Home

EtherCAT User`s Manual

1. 2 single phase 200 230V 27 50 60Hz Molded case Circuit Breaker 1 1 Surge Protector 1Ry 1PL Servo Alarm Display I i 9 Noise Filter D Power OFF Power ON 1KM LOTI 1KM 1Ry 1SUP lt Be sure to connect a surge suppressor to the l excitation coil of the magnetic contactor and relay Servomotor D Uc ca N B 2 HL V 2 n C 3 A F E ProNet W gi S gt Series Servo Drives D 4 LIC CN2 OL2C Absolute Encoder Encoder 7 S I External Regenerator Resistor 8 S L a Bl Si 17 BAT PG 18 BAT A Bi 9 PGSV di ES 19 PG0V MEN 2 B3 Shell Shield V CN3 gl 1 TD K prepare the end of the Be sure to ground 2 TD S shielded vvire properly 3 RD 4 N C 9 CN 5 N C 6 RD 7 N C Signal allocatons can be modified COM 20 8 N C S ON Servo ON HT SON 15 S
2. d Represents Twisted pair Wires 88 LI L2 L3 Three phase 380 440V i 50 60Hz Molded case Circuit Breaker Va Surge Protector 7 1Ry 1PL Servo Alarm Display ADN I V Noise Filter E GER ON ae ower ower 1KM T_T TT 1KM 1 Ry 1SUP lt Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Servomotor AU UC ay e dere BO bs e CE Eat A Z OL3 ProNet Wo fal Series Servo Drives D 4 CN2 L1C Absolute Encoder 5 Encoder se 3 5 E YN 17 BAT PG 18 BAT D ae 9 PGSV i 19 PGOV 0 B2 Shell Shield pa External Regenerator Resisotr F CN3 NT 1 TD Be sure to prepare the end of the Be sure to ground 2 TD shielded wire properly 3 RD 4 N C H CNT 5 NC 6 RD r N C Signal allocatons can be modified 24V DICOM 20 8 N C S ON Servo ON t SON 15 33K0 ay ik P
3. LI L2 L3 Three phase 200 230V 12 50 60Hz Molded case Circuit Breaker V 1 1 Surge Protector A 1Ry 1PL Servo Alarm Display Noise Filter et B on L ower ower 1KM TITT 1KM 1 Ry 1SUP lt Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay OL1 A 1 Servomotor sb U B 2 O L3 Vi 2 C 3 A I a 3 gt es si D 4 i ProNet ST 9 Series Servo Drives L1C CN2 OL2C Absolute Encoder i Encoder External Regenerator Resistor 8 S S N m p 17 BAT 18 BAT EE D 9 PGSV yee 19 PGOV OB3 Ly Ae Shell Shield E CN3 gt GES 1 TD K Be sure to prepare the end of the Be sure to ground 2 TD shielded vvire properly 3 RD 4 N C CNT 5 NC 6 RD 7 N C Signal allocatons can be modified 24V DICOM 20 8 N C S ON Servo ON HT SON 15 330 arl P CON P Control L FAGON 16 B al Shield P OT Forward Run Prohibited to POT 17 o Et N OT Reverse Run Prohibited LJ NOT 18 gt st CN4 RJ45 Socket ALM RST Alarm Reset ALM RST 19 HSI 1 TD l 2 TD 3 RD 4 N C 5 N C 485 6 6 RD 485 7 7 NC GNDiso 8 8 N C Shell Shield Connect Shield to Connector Shell Shield Shell j 11 TGON G GE Completion des y k 14 COM2 TGON Rotation Detection gt S RDY Servo Ready r p 13 S RDY E Ee TN
4. EtherCAT network 2 2 EtherCAT interface specification EtherCAT interface should be connected by twisted pair wire Electrical feature according to IEEE802 3 standard Interface RJ45 8 pin modularize connector According to ISO 8877 RJ45 connector EtherCAT IN port 7 RJ45 connector ESTUN EtherCAT User s Manual CNG EtherCAT OUT port Pin layout Pinno Sgr name abbreviation signal transmit direction 2 omarm to ou 3 Datarecewe ror ma UT C eee Notused o e Data receive RD Linen Notused e gt se Inoue J e Interface grounding grounding Jee 2 3 Wire specification Level 5 or above Shield Note Identify the cable model is suitable for the interface Identify items are as follows conductor specification single cable pair cable two pair four pair external diameter etc ESTUN EtherCAT User s Manual Chapter 3 EtherCAT EC information 3 1 CANopen over EtherCAT model ProNet Application CANopen service CoE Object dictionary EtherCAT Application layer State s I CANopen DS402 Machine S CB Dala OES 8 Registers FMMU2 2 FMMU 0 0 FMMU 1 1 Data link layer EtherCAT SyncMan 0 SyncMan 0 SynoMan 1 SynoMan 1 cM EtherCAT data link layer EtherCAT physical layer Communication model EtherCAT CoE network model is composed of two parts data link layer and application layer Dat
5. 36 D FUNCION Qe SCM UM uuu Ia sis 40 5 8 Interpolation position mode 42 OTO e u uu x E ss 42 VS ee T 42 5 8 3 Parameters related to interpolation position control 42 5 9 Cyclic synchronous position mode 45 Chapter 6 EtherCAT communication example 47 Appendix A Object dictionary 51 Appendix du eee 60 Appendix C Standard Wiring Examples 85 ESTUN EtherCAT User s Manual Chapter 1 Brief introduction of EtherCAT 1 1 What is EtherCAT EtherCAT is an open network based on Ethernet to achieve real time control It could support high speed and synchronized control By using efficient network topology the network structure with too many concentrator and complicated connections are avoided It is very suitable to use this protocol in motion control and other factory automation applications 1 2 EtherCAT general introduction EtherCAT technology breaks the limits of normal internet solution Through this technology we don t need to receive Ethernet data decode the data and then copy the process data to different devices EtherCAT slave device could read the data marked with
6. luas RO Serial number us RO 1st Receive PDO Mapping Numberofentries Pure RW Mappingenty1 ura RW Mapping entry2 Lu93 RW Mapping entrys luas RW W o 1600 Mappingenty6 Uma w Mappingentey7 uma Rw no 51 1601 1602 1603 ESTUN EtherCAT User s Manual Type pe a i Mappingentys umma w no Je Ll 2nd Receive PDO Mapping Number of entries Luum ry no Mappingenty1 unas RW no Mappingenty2 gt fumrsz RW nro Mappingenty3 unas RW No Mappingenteya Luz La no rw Lu rw Lu rw Lu rw no 3rd Receive PDO Mapping Number of entries Luum ry No Mappingenty1 unas La no Mappingentey2 Lu aw no Mappingentey3 Luz La no Mappingenteya Luz La no Mappingenteys Luz La Lag Mappingenty6 gt Lu aw No Mappingentry7 Luz La no Mappingenteys fumrsz La no 4th Receive PDO Mapping 52 1A00 1A01 7 ESTUN EtherCAT User s Manual vere fe Number of entries um w Mappingentey1 luas Rw Mappingentry2 luas RW ETS LLJ Mappingentry4 luas RW Mappingentrys Jumrsz RW Mapping eng luas RW Mappingentey7 unas aw Mapping entrys una RW Mapping entry 3 UINT32 1st Receive PDO Mapping 7 Number of entries uns RW Mappingenty1 unas RW Mappingentry2 unas RW Mappingentry3 unas RW
7. velocity threshold time Velocity threshold time is used to set the shortest time vvhen servo motor s speed is under velocity threshold The unit is ms When the time that servo motors speed is lower than the threshold is more than Velocity threshold time status word bit 12 speed is zero will be set as 1 34 ESTUN EtherCAT User s Manual index A Name veli threshold time Obiectcode Jm V PDO Mapping Value Range Default Value oo target_velocity Target velocity is reference speed index o s Name mee a Ass w o Unis E units Value Rage Default Value O AR RW ES MS 5 7 Profile position mode 5 7 1 Control word ms rje Js 14 feo Please refer to previous chapters Name Value Description New Set point E Does not assume target position 1 Assume target positon o o o Assume target position Change set Finish the actual positioning and then start the next immediately positioning Interrupt the actual positioning and start the next positioning 35 ESTUN EtherCAT User s Manual Abs rel o Target position is an absolute value Target position is a relative value Execute positioning Stop axle with profile deceleration if not supported with profile acceleration 5 7 2 State word please refer to previous chapters e Halt 0 Target position not reached Halt 1 Axle decelerates k asa a Halt 0 Target position reached Halt 1 Velocity of axle is 0
8. Targetreached please referred to previous chapters Value Description O Halt 0 Target position not yet reached reached Halt 1 Axle decelerates 1 Halt 0 Target position reached Halt 1 velocity of axle is 0 ip mode 0 Laan poston mode naotve active Interpolated position mode active 5 8 3 Parameters related to interpolation position control CE CO E 60C0 h VAR Interpolation sub mode select INTE ESTUN EtherCAT User s Manual 60C1 h ARRAY Interpolation data record INT32 60C2 h RECORD Interpolation time period E Interpolation sub mode select Interpolation sub mode select is used to select the method of interpolation under IP control Pronet servo drive only offers linear interpolation me econ Name interpolation sub mode select Access W Value Rage Jo Default Value O Interpolation data record Interpolation data record is used to reserve interpolation potion data Our servo drive s interpolation command only uses the first data whose subindex is 1 Object Code ARRAY Data Type INT32 43 ESTUN EtherCAT User s Manual aper 1 Object Code ARRAY Access W o Default Value 0 the first parameter of ip function Object Code ARRAY Data Type PDO Mapping Default Value Jo Interpolation time period Interpolation time period is used to reserve the time data of interpolation position Object Code RECORD Data Type INT8 A
9. l l When the servomotor speed exceeds this parameter setting value it means that the Pn503 detection speed Immediately P S T TGON servomotor has already rotated steadily and outputs TGON signal Offset counter When the value in error counter exceeds this parameter setting value it means that Pn504 Immediately l overflow alarm error counter alarm has occurred and outputs alarm an signal Servo ON l These parameters are only enabled when the port output parameters are allocated Pn505 Immediately P S T waiting time with BK signal output Basic waiting l These parameters are used to keep braking prevent from gravity glissade or Pn506 Immediately P S T flow continuous outside force on servomotor time sequence P S Brake waiting Servo ON waiting time Pn507 Immediatel S T speed u For the parameter is plus BK signal is output firstly when servo ON signal is input TI Pn508 Pn509 Brake waiting time Allocate input port to signal one port with four bits hex Immediately After restart EtherCAT User s Manual and then servomotor excitation signal is created after delaying the parameter setting time 2For the parameter is minus servomotor excitation signal is output firstly when servo ON signal is input and then BK signal is created after delaying the parameter setting time Basic waiting flow Standard setting BK output braking action and servo OFF are at the same time
