDO(rx) values, actions
PDO
A PDO telegram (PDO = Process Data Object) is used to transfer data that is
used to control and monitor the ongoing process and for which a short transfer
time is required. No objects are addressed in the telegram. Instead the contents
of the previously selected parameters are sent directly.
Drive controller with EtherCAT accessories

Set of all "mappable“
Parameter channel communication objects

Parameters identified
PDO(rx) with "PDO“
PDO(tx)
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Operation manual
7.1 Process data transmission with PDO service

Process data is transferred by the master cyclically after every pass of the PLC
task. STÖBER ANTRIEBSTECHNIK devices provide four PDO channels. Each
PDO channel has one reception direction (rx) and one transmission direction (tx)
from the point of view of the device.
It is possible to operate up to four independent PDO channels simultaneously. All
data from all PDO channels is transferred in direct sequence with EtherCAT.
The parameters that are defined as the content of these PDOs appear in the
control program of the EtherCAT master as variables.
7.1.1 Process data mapping
Process data imaging specifies which parameters (communication objects) will

be transferred with the process data channel (PDO service). The devices of the
5th generation of STÖBER inverters support flexible imaging of the
communication objects on the PDO channels. This mechanism is called PDO
mapping.
PDO mapping
One parameter with six sub-elements for each sending direction exists for each
PDO channel on the inverter. The addresses of the parameters are entered in the
sub-elements whose contents are then transferred via the PDO channel. Based
on the number and size of the entered objects the inverter expects a certain
number of bytes in the PDO telegram. If too many bytes are received the extra
data are ignored. If too few bytes are received the incomplete target objects are
left unchanged.

Settings ...
There are two ways to set mapping:
• In the parameter list of the POSITool software (recommended)
• In the EtherCAT master (e.g., with Beckhoff controllers: TwinCAT System
Manager)
Both mechanisms address the mapping parameter or one of its sub-elements.
This is addressed in the SDO telegram with EtherCAT in POSITool with
STÖBER's address.
... via EtherCAT with SDO telegram

One sub-element of the mapping parameter has four bytes. The SDO telegram
writes the sub-element with index, subindex and, optionally, the bit length of the
parameter to be mapped. The bit length of the mapped parameter does not have
to be specified during transmission to the inverter. The length is supplied when
the parameter is read out of the inverter.
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Operation manual
The selection of parameter 2808hex / 0 (parameter E08 n-motor with 16 bits of

data) is shown below as an example of how it is transferred in an SDO telegram.
When the parameter is to be mapped to the first position on the 1st PDO (rx)
channel, the telegram must be addressed to the parameter with index 1600hex
and subindex 1.
LSB MSW
1st byte 2nd byte 3rd byte 4th byte
Length Subindex LSB MSB
in Bit Index
Length Subindex Index

10hex 00hex 08hex 28hex
... via POSITool

With the POSITool software mapping is set in the parameter list. The parameter
belonging to the particular channel must be called in the parameter list of the
global area (in our figure: A225). The coordinates of the parameters which are to
be mapped to the 1st PDO (rx) telegram are entered in parameter elements 0 to
5. In Fig. 7-1parameter A180 is the first mapped parameter.
Fig. 7-1 Mapping in POSITool

When parameters from an axis are mapped the prefix must be specified:
2.B11 (nominal motor power, parameter of the second axis)
List of the parameters which can be mapped to process data

PDO mapping cannot be used for all parameters. The parameters which can be
mapped are identified in the parameter list with the abbreviation "PDO" with the
fieldbus notes.
Useful process data for applications

When an application is used and control is handled via fieldbus the process data
channels are pre-assigned.
7.1.2 Process data - example of fast reference values
The following process data are recommended for control of the fast reference
value application with EtherCAT. The selection is preset but can be changed in
POSITool.
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Process input data to the MDS (= reference values = outputs in TwinCAT):
Parameter Bit Length Data Type Content

A180 Device 8 USINT • Bit-0: Additional enable, takes effect in addition to terminal
controlbyte enable. Must be HIGH. Removal of the enable can also trigger a
quick stop (set enable quick stop A44 =1:active ). The brakes are
applied and the end stage switches off.
• Bit-1: Acknowledge (reset) faults
• Bit-2: Quick stop. The active ramp is I17 (for position control) or
D81 (speed control)
• Bits 3 - 7: must remain 0. Offers other special functions which are
not needed in this application.
D230 n-Soll 16 INT Relative speed reference value as related to D02. This value is
Relativ added to D231.
C230 M-Max 16 INT Specification of torque limit for scaling in speed mode: 32767
LSB=200 %.
Process output data from the MDS (= actual values = inputs in TwinCAT):
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E200 Device 8 U8 Device status byte: This byte contains status signals of the device
StatusByte controller.
• Bit-0: Enabled. The drive is ready. No faults, the device status
corresponds to E84=4:Oper. enabled.
• Bit-1: Error. Device status is "fault reaction active" or "fault."
• Bit-2: Quick stop (also quick stop in "fault reaction active").
• Bit-3, 4: With multiple-axis operation, the active axis is shown
here
Bit4Bit3Achse
00Achse 1
01Achse 2
10Achse 3
11Achse 4
• Bit-5: Axis in E84 is active.
• Bit-6: Local: Local operation is activated.
• Bit-7: Bit 7 in A180 (device control byte) is copied once every
device controller cycle to bit 7 in E200 (device status byte). When
bit 7 in A180 is toggled, the higher-level PLC is informed of a
concluded communication cycle (send, evaluate, return data).
For PROFIBUS for example, this permits cycle-time-optimized
communication. The handshake bit 7 in A180 / E200 supplies no
information as to whether the application has reacted to the
process data. Depending on the application, other routines are
provided for this (e.g., motion-Id for command positioning).

Information
You can only use the toggle signal of bit 7 when device controllers
3:terminals, 4:USS, 5:CANopen, 6:PROFIBUS or 23:EtherCAT are
used. If you configured a DSP 402 device controller, bit 7 always has
signal status 0.
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D200 16 I16 Speed reference value status word: This word contains status
Speed signals of the application. With the application for the fast reference
reference value, only bits 0 to 2 are used. Bits 3 to 15 can only be used with the
value status application for comfort reference value. The parameter which is
word specified for the bit names indicates the individual parameter in
which the signals can also be viewed.
Bit 0: Standstill (D180). The actual motor speed has reached the
value 0 Rpm ±C40.
Bit 1: Reference value reached (D181): The ramp generator has
reached its reference value.
Bit 2: Torque limit (static) (D182). The positive or negative torque limit
is reached.
Bit 3: Status positive T-limit (E180): The positive torque limit has
triggered with the high level.
Bit 4: Status negative T-limit (E181): The negative torque limit has
Bit 5: Status motoring T-limit (E186): The motoring torque limit has
Bit 6: Status generating T-limit (E187): The generatingtorque limit
has triggered with the high level.
Bit 7: PID upper limit (G181): With the high level, the PID controller
has reached the value in G08 on the output.
Bit 8: PID lower limit (G182): With the high level, the PID controller
has reached the value in G09 on the output.
Bit 9: Actual value reached (D183): With the high level, the motor
speed has reached the reference value specification ±C40.

Bit 10: Ref. value prohibited (D184):With the high level, a reference
value is specified in prohibited direction of rotation.
Bit 11: Max. speed limit reached (D185): With the high level, the
reference value has reached the positive speed limit (with torque
control D336, speed control D338).
Bit 12: Min. speed limit reached (D186): With the high level, the
reference value has reached the negative speed limit (with torque
control D337, speed control D339).
Bit 13: Motorised pot step reached (D187): With the high level, no
change takes place in the motorized pot reference value.
Bit 14: Motorised pot lim reached (D188): With the high level, the
motorized pot reference value has reached the value in D45 or D46.
Bit 15: Zero ramp reached (D189): With the high level, the ramp
generator has reached the value 0.
E100 n-Motor 16 I16 Indication of the current motor speed as a percentage value in space-
saving 16-bit format. The information relates to C01 n-max.
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E02 M-Motor 16 I16 Indication of the current motor torque in Nm. As related to nominal
filtered motor torque with asynchronous control modes. As related to
standstill torque M0 with servo control modes. Smoothed for
indication on the device display. The unsmoothed variable can be
accessed via E90.
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7.2 Parameter Transmission with SDO Service

All the parameters of the CANopen® DS-301 inverter can be read and written with
the SDO service. The SDO service always transmits data in 4-byte integer format
(except for strings).
The controller starts a job with an SDO request. The controller uses this request
to select a communication object (parameter) with index and subindex. The object
directory with the list of all available parameters is searched on the inverter, based
on these variables, and the service is executed. The inverter then responds with
the appropriate SDO response.
The SDO messages are transmitted with the mailbox service of EtherCAT. shows
the structure of an SDO message.
6 Byte 2 Byte 8 Byte
Mailbox-Header CoE- Expedited SDO-Message

Header
Fig. 7-2 Structure of an SDO message
The mailbox consists of the mailbox header and the mailbox data. The header
indicates that the data contain a "CANopen® over EtherCAT" telegram. The
telegram consists of the COE header and the COE data. The COE header
specifies that the following data contains an SDO request message.
shows the structure of the mailbox header.
16 bits 16 bits 6 bits 2 4 4
Channel
Address
Priority
Length
In res.

