ABB MicroFlex e150 - Control Technology Corporation

CTC’s EtherCAT
Master with ABB
MicroFlex e150
Servo Drives
This document discusses capabilities and setup information when using the
CTC EtherCAT Master with the ABB MicroFlex e150 servo drive.
CTC’s EtherCAT master combined with
the ABB MicroFlex servo drive form an
unbeatable combination for ease of use
and cost/performance.
Auto-Configuration Simplifies Programming
When equipped with a model M3-41 EtherCAT Master
module, the CTC model 5300 controller will automatically
recognize and configure an ABB MicroFlex e150 drive. This
eliminates what can be one of the most time-consuming aspects of setting up an EtherCAT network, greatly simplifying
the process of system configuration.
Programming is then a simple matter. In the QuickBuilder
programming environment, EtherCAT drives appear identical
to locally controlled servo axes, with the same commands being used to set motion parameters and initiate motion.
Drive Monitoring Using EtherCAT Explorer
EtherCAT Explorer, a component of the QuickBuilder Programming Environment, provides a detailed view of the drives and
I/O on an EtherCAT network.
Part of the QuickBuilder environment is a powerful diagnostic and monitoring tool for EtherCAT networks – the
EtherCAT Explorer. For each EtherCAT master present in
a controller being monitored, the EtherCAT Explorer shows
each of the EtherCAT nodes identified by that master, along
with any drives or I/O points contained within that node.
the current motion and status parameters associated with
that drive. You can also view a log of communications
transactions sent across the network.
Futher, by selecting one of the connected drives within
EtherCAT Explorer, you can view a detailed listing of
See the CTC EtherCAT Applications Guide for complete information on setting up the CTC EtherCAT Master.
So, not only does this provide a powerful network diagnostic
capability, but also gives you a detailed window into the functioning and behavior of the drives in your system.
Drive Configuration
Programming in QuickBuilder
The ABB Mint Workbench is used to configure the MicroFlex
e150 drive. Several parameters must be modified from the
factory defaults.
The programming of a CTC model 5300 controller is performed in QuickBuilder, a comprehensive graphical programming environment. Servo axes are programmed using Motion
Sequence Blocks (MSBs, such as the one circled in red in the
illustration), which are automatically downloaded to the appropriate EtherCAT Master module for local execution. This
greatly increases performance while still allowing intensive
communication with the main controller program.
First are the Application Maximum Speed and the Motor
and Drive Overload Protection Functions. After setting the
Application Max Speed, set the Drive and Motor Overload
Actions to ‘Foldback current’. Failure to modify the overload
action can result in a ‘Following Error’ as the drive attempts
to increase torque to attain the commanded position from the
EtherCAT Master.
Setting Motor Parameters in ABB Mint Workbench
Next change the maximum acceptable position error. This
depends on the drive’s ‘ppr’ (encoder pulses, or counts, per
revolution). The default is typically on the order of 1,000
counts. However, with a 512K ppr system this is a very small
value and can occur quite easily. The example below shows
a setting of 150,000 pulses. This is how much the motor can
lag the commanded EtherCAT Master position before the
drive issues a ‘Following Error’. A large lag is often acceptable
since the drive will catch up to the commanded position prior
to stopping.
Flowchart in a QuickBuilder program, showing a Motion
Sequence Block named Slide.
In MSBs, you can set parameters such as mode, home position and distance, trigger one or more motions, or establish
more complex operating modes. For further information,
refer to the QuickBuilder Reference Guide, available for free
download from the CTC website.
Example MSB: “Slide”
Setting Motion Profile Parameters
DC Sync
ABB drives must have DC Sync0 enabled prior to enabling
the drive as well as a 64-bit slave reference as the first node
on the EtherCAT network. Reference the ‘dcsync’ command
example in the CTC EtherCAT Application Guide.
// Network supports 64-bit distributed
// clocks for this to work properly.
dcsync -1, 1000000, 0, 0, 100000000;
[CycleMoveOut]
//move to the OUT position
move at Speed to Distance using 100,100;
wait for in position;
[CycleMoveStart]
// move to the START position
move at Speed to Start using 100,100;
wait for in position;
For More Information
Contact CTC at:
• [email protected]
• (888) 818-2600
• www.ctc-control.com
For information about ABB drives, refer to the ABB
website at www.abb.com.
Product names are or may be trademarks of their respective owners.
Copyright © 2014 Control Technology Corporation • All Rights Reserved • www.ctc-control.com

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