10. I Trajectory generator has not assumed the positioning values Set point si acknovvledge S Trajectory generator has assumed the positioning values Followi o No following error ollowing error S Following error 5 7 3 Parameters related to position control 6040 Control word 6041 Statusword UINT16 607A target position INT32 607B Positin range limit 6081 profile velocity UINT32 6082 end velocity UINT32 6083 6 profile acceleration UINT32 6084 profile deceleration UINT32 6085 quick stop deceleration UINT32 6086 y motion profile type target position Target position is reference position and this position could be an incremental value or an absolute value It is up to bit6 of control word 36 ESTUN EtherCAT User s Manual Index Lem Name target postion Access Jm PDO Mapping Units postion units Value Range Default Value o profile velocity Profile velocity is the speed that the servo motor could finally reach after acceleration Index fese Name Lesen Access RVV Units ede Value paras _ Default Value Jo OO end_velocity End velocity is the speed when servo motor reaches the target position Normally we set this value as 0 in order to stop the servo motor when the servo motor reaches the requested position But in continuous multiple position this value could be set as a non zero value 37 ESTUN EtherCAT User s Manual Object Code VAR RW D
11. If a regenerative resistor if connected externally 0 connect externally regenerative resistor between B1 and B2 1 Dose not connect externally regenerative resistor relay on internal capacitance This parameter is in effect only on ProNet 02 04 ProNet E 02 04 When load percentage is larger than overload alarm threshold A04 will occur soon Pn525 is recommended to set below 120 otherwise the servo drive and motor will be damaged 81 ESTO FtherGAT User s Manual Temperature threshold of motor overheat l f When servomotor winding temperature exceeds Pn526 setting A19 will occur Only Pn526 alarm Only Immediately P S T enabled in ProNet 5 1A 1E 2B enabled in ProNet 5 1A 1E 2B 0 Do not inverse signal 1 Inverse signal Output signal Pn528 03CN1 5 6 inversion Pn528 l Immediately POE l l inverse Pn528 0 gt CN1_7 8 inversion Pn528 0 gt CN1_9 10 inversion Pn528 03CN1 11 12 inversion Torque d ti When motor torque output is higher than Pn529 setting value TCR is ON When etection Pn529 Immediately P S T motor torque output is lower than Pn529 setting value TCR is OFF output signal Unit threshold value Torque detection Torque detection output signal time Pn530 After restart P S T hi SE output signal Unit ms time 82 Pn700 Hex After restart ALL MODBUS Axis Pn701 After restart ALL address Pn702 EtherCAT User s Manual Pn700 0 MODBUS communication baud r
12. Mappingentry4 Lu Rw RW o RW o RW RW NO NO NO NO NO NO NO NO NO NO NO NO NO NO NO NO O N e no fe ___ 2nd Transmit PDO Mapping 1 Numberofentries Fung few In Je Mapping entry 1 umma gw wo Je Ll RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW 53 CESTO EtherCAT User s Manual EtherCAT User s Manual o Mapping entry 2 3rd Transmit PDO Mapping el J el el ma E el D el AthTransmit PDO Mapping no fe 1A03 Ds lsi Isli LIT 11 T 1 C Dessa Teta Ce E TT 3 Mappingentrys lma few so e gt 54 ESTO FtherGAT User s Manual gt Mapping entry 4 UINT32 Mapping entry 5 UINT32 SOON TTT L ITT rw Lu rw Lu rw Lu a TE eta Mappingentys umma w nv Je Ll an N W o rw Lu rw Lu rw ro ro No rv ium ie let 17 1 1 Wi ER Tee ER EC Tete 7117 1 indexofassignedrxPDo1 gt uns l wo e 2 imexofassgnesmeDoz furs fw w fe L ess LO mNumberofassignedrDos um mv mg e 1 indexofassignedtxppo1 Lumte l wo le IL 2 imdexofassigwedmeDoz uns w wo le ar o errorcode fuss rw we Je Sync Manager Communication Type ME TT 1C00 1C10 1C10 55 6040 6041 605A 605B 605C 605D 605E 6060 6061 6062 6063 6064 6065 6066
13. Peseripition unit Range Default Setting invalidation Pn515 Pn516 L Input port signal inversion po fo mmediatey Pn517 Input port signal inversion do fo immediately Pn518 Pn519 Serial encoder error time 0 60000 Immediately O 60000 500 If connect externally regenerative resistor 0 connect externally regenerative resistor between B1 and B2 Pn521 1 dose not connect externally regenerative resistor relay on internal 0 1 1 capacitance This parameter is in effect only on ProNet 02 04 ProNet E 02 04 s Le DPns23 Reseved O e yo Pn524 Reserved Dog Temperature threshold of motor overheat alarm Only enabled in l ProNet 75 1A 1E 2B Pn528 Output signal inverse Pn529 Torque detection output signal threshold value Vo Pn530 Torque detection output signal time ms 50 180 110 Immediately 0 1111 Immediately 37300 Immediately 11000 After restart 0 0x0182 0x0151 After restart Hex Pn700 Pn700 0 MODBUS communication baud rate 65 ESTO FtherGAT User s Manual Parameter no Seegen unit Range Default Setting invalidation Pn700 1 MODBUS protocol selection Pn700 2 Communication protocol selection Pn700 3 Reserved Pn701 MODBUS axis address 1 247 After restart Pn702 Reserved Pn703 EtherCAT communication speed 0x0005 0x0004 After restart Pn704 EtherCAT communication contact ST 1 127 After restart Hex Pn840 0 Encoder model selection 0x
14. during online autotuning 74 Pn130 Pn131 Pn132 Pn133 Pn134 Pn135 Pn136 Pn137 Pn138 Pn139 Pn140 Pn141 Pn142 Pn143 Pn144 Pn304 Low speed correction coefficient Friction Load Friction compensation speed hysteresis area Sticking friction load Parameter speed Immediately Immediatel Immediately Immediately Immediately EtherCAT User s Manual The intensity of anti friction and anti creeping at low speed Vibration will occur if this value Is set too large Frictin load or fixed load compensation Threshold of friction compensation start The parameter can be set to positive or negative When control mode is set to D it determines the speed of motor The servomotor speed is determined by this parameter when Pn005 1 D 75 ESTO FtherGAT User s Manual It is used to set JOG rotation speed and the direction is determined by the pressing key during JOG operation The time for trapeziform acceleration to accelerate to 1000rpm Pn305 JOG speed Immediately Soft start Pn306 acceleration Immediately l Unit ms time Soft start l l l The time for trapeziform deceleration to decelerate to 1000rpm Pn307 deceleration Immediately l Unit ms time Speed filter l 1st order filter time constant Pn308 time Immediately Unit ms constant S curve SE Pn309 cot Immediately The time for transition from one point to another point i
15. APRW FPRW BRW LRW Commands are not supported Data Link Layer PDO data Dynamic PDO mapping Mailbox CoE Emergency Message SDO Request SDO Response SDO information Note Don t support TXPDO RxPDO and remote TxPDO RxPDO ESTUN EtherCAT User s Manual Distributed Free run DC mode activated by configuration data DC supported DC cycle time 250us 2ms a 256 bytes read only LED light EtherCAT system indicator SYS x1 EtherCAT run indicator RUN x1 EtherCAT error indicator E RR x1 Homing mode Profile position mode CIA402 Drive Profile Profile velocity mode Cyclic synchronous position mode 1 7 EC 100 module structure Module structure 1 8 LED indicators SYS EC 100 module indicates light used to show the software status in the module LED light green yellow Introduction Status Description No power supply or Off Continuously off I PER reset status On Flashing yellow a ant Ps Boot mode Module s internal program has finished On green Continuously on Initiation and operates well RUN RUN light is used to indicate the communication status of EtherCAT ESTUN EtherCAT User s Manual LED i E Introduction Status Description System Continuously off initiation VE pre operation Blinking status safety Double operation flashing mode ERR ERR light is used to indicate the error in EtherCAT communication LED light red Introduction AA
16. Brake Interloci 14 COMZ2 PGC Encoder C Pulse Output OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V ER 12 ALM 44 COM2 I 1D oV al Represents Twisted pair Wires 86 ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA ESTUN EtherCAT User s Manual C 3 Three phase 400VAC ProNet 10DEA EC to ProNet 75DEA EC LI L2 L3 Three phase 380 480V 2 50 60Hz Molded case Circuit Breaker Surge Protector 1Ry 1PL Servo Alarm Display Q Noise Filter e oi p ON L ower ower 1KM T_T TT 1KM 1Ry 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay O L1 An Servomotor 2 L2 Uo Ke q gt N B 2 OL3 VG OM Sa a ca A
17. Now the machine movable part may shift slightly due to gravity according to mechanical configuration and character it can be eliminated by using the parameters when the servomotor is at stop or at a low speed Brake waiting speed IBK signal is output when the servomotor speed is decreased below the parameter setting value at servo OFF Brake waiting time BK signal is output when the delay time exceeds the parameter setting value after servo OFF IBK signal is output as long as either of the brake waiting speed or brake waiting time is satisfied Pn509 0 corresponding port CN1_14 Pn509 1 corresponding port CN1_15 Pn509 2 corresponding port CN1_16 Pn509 3 corresponding port CN1_17 78 ESTO FtherGAT User s Manual Pn510 0 corresponding port CN1 39 Pn510 1 corresponding port CN1 40 Pn510 2 corresponding port CN1 41 Pn510 3 corresponding port CN1 42 Terminal PRI CNT 14 lt CNT 15 lt CNT 16 lt CNT 17 lt CNT 39 lt CNT 40 lt CNT Ais CN1 42 Corresponding signal of each data is shown as following S ON P CON Reserved Allocate input Reserved ALMRST CLR Reserved port to signal Pn510 After restart P S T one port with four bits hex Reserved Reserved Reserved Reserved Reserved HmRef Reserved 0 1 2 SE 4 O 6 T 8 9 A B C D E Reserved 79 Pn511 Pn512 Pn513 Output signal allocation Bus control input node low bit enabled Bus cont
18. The servo excitation signal will be shut down and servo motor will stop freely 5 3 Control mode Now ProNet servo drive supports 5 control modes HOMING MODE PROFILE VELOCITY MODE PROFILE POSITION MODE CYCLIC SYNCHRONIZATION POSITION MODE INTERPOLATION POSITION MODE This chapter will mainly describe these 5 control methods as above 5 4 Control mode parameters Nm L modes of operation INT8 6061 h modes of operation display INTG RO modes of operation Servo drive s control mode is defined by modes of operation 23 ESTUN EtherCAT User s Manual CE E Name modes ot operation Ass em PDO Mapping Value Range 1 3 6 Default Value O O Not cer mee 65 fhomemos o oOo Le eve syNcHRONZATION POSTION modes of operation display Servo drives current control mode could be read from the modes_of_operation_display Name modes of operation display ES V Data Type INT8 Value Range 1 3 6 7 8 Note Only through the parameters of modes of operation display we could get the control mode of the servo drive Only in Target Reached status servo drive s control mode can be transit to configured control mode And then modes of operation display could be the same as modes of operation 24 ESTUN EtherCAT User s Manual 5 5 Homing mode PRONET servo drive now supports multiple homing methods Clients could choose the homing method that suits the motor type and applica