Type
Fig. 7-3 Structure of the mailbox header
The Length field contains the number of bytes in the mailbox following the header.
The Address field contains the EtherCAT address of the respective slave. The
Type field states which protocol is located in the mailbox. Enter the value "3" for
CANopen® over EtherCAT here. The other fields (Channel, Priority and Reserve)
are not needed. Each of them remains 0.
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7.2.1 Preselection of the axis
Parameter addressing
Only 2 bytes are available for the index and 1 byte for the subindex in the
addressing of parameters via SDO based on CANopen®. However, the
parameters of STÖBER devices cover the address space of 4 bytes. To combined
the address spaces, instead of addressing the axis via the index and subindex,
the selection is made using parameter A11.1, the axis to be edited.
7.2.2 Expedited Transfer
With SDO communication, the simplified Expedited Transfer type of transmission

is used for all parameters having a data type of up to 4 bytes. All four data bytes
fit into one telegram with this type of transmission. Data organization on the bus
uses the Intel-Format: The most significant byte/word has the higher address in
storage and is sent later to the bus (Little-Endian)..
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
23hex LSB MSB LSB MSB LSB MSB
Command Index Sub- LSW-Data MSW-Data
Index
Command Index Sub- unused
Index

Command Index Sub- unused
Index
Index
Command Index Sub- Additional-Code Error- Error-
Index Code Class
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The whole service consists of the following telegrams:
Writing a parameter
1. The Client (CANopen® master) sends Initiate Domain Download Request.
2. The Server (inverter) acknowledges the request with a positive Initiate
Domain Download Response.
Read a parameter, an indication

1. The Client (controller) sends Initiate Domain Upload Request.
2. The Server (inverter) acknowledges the request with positive Initiate Domain
Upload Response.
Negative response to an attempt to read or write

In case of error the Server (inverter) responds to an Upload or Download Request
with Abort Domain Transfer.
Example:
Set parameter C01 n-Max to 2500 rpm:
1. Get index and Subindex from EDS file: Index = 2401hex, Subindex = 0
2. Convert decimal number 2500 to a hexadecimal number: 09C4hex
3. Enter the bytes in the right places of the Initiate Domain Download Request
Service:
Index

24 01 Hex 00 00 09 C4 Hex
23 01 24 00 C4 09 00 00
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7.2.3 Error codes for SDO services
If the response of an SDO service is negative, regardless of whether it is

expedited or segmented, STÖBER devices will also return one of the following
error descriptions in the event of an error in the Abort SDO Transfer Protocol:
Error code Meaning

hexadecimal
0503 0000 Toggle bit has not changed.
0504 0000 SDO protocol timeout expired.
0504 0001 Invalid command received.
0504 0005 Not enough memory.
0601 0000 Access to the object (parameter) is not supported.
0601 0001 Attempt to read a parameter that may only be written.
0601 0002 Attempt to write a parameter that may only be read.
0602 0000 Object (parameter) is not listed in the object directory.
0604 0041 Object (parameter) cannot be mapped to PDO.
0604 0042 Number or length of the objects being transferred exceeds the
PDO length.
0604 0043 General parameter incompatibility.
0604 0047 General internal parameter incompatibility.
0606 0000 Access denied due to a hardware error.
0607 0010 Wrong data type or length of the service parameter does not
match.

0607 0012 Wrong data type or length of the service parameter is too
large.
0607 0013 Wrong data type or length of the service parameter is too
small.
0609 0011 Subindex does not exist.
0609 0030 Invalid value of the parameter (write access only).
0609 0031 Value of the parameter is too large.
0609 0032 Value of the parameter is too small.
0609 0036 Maximum value is less than minimum value.
0800 0000 General error
0800 0020 Data cannot be transferred or saved in the application.
0800 0021 Data cannot be transferred or saved in the application due to
local control.
0800 0022 Data cannot be transferred or saved in the application due to
device state.
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Error code Meaning

hexadecimal
0800 0023 Dynamic generating of the object directory failed or no object
directory available. (Is there a valid configuration in the drive
controller?)
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7.2.4 List of the drive parameters
All STÖBER ANTRIEBSTECHNIK GmbH & Co. KG specific parameters are

stored as communication objects in the area from index 2000hex to 5FFFhex. The
line number after the group are added to the start index. The element of a drive
parameter (e.g., 0 for start, 1 for progress and 2 for result for actions) is entered
in the subindex of the SDO service.
Area no. Group Starting Index Ending Index

1 A 2000hex 21FFhex
2 B 2200hex 23FFhex
3 C 2400hex 25FFhex
4 D 2600hex 27FFhex
5 E 2800hex 29FFhex
6 F 2A00hex 2BFFhex
7 G 2C00hex 2DFFhex
8 H 2E00hex 2FFFhex
9 I 3000hex 31FFhex
10 J 3200hex 33FFhex
11 K 3400hex 35FFhex
12 L 3600hex 37FFhex
13 M 3800hex 39FFhex
14 N 3A00hex 3BFFhex
15 O 3C00hex 3DFFhex

16 P 3E00hex 3FFFhex
17 Q 4000hex 41FFhex
18 R 4200hex 43FFhex
19 S 4400hex 45FFhex
20 T 4600hex 47FFhex
21 U 4800hex 49FFhex
22 V 4A00hex 4BFFhex
23 W 4C00hex 4DFFhex
24 X 4E00hex 4FFFhex
25 Y 5000hex 51FFhex
26 Z 5200hex 53FFhex
Reserved – 5400hex 5FFFhex
Example:
You would like to find parameter A154.2.
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Calculation:
Start index of parameter group A: 2000hex
Line of the parameter: 154dec = 9Ahex
Index and subindex result from this as follows:

Index: 2000hex + 9Ahex = 209Ahex
Subindex: 2
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Emergency messages
Operation manual
8 Emergency messages
Emergency messages are generated in the EtherCAT slave when device-internal
errors or malfunctions occur and are sent via the mailbox mechanism to the
EtherCAT master. No Emergency messages can be generated in STÖBER
devices by:
• Incorrect sync manager parameterization during EtherCAT system start
• Entering or leaving the malfunction device state (as with CANopen®)
• Error during change of state of the EtherCAT state machine
8.1 Error Device State

To implement the mechanism described in CANopen®, the inverter continuously
monitors the device state. If this state changes to the fault or malfunction reaction
active state, the emergency message is sent exactly once with one of the error
codes described below. When the fault state is exited with an acknowledgment,
an emergency message is sent with the "no error" error code. This procedure
automatically keeps the master informed of the occurrence of a fault and when
this fault state was exited, and what the precise cause of the fault was.
The inverter specifies three pieces of information on the type of malfunction in the
message as required by CANopen®:
The inverter changes to fault 41:Temperature motor TMS:
43 10hex 01hex 29hex 0 0 0 0
Emergency Error not used

Error Code Register
Temperature Drive Temperature
E43 Event cause
Event temperature motor TMS
The inverter exits the fault:
00 00 00 1Ehex 0 0 0 0
Emergency Error not used
Error Code Register
"no error" "no error" E82 Type of event = "no error"
Coding of the error code in the first and second bytes and the error register in the
third byte corresponds to specifications from the CiA®/DS-301 and CiA® DSP402
profiles. The fourth byte contains the value of the STÖBER parameter E82 event
type. The fifth byte contains the contents of E43 event cause.
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Fig. 8-1 shows the structure of the mailbox for an emergency message:
6 Byte 2 Byte 8 Byte
Mailbox-Header CoE- Emergency-Message

Header
Fig. 8-1 Structure of the mailbox for an emergency message
Fig. 8-2 shows a detailed example of fault 41: Temperature motor TMS:
0A 00 00 00 00 03 00 10 43 10 08 29 00 00 00 00
Mailbox-Header CoE- Emergency-Message
Header
Fig. 8-2 Emergency message for fault 41:temperature motor TMS
When the TwinCAT® software is used as the EtherCAT master, the emergency
message is indicated in the System Manager in the window at the bottom entitled
"Logger-Ausgabe" (logger output):
Fig. 8-3 Presentation of an emergency message with the TwinCAT® software

List of possible codes in the EMERGENCY message:
Error Code Error Register E82 Ereignis-Code

Hex value: Designation Hex value: Designation Decimal value: Designation
0hex: no error 0: no error 30: No event
2110hex: short circuit earth 2: current 31: Short/ground
2230hex: intern short circuit earth 2: current 32: Short/ground internal
2310hex: continous overcurrent 2: current 33: Overcurrent
5200hex: device hardware 1: generic error 34: Hardware fault
6010hex: software reset 1: generic error 35: Watchdog
3110hex: mains overvoltage 4: voltage 36: High voltage
7303hex: resolver 1 fault 1: generic error 37: Encoder
4210hex: temperature device 8: temperature 38: Overtemperature device sensor
4280hex: temperature device I2t 8: temperature 39: Overtemperature device i2t
6310hex: loss of parameters 1: generic error 40: Invalid data
4310hex: temperature drive 8: temperature 41: Temperature motor TMP
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Error Code Error Register E82 Ereignis-Code

Hex value: Designation Hex value: Designation Decimal value: Designation
7110hex: brake chopper 8: temperature 42: Temperature brake resistor
9000hex: external error 1: generic error 44: External fault 1
4380hex: temperature drive I2t 8: temperature 45: Overtemperature motor i2t
3120hex: mains undervoltage 4: voltage 46: Low voltage
8311hex: excess torque 1: generic error 47: Torque limit
8100hex: communication 10: communication 52: Communication
5200hex: device hw control 1: generic error 55: Option board
8400hex: Velocity speed control 1: generic error 56: Overspeed
6100hex: internal software 1: generic error 57: Second activation
2110hex: short circuit earth 2: current 58: Grounded
4280hex: temperature device I2t 8: temperature 59: Overtemperature device i2t
6200hex: user software 1: generic error 60 - 67: Application event 0 to 7
9000hex: external error 1: generic error 68: External fault 2
7120hex: motor 1: generic error 69: Motor connection
6300hex: data record 1: generic error 70: Parameter consistency
7110hex: brake chopper 1: generic error 72: Brake test timeout
7110hex: brake chopper 1: generic error 73: Axis 2 brake test timeout
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8.2 State Changes of the EtherCAT® State Machine

When an error occurs during the state change of the inverter, the slave sends an
appropriate emergency message. The structure of this message is similar to the
message for a device malfunction:
Emergency message for state change error
A0hex 00hex 01hex 02hex 0 0 0 0
Emergency Error
Error code Register
DiagCode DiagData 1 and 2
Coding of the emergency error code in the first and second bytes and the error
register in the third byte complies with the specifications of IEC 61158-26-12. The
following table lists possible coding for the emergency error code:
Emergency Error Code Meaning

A000hex Transition from Pre-Operational to Safe-
Operational was not successful.
A001hex Transition from Safe-Operational to Pre-
Operational was not successful.
The error register specifies the state of the EtherCAT state machine at the time
the emergency message is sent. The following table lists possible coding:

Error Register State of the EtherCAT State Machine
1hex Initialising
2hex Pre-Operational
3hex Safe-Operational
4hex Operational
The DiagCode value gives information on what caused the error:
DiagCode Meaning
00hex SyncManager at impermissible address
01hex SyncManager at impermissible address SyncManager 0
02hex PDO length is not correct (write mailbox)
03hex SyncManager parameterized incorrectly
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DiagCode Meaning
06hex PDO length is not correct (read mailbox)
07hex SyncManager parameterized incorrectly
0ahex PDO length is not correct (process data out)
0bhex SyncManager parameterized incorrectly
0chex SyncManager at impermissible address
0dhex SyncManager at impermissible address SyncManager 3
0ehex PDO length is not correct (process date in)
0fhex SyncManager parameterized incorrectly
You will need the DiagData 1 and 2 values in case you contact our technical
support.
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Synchronization with distributed clocks
Operation manual
9 Synchronization with distributed clocks

The axes must be synchronized with each other and with the controller for time-
critical applications with several drives which must execute coordinated
movements simultaneously.
CAUTION!
Danger of inverter malfunction! Monitoring the synchronization increases
the runtime load!
Check to determine whether activation of monitoring inadmissibly increases the
cycle time of the inverter. Read and adhere to the following sections.
Information
Remember that when a fieldbus and the IGB-Motion bus are used at
the same time, the fieldbus communication cannot be synchronized on
the controller.
Proceed as shown below to activate synchronization:
How to activate synchronization
1. Activate synchronization on the EtherCAT master. See the documentation of

the EtherCAT master (when TwinCAT is the Master see 11.6 Activation of the
synchronization with TwinCAT®).
2. In the inverter enter in the parameter G91 = -300 µs to set the phase offset

of the PLL in the inverter to a value that, based on experience, is robust in
the majority of applications.
3. If you want to monitor the synchronization, set parameter A260 = 1. Read
and adhere to the description in the following sections.
4. Put the EtherCAT network in Operational status.
 Synchronization is now active.
If synchronization fails to activate, proceed as described below:

Check parameter A261.0. Synchronization is functioning correctly when the value
indicated is 0. Proceed as follows for other values:
1. Value 1: Sync Manager 2 and Sync Manager 3 have different cycle times.
Correct the times on the master.
2. Value 2: The cycle time of the SYNC0 signal is set to less than 1 ms. Set the
time to a higher value on the master.
3. Value 3: The cycle time of the SYNC0 signal must be a whole-number multiple
of 1000 µs. Set the time to a whole-number multiple of 1 ms on the master.
4. Value 4: The device-internal PLL could not be started. Check the parameter
G95.
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The parameter G95 shows the status of the PLL regulation

1. Bit 0 and/or bit 1 not 0: The cycle time of the SYNC0 signal must be a whole-
number multiple of the inverter cycle time A150. Set the cycle time of the
SYNC0 signal in the master to a whole-number multiple of A150.
2. Bit 4 = 1: The measured cycle time is greater than the one specified. The cycle
time of the SYNC0 signal must be a whole-number multiple of the inverter
cycle time A150. Set the cycle time of the SYNC0 signal on the master to a
whole-number multiple of A150.
3. Bit 5 = 1: PLL regulation is deactivated. Check whether PLL regulation was
deactivated manually in G90.
If these defect descriptions do not help you further, or if you want optimally adjust
the phase offset of the internal PLL to your application, contact us with a case
description on
• The telephone number +49 (0) 7231 582-1187 or
• "The e-mail address applications@stoeber.de
Cyclic process data communication with EtherCAT is based on a telegram which

is passed along to all slaves. Due to the signal runtime of the telegram, the
connected slaves are provided with the reference values at different times.
The concept of distributed clocks (DC) is used to synchronize the slaves with the
master. Each slave has a high-precision clock with its own time base. After these
clocks are calibrated by the master with a reference clock, they continue running
synchronously by themselves. Due to the ring structure of the network, the
differences in runtime can be measured and taken into consideration when the
clocks are calibrated.
A total of three times are taken into consideration for the calibration and set on the

master:
• The Master Shift Time is the telegram runtime through all connected
EtherCAT stations. The master measures this time. A reserve time can be
added (e.g., 10 % of the PLC cycle time) to allow for telegram jitter.
• The Master User Shift Time can be increased for further protection against
jittering.
• The Slave User Shift Time specifies the phase position of the SYNC0 signal
in relation to the sum of Master Shift Time and Master User Shift Time. This
value can be used to shift the phase position of the SYNC0 signal in the
positive and negative direction to counteract slave jitter. Note that you must
set this time separately for each slave.
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Generate data on Master
PLC
task
Master Master User

Transmit data Shift Time Shift Time
to the slaves
Same time for
EtherCAT 10 % all stations
U
runtime reserve
Slave User
Shift Time
Time can be
set differently
U
for each station
SYNC0 signal
Slave accepts data is generated
on slave
Inverter
task
Fig. 9-1 Effect of different times on the SYNC0 signal
The runtime system of the inverter is synchronized to the SYNC0 signal with a
device-internal software PLL (G90 = 1:active). After synchronization, the
technology task A150 on the inverter is synchronous with the SYNC0 signal.

Permissible cycle times for the SYNC0 signal are whole-number multiples of the
technology task A150. Remember that the inverter will not change to the Safe-
Operational state when SYNC0 signal cycle times are inadmissible.
Example:
A150 = 5: 2 ms -> Permissible cycle times of SYNC0: 2 ms, 4 ms, 6 ms, 8 ms, etc.
Information
PLL jitter on the inverter can only be taken into account on the master
(e.g., via the Slave User Shift Time).
Monitoring synchronization
Monitoring of the synchronization is activated by setting the parameter A260 = 1.
When monitoring is active, the inverter checks to determine whether the
EtherCAT telegram arrives within a specified time period in relation to the SYNC0
signal. If there was too much jitter, the error counter is incremented in A261.2. The
error counter is reset when the inverter is turned on.
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Jitter
Description Jitter
typical maximum
PLL on the inverter 20 µs 40 µs
Telegram (depends on the master, cannot be < 10% of the No info
influenced by the inverter settings) SPS cycle time available
SYNC0 typ.
signal 20 µs
Inverter
task
typ. Inverter
20 µs task
Inverter
task
Fig. 9-2 Jitter of the PLL regulation
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Information
This information is for the developers of the EtherCAT master software.
Please remember that there is a fundamental difference between ECS
5000 boards with hardware status HW 7 and HW 8: Boards up to HW
7 use the ESC20 as the EtherCAT slave controller while boards starting
with HW 8 use the ET1100.
To activate synchronization, the master must, among others, also write
the EtherCAT slave controller register with the System Time name
starting at address 0x0910.
With the ECS20, the register has 32 bits while, with the ET1100, the
register has 64 bits. If, with the ET1100, not all 64 bits are written
correctly, synchronization cannot start.
If you activate synchronization on the side of the EtherCAT master,
please note this change and read the "Hardware Data Sheet ET1100"
for more information. Pay particular attention to chapter "9.1 Clock
Synchronization" and the section there called "Definition of the System
Time" and also chapter "2.43.2 Time Loop Control Unit" with the
description of all the bits. Obtain advice on this subject from the
specialists of ETG.
If your software on the EtherCAT master must be able to decide which
EtherCAT slave controller is present, you can read this as a byte from
the Type of EtherCAT controller register at the address 0000hex. The
boards with the ESC20 return the value 02hex while boards with the
ET1100 return the value 11hex.
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Monitoring and diagnosis on the inverter
Operation manual
10 Monitoring and diagnosis on the inverter