19. e wl C Te unis few no SO TT am Lu o Loupe o Je 59 ESTO FtherGAT User s Manual Appendix B Parameters B 1 parara list ParameterNo Peserigition Wa mange palau Setting invalidation Binary Pn000 0 Servo ON Pn000 Pn000 1 Forward rotation input signal prohibited P OT 0 1111 After restart Pn000 2 Reverse rotation input signal prohibited N OT Pn000 3 Alarm output when instantaneous power loss CP E E e E Pn001 l 0 1111 After restart Pn001 0 CCW CW selection Binary Pn003 0 Reserved Pn003 Pn003 1 Reserved 0 1111 After restart Pn003 2 Low speed compensation Pn003 3 Overload enhancement Hex Pn004 Pn004 0 Stop mode 0 0x3425 After restart Pn004 1 Error counter clear mode Hex Pn005 Pn005 2 Out of tolerance alarm selection 0 0x33E3 After restart Pn005 3 Servomotor model Hex Pn006 Pn006 0 Bus mode 0 0x2133 0x0020 After restart Pn006 1 Reserved 60 ESTO FtherGAT User s Manual Online autotuning setting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load Pn100 l 1 After restart 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation a ws Pn101 Machine rigidity setting Immediately 160 PO Loadinertiapercentage A ooo o immediately Pt Speedbias pm oO immediately Pnt2 Feedforward In oo Immediately Pai Feedforward fiter Os oo o Immediately Pn114 Torque feed
20. the servo motor will keep moving toward next target position which is set in advance In this way the servo motor could move continuously without pause Between two reference positions the servo motor doesn t need to decelerate to zero Above two methods could be switched to each other by using control word bit 4 bit 5 and statues word bit 12 set point acknovvledge in real time Through handshaking mechanism vve could pause the position control in the process and use these bits above to reset the target position and then re active and operate Single step setting procedure At first set the NMT status into Operational and set the control mode parameter 6060 p as 1 According to the actual demand we could set the target position target_positon GOTA n and so on We need set bit4 new set point of the control word as 1 bit 5 change set immediately as 0 bit 6 absolute comparative should be determined by whether the reference target position is an absolute value ora comparative value ESTUN EtherCAT User s Manual We use bit12 set point acknowledge of the status word to configure the servo drive acknowledge mechanism And then we start to operate position control After reaching the target position servo drive will need to respond through bit 10 target_reached of the status word And then servo drive will follow the program to keep moving or accept new target position t t t t Time Continuous step setting proc
21. when the set position is reached this bit will be set as 1 When Halt is activated and speed decreases to zero this bit will be set as 1 When a new position is set this bit will be cleared In Profile Velocity Mode when the speed reaches the required speed this bit will be set as 1 When Halt is activated the speed will decrease to zero and this bit will be set as 1 Bit11 Internal limit active When this bit is 1 it means that the internal torque has surpassed the set value Bit12 13 These two bits in different control mode have different meaning Control mode profile position mode profile velocity mode Set point acknowledge Homing attained Following error Max slippage error The other bits All reserved 5 2 3 shutdown option code When Operation Enable mode is transit to Ready to Switch On status Shutdown option code will be used to define how to stop the servo motor 20 ESTUN EtherCAT User s Manual inex EA Name Shutdown option code garas VARO VAR Access W PDO Mapping Value Range 0 1 Default Value o S value Introduction oo Shutdown servo excitation signal Servo motor will stop freely After the servo motor decelerates and stops the servo excitation signal will be shut 1 down 5 2 4 disable operation option code VVhen the status of Operation Enable transits to Svvitched On status disable operation option code will decide how to halt EE Name Disable operat
22. 1C32 02 Pr hift time 1C32 0 Delay Time output Input valid latch Time schedule figure in DC mode 15 ES TU EtherCAT User s Manual Chapter 5 CiA402 device protocol ProNet s device control is used mainly to achieve the motion control in different control modes The master controls the servo drive through control word and knows the status of the servo drive by reading the servo drive s status word 5 1 CANopen over EtherCAT CoE state machine Power Disabled Not Ready to Switch On Fault Reaction Active Ready to Switch On 10 3 6 SwithOn DOJ x mra rn Ei Povver Enabled Operation Enable CANopen state machine As above the state machines could be divided into 3 parts power disabled power enabled and fault All the states will be into Fault status after alarm After power enabled servo drive will finish initiating and then enter SWITECH_ON_DISA status Now we could configure the servo drive for example set the working mode of the servo drive as profile position mode At this time the main power supply is still shut down and the servo 16 ESTUN EtherCAT User s Manual motor is now excitated After the state transition 2 3 and 4 the servo drive will be in OPERATION ENABLE mode At this time the main power will be switched on and servo drive starts to control the servo motor according to the configured working mode So before this state we must ensure the servo drives
23. RL CiA402 PV Mode RX L Controlword PL deTargetVeloci ty Y WoState QI WoStateln OT WoStateDut E Y InfoData g Mappings g NC Task 1 SAF Device 1 EtherCAT EI E E COJ i Functions Coupling i I General Settings gebei po Compensation vnamlcs Online 10000000000 0000 Setpoint mm 10000000000 0000 mm Lag Distance ctual Velocity mms Setpoint mms 0 0000 0 000 0 000 0 0007 0 0000 Override Total Control 8 Error 100 0000 3 0 00 7 0 00 0 0x0 Status log Y Ready O Has Job Controller Ky Factor Y NOT Moving Calibrated Movinz Fw Movinz Bw mms mm Status phys L ICoupled Mode Clin Target Pos hd Pos Range 1 Reference Velocity Enabling Y Controlle Y Feed Fw Y Feed By Set mis 2200 4 Target Position 4 mm Target Velocity mm s 0 4 0 Fal I E 81 50 ocal 127 255 255 1 1 1 tt DR ESTO FtherGAT User s Manual Appendix A Object dictionary fo Devicetype US Errorregister US STR STR Manufacturer device name em Manufacturer hardware version em 100A 0 Manufacturer software version STR RO NO e Identity Object Numberofentres us fro gt Vender uus RO Productcode Ua so gt Revision number
24. index JL Object Code YES Data Type INT32 RO o LPDO Nsppina ve o units EAS uen 1 Peta Value 1 I ESTUN EtherCAT User s Manual velocity actual value The master can read velocity actual value to knovv the current velocity of the servo motor The unit of this parameter is user s velocity unit Index 606C p Data Type INT32 Ons Lem Value Page Detautvawe J o velocity window The difference between velocity_actual_value 606C and target velocity 60FF 5 is defined as actual velocity error window If the actual velocity error window is always smaller than velocity_window 606D h within the time set by velocity window time 606E then bit 10 of status vvord target reached vvill be set as 1 to indicate that the set velocity has been reached Index 606D Name velocity window Access RW PDO Mapping YES Units speed unis Value Range oo Default Value 20 R 10min velocity window time Velocity window comparator is composed of velocity window time and velocity window 33 ESTUN EtherCAT User s Manual 606E n Object Code VAR Data Type UINT16 Access Lan PDO Mapping YES Unts Jm Value Range Default Value 9 velocity_threshold Velocity_threshold indicates a range close to zero speed in order to define if the servo motor has already stopped 606F n Object Code VAR Data Type UINT16 Access PDO Mapping YES Value Range Default Value 10 R 10min
25. is determined by the setting in Pn219 Pn003 3 Overload enhancement 0 Without overload enhancement function 1 With overload enhancement function which can enhance the overload capacity when servomotor exceeds the 2 times rated overload It is used in frequent power ON OFF occasions Pn004 0 Stop Mode 0 Stops the servomotor by applying DB and then releases DB 1 Coast to a stop 2 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 3 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 4 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode 5 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode Pn004 1 Error counter clear mode 0 Clear error pulse when S OFF do not when overtravel 1 Do not clear error pulse 2 Clear error pulse when S OFF orovertravel excep for zero clamp 68 ESTO FtherGAT User s Manual Pn005 2 Out of tolerance alarm selection 0 Out of tolerance alarm disabled Pn005 0 1 Out of tolerance alarm enabled Outputs alarm when the value of error counter n POS exceeds Pn504 setting value 2 Reserved Pn005 1 Pn005 H
26. off Continuously off Blinking L Due to register problem or object configuration problem the status changing required by the master couldn t be achieved Single Sync error on 20 18 Nm Communicatio n data error Double Application flash ar iri SS program supervision overtime SyncManager vvatchdog overtime Flickerin Initiating error On or JUUUUL ESTUN EtherCAT User s Manual Continuously on PDI supervision overtime LINK ACT green light on RJ45 COM1 COM2 LINK ACT light is used to indicate the physical communication and if there is data exchange LED light green Introduction Status Description Off Continuously off Physical level communication has not been started EtherCAT controller has not been started a nog slave is exchanging data On or JUUUUL On Continuously on There is connection in link layer but there is no date exchange ESTUN EtherCAT User s Manual Chapter 2 Installation and connection 2 1 Installation and connection EtherCAT network is normally composed of one master for example industrial PC and some slaves for example servo drives filed bus terminals and so on Every EtherCAT slave has two standard Ethernet interfaces Sye Rdy 9009 9999 9999 ESTUN ESTUN ESTUN Syte ff eerun I TT Svs Rdy C CHARGE