If the connection between inverter and master is interrupted while the drive is
running (e.g., due to disconnection of an EtherCAT cable or a faulty master
shutdown), the drive must not be allowed to continue moving with the last
received reference values. To be able to react to such a connection failure,
activate the EtherCAT PDO timeout function. The watchdog function of the
inverter checks whether EtherCAT telegrams arrive within a specified time.
You can choose between a STÖBER watchdog and an EtherCAT watchdog.
Make your selection in parameter A258.
Function Value in A258

inactive 0 or 65535
STÖBER watchdog 1 to 99: the timeout time is always 100 milliseconds
100 bis 65533: The number value is the timeout value in
milliseconds.
EtherCAT watchdog 65534: This value is not used for monitoring. Instead the
"SM Watchdog" function is set by the EtherCAT master
(e.g., TwinCAT®, see 11.6 Activation of the
synchronization with TwinCAT®).
Information
Please note that you will only need the STÖBER watchdog function if
your controller does not have a watchdog function.
If your controller does have a watchdog function, STÖBER
ANTRIEBSTECHNIK recommends that you use the setting A258 =
65534 (EtherCAT watchdog).

Before a newly set value can take effect this setting must first be non-volatilely
saved with A00 save values and the inverter then turned off and on.
Information
Monitoring is only active in the "operational" state. It is not tripped when
the EtherCAT "operational" state is purposely exited.
When a fault is triggered, the state machine changes to the state "safe
operational."
When the connection is unintentionally interrupted for the set time the invert
changes to the state "fault." When this happens the drive stops, the Relay 1 opens
and the fault 52:communication appears on the display with the cause
6:EtherCAT PDO.
The fault can only be exited by an acknowledgment either with the hardware
enable, the "ESC" key, or via the "additional enable" bit via EtherCAT (see inverter
documentation).
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Operation manual
10.1 Diagnostic Parameters

The following parameters are available for the diagnosis of EtherCAT on the
inverter's display or with POSITool.
A252.0 EtherCAT Sync Manager 2 PDO Assign

The Sync-Manager 2 controls the memory size and the access of the inverter
processor to the portion of memory in the EtherCAT Slave Controller (ESC) in
which the process output data with reference values are sent by the EtherCAT
master to the inverter. These data specify which PDO mapping parameters are
assigned to this Sync-Manager. This array contains four elements of the data
type U16. We recommend entering the CANopen® index of parameter A225
(1600hex) in element 0 of this parameter. The indices of the parameters A226
(1601hex), A227 (1602hex) or A228 (1603hex) can then be entered as necessary
in the other elements. The value 0 indicates a blank entry.
Axis: Global
Data type: U16
Value: 0 ... 1600hex ... 65535 (representation hexadecimal)
Index: 20FChex
Subindex: 0hex

(1601hex) in element 1 of this parameter. The indices of the parameters A225
(1600hex), A227 (1602hex) or A228 (1603hex) can then be entered as necessary
Axis: Global
Data type: U16
Index: 20FChex
Subindex: 1hex
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type U16. We recommend entering the value 0 (for unused) in element 2 of this
parameter because the indices of parameters A225 (1600hex) and A226 (1601
hex) have already been entered as default values in elements 0 and 1. Up to 12
parameters can already be transferred in this way. If more process data are
required, the CANopen® index of parameter A227 (1602hex) can be specified
here. However, remember that the corresponding block 100921 ECS PDO3-rx
Map must also be instanced here.
Axis: Global
Data type: U16
Index: 20FChex
Subindex: 2hex

parameter because the indices of parameters A225 (1600hex) and A226
(1601hex) have already been entered as default values in elements 0 and 1 and
sometimes the index of A227 (1603hex) in element 2. Up to 18 parameters can
already be transferred in this way. If more process data are required, the
CANopen® index of parameter A228 (1603hex) can be specified here. However,
remember that the corresponding block 100923 ECS PDO4-rx Map must also be
instanced here.
Axis: Global
Data type: U16
Index: 20FChex
Subindex: 3hex
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which the process input data with actual values are sent by the inverter to the
EtherCAT master. These data specify which PDO mapping parameters are
(1A00hex) in element 0 of this parameter. The indices of the parameters A234
(1A01hex), A235 (1A02hex) or A236 (1A03hex) can then be entered as necessary
Axis: Global
Data type: U16
Value: 0 ... 1A00hex ... 65535 (representation hexadecimal)
Index: 20FDhex
Subindex: 0hex
(1A01hex) in element 1 of this parameter. The indices of the parameters A233
(1A00hex), A235 (1A02hex) or A236 (1604hex) can then be entered as necessary

Axis: Global
Data type: U16
Value: 0 ... 1A01hex ... 65535 (representation hexadecimal)
Index: 20FDhex
Subindex: 1hex
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parameter because the indices of parameters A233 (1A00hex) and A234
(1A01hex) have already been entered as default values in elements 0 and 1. Up
to 12 parameters can already be transferred in this way. If more process data are
required, the CANopen® index of parameter A235 (1A02hex) can be specified
here. However, remember that the corresponding block 100922 ECS PDO3-rx
Map must also be instanced here.
Axis: Global
Data type: U16
Index: 20FDhex
Subindex: 2hex

parameter because the indices of parameters A233 (1A00hex) and A234
(1A01hex) have already been entered as default values in elements 0 and 1 and
sometimes the index of A235 (1A03hex) in element 2. Up to 18 parameters can
already be transferred in this way. If more process data are required, the
CANopen® index of parameter A236 (1A03hex) can be specified here. However,
remember that the corresponding block 100924 ECS PDO4-tx Map must also be
instanced here.
Axis: Global
Data type: U16
Index: 20FDhex
Subindex: 3hex
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A256 EtherCAT Address

Shows the address of the inverter within the EtherCAT network. The value is
usually specified by the EtherCAT master. It is either derived from position of the
station within the EtherCAT ring or is purposely selected by the user. Values
usually start at 1001 hexadecimal (1001hex is the first device after the EtherCAT
master, 1002hex is the second, and so on).
Axis: Global
Data type: U16
Value: 0 ... 0 ... 65535
Index: 2100hex
Subindex: 0hex
A257.0 EtherCAT Diagnosis:
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Indication of internal inverter diagnostic information on the EtherCAT interface

ECS 5000 and the connection to the EtherCAT. A text with the following format
is indicated in element 0: "StX ErX L0X L1X"
Part 1 of the text means:
St Abbreviation of EtherCAT Device State
State of the EtherCAT State Machine)
X Digit for state:
1 Init state
2 Pre-operaional state
(3 Requested bootstrap state wird nicht unterstützt)
4 Safe-operational state
8 Operational state
0x11 Error during INIT state
0x12 Error during PREOP state
(0x13 Error during BOOTSTRAP) state
0x14 Error during safe-operational state
0x18 Error during operational state
Er Abbreviation of EtherCAT device error
X Digit for state:
0 No error
1 Booting error, ECS 5000 error
2 Invalid configuration, select configuration with EtherCAT in POSITool.
3 Unsolicited state change, inverter has changed state by itself.
4 Watchdog, no more data from EtherCAT even though timeout time
expired
5 PDI watchdog, host processor timeout

L0 Abbreviation for LinkOn of port 0 (the RJ45 socket labeled "IN")
X Digit for state:
0 No link (no connection to other EtherCAT device)
1 Link detected (connection to other device found)
L1 Abbreviation for LinkOn of port 1 (the RJ45 socket labeled "OUT")
X Digit for state:
0 No link (no connection to other EtherCAT device)
1 Link detected (connection to other device found)
Axis: Global
Data type: Str16
Value: –
Index: 2101hex
Subindex: 0hex
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ECS 5000 and the connection to the EtherCAT. A text with the following format
is indicated in element 1: "L0 xx L1 xx"
L0 Abbreviation for Link Lost Counter Port 0 (RJ45 socket labeled "IN")
xx Number of lost connections (hexadecimal) on the port.

L1 Abbreviation for Link Lost Counter Port 1 (RJ45 socket labeled "OUT")
xx Number of lost connections (hexadecimal) on the port.
Axis: Global
Data type: Str16
Value: –
Index: 2101hex
Subindex: 1hex
ECS 5000 and the connection to the EtherCAT.
A text with the following format is indicated in element 2: "R0 xxxx R1 xxxx"
R0 Abbreviation for Rx ErrorCounter Port 0 (RJ45 socket labeled "IN")
xxxx ErrorCounter in hexadecimal with number of registered errors such as, for
example, FCS checksum, …

R0 Abbreviation for Rx ErrorCounter Port 1 (RJ45 socket labeled "OUT")
xxxx ErrorCounter in hexadecimal with number of registered errors such as, for
example, FCS checksum, …
Axis: Global
Data tpye: Str16
Value: –
Index: 2101hex
Subindex: 2hex
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A258 EtherCAT PDO Timeout:

This PDO monitoring function (PDO = Process Data Object) should be activated
so that the inverter does not continue with the last received reference values
after a failure of the EtherCAT network or the master. After the EtherCAT master
has put this station (the inverter in this case) into the state "OPERATIONAL," it
begins to send new process data (reference values, and so on) cyclically. When
this monitor function has been activated, it is active in the "OPERATIONAL"
state.
When no new data are received via EtherCAT for longer than the set timeout
time, the monitor function triggers the fault 52:communication with the cause of
fault 6:EtherCAT PDO.
If the EtherCAT master shuts down this station correctly (exits the
"OPERATIONAL" state), the monitoring function is not triggered.
The timeout time can be set in milliseconds with this parameter.

The following special setting values are available:
0: Monitoring inactive
1 to 99: Monitoring by STÖBER watchdog is active. Timeout time is always 1000
milliseconds.
From 100: Monitoring by STÖBER watchdog is active. The numeric value is the
timeout value in milliseconds.
65534: Monitoring is not set by this value but by the "SM Watchdog" functionality
of EtherCAT. For diagnosis of this externally set function, see parameter
A259.65535: Monitoring inactive
Information

You will only need the STÖBER watchdog function if your controller does not
have a watchdog function itself. If your controller does have a watchdog function,
STÖBER ANTRIEBSTECHNIK recommends the setting A258 = 65534
(EtherCAT watchdog).
Axis: Global
Data type: U16
Value: 0 ... 65535 ... 65535
Index: 2102hex
Subindex: 0hex
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A259.0 EtherCAT SM-Watchdog

after a failure of the EtherCAT network or the master.
If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout,
the timeout can be set in the EtherCAT master (TwinCAT software). The result is
then indicated in this parameter.
Element 0 contains the resulting watchdog time in 1 milliseconds.

Achse: Global
Datentyp: U32
Wert: –
Index: 2103hex
Subindex: 0hex
then indicated in this parameter:
Element 1 contains whether the watchdog was just triggered (1) or not (0). When
the watchdog is triggered and the function is activated (see value 65534 in
parameter A258), the fault 52:communication is triggered on the inverter with

cause of fault 6:EtherCAT PDO.
Axis: Global
Data type: U32
Value: –
Index: 2103hex
Subindex: 1hex
then indicated in this parameter:
Element 2 contains the number of times this watchdog has been triggered.
Axis: Global
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Data type: U32

Value: –
Index: 2103hex
Subindex: 2hex
A260 EtherCAT Synchronization mode
This parameter activates EtherCAT synchronization monitoring mode on the
inverter. The inverter offers the option of monitoring the synchronization between
master and inverter via Distributed Clock. A check is made to determine whether
the time difference between the arrival of the EtherCAT Frame at the inverter and
the point in time of the SYNC0 signal on the inverter is within a tolerable time
range.
When monitoring is activated, Sync errors are counted with an error counter and
indicated in parameter A261.2.
Synchronization mode is deactivated and activated by entering the following
values:
0: Synchronization deactivated
1: Synchronization active
Other values are not defined and are therefore not permitted.
Information
When the PLC cycle time is not the SYNC0 cycle time, all synchronization errors
can no longer be detected.
Information
Activation of synchronization mode requires different amounts of run time
depending on the cycle time of the PLC and the inverter. With high-performance

applications are being run on the inverter, activation of synchronization mode
may cause the error "runtime load.
Axis: Global
Data type: U16
Value: 0 ... 0 ... 65535
Index: 2104hex
Subindex: 0hex
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A261.0 EtherCAT Sync-Diagnostics

This parameter can be used to diagnose errors in synchronization mode.
The parameter indicates the following error codes:
0: No error.
1: Sync Manager 2 and Sync Manager 3 have different cycle times
2: Cycle time < 1 ms: The cycle time must be ≥1000 µs.
3: Uneven cycle time: Cycle time must be a whole-number multiple of 1000 µs.
4: Internal error: Internal device PLL could not be started.
Possible cause: The project does not contain parameter G90.
5: A required EtherCAT parameter does not exist.
Parameters A260 and A261 must be available for EtherCAT with
synchronization.
6: Internal error: Inverter interrupt could not be initialized.
Possible cause: Firmware error
Other values: Not defined .
Axis: Global
Data type: U32
Value: –
Index: 2105hex
Subindex: 0hex
This element is reserved.
Axis: Global
Data type: U32

Value: –
Index: 2105hex
Subindex: 1hex
This parameter indicates the synchronization errors which have occurred up to
now between master and inverter.
Synchronization mode must be activated in parameter A260 before the counter
function becomes active.
When the error counter is continuously incremented, this indicates a parameteri-
zation error on the master or the inverter. Occasional incrementing of the counter
(e.g., in the minutes range) indicates a jitter in the total EtherCAT system.
Axis: Global
Data type: U32
Value: –
Index: 2105hex
Subindex: 2hex
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A262.0 EtherCAT Sync Manager 0 Synchronization type

The parameter indicates the synchronization operating mode for Sync Manager
0 (write mailbox) which was set by the controller on the inverter. Since Sync
Managers for mailbox communication are never synchronized, the parameter
can only have the following values:
0: not synchronized
No other values possible.
Information
Please note that the synchronization operating mode is set exclusively by the
controller. If you change the parameter, your settings will have no effect.
Axis: Global
Data type: U16
Value: 0: Not synchronized;
1: Synchronized with AL event on this Sync Manager;
2: Synchronized with AL event Sync0;
32: Synchronized with AL event of SM0;
Index: 2106hex
Subindex: 0hex

A262.1 EtherCAT Sync Manager 0 Cycle time
The parameter indicates the value of the cycle time for Sync Manager 0 (write
mailbox) which was set by the controller on the inverter. Since Sync Managers
for mailbox communication are never synchronized, the parameter can only
have the following values:
0: not synchronized
Information
Please note that the cycle time is set exclusively by the controller. If you change
the parameter, your settings will have no effect.
Axis: Global
Data type: U32
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Index: 2106hex
Subindex: 1hex
A262.2 EtherCAT Sync Manager 0 Shift time
The parameter indicates the value of the shift time for Sync Manager 0 (write
0: not synchronized
Information
Please note that the shift time is set exclusively by the controller. If you change
Axis: Global
Data type: U32

Index: 2106hex
Subindex: 2hex
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1 (read mailbox) which was set by the controller on the inverter. Since Sync
Managers for mailbox communication are never synchronized, the parameter
can only have the following values:
0: not synchronized
Information
Axis: Global
Data type: U16
Index: 2107hex
Subindex: 0hex

The parameter indicates the value of the cycle time for Sync Manager 1 (read
0: not synchronized
Information
Axis: Global
Data type: U32
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Index: 2107hex
Subindex: 1hex
The parameter indicates the value of the shift time for Sync Manager 1 (read
0: not synchronized
Information
Axis: Global
Data type: U32

Index: 2107hex
Subindex: 2hex
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2 (output process data) which was set by the controller on the inverter. Since
Sync Managers for mailbox communication are never synchronized, the
parameter can only have the following values:
0: not synchronized
2: Synchronized with AL event Sync0: Synchronized operating mode
(synchronous to sync 0 signal)
Information
Axis: Global
Data type: U16
Index: 2108hex

Subindex: 0hex
The parameter indicates the value of the cycle time in ns for Sync Manager 2
(output process data) which was set by the controller on the inverter.
Information
Axis: Global
Data type: U32
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Index: 2108hex
Subindex: 1hex
The parameter indicates the value of the shift time in ns for Sync Manager 2
Information
Axis: Global
Data type: U32

Index: 2108hex
Subindex: 2hex
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3 (input process data) which was set by the controller on the inverter. The
parameter can only have the following values:
0: not synchronized
2: Synchronized with AL event Sync0: Synchronized operating mode
(synchronous to sync 0 signal)
Information
Axis: Global
Data type: U16
Index: 2109hex

Subindex: 0hex
The parameter indicates the value of the cycle time in ns for Sync Manager 3
Information
Axis: Global
Data type: U32
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Index: 2109hex
Subindex: 1hex
The parameter indicates the value of the shift time in ns for Sync Manager 3
Information
Axis: Global
Data type: U32

Index: 2109hex
Subindex: 2hex
A266 ECS-Tolerance barrier
This parameter is used to specify the maximum permissible number of ECS
5000 events. When this threshold value is exceeded, the fault 55:option board
with the cause 9:ECS5000failure is triggered.
Never change this value without first contacting STÖBER ANTRIEBSTECHNIK
GmbH & Co. KG.
Axis: Global
Data type: U8
Value: 0 ... 1 ... 12
Index: 210Ahex
Subindex: 0hex
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A267.0 ECS internal test counter

This parameter counts any ECS-5000 events which are detected between the control
unit of the inverter and the ECS 5000. Different causes are counted separately in an
array with 4 elements. When the counter is incremented rapidly, this may mean EMC
interference.
Axid: Global
Data type: U32
Value: –
Index: 210Bhex
Subindex: 0hex
interference.
Axis: Global
Data type: U32
Value: –
Index: 210Bhex
Subindex: 1hex
interference.