27. this device s address information when the frame passes this device As the same some data will be written into the frame when it passes the device In this way data reading and data writing could be done within several nanoseconas EtherCAT uses standard Ethernet technology and support almost kinds of topologies including the line type tree type star type and so on lts physical layer could be 100 BASE TXI twisted pair wire 100BASE FX fiber or LVDS low voltage differential signaling lt could also be done through switch or media converters or in order to achieve the combination of different Ethernet structure Relying on the ASICs for EtherCAT in the slave and DMA technology that reads network interface data the processing of the protocol is done in the hardware EtherCAT system could update the information for 1000 I O within 30us It could exchange a frame as big as 1486 bytes within 300us This is almost like 12000 digital output or input Controlling one servo with 100 8 byte I O data only takes 100us Within this period the system could update the actual positions and status presented by command value and control data Distributed clock technology could make the cyclic synchronous error lower than lus 1 3 Product introduction ProNet servo drive achieves EtherCAT communication through EC100 network module It is a real time Ethernet communication and the application layer applies CANopen Drive Profile CiA 402 Besides supportin
28. 0003 Pn840 Pn840 1 Reserved After restart OXOBOG6 Pn840 2 Reserved Pn840 3 Reserved 66 ESTUN B 2 pe in detail EtherCAT User s Manual Parameter No No Setting Validation Control Mode Function and Meaning I P Pn001 After restart Pn001 0 ALL Pn001 1 T Pn001 2 P S Pn001 3 P Pn000 0 Servo ON 0 External S ON enabled 1 External S ON disabled Servo motor excitation signal is turned ON automatically after S RDY is output Pn000 1 Forward rotation input signal prohibited P OT 0 External P OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External P OT disabled Pn000 2 Reverse rotation input signal prohibited N OT 0 External N OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External N OT disabled Pn000 3 Alarm output when instantaneous power loss 0 Instantaneous power loss for one period with no alarm output 1 Instantaneous power loss for one period with alarm output Pn001 0 CCW CW selection 0 Sets CCW as forward direction 1 Sets CW as forward direction 67 ESTUN Pn003 After restart Pn004 After restart ALL Pn004 0 ALL Pn004 1 P Pn004 2 P Pn004 3 P EtherCAT User s Manual Pn003 0 Reserved Pn003 1 Reserved Pn003 2 Low speed compensation 0 Without low speed correction 1 With low speed correction to avoid servomotor creeping but the degree of correction
29. 6067 6068 6069 606B 606C 606D 606E 606F ESTUN mr RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW 56 EtherCAT User s Manual ves le po po ves Je jej position units ves Je jej Um ves Je feo gt position units position units I ie I position units ie ves fe I speedunits ves fe I speedunits ves fe I speedunits le speed units vs fe Im _ ves Je speedunits YES YES NO NO NO NO NO YES YES YES YES YES YES ESTUN EtherCAT User s Manual Type Firdemarc coro fo EE J LI _ GA o targetposition H w Jl le S ee 2 Position range limit Number of entries UINT8 Min position range limit INT32 lle Le _ position units e Je position units Max position range limit INT32 Home offset INT32 e e e position units speed units speed units acceleration units e acceleration units _ rw Lu rw Lu rw ro rw w rw w rw w rw w miaka EA ET is Quick stop deceleration uint32 Rw ve e tel acceleration units _ Ro w TT T rw Lu rw ro rw No rw Lu rw Lu rw no 607B 607C 6081 6082 6083 6084 6085 6086 Motion profile type INT16 Position factor nag LO numberofentres uni el fe fe a numerator 32 le beje 2 dvisom NEON e vetosityencoderfactor f ll poo Lo Numberofen
30. AF NC Task 1 SVB P NC Task 1 Image Tables qa Axes Gr Axis 1 Axis 1 Enc gal Axis 1 Drive te Axis 1 Ctrl ES ege Outputs PLO Configuration I O Configuration E I O Devices Device 1 EtherCAT Device 1 Image Device 1 Imaze Info Inputs Outputs InfoData Drive 1 ESTUN SERVO DRIVER ES CiA402 PV Mode TX CiA402 PV Mode RX WoState InfoData S Mappings s g ABS SK Q aler DEE Je Functions Coupling Compensation General Settings Global Dynamics Online Axis Type Standard Mapping via Encoder and Drive v e _ Standard Mapping via Encoder and Drive ink To SERCOS Drive e g EtherCAT SoE Drive AX2xxx B750 PROFIdrive MC DPV2 PNIO CANopen D5402 e g EtherCAT CoE Drive AX2xxx Blx0 B510 AX2xxx B200 Drive Lightbus AX2xxx B900 Drive Ethernet KL5051 BiSSI Interface KL2531 KL2541 Stepper Interface KL2532 KL2542 KL2552 KL2535 KL2545 Amplifier Interface Lenze Drive CANopen Result Fosition Velocity Acceleration Jerk mm ms wa Axis Cycle Time Access Divider Divider 1 Cycle Time ms 2 000 Modulo 0 ocal 192 168 1 164 1 1 PPY Click Link to button and map servo drive axis to the device 49 y AR TwinCAT System Manager Action EtherCAT User s Manual Dw t 4 SISTEM Configuration HC Configuration B E NC Task 1 SAF HC Task 1 SVB E NC Task 1 Image Tables E aa Mres We A
31. CON P Control LTRON 16 LG i sed nee P OT Forward Run Prohibited t Hor 17 Y N OT Reverse Run Prohibited La NOT 48 ok CN4 RJ45 Socket Y f EE ALM RST Alarm Reset ALM RST 19 j 1 TD Ej TD 3 RD 4 N C 5 N C 485 6 6 RD 485 7 7 NC GNDiso 8 8 N C Shell Shield ignal Allocati Modified Connect Shield to Connector Shell Shield Shell 11 TGON Ge Geer Ge Ge E e k 14 COM TGON Rotation Detection S RDY Servo Ready I SS 13 S RDY ee ES h Brake Interloc 14 COM2 PGC Encoder C Pulse Output OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V pa 12 ALM J 14 com 0 1D ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA ehhh HARI HAN 1 rh a cs HHHHHHHHH 144194 i S a E TT CEV LV ES TUN AUTOMATION TECHNOLOGY CO LTD Nanjing 211106 PR China Tel 86 0 25 52785866 Fax 86 0 25 52 785576 Web www estun com E Mail info estun com
32. Configuration PLO Configuration I O Configuration View Options General Adapter EtherCAT Online CoE Online Name Device 1 EtherCAT Id 11 EEN lt 1 EtherC Type EtherCAT Adapter Direct Mode Device 1 Imag _ Inputs P Delete Device Dutputs InfoData Online Reset S Mappings 25 Online Reload Config Mode only Online Delete Config Mode only CI Disabled Create symbols C fl Export Device Insert EtherCAT Device Gj Import Box Name Drive 1 Multiple N Scan Boxes EK Beckhoff Automation GmbH Geg Communication Terminals El xxx H System Couplers A Cut Ctrlty Copy Ctrlti EK1100 EtherCAT Coupler 24 E Bus B Past Ctrl v EK1101 EtherCAT Coupler 2A E Bus ID switch EK1501 EtherCAT Coupler 24 E Bus FX MultiMode ID switcl Paste with Links A GCL LV R CX1100 0004 EtherCAT Power supply 2A E Bus I Terminal Couplers BKlxxx ILxxxx B110 Miscellaneous B Ethernet ES Fieldbus Terminals EPxxxx ml Drives Eva Board Interfaces KI Eva Board Sample Source Demos EtherCAT Piggyback controller boards FB1XXX Danaher Motion GmbH ESTUN Automation GmbH ESTUN SERVO Drives Profilet Eae netX Lenze Automation GmbH E E Q Change Id X Disabled Hi Ee Change To EF C
33. E i ProNet m2 Series Servo Drives eh O 24V CN2 24VDC Power Supply O GND Absolute Encoder Encoder Leo E External Regenerator Resistor 8 S E S B1 17 BAT 18 BAT EH Ob 9 PGSV OJ 19 PGOV B3 ex Shell Shield dE CN3 a Ne 1 TD Be sure to prepare the end of the Be sure to ground 2 TD N shielded vvire properly 3 RD 4 N C CN1 5 N C 6 RD 7 N C Signal allocatons can be modified 24V DICOM 20 8 N C S ON Servo ON Ee SON 15 BEEN SE Shell P CON P Control L P CON 16 ot u Ana P OT Forward Run Prohibited GJ pot 17 117 N OT Reverse Run Prohibited mu NOT 18 ay k CN4 gt RJ45 Socket l Z ALM RST Alarm Reset ALM RST 19 1 TD 2 TD 3 RD 4 N C 5 N C 485 6 6 RD ADN 7 NC GNDiso 8 8 N C Shell Shield Signal Allocati be Modified Connect Shield to Connector Shell Shield Shell 11 TGON COIN Saree mi i k TGON Rotation Detection 14 COM2 S RDY Servo Ready i 13 S RDY O t SS Brake Interloc 14 COM2 PGC Encoder C Pulse Output OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V 50 12 Alm v 14 COM2 1D oV al Represents Twisted pair Wires ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 87 ESTUN EtherCAT User s Manual C 4 Three phase 400VAC ProNet 1ADEA EC to ProNet 1EDEA EC
34. EtherCAT User s Manual Version V 1 02 ESTUN AUTOMATION TECHNOLOGY CO LTD Drive Your Success INN Version update history No Date version description ooo 2012 11 09 V1 00 Initial release 2013 05 31 V1 01 The section 5 8 Interpolation position mode is added 2014 02 28 V1 02 Appendix B and Appendix C are added ESTUN EtherCAT User s Manual Content Chapter 1 Brief introduction of EtherCAT 1 Med VOU TI riada 1 1 2 EtherCAT general introduction 1 13 Product IMMOGUCTION ja u uu u do EAEN 1 JC O O EE 2 TO DO SEEREN E E EE 3 1 6 Communication specifications 3 1 7 EC 100 module SIUCIUTE ude aia 4 1 8 LED NAAS ee 4 Chapter 2 Installation and connection 7 2 1 Installation ana CONNECTION eee T 2 2 EtherCAT interface spechtcaton T 2 3 Wire specification i aaa eee 8 Chapter 3 EtherCAT EC information 9 3 1 CANopen over EtherCAT model eee eeeeeeeeeeeeeeeeeeeeeeeseeeeeees 9 3 2 EtherCAT slave information te ee pere eee tee te rete 10 3 3 EtherCAT network state machine occoccoccoccccocionconconocnonoononnonnoronne