Axis: Global
Data type: U32
Value: –
Index: 210Bhex
Subindex: 2hex
interference.
Axis: Global
Data type: U32
Value: –
Index: 210Bhex
Subindex: 3hex
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Commissioning with TwinCAT®
Operation manual
11 Commissioning with TwinCAT®

Information
The functions presented below are exclusively available for use with
TwinCAT®a) starting with the versions specified in 11.1. Many of the
parameters for the EtherCAT functions must be set with the software of
TwinCAT®. The explanations here refer to this software
a) TwinCAT® is registered trademark, licensed by Beckhoff Automation GmbH,
Germany.
11.1 Components
The following components are required for operation of devices of the 5th
generation of STÖBER inverters with EtherCAT:
1. MDS 5000 or FDS 5000 starting with firmware V 5.2 or SDS 5000 with
firmware V 5.4
2. ECS 5000 (EtherCAT board)
3. PC software POSITool starting with version V5.2
4. A device description file (e.g., STÖBER POSIDRIVE xDS5000 FastRef
V52.xml
5. EtherCAT master software TwinCAT® starting with version V 2.10 Build 1248
6. Network cable starting with category CAT5e
11.2 Device description file

TwinCAT® must be informed of the characteristics and capabilities which the
inverter offers via EtherCAT. This is done with a suitable device description file
"STÖBER POSIDRIVE xDS5000.xml." You can prepare device description files
to fit your configuration with the EtherCAT assistant in POSITool. Proceed as
shown below:
How to create a device description file
1. Create a project with an EtherCAT device controller and the additional PCB
ECS 5000
2. Start the EtherCAT wizard.
3. Select the page 4. Device description.
4. Press the button Create new device description file (XML file).
 The device description file is created. You can select where the file is to be
saved with the Save as dialog screen.
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Before starting TwinCAT® copy the files to the directory \\TwinCAT\Io\EtherCAT

so that TwinCAT® can link in the device description files. Then start the TwinCAT®
system manager againd.
11.3 Installing the driver for EtherCAT

The PC on which TwinCAT® is running must be set up for EtherCAT with a
suitable driver and protocol. You can either use the products of the company
Beckhoff Automation GmbH which already have the appropriate drivers installed
or you can install these drivers yourself (part of the TwinCAT® software package).
You can do this after installation of TwinCAT®. Open TwinCAT® system manager
and select the menu item List Real Time Ethernet Compatible Devices in the
Options menu. In the dialog screen which appears select the Ethernet devices
which you want to install and confirm with the Install button.
11.4 Startup of the device on EtherCAT®
Information
Please note that the TwinCAT® displays shown here may be indicated
differently depending on which Build Version is used.
We recommend using the following sequence when you commission the devices
of the 5th generation of STÖBER inverters on TwinCAT®:
Commissioning the Inverter on EtherCAT
1. Install TwinCAT® V 2.10 Build 1248 or higher.

2. Check to see that the EtherCAT drivers for the network card are installed.
3. Copy the device description file (e.g., STÖBER POSIDRIVE xDS5000.xml to
\\TwinCAT\Io\EtherCAT
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4. Start the TwinCAT® System Manager. shows the screen which appears after
the program has started.
Fig. 11-1 View of the TwinCAT® System Manager after its start.
5. In the project tree select I/O-Configuration.
6. Using the right mouse button click I/O Devices.
7. In the context menu click Append Device.
8. In the dialog screen Insert Device select EtherCAT and then EtherCAT.
Fig. 11-2 Adding an EtherCAT device

9. Exit the dialog screen by pressing the Ok button.
10. Exit the dialog screen Device Found At Address which appears next by
pressing the Cancel button.
 The driver for the EtherCAT master function is activated. Device 1 -
(EtherCAT) appears under I/O Devices in the project tree.
11. Connect the cabling from the EtherCAT socket of the controller to the stations
and turn on the power supply of the devices.
12. Using the right mouse button, click Device 1 (EtherCAT) in the TwinCAT
System Manager.
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13. In the context menu, select Scan Boxes.

 The EtherCAT network which was just put together is checked and the
founded inverters appears in the project tree under box x
(POSIDRIVE(R) xDS 5000).
Fig. 11-3 View of the Device 1 (EtherCAT) on the TwinCAT System

Manager
14. Click the inverter box x (POSIDRIVE(R) xDS 5000) found in EtherCAT.
 The dialog screen shown in appears.
Fig. 11-4 View of the inverter on the TwinCAT System Manager
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15. Click the tab Process Data.

 The dialog screen shown in appears. The PDO channels to be used for
the Sync Managers and the parameters to be used for the PDO channels
are configured in this dialog screen. Because this setting has already
been prepared locally by STÖBER ANTRIEBSTECHNIK on the inverter,
we recommend not making any changes in the parameterization of the
inverter at this point except for perhaps removing any existing
checkmarks next to the fields PDO Assignment and PDO Configuration.
In this case no changes are made with SDO before the inverter boots.
Fig. 11-5 Process data of the inverter

16. Continue with the commissioning of the TwinCAT PLC and the PLC program.

 You have commissioned the inverter.
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11.5 Monitoring the process data connection to TwinCAT®

The Watchdog function must be activated in the master to monitor the process
data connection. This function is set up on the TwinCAT® System Manager as
shown below:
Activate the watchdog on TwinCAT system manager
1. In the project tree click the Box x (POSIDRIVE(R) xDS 5000).

2. On the right-hand side of the dialog screen, click the tab "EtherCAT."
3. Click the button Advanced Settings > General > Behavior….
 The dialog screen shown in appears.

Fig. 11-6 Dialog screen Advanced Settings
4. Activate the SM watchdog function by clicking the checkbox Set Multiplier
and Set SM Watchdog (Fig. 11-7).
 Edit the input fields Set Multiplier and Set SM Watchdog.
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5. 5.In the input fields Set Multiplier and Set SM Watchdog enter the values for
calculating the SM Watchdog time. The SM Watchdog time is calculated with
the following formula:
SM Watchdog time = (Multiplier * 0.04 * 10-6 s) * SM Watchdog
The time in the example shown in is calculated as follows:
SM Watchdog time = (25000 * 0.04 * 10-6 s) * 2000 = 2 s = 2000 ms
 You have completely parameterized the SM Watchdog function
(Changes will only be effective after a system re-start or change in the
EtherCAT master state from INIT to OP). If you used the values from our
example you will have parameterized a timeout time of 2 seconds.
Fig. 11-7 Setting the SM Watchdog function on the TwinCAT System

Manager
To fully retain the function, the parameter for the Timeout function must also be
set in the inverter (parameter A258).
With the setting A258 = 65534 the timeout for the monitoring by the "SM
Watchdog" functionality is set from the EtherCAT master. Diagnostics on this
function set externally are undertaken in the inverter in the parameter A259.
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11.6 Activation of the synchronization with TwinCAT®

To activate synchronization using distributed clocks, the function must first be
activated on each slave. The related settings are in TwinCAT® in the Advanced
Settings for the slave.
Information
TwinCAT® should be re-started after activating the synchronization.
Activation of the synchronization
1. Select slave.
2. Press the Advanced Settings button.
Fig. 11-8 View of the EtherCAT settings in the TwinCAT® System Manager
3. Select Distributed Clock.
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4. Choose the operation mode.

- XML file prepared with POSITool from V 5.4A: The operation mode is saved
in the XML file.
- XML file prepared with POSITool up to V 5.4: The operation mode must be
configured manually.
Fig. 11-9 Selection of the operation modes

 After the selection of the operation mode, the slave is configured for the
synchronization.
Element Description

1:Enable Activates the synchronization via Distributed Clock.
The remaining elements (2 - 6) are activated when this
checkbox is selected.
2:Sync Unit Zyklus This value is the cycle time for the PLC task. During this
cycle the EtherCAT messages for the process data traffic
are sent. If this value is to be changed, the task cycle time
must be changed. This time will then be automatically
adjusted here as well.
3:Cycle Time Cycle time for the SYNC 0 signal.
Normally the cycle time for the SYNC 0 signal is also the
same as the Sync Unit Cycle. In special cases, it is
however appropriate not to generate a synchronization
signal for every process data message.
If, e.g. the SYNC 0 cycle time has a value to which the
slave cannot synchronize, the SYNC 0 cycle time must be
adjusted.
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Element Description
4:Factor Here the factor used to calculate the cycle time for the
SYNC 0 signal based on the Sync Unit Cyclecan be
selected.
Normally the factor 1 is set here so that the cycle time for
SYNC 0 is the same as the Sync Unit Cycle.
5:Enable SYNC 0 Activates the synchronization signal SYNC 0. The slave
synchronizes to this signal. For this reason the signal must
be activated here.
6:Shift Time This value defines the slave user shift time.
Normally the value is = 0.
Example configurations:
Example 1: PLC operates with 1 ms cycle time

The 1 ms cycle is supported by the inverter. Here the value 1 can be set as the
factor for the Sync Unit Cycle.
The related operation mode is: DC enabled (multiplier = 1)
Example 2: PLC with 500 µs cycle time

The fastest cycle time in the inverter is currently 1 ms. For this reason the inverter
cannot synchronize with the SYNC 0 signal if the SYNC 0 cycle time is 500 µs.
In this case the operation mode with the multiplier = 2 must be activated.
The cycle time for the controller is then still 500 µs.
The SYNC 0 signal then has a cycle time of 500 µs * 2 = 1 ms. With this
configuration it must be noted that the slave only receives every second output

value calculated by the PLC and only collects every second input value.
Information
The inverter will not change from PREOP to SAFEOP if a valid cycle
time for the SYNC 0 cycle is not set with synchronization activated.
In case of problems with the activation of the synchronization, the
cause of the error can be read in the parameter A261 element.
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POSITool over EtherCAT
Operation manual
12 POSITool over EtherCAT

Using the POSITool over EtherCAT function you can reach, via an EtherCAT
master, all 5th generation STÖBER inverters that are connected to the master in
an EtherCAT network. You can run all commissioning and diagnostic functions
provided by POSITool on all converters via one connection. It is therefore
unnecessary to establish a direction connection to each individual inverter.
Fig. 12-1 EtherCAT network
Information
Please note that the series SDS 5000 inverters can communicate with
the POSITool either via the Integrated Bus or via the POSITool over
EtherCAT function. Simultaneous operation via both communication
paths is not intended and is inhibited in POSITool.

12.1 Prerequisites
To be able to use the POSITool over EtherCAT function, the following
requirements must be met:
• All inverters in the EtherCAT network that are to be reached using POSITool
over EtherCAT must have firmware from version 5.5.
• Use a POSITool version from V 5.5. You will find the latest version of
POSITool at www.stoeber.de.
• Always use a current ESI file. You can obtain the file from the EtherCAT
wizard in POSITool.
• Use TwinCAT® from version V 2.10.0 (build 1340) (EtherCAT master with
mailbox gateway and VoE-support).
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Operation manual
Information
For correct communication, the EtherCAT master software and the
mailbox gateway it contains must work correctly. The manufacturer of
this software is solely responsible for this function!
• Common installation of EtherCAT master and POSITool on a PC or industrial

PC (IPC).
Information
For correct communication, it is necessary to carefully configure the
EtherCAT; the devices must also be correctly allocated in the POSITool.
The user is responsible for ensuring communication is with the specific
inverter intended. Any mistakes in the address or position of the
inverter cannot be detected or prevented by the inverter or POSITool!
• The EtherCAT network on which the POSITool over EtherCAT is to be used

must be fully placed in operation. On this aspect, pay attention to 11
Commissioning with TwinCAT®.
• The mailbox gateway for the EtherCAT master must be activated. On this
aspect, pay attention to 12.2 Activating mailbox gateway.
• The EtherCAT network must be in the PREOP (Pre-Operational) state. The
other states Safe-Op (Safe-Operational) and Op (Operational) are possible,
provided you do not want to send a configuration from POSITool to the
inverters.
Fig. 12-2 State of the EtherCAT network
Information
While working with POSITool ensure simultaneous access (mailbox,
CoE/SDO) to the inverter parameters by a controller program is not
possible.
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Operation manual
12.2 Activating mailbox gateway
Information
The functionality described in the following is only available in
conjunction with TwinCAT® from the version described in 11.1. Many of
the parameters related to the use of EtherCAT are to be set in the
TwinCAT® software. The corresponding explanations relate to this
software.
Information
Please note that the TwinCAT® screenshots shown may vary
depending on the build version.
Information
The correct procedure depends solely on the EtherCAT configuration
software you are using.
Activating mailbox gateway
1. In the project view, click the EtherCAT master, in this example Gerät 1
(EtherCAT).
2. Click the Advanced Settings button.

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3. Select the EoE Support element.

 The following dialog screen is displayed:
4. Activate the Virtual Ethernet Switch function (Enable checkbox).

5. Select the Connect to TCP/IP Stack checkbox.
6. Select the IP Enable Router checkbox.
7. Activate the EtherCAT Mailbox Gateway function (Enable checkbox).
8. In the Connections field, enter a number which is equal to or larger than the
number of the inverter which is to be reached using POSITool via EtherCAT.
9. Make a note of the IP address for the mailbox gateway for subsequent entry
in POSITool.
10. Save these settings.
11. Re-start the PC.

 You have activated the mailbox gateway.
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12.3 Reading and sending data using POSITool over

EtherCAT
12.3.1 Reading inverter data from the EtherCAT® network (reverse

documentation)
Information
Ensure all the requirements in 12.1 are met before you use the
POSITool over EtherCAT function.
Information
The following procedure describes how data can be imported into an
existing project. If you want to import the data into a new project, start
POSITool, on the welcome dialog screen select the Reverse
documentation from connected inverter… button and then click the
EtherCAT button.
Reading inverter data from the EtherCAT network (reverse documentation)
1. On the menu bar click the button or in the project view double-click
Establish connection.
 The IP address for the EtherCAT mailbox gateway dialog screen is
displayed:
2. Type the IP address for the mailbox gateway that you noted during activation
(see 12.2 Activating mailbox gateway).
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3. Accept the dialog screen using the OK button.

 POSITool automatically reads a list of the devices connected from the
mailbox gateway and displays the inverters in POSITool. If the mailbox
gateway does not support the information on the devices connected, you
can update the list using the Scan address list and Scan address range
buttons.
The list displays the inverters with their EtherCAT address, the name of
the slave (as defined in the master), the equipment code from parameter
E120, the serial number and the type of inverter.
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4. Click the read from EtherCAT... button.

 The following dialog screen is displayed:
Fig. 12-3 Read configuration / paramters from EtherCAT

5. Mark the line for the inverter entry in POSITool to which the data are to be
written. You can select an existing inverter entry (U1: Inverter1) or add a new
inverter entry (new), see .
6. In this line double-click the first column Source (EtherCAT) (<Please select>)
see .
 A new list is displayed that contains all inverters that are connected to the

PC.
7. Select the inverter from which you want to read data.
8. Repeat steps 7 to 9 for each source from which data is to be read.
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9. Click the OK button.

 The data are read from the EtherCAT network and added to the
EtherCAT group in the project view. You can edit the data as usual.
To be able to allocate destination and source more quickly in large, existing

projects, in the Read configuration/parameters from EtherCAT dialog screen you
can use the following buttons:
• Allocation 1:1 as per resources: The inverters found in the EtherCAT network
are allocated to the entries in the POSITool based on the equipment code in
parameter E120.

• Allocation 1:1 by name of the slave: The inverters found in the EtherCAT
network are allocated to the entries in the POSITool based on the inverter
name in TwinCAT® (slave name).
• Read all: All inverters found in the network are read as new inverters; existing
inverters in the project are deleted.
To reverse document an existing project, there must be an EtherCAT entry in the

project. (See 12.4) On the menu bar click the button or in the project view
double-click Establish connection (see Fig. 12-4). To close the connection, on the
menu bar click the button to the right of the button, or in the project view
double-click Disconnect connection.
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Fig. 12-4 Establish connection in the project view
12.3.2 Sending inverter data to EtherCAT®
Information
Ensure all the requirements in 12.1 are met before you use the
POSITool over EtherCAT function.
To be able send existing project data to an inverter, the following requirements
must be met:
• You have added an EtherCAT entry to your project (see 12.4 Management).
• You have allocated the inverter with which you want to communicate to the
EtherCAT entry using the POSITool over EtherCAT function. (see 12.4
Management)
Then proceed as follows:
Sending inverter data to EtherCAT
1. Click the button.

 The IP address for the EtherCAT mailbox gateway dialog screen is

displayed:
2. Type the IP address for the mailbox gateway that you noted during activation
(see 12.2 Activating mailbox gateway).
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3. Accept the dialog screen using the OK button.

 POSITool automatically reads a list of the devices connected from the
mailbox gateway and displays the inverters in POSITool. If the mailbox
gateway does not support the information on the devices connected, you
can update the list using the Scan address list and Scan address range
buttons.
The list displays the inverters with their EtherCAT address, the name of
the slave (as defined in the master), the equipment code from parameter
E120, the serial number and the type of inverter.
4. Click the send to EtherCAT... button.

 The following list is displayed:
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5. Mark the inverter to which you want to write the data.