35. EtherCAT network state machine EtherCAT state machine is used to describe the states that one slave applies and the state change State change request is normally launched by the master and answered by the slave The graph below describes the slave s state machine Init SI PS SP r OP Safe Op Init No mailbox communication No process data communication 10 ESTUN EtherCAT User s Manual Status Description Init to Pre Op Master configures data link layer address and initiate mailbox communication Master initializes DC clock synchronization Master requests to change into Pre op status Master sets AL control register Slave checks if mailbox initialization is good Pre Operation Mailbox communication is activated Pre Op Process data communication is not available Pre Op to Safe Op Master configures SyncManager channels and FMMU channels for process data Master configures PDO mapping and the sync manager PDO assignment parameters via SDO Master requests Safe Operational state Slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings are correct Safe Operation Safe Op Slave s program will transmit actual input data and will not execute output Output is set as safety status Safe Op to Op Master transmits effective output data Master asks to change into OP status Operational Op Process data communication is
36. Reserved Pn143 ATEO Pn144 Reserved fr Pn304 Pn305 JOG speed lm Pn306 Pn307 Soft startdecelerationtime lm 10 10000 Immediatel Pn308 Speed fiter time constant o o lm 0 10000 jo immediately Pn309 0 10000 0 immediate Speed reference curve form Pn310 0 3 After restart 0 Slope 6000 6000 500 Immediately m rpm rpm 0 Immediately T O O O O li O Immediatel S S S S ESTO FtherGAT User s Manual Parameter No os jo gt 50 5000 e m Pu Pu Setting invalidation 2 1 order filter 3 2 order filter Pn311 Pn407 H Pn408 Pn409 H Pn410 Immediately 0 Z 50 5000 Immediately Immediately Z Immediately Pn411 0 1Hz Immediately Pn412 Immediately Pn500 Puls Immediately Pn501 immediate 20 Immediately Pn502 immediately Pn503 0 3000 20 immediately Pn504 256Puls Immediate Pn505 Servo ON waiting time ms 2000 2000 0 Immediately Pn506 Basicwaitingflow Lies o o immediately Immediatel Immediate Pn509 Allocate input signal to terminai JL 0 0xFFRF 0x3210 After restart Pn510_ Allocate inputsignaltoterminal pe LOsoxFeFe 0x7654 After restart Pn511 Allocate output signal to terminal JL 10 0x0999 0x0210 After restat Pn512 Bus control input node low bit enable 0 1111 Immediatel Pn513 Bus control input node low bit enable PG ss 0 1111 ie Immediatel rem rem rpm ESTO FtherGAT User s Manual Parameter No
37. a link layer is mainly in charge of EtherCAT communication protocol Application layer is mainly oriented to CANOpen drive profiles DS402 communication protocol Object dictionary in CoE includes parameters application data and PDO mapping information Process data object PDO is composed of objects in the object dictionary that could operate PDO mapping The content of PDO data is defined by PDO mapping PDO data s read and write are periodical without checking OD However mail communication SDO is not periodic When they are read or written it is necessary to check OD Note To decode SDO data and PDO data on EtherCAT data link layer correctly we need to configure FMMU and Sync Manager as below Sync Manager Configuration Sync Manager Assignment Fixed AA Start Address Fixed Sync Manager 0 Assigned to Receive Mailbox 128byte Fixed oxtooo0 0 Sync Manager 1 Assigned to Transmit Mailbox 128byte Fixed 0x1080 Sync Manager 2 Assigned to Receive PDO O to 200byte 0x1100 Sync Manager 3 Assigned to Transmit PDO 0 to 200byte 0x1358 ESTUN EtherCAT User s Manual FMMU O Mapped to Receive PDO FMMU Settings FMMU 1 Mapped to Transmit PDO FMMU 2 Mapped to Fill Status of Transmit Mailbox 3 2 EtherCAT slave information EtherCAT slave information XML document could be read by the master to build the master slave configuration ESTUN ProNet servo drive offers document as below ESTUN_ProNet_CoE xml 3 3
38. ap ay k I P CON P Control GJ BON 16 YL el QUES P OT Forward Run Prohibited hal POT 17 mo Sk N N OT Reverse Run Prohibited Li NOT 18 E E CN4 RJ45 Socket pl SE ALM RST Alarm Reset ALM RST 19 1 TD 2 TD 3 RD 4 N C 5 N C 485 6 6 RD 485 7 7 NC GNDiso 8 8 N C Shell Shield Connect Shield to Connector Shell Shield Shell i 11 TGON COIN Positioning Completion dee gt r L 14 COM2 TGON Rotation Detection S RDY Servo Ready r y 13 S RDY E De hy Brake Interloci 14 COM2 PGC Encoder C Pulse Output OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output 1Ry 24V v k 12 ALM EC 14 COM2 a 1D L ov A Represents Twisted pair Wires ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 85 ESTUN EtherCAT User s Manual C 2 Three phase 200VAC ProNet 08AEA EC to ProNet 50AEA EC
39. ata Type UINT32 PDO Mapping Units ses Value Range Default Value 0 profile acceleration Profile acceleration is the acceleration speed before reaching the target position index even Name profile acceleraton Access RW Units accsteratonunts VaueRange profile deceleration Profile deceleration is the deceleration speed before reaching the target position 38 ESTUN EtherCAT User s Manual Object Code Data Type UINT32 VAR Ass jw PDO Mapping Unis ss Value Range Default Value 100000 R 10min s quick stop deceleration Quick stop deceleration is the deceleration speed in Quick Stop me lm Mame Last deceveration Access R YES Wq PDO Mapping ys oo Unis geas Male paras motion profile type Motion profile type is used to select the motion curve Now we only support trapezoid speed curve 39 ESTUN EtherCAT User s Manual index EST Name moton profe type Object Code vr oOo VAR access m sl Value Range 0 Default Value 5 5 7 4 Function description There are two methods to allocate a reference position Single step setting After reaching the target position servo drive will inform the master that Reach the target position And the servo drive will start new motion after getting new target position Before getting the new reference position the velocity of the servo motor is zero Continuous setting After reaching the target position
40. ate 0 4800bps 1 9600bps 2 19200bps Pn700 1 MODBUS protocol selection 0 7 N 2 MODBUS ASCII 1 7 E 1 MODBUS ASCII 2 7 O 1 MODBUS ASCII 3 8 N 2 MODBUS ASCII 4 8 E 1 MODBUS ASCII 5 8 O 1 MODBUS ASCII 6 8 N 2 MODBUS RTU 7 8 E 1 MODBUS RTU 8 8 O 1 NODBUS RTU Pn700 2 Communication protocol selection 0 No protocol SCI communication 1 MODBUS SCI communication Pn700 3 Reserved Axis address of MODBUS protocol communication 83 EtherCAT Pn703 communication After restart ALL speed EtherCAT Pn704 communication After restart ALL contact Pn840 Hex After restart Note When connecting to EMJ 04A20H00 Pn005 3 should be set as 1 2 the max value of servo receiving pulse frequency it means the sufficient max value of pulse frequency receiving by servo hardware EtherCAT User s Manual Pn703 0 EtherCAT communication baud rate 0 50Kbps 1 100Kbps 2 125Kbps 3 250Kbps 4 500Kbps 5 1Mbps EtherCAT Aix address of communication Pn840 0 Encoder model selection 0 2 Reserved For factory using 9 17 bit absolute encoder 4 Reserved 5 Resolved 6 Reserved Pn840 1 Reserved For factory using Pn840 2 Reserved For factory using Pn840 3 Reserved For factory using 84 ES TU EtherCAT User s Manual Appendix C Standard Wiring Examples C 1 Single phase 200VAC ProNet 02AEA EC to ProNet 04AEA EC L1 L
41. available now 3 4 PDO mapping Process data of EtherCAT slaves is composed by SyncMangaer channels Each SyncMangaer channel describes the consistent area of process data EtherCAT slaves with application control function should support PDO mapping and SM PDO Assign object reading PDO mapping PDO mapping is related to the mapping from object dictionary to PDO s application objects real time process data The index Ox1600 and Ox1A00 in object dictionary are separately reserved for the mapping tables of RXPDO and TxPDOs The graph as below is one example 11 ESTUN EtherCAT User s Manual Object Dictionary Index Sub Object Contents KE foxtaco 2 eeuuuom 8 PDO Length 32 Bits ZE PDO 1 ObjectA ObjectB Object D I Mapping Object em mmm lt emm m wm wm wm wem wm e m BI I Object A 0x6UUU Object B 0x6VVV Object C Ox6YYY JOXYY Object D Object E PDO mapping example Application Object PDO configuration Sync manager object SMCO is composed of multiple PDOs SM PDO Assign object 0x1C12 and Ox1C13 describes the relationship between PDOs and Sync Manager as below Object Dictionary x x x Sync Manager Entity z Sync Manager PDO Assign Object PDO configuration example Mapping Objects Note The PDO mapping objects index 1600h to 1603h 1A00h to 1A03h and the Sync Manager PDO assign obj
42. ccess Ro S 44 ESTUN EtherCAT User s Manual index mr 1 Data Type UINT8 Access W Value Range 0 255 Default Value 1 Interpolation time units n den jem Sin J2 Obiectcode Access Re 5 9 Cyclic synchronous position mode Cyclic synchronous position mode is similar to position interpolation mode In this control mode the master could offer extra speed and torque to achieve speed and torque feed forvvard control The interpolation cycle time defines the time for target position updating In this case interpolation cycle time is the same as sync time Parameters related to CYCLIC SYNCHRONOUS POSITION MODE 6040 Controlword UINT16 6041n Statusword INT32 YES 45 ESTUN EtherCAT User s Manual 6083 h brota acceleration UINT32 RW 6084 profile deceleration UINT32 6085 quick stop deceleration UINT32 rl ves To 46 ESTUN EtherCAT User s Manual Chapter 6 EtherCAT communication example In this example we use Beckhoff TwinCAT software as the real time master Please prepare as below before the test 1 Identify the network interface model number and install the network interface correctly 2 Install Beckhoff TwinCAT software 3 Copy the device description document XML document to the directory C TwinCAT lO EtherCAT You could contact Estun to have this XML document 4 Set drive s parameter Pn006 0 4 select EtherCAT communication mode Pn704 is the address After fi