6. In this line double-click <Please select>.
 A list is displayed that contains all the inverter entries in your project.
7. Select the inverter entry which you want to write to the selected inverter.
8. Repeat steps 5 to 7 for each inverter to which you want to write data.
9. Click the OK button.
 The data are sent to the EtherCAT network as per your settings.
To be able to allocate destination and source more quickly in large, existing

projects, in the Read configuration/parameters from EtherCAT dialog screen you

can use the following buttons:
• Allocation 1:1 as per resources: The inverters found in the EtherCAT network
are allocated to the entries in the POSITool based on the equipment code in
parameter E120.
• Allocation 1:1 by name of the slave: The inverters found in the EtherCAT
network are allocated to the entries in the POSITool based on the inverter
name in TwinCAT (slave name).
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Operation manual
12.4 Management
To be able to use the POSITool over EtherCAT function in an existing project, you
must add an EtherCAT entry to the project. For this purpose, on the File menu
choose the New EtherCAT… command. The following dialog screen is displayed:
Fig. 12-3 Adding EtherCAT entry
Here you can type a name for the EtherCAT entry in the Name field and in the list
below, select the inverters with which you want to communicate over POSITool
over EtherCAT. These inverters are, once you have accepted the dialog screen
using the OK button, displayed in the project view below the EtherCAT entry:

Fig. 12-4 Inverter in the EtherCAT entry
Note that using POSITool over EtherCAT you can only reach those inverters that
are allocated to an EtherCAT entry.
An SDS 5000 cannot be allocated to an IGB entry and an EtherCAT entry at the
same time. If you want to reach an SDS 5000 via POSITool over EtherCAT
instead of IGB, you must first delete the inverter from the IGB and then allocate it
to the EtherCAT entry as described above.
If, on the File menu you choose the Manage EtherCAT command, the following
dialog screen is displayed:
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Operation manual
Fig. 12-5 Manage EtherCAT dialog screen
On this dialog screen the name of the EtherCAT entry is displayed in the field at
the top. Using the Delete button you can delete the EtherCAT entry. In this case
the inverters allocated are displayed directly in the project view.
Using the Properties button you can open the dialog screen where you can
change the allocation of the inverters to the EtherCAT entry.
The New button is not available as soon as there is an EtherCAT entry in the
project, as only one EtherCAT entry per project is possible. Leave the dialog
screen using the Close button.
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12.5 Principle of operation

EtherCAT makes possible:
• The cyclic transfer of process data (PDO) using a controller or CNC
• Acyclic services for writing and reading parameters in the inverter using CoE
(SDO) as well as the transfer of manufacturer-specific protocols (VoE,
Vendor-specific protocol over EtherCAT).
Using the VoE technology it is possible to establish communication between
POSITool on the PC with the EtherCAT master and devices in the 5th generation
of STÖBER inverters. Using this communication link, you can undertake all the
usual actions such as configuration download, configuration upload, diagnostics
and commissioning. In this situation the EtherCAT master represents the gateway
via which communication is established.
Fig. 12-6 EtherCAT master and POSITool

Driver software is included in POSITool for communication with the inverters; on
sending data this driver packs the inverter messages into the so-called Vendor-
specific protocol over EtherCAT. The VoE messages are sent via UDP/IP to the
mailbox gateway in the TwinCAT® software. The mailbox gateway forwards the
VoE messages via the EtherCAT master to the related inverters. The inverters
reply with VoE messages to the EtherCAT master. There the mailbox gateway
receives the reply messages and sends them back to POSITool. For this method
of communication to function, POSITool must know both the IP address of the
mailbox gateway and the address of the required inverters in the EtherCAT
system.
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POSITool
VoE
TwinCAT
Mailbox
Gateway
EtherCAT
PLC
Master
Fig. 12-7 Communication between POSITool and TwinCAT®
ID 441896.05 92
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List of literature
Operation manual
13 List of literature
1. Projecting manuals:
• POSIDRIVE® MDS 5000: ID 442272
• POSIDRIVE® FDS 5000: ID 442268
• POSIDYN® SDS 5000: ID 442276
2. Commissioning instructions:
3. Operating manuals:
4. Modules for the 5th generation of STÖBER inverters (ID 441682)
5. Programming manual for the 5th generation of STÖBER inverters (ID 441683)
6. CiA/DS-301, CANopen®: CAL-based Communication Profile for Industrial
Systems, October 1996
7. CiA/DSP-306, CANopen®: Electronic Data Sheet Specification V1.0,
31.05.2000
8. CiA/DS-402, CANopen®: Drives and Motion Control, May 1997
ID 441896.05 93
Notizen
ID 441896.05 94
Global Presence
Address registers
Always up to date on the internet: www.stober.com → contact
• Technical Offices (TB) for advice and marketing in Germany
• Global presence for advice and marketing in about 25 countries
• Service Network Germany
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• STÖBER Subsidiaries:
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STÖBER ANTRIEBSTECHNIK GmbH STOBER DRIVES INC. STÖBER S.a.r.l.

Hauptstraße 41a 1781 Downing Drive 131, Chemin du Bac à Traille
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Fon +43 7613 7600-0 Fon +1 606 7595090 69300 Caluire et Cuire
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E-Mail: office@stoeber.at eMail: sales@stober.com Fax +33 4 78985901
www.stoeber.at www.stober.com eMail: mail@stober.fr
www.stober.fr
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Switzerland Great Britain Italy
STÖBER SCHWEIZ AG STOBER DRIVES LTD. STÖBER TRASMISSIONI S. r. l.

Rugghölzli 2 Upper Keys Business Village Via Italo Calvino, 7
5453 Remetschwil Keys Park Road, Hednesford Palazzina D
Fon +41 56 496 96 50 Cannock WS12 2HA 20017 Rho (MI)
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eMail: info@stoeber.ch Fax +44 1543 448 688 Fax +39 02 93909-325
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Unit 2010, Landmark Tower 2, 15-8, Hon-komagome #05-06B
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Fon +86 10 65907391 Fax +81 3 5395-6799 Fax +65 65112969
Fax +86 10 65907393 eMail: mail@stober.co.jp E-Mail: info@stober.sg
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www.stoeber.cn
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STÖBER ANTRIEBSTECHNIK GmbH + Co. KG

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75177 PFORZHEIM
GERMANY
Tel. +49 7231 582-0
Fax. +49 7231 582-1000
E-Mail: mail@stoeber.de
24/h service hotline +49 180 5 786 323
www.stober.com
Technische Änderungen vorbehalten

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EtherCAT®

Operation manual Fundamentals

1.1 Purpose of the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2 Other manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.3 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2.1 Component part of the product . . . . . . . . . . . . . . . . . . . . . . 6

2.2 Operation in accordance with its intended use . . . . . . . . . . 6

2.3 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.4 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.5 Installation and connection . . . . . . . . . . . . . . . . . . . . . . . . . 8

2.8 Presentation of notes on safety . . . . . . . . . . . . . . . . . . . . . . 9

3.1 Install in MDS 5000 or SDS 5000 . . . . . . . . . . . . . . . . . . . . 10

3.2 Installation in the FDS 5000. . . . . . . . . . . . . . . . . . . . . . . . . 13

WE KEEP THINGS MOVING

4.1 IN and OUT sockets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.2 Connection Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5.1 How it functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5.2 State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

6 User interface of the ECS 5000 . . . . . . . . . . . . . . . . 21

7 Data transmission with PDO and SDO . . . . . . . . . . . 23

7.1 Process data transmission with PDO service . . . . . . . . . . . 24

7.1.1 Process data mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

7.1.2 Process data - example of fast reference values. . . . . . . . . 25

7.2 Parameter Transmission with SDO Service. . . . . . . . . . . . . 30

7.2.1 Preselection of the axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

7.2.2 Expedited Transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

7.2.3 Error codes for SDO services . . . . . . . . . . . . . . . . . . . . . . . 33

7.2.4 List of the drive parameters . . . . . . . . . . . . . . . . . . . . . . . . . 35

8.1 Error Device State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

8.2 State Changes of the EtherCAT® State Machine . . . . . . . . 40

9 Synchronization with distributed clocks . . . . . . . . . . 42

10 Monitoring and diagnosis on the inverter . . . . . . . . . 47

10.1 Diagnostic Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

11 Commissioning with TwinCAT® . . . . . . . . . . . . . . . . 68

11.2 Device description file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

11.3 Installing the driver for EtherCAT . . . . . . . . . . . . . . . . . . . . . 69

11.4 Startup of the device on EtherCAT® . . . . . . . . . . . . . . . . . . 69

11.5 Monitoring the process data connection to TwinCAT® . . . . 73

11.6 Activation of the synchronization with TwinCAT® . . . . . . . . 75

12 POSITool over EtherCAT . . . . . . . . . . . . . . . . . . . . . 78

WE KEEP THINGS MOVING

12.2 Activating mailbox gateway . . . . . . . . . . . . . . . . . . . . . . . . . 80

12.3 Reading and sending data using POSITool over EtherCAT. 82

12.3.1Reading inverter data from the EtherCAT® network (reverse

12.3.2Sending inverter data to EtherCAT® . . . . . . . . . . . . . . . . . . 86

12.5 Principle of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

1.2 Other manuals

Manual Contents ID Latest versiona)

The documentation of the FDS 5000 includes the following manuals:

WE KEEP THINGS MOVING

The documentation of the SDS 5000 includes the following manuals:

Manual Contents ID Latest versiona)

Manual Contents ID Latest versiona)

1.3 Further support

If you have questions about the documentation, please contact:

If you have questions about training sessions, please contact:

WE KEEP THINGS MOVING

In addition, always read the appropriate documentation. STÖBER

2.1 Component part of the product

• Since the technical documentation contains important information, always