43. command of EtherCAT Date link Layer LWR Logical Write a command of EtherCAT Date link Layer Logical ReadWrite a command of EtherCAT Date link Layer Operational state of EtherCAT state machine Object Dictionary Process Data Object PREOP Pre Operational state of EtherCAT state machine RXPDO Receive PDO i e Process Date that will be received by ESC SAFEOP Safe Operational state of EtherCAT state machine SDO Service Data Object SyncManager ESC unit for coordinated data exchange between master and slaver controller Transmit PDO i e Process Date that will be transmitted by ESC TXPDO ESTUN EtherCAT User s Manual 1 5 Data type The table below lists all the data types and their range that will be used in this manual INT16 Integer 16 32768 to 32767 UINT32 Unsigned integer 32 0 to 4294967295 INT32 Signed integer 32 2141483648 to 2147483627 STR string 1 6 Communication specifications applied IEC 61158 Type12 IEC 61800 7 CiA402 Drive Profile communication standard CNS RJ45 EtherCAT Signal IN CNG RJ45 EtherCAT Signal OUT Level 5 twisted pair wire SyncManager SMO output mailbox SM1 input mailbox SM2 input process data SM3 Output process data FMMUO mapped to output area of process EtherCAT data RXPDO communication FMMU1 mapped to transmit area of process data TxPDO FMMU2 mapped to mailbox status EtherCAT APRD FPRD BRD LRD APWR FPWR BWR LWR Commands ARMW FRMW Note
44. d 3 and method 4 Home Switch Homing method 35 set current position as the homing point 30 ESTUN EtherCAT User s Manual 5 6 Profile velocity mode 5 6 1 Control word Refer to previous chapters Name veve Description EA Execute the motion Stop axle 5 6 2 State word Description Target Halt 0 Target position not reached reached Halt 1 Axle decelerates Halt 0 Target velocity reached Halt 1 Axle has ro 0 Speed is not equaro 8 S is not equal 0 Speed is equal 0 Max slippage Maximum slippage not reached Maximum slippage reached 5 6 3 Parameters related to velocity mode index Object Nm p te error 6069 h velocity sensor actual value INT32 RO 31 ESTUN EtherCAT User s Manual 606B n velocity demand value INT32 RO 606C h velocity actual value INT32 RO 609D velocity window UINT16 606E h velocity window time UINT16 RVV 606F h velocity threshold UINT16 RW 6070 h velocity threshold time UINT16 6OFF h target velocity INT32 RVV velocity sensor actual value The master could read velocity sensor actual value to knovv the current velocity The parameter s unit is internal speed unit e Mame aae actual value Access Im Unis Rae ARO Value paras Default Value velocity demand value Master can read velocity demand value to knovv the current reference speed value of the servo drive The unit of this parameter is user s velocity unit
45. ects Index 1C12h and 1C13h can be written only in Pre Operation state PDO mapping process Stop PDO allocating function set the sub index 0 of 0x1c12 and 0x1c13 into 0 Stop PDO mapping function set sub index 0 of 0x1600 0x1603 and 0x1A00 0x1A03 into 0 12 ESTUN EtherCAT User s Manual Set the number of mapping entries in PDO mapping objects Set sub index 0 of object 0x1600h to 0x1603h 0x1A00h to 0x1A03h Set the assignment of the Sync manager and PDO Set sub index 1 of object 0x1C12h and 0x1C13h Enable the assignment of the Sync manager and PDO Set sub index 0 of object 0x1C12h and 0x1C13h to 1 Over again open PDO assignment function set the sub index 0 of Ox1c12 and Ox1c13 into 1 3 5 Emergency message When the servo drive generates an alarm Coe will activate an emergency message and inform consumers the current servo drive model number and error code Emergency message structure 6 bytes 2 bytes 2 bytes 1 byte 5 bytes n bytes Mailbox Header CoE Header Error Register Standard data frame head Standard CANopen urgent event message Optional 7 Emergency Error Reserved Manufacturer Specific Error Field Error Code Register ProNet Reserved Object Alarm Warning 1001h Code 2 13 ESTUN EtherCAT User s Manual Chapter 4 Network synchronization based on distributed clocks Any slave in the EtherCAT network can be used as reference clock for the whole network It provides system time And the dist
46. edure 1 Atfirst we need to set NMT status into operational and set control mode 6060 n as 1 According to actual demand we need to set the first target position target position 607A p target speed acceleration deceleration and other relevant parameters Set bit 4 new_set_ point of control word as 1 Set bit 5 change set_immediately as 0 Set bit6 absolute comparative according to the type of object position Set bit 12 set point acknovvledge of the status word and then start to operate position control Set the second target position target position 607A p target speed acceleration deceleration speed Set bit4 new set point as 1 bit 5 change set immediately as 0 Set Bit6 absolute comparative according to the target position type After reaching the first target position the servo drive will not stop and keep moving toward the second target position After reaching the second target position the servo drive will respond through status word bit 10 target_reached And then the servo motor will follow the program to keep moving or accept new target position 41 ESTUN EtherCAT User s Manual L L t Time 5 8 Interpolation position mode 5 8 1 Control word please referred to previous chapters Name iae Description 0 Enable ip mode O Interpolated position mode inactive _ 1 interpotated position mode active jt RP 7 ota h a Stop axle 5 8 2 State word ipmode active
47. ence Pn111 Speed bias Immediately Error counter It is used to set position feedforward The response speed is faster and position error l is less when this parameter setting is higher Vibration will occur if the value is set too Pn112 Feedforward Immediately large Unit It is used to ease mechanical vibration due to position feedforward The feedforward Feedforward f l l SEN l Pn113 fit Immediately lag will be enlarged and result to vibration if the value is set too large ilter Unit 0 1ms 72 Pn114 Pn115 Pn116 Pn117 Pn118 Pn119 Pn120 Torque feedforward Torque feedforward filter P PI switching condition Torque switching threshold Offset counter switching threshold Setting acceleration speed switching threshold Setting speed switching threshold Immediately Immediately After restart After restart Immediately Immediately Immediately TTT TTT EtherCAT User s Manual It is used to set torque feedforward and enhance response speed Set the load inertia percentage Pn106 correctly to enable this function in manual gain adjustment mode Unit It is used to ease mechanical vibration due to torque feedforward Unit 0 1ms 0 Torque reference percentage 1 Value of offset counter 2 Value of acceleration speed setting 3 Value of speed setting 4 Fixed Pl Threshold of torque to switch PI control to P control Unit Threshold of erro
48. ervo drive needs to move at first toward negative direction fast till reaching the negative limit switch and then decelerate till stop And then servo motor will be bounced back slowly and find the target homing position Under this homing method the target homing position is the first C pulse away from the limit switch Index Pulse Negative Limit Switch Homing method 2 Use C pulse and positive limit switch At first servo motor will move fast toward positive direction and decelerate to stop after reaching the positive limit switch And then servo motor will be bounced back slowly to find homing position Under this homing method the target homing position is the first C pulse away from the limit switch Index Pulse Positiva Limit Switch _ f Home method 3 and 4 Use C pulse and reference limit switch Servo drive s initial moving direction is relied on the status of reference point limit switch The target homing position is on the left side or right side of the reference limit switch The distance between the reference position switch and homing position is one C pulse 29 ES TU EtherCAT User s Manual Index Pulse Home Switch Homing method 17 20 Not to use C pulse These 4 homing methods are similar to approach 1 4 but the target homing position is not relied on C pulse any more but on the change of limit switch or reference point For example as below method 19 and method 20 are just similar to metho
49. ex After restart al 3 Reserved Pn005 3 Servomotor model selection 1 Pn005 2 o 0 EMJ 1 EMG 2 Reserved 3 EMB Pn006 0 Bus type selection 0 3 No bus 4 EtherCAT Pn006 After restart Pn006 1 Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibration suppression function disabled 1 Low frequency vibration suppression function enabled 69 ESTO FtherGAT User s Manual 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inertia without variation 2 5 Load inertia with little variation l 3 6 Load inertia with great variation Online Note autotuning l l l P After restart P S 1 Autotuning is invalid when servomotor max speed is less than 100rpm Manual gain adjustment is used 2 Autotuning is invalid when servomotor acceleration deceleration speed is less than 5000rpm s Manual gain adjustment is used 3 Autotuning is invalid when mechanical clearance is too big during operation Manual gain adjustment is used 4 Autotuning is invalid when the difference of different speed load is too great Manual gain adjustment is used The response speed of servo system is determined by this parameter Normally the Machine rigidity medai P S rigidity should be set a little larger However if it is too large it would suffer mechanical setting impact It should be set a little smaller when large vibration is present This parameter is only valid in autotuning Speed l
50. forward Jm o immediately DPni15 Torque feedforward filter ms oo o Immediately CO F lee 0 Torque reference percentage 61 ESTO FtherGAT User s Manual Parameter no Seegen Wa Range Default Setting invalidation 1 Value of offset counter 2 Value of acceleration speed setting 3 Value of speed setting 4 Fixed PI Pn118 Offset counter switching threshold reference pulse 0 10000 Immediatel ET Y ag acotar nto ta oso To teta rpm o 00w00 jo Immediately gt Gain switching condition Fix to 1st group gain External switch gain switching Torque percentage Pn121 Value of offset counter After start Value of acceleration speed setting Value of speed setting Speed reference input actual motor speed Ee L Homo LO Lim Pn123 Threshold switching level 0 20000 Immediatel pia meses O T H Pn125 Position gain syvitching time ms 0 2uD2 o immediately CO O PO E O IF Pn127 Low speed detection filter 0 1ms 0 100 Immediatel Son AV N 9 Pni28 Speed gain acceleration relationship during online autotuning pa E Immediatel 62 ESTO FtherGAT User s Manual Parameter no Beseriition unit Range Default Setting invalidation nize Low speed correction coefiient oso o immedal y p Pn133 Reserved Pn134 Reserved Pn135 Reserved s Pn136 Reserved fn Pn137 Reserved Pn138 Reserved s Pn139 Reserved fm Pn140 r Pn14 Reserved s Pn142
51. g the PV PP IP and other control mode defined in CANopen DS402 this module also supports CSP control mode Clients l ESTUN EtherCAT User s Manual could switch the control mode by changing correspondent parameters It is available from simple velocity control to high speed high precision position control 1 4 CoE terms The tables below lists the terms used in CANopen and EtherCAT Abbreviation APRD APVVR APRW Description Auto Increment Physical Read a command of EtherCAT Date link layer Auto Increment Physical Write a command of EtherCAT Date link layer Auto Increment Physical ReadWrite a command of EtherCAT Date link layer ARMW Auto Increment Physical Read Multiple Write a command of EtherCAT Date link layer R R Broadcast Read a command of EtherCAT Date link layer Broadcast Write a command of EtherCAT Date link layer C CAN in Automation CoE CANopen over EtherCA T Distributed Clocks Mechanism to synchronize EtherCAT slaves and master EtherCAT Electrically Erasable Programmable Read Only Memory EtherCAT Slave Controller S EtherCAT State Machine ETG EtherCAT Technology Group http www ethercat org gt w Z U O ECAT EEPROM m 0 O O lt T EtherCAT Real time Standard for Industrial Ethernet Control Automation Technology Ethernet for Control Automation Technolog FMMU Filedbus Memory Management Unit INIT INIT state of EtherCAT state machine LRD Logical Read a
52. hange NetId ka j LS u lt C Extended Information C Show Hidden Devices 3 Add one NC task and name it as Task 1 A TwinCAT System Manager File Edit Actions View Options Help Dee S Se AD Si sa FA s CG FS ei GIR AE 3 bill SYSTEM Configuration PLC Lanter m EEE SN Li Config B 1 0 Devices TwinCAT System Manager J Device 1 EtherCAT v2 10 Build 1379 Device 1 Image Device 1 Image Info TwinCAT NC Server e Inputs Server currently not available Outputs Infolata i Drive 1 ESTUN SERVO DRIVER Copyright BECKHOFF ES CiA402 PV Mode TX http www beckhoff com E CiA402 PV Mode RX E WeState E InfoData S Mappings ocal 192 168 1 164 1 1 BATEA Add Axis 1 under NC task 48 A TwinCAT System Manager File Edit Actions View Options Help S BS MD m sy T SYSTEM Configuration NC Configuration NC Task 1 SAF IS NC Task 1 SVB NC Task 1 Image SI Se de m I O Conf BB 1 0 Dev Gi SS Devi Li Import Axis 3 lad Lan p InfoData Drive 1 ESTUN SERVO DRIVER ES CiA402 PV Mode TX E CiA402 PV Mode RX WcState InfoData S Mappings General Online EtherCAT User s Manual HAS EQlue 1060 Hame Type NC Axwis List Comment ocal 192 168 1 164 1 1 Te Ba 58 243 SYSTEM Configuration NC Configuration BI HC Task 1 S
53. ion option code As RR CO S Value Range Introduction oo Shutdown servo excitation signal Servo motor will stop freely After the servo motor decelerates and stops the servo excitation signal will be shut down 21 ESTUN EtherCAT User s Manual 5 2 5 quick stop option code VVhen the Operation Enable status transits to Quick Reaction Active status quick stop option code will define how to stop index A Name auick stop option code Access RM sl Default Value o S Introduction o Shutdown servo excitation signal Servo motor will stop freely After the servo motor decelerates and stops the servo excitation signal will be shut down After servo motor stops urgently the servo excitation signal will be shut down 5 After the servo motor decelerates to zero it will still stay in QuickStop status 6 After the servo motor stops urgently it will still stay in QuickStop status 5 2 6 halt_option_code When bit8 of Controlword is 1 halt option code will define how to halt index Jm Name hatoptoncode As RW PDO Mapping Value Range Default Value 22 ES TU EtherCAT User s Manual Introduction Servo motor will decelerate gradually to zero Servo motor will decelerate urgently and then stop 5 2 7 fault reaction option code When it alarms fault reaction option code will decide how to halt Object Code Data Type PDO Mapping Os Value Range JO _ Default Value JO
54. k Mid 7 791011 10 11 KN KN LA operation A operation t E e Note X means this bit could be ignored Bit4 5 6 8 In different control mode these 4 bits definition will be different 18 ESTUN EtherCAT User s Manual Control mode profile position mode profile velocity mode New set point Start homing operation Change set immediately absirel reserved Halt The other bits All reserved 5 2 2 statusword naer eoan Name aen Value Range Default Value gt Statusword bit introduction is as below bit introduction ES Ready to switch on Svvitched on 1 Switch on disabled Warning reserved reserved gt Du 3 Bitd and Bit6 19 ESTUN EtherCAT User s Manual The combination of these bits represents the status of the servo drive Value binary XXXX xxxx X0xx 0000 Not ready to switch on XXXX xxxx x1xx 0000 Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active XXXX XXXX XOXX 1111 Fault reaction active 10000200 x0xx 1000 Bit4 Voltage enabled When this bit is 1 it means the main power is on Bit5 Quick stop When this bit is 0 it means the servo drive will stop the servo motor according to the configuration 605A n quick stop option code Bit7 Warning When the bit is 1 it means the servo drive detects alarm Bit10 Target reached In different control mode this bit has different meanings In Profile Position Mode
55. n S curve risetime Speed 0 Slope reference 1 S curve Pn310 After restart 2 1 order filter 3 2 order filter curve form This value determines the transition form of S curve P SI Notch filter 1 frequency 1 In some conditions vibration will be picked up and response will be lagged after notch filter is set P S T Notch filter 1 depth st 2 When notch filter frequency is set to 5000 the notch S form Pn311 f After restart selection Notch filter 1 l Pn407 Immediately frequency Notch filter 1 Pn408 Immediately depth Notch filter 2 filter is invalid Pn409 Immediately P S T Notch filter 2 frequency frequency ESTO FtherGAT User s Manual Notch filter 2 Immediately depth Low frequency vibration Immediately P S Frequency of low frequency vibration with load frequency raz D LOW frequenc Immediately Attenuation damp of low frequency vibration with load lt does not need to change vibration damp Positioning f l l Pn500 Immediately Outputs COIN signal when error counter is less than this value error Coincidence l Outputs VCMP signal when the difference between speed reference value and speed Pn501 l Immediately l l difference feedback value is less than this value Zero clamp l The servomotor is locked in the form of temporary position loop when the speed Pn502 Immediately S l l l l speed corresponding to the analog input is less than this value Rotation
56. nishing copying reactivate TwinCAT software Then TwinCAT will list an ESTUN ProNet servo drive EtherCAT bus option And then please follow steps as below 1 Use the right button of the mouse to single click I O Device and choose EtherCAT network adapter Name it as Device 1 Ee TwinCAT System Manager File Edit Actions View Options Help D ts Gi k ss 89 E s N BS Sieg ee SYSTEM Configuration NC Configuration Number Device Type PLC Configuration I O Configuration Er Mappings Ba Append Device Gi Import Device Ki Scan Devices Paste Ctrlt Insert Device GA Paste with LinksAlt Ctrl V HO Beckhoff Lightbus WO II O Lightbus FC200x PCI WO II O Lightbus C1220 ISA WO II O Lightbus Master EL6720 EtherCAT WO II O Lightbus C1200 2 Telegrams WO II O Lightbus Master CX1500 M200 PC104 WO II O Lightbus Slave CX1500 B200 PC104 38 Profibus DP Interbus S CIA CANopen DeviceNet a if SERCOS interface SS EtherCAT PC only gt OCX only KY Ethernet F EECK O BX only f re Beckhoff Hardware HOFF All 4 Miscellaneous O Target Type HF Hm bt bt Name Device 1 ocal 192 168 1 164 1 1 EZE 47 Ee TUH EtherCAT User s Manual Use the right button of the mouse to single click Device 1 and add a slave ProNet device A TwinCAT System Manager File Edit Actions Help Ose LOOT MD AMARA FORA SYSTEM Configuration HC
57. nnonnononns 10 TPM DUNG EE 11 3 5 Emergency messag e 13 Chapter 4 Network synchronization based on distributed clocks 14 Chapter 5 CiA402 device protocol 16 5 1 CANopen over EtherCAT CoE state machine 16 5 2 Parameters for device Control 17 STN 18 DN 19 5 2 3 shutdown option Code 20 5 2 4 disable _operation_option_code 21 5 2 5 QUICK StOD OPUON COUE sis E 22 5 20 hat Opon CO E ER 5 2 7 fault reaction option code 23 Di ONO MOG EEE ono 23 5 4 Control mode parameters a 23 SOMNI O oo sesipaco EE ostenta ene seseesen 25 TENNE 25 NN 25 5 5 3 Parameters related to homing mode ooccoocccncncocccoccccnconnoncncnnoncnnnnnoncnnonnnoncnnos 26 at OE ETO ve 29 5 0 Prollle Velocity e el 31 ITECTO EEE nme 31 SR Ol WO ds m us 31 5 6 3 Parameters related to velocity mode 31 ST tone NNN 35 ESTUN EtherCAT User s Manual Sl OM OI ORO uuu erat 35 9 2 State WONG WEE 36 5 7 3 Parameters related to position control
58. oop l This parameter determines speed loop gain Speed loop Decreases the value of this parameter to shorten positioning time and enhance speed integral time Immediately P S response constant Unit 0 1ms 70 EtherCAT User s Manual Position This parameter determines position loop gain Decreases this value to enhance servo osition loo l Immediately rigidity but vibration will occur if the value is too large gain Unit 1 s Torque reference l Torque reference filter can eliminate or lighten mechanical vibration but incorrect Pn105 Immediately P S T filter time setting will result to mechanical vibration Unit 0 1ms constant Load inertia Setting value load inertia rotor inertia X 100 Pn106 Immediately P S percentage Unit 2nd speed loo Pn107 l Immediately gain 2nd speed loop Integral time Immediately P S constant The meanings of these parameters are the same as Pn102 Pn105 i n 1 These parameters are only needed to set when two types of gain function are enabled loop Immediately gain 2nd torque reference filter Immediately P S T time constant Pn108 Pn109 Pn110 71 ESTO FtherGAT User s Manual This parameter setting can shorten positioning time However if it is too large or does not cooperate with Pn111 correctly vibration will occur The relationship with speed reference error counter positioning error is shown in the following chart Speed refer
59. parameters are correct State Transition 9 will be used to shut down the main power supply Once alarm happens to the servo drive the servo drive s state will be in FAULT state Not Ready to Switch On Servo drive is initiating Switch On Disabled Initiation completed l Servo drive enters Switch On state The servo motor is not Ready to Switch On servo on yet Switched On Servo drive ready and main power is on Servo on and control the servo motor according to the control Operation Enable F mode Quick Stop Active Servo drive stops in pre defined method l l Servo drive detects alarm and stop according to pre defined Fault Reaction Active method Servo motor is still on Fault Servo off 5 2 Parameters for device control index Object name ooo 605D p 605E Halt option code INT16 Fault reaction option code INT16 17 ESTUN EtherCAT User s Manual 5 2 1 controlword Index 6040 Name L nsen Access FW S PDO Mapping Control word bit description 15 11 10 9 8 1 6 4 d 2 1 0 manufacturer dl hat Fault Operation Enable Quick Enable Switch specific reset mode specific operation stop voltage on BIt0 3 and Bit7 The transmission of state machine will be triggered by the command composed by these 5 bits Device control command list Command Bit of the controlword Enable Enable Transitions operation voltage Shutdown o x In In Io 268 E Jo lo E le Guichen on pr Quic
60. r counter to switch PI control to P control Unit pulse Threshold of acceleration speed to switch PI control to P control Unit 10rpmis Threshold of speed to switch PI control to P control Unit rom 73 ESTO FtherGAT User s Manual Fix to 1st group gain External switch gain switching G SEL Torque percentage Gain switching Value of offset counter After restart PS Value of acceleration speed setting 10rpm Pn121 condition Value of speed setting Speed reference input OM OF WN O actual motor speed Switching delay on A Pn122 ti Immediately P S Delay time of switching gain when switching condition is satisfied ime Switch f l l Pn123 Immediately Gain switching trigger level threshold level Pn124 Position gain l This parameter is used to smooth transition if the change of the two groups of gain is Pn125 Immediately switching time too large Hysteresis e E Pn126 toh Immediately P This parameter is used to set the operation hysteresis of gain switching switching Low speed l This parameter is used to filter in low speed detection The speed detection will be Pn127 Immediately P detection filter lagged if the value is too large Speed gain acceleration The increasing multiple of speed loop gain is the same rigidity during online S e relationship S Pn128 Immediately autotuning The speed loop gain is larger when this value is higher
61. ribute clock in slave device synchronizes with the reference clock It enables slaves local application to synchronize with reference clock events EC netX50 model achieves the synchronous mode as following Switching synchronous mode can be controlled by synchronous control register ESC 0x980 and 0x981 e Free Run mode ESC register 0x980 0x0000 In this mode local application cycle communication cycle and master cycle is independent DC mode ESC register 0x980 0x0300 In this mode local application is synchronous with SyncoO PDO Mapping Sync Manager channel 2 process data output Synchronization Current status of DC mode Synchronization 0 Free run UINT type 2 DC Mode Synchronous with Sync0 0x1C32 i Synco event cycle ns The value is set by Cycle time UINT master via ESC register range 125000 n n FEN ETEN channel 3 process data gem Synchronization P Shifttime time Calc and p p Time schedule figure in DC mode is as follovvs 14 ESTUN EtherCAT User s Manual Master application task Master application task Master application task Master Network Y Frame U Frame U Frame U mmm oe e l las om s emm em e a a a a a a a a a a a a a aa a a a a a a a a a a a a a Calc Copy time 4 1C33 06 Y Slave T Y U U U U Synco Synco Synco y Leni Event Event e Cycle time 1C32 02 Cycle time 1C32 02 Cycle time
62. rol input node low bit enabled After restart Immediately Immediately ESTUN EtherCAT User s Manual Pn511 0 corresponding port CN1 11 CNT 12 Pn511 1 corresponding port CN1 05 CN1 06 Pn511 2 corresponding port CN1 09 CN1 10 Corresponding signal of each data is shown as follows ICOINIVCMP AGON IS RDY ICLT IBK Reserved Reserved Reserved HOME Reserved 0 1 2 3 4 SE D F 8 9 Bus communication input port enabled 0 Disabled 1 Enabled Pn512 03CN1 14 Pn512 13CN1 15 Pn512 23CN1 16 Pn512 33CN1 17 Pn513 03CN1 39 Pn513 13CN1 40 Pn513 23CN1 41 Pn513 33CN1 42 80 Pn514 Pn515 Pn516 Pn517 Pn518 Pn519 Pn520 Pn521 Pn522 Pn523 Pn524 Pn525 ESTUN Input port filter Reserved Input port signal inversion Input port signal inversion Reserved Reserved Reserved Reserved Reserved Reserved Overload alarm threshold Immediately Immediately Immediately Immediately Immediately P S T P S T P S T P EtherCAT User s Manual It is used to set input port filter time The signal will be lagged if the parameter setting is too high 0 Do not inverse signal 1 Inverse signal Pn516 03CN1 14 inversion Pn516 13CN1 15 inversion Pn516 2 gt 3CN1 16 inversion Pn516 33CN1 17 inversion Pn517 03CN1 39 inversion Pn517 13CN1 40 inversion Pn517 23CN1 41 inversion Pn517 33CN1 42 inversion
63. t Homing mode aex 607 Name Leen Access Im PDO Mapping Units postionuts Value Range Default Value homing_method There are 4 signals as homing signals positive limit switch negative limit switch reference position switch and C pulse 26 ESTUN EtherCAT User s Manual inex lm Name Lemmer r R VAR Access ew PDO Mapping Value Range 1 2 3 4 17 18 19 20 Homing method table Direction Target position Reference Position pans negative Nor Topas ho 2 postive por opus 3 negative reference poston switch pulse UT a postive Reference postion switch Cpuse ss gt Levrentypositen ourenty poston 35 homing speeds Two kinds of speed are used in finding the reference position The speed to find reference position and the speed to find zero position Object Code ARRAY Data Type INT32 27 ESTUN EtherCAT User s Manual spine fom Nane speed during search for switch Access W S Unis sens Value Range Default Value 0 ET Name speed during search forero Access units Lem Value paras Default Value o homing_acceleration Acceleration and deceleration in homing are all defined by homing_acceleration me Jm Name rem acceleration Access Jm Units again me Value paras Default Value 28 ESTUN EtherCAT User s Manual 5 5 4 Homing method Homing method 1 Use C pulse and negative limit switch S
64. tion For example if the servo drive uses incremental encoder we could choose C pulse to do the homing If the servo drive is using serial encoder or resolver we couldn t use C pulse as the homing method Clients can set homing method homing speed and acceleration After the servo drive finds the reference point we could also set the distance between homing position and reference point as much as the value defined by home_ offset 607C p 5 5 1 Control word home start operation ES k e a to previous le Homing mode inactive Start homing mode Homing operation start Homing mode active CSC Interrupt homing mode 0 Execute the instruction of bit 4 Stop axle vvith homing acceleration 5 5 2 State vvord homing attained target reachec Please refer to the pa SE Value Description Halt 0 Home position not reached Target Halt 1 Axle decelerates reached Halt 0 Home position reached Halt 1 Axle has velocity 0 Homing mode not yet completed Homing attained Homing mode carried out successfully l WI error occurred Homing error f l 1 Homing mode carried out not successfully The error cause is found by reading the error code 25 ESTUN EtherCAT User s Manual 5 5 3 Parameters related to homing mode Index Object Name type at home_offset Home_offset defines the distance between reference position and homing position Home Zero Position Position home offse
65. tries USS _ j E fa numerator Lu poo 2 jai NEON _ 1 6097 Acceleration factor 57 ESTO FtherGAT User s Manual Number of entries Homing method Speed during search for switch Speed during search for zero speed units i acceleration units Other parameter of servo could be referred to Index Sub index Object Name Type Access PDO All CSP PP PV HM 18022 var pe unas rw n e 3003 va pe unas rw no fo 13024 var femzo funmsfaw no Je j 18025 J var mata S ras rw wo e os var maze unas rw wo e 3007 var pu Pm few n Jo j 3028 dvr em ms rw fro fe 58 ESTO FtherGAT User s Manual Type aeara 3029 Pni25 0 UINTI6 om 1ms mi Eo r Pn126 E at ja q qd sos var z mis Lew no fe soc va peme Jm rw no e Los soo van pm unas Lew no e fum soe var o juv rw no e Los 3028 J var ema Juas rw no e fum soso va pus mis nw JN le Logoen mb le mm mis A O RR ES 11 32 va a flumnmelev no jom 333 tak femss unas Lew no fe 304 var Jens unas rw no fe j os J var penas unas rw n e 3036 var pense uns ew Jm fe Jom 307 var paan uma l role 13088 tan peme Lummen no
66. xis 1 Axis 1 Enc H Axis I Drive a Axis 1 Ctrl E P Di Dutputs PLC Configuration 8 I O Configuration EY 1 0 Devices 1 Ss pa Ma Aar 63 General AG eRe Seel g Functions Coupling l Compensation Settings Global Dynamics Online Axis Type CANopen DS402 e g EtherCAT CoE Drive AX2xxx B1x0 B v Gr Unit mm v Select I O Box Terminal Display Only 3 Device 1 EtherCAT Device 1 Image Device 1 Image Info Inputs Dutputs Infolata CiA402 PV Mode TX CiA402 PV Mode RX WeState Infolata Drive 1 ESTUN SERVU DRIVER Mappings ocal 192 168 1 164 1 1 GEAR Click activate configuration button on the toolbar and activate configuration Click online label and start to operate on servo axis rm ton TwinCAT System Manager File Edit Actions View Options Help D S ER X SEAN 9 wales lt ET lalalala 6 amp SYSTEM Configuration NC Configuration NC Task 1 SAF Ba NC Task 1 SVB NC Task 1 Image Tables qa Axes Se Axis 1 Axis 1 Enc Gal Axis 1 Drive Mu Axis 1 Ctrl ES ES Dutputs PLC Configuration 8 I 0 Configuration BY 1 0 Devices Device 1 EtherCAT Device 1 Image Device 1 Imaze Info Inputs Outputs Infolata Drive 1 ESTUN SERVO DRIVER QT CiA402 PV Mode TX gpl Statusword HP Velocity actual value

Download Pdf Manuals

Related Search

EtherCAT User`s Manual

Contents

Download Pdf Manuals

Related Search

Related Contents