Hiwin D1COE Page 4 User Manual Download

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Drive User Guide

1. Communication Specification of EtherCAT

EtherCAT

Communication

Communication Standards

IEC 61158 Type 12

IEC 61800-7 CiA402 Drive Profile

Physical Layer

100BASE-TX (IEEE802.3)

SyncManager

SM0 – Mailbox output (Master



Slave)

SM1 – Mailbox input (Slave



Master)

SM2 – Process data outputs

SM3 – Process data inputs

Process Data

Dynamic PDO mapping

Mailbox (CoE)

SDO Request

Synchronization

Free run

DC mode (DC cycle: 250us, 500us, 1ms, 2ms, 4ms)

CiA402 Drive

Profile

Homing mode

Profile position mode

Profile velocity mode

Profile torque mode

Cyclic synchronization position mode

Cyclic synchronization velocity mode

Cyclic synchronization torque mode

Touch probe function

www.servosystem.ru +7(495) 407-01-02

Summary of Contents for D1COE

Page 1: ...Drive User Guide 1 Version 1 0 Mar 2014 www servosystem ru 7 495 407 01 02...

Page 2: ...CAT Drive 15 5 State Machine of EtherCAT 17 6 State Machine of CiA402 19 7 PDO Mapping 21 8 Synchronization Mode 23 9 Drive s Mode of Operation 24 9 1 Position Control Mode 24 9 1 1 Profile Position M...

Page 3: ...Drive User Guide 3 Revision History Release Date Applies to Notice 1 0 2014 03 17 D series CoE Drive First Release www servosystem ru 7 495 407 01 02...

Page 4: ...nput Slave Master SM2 Process data outputs SM3 Process data inputs Process Data Dynamic PDO mapping Mailbox CoE SDO Request Synchronization Free run DC mode DC cycle 250us 500us 1ms 2ms 4ms CiA402 Dri...

Page 5: ...Drive User Guide 5 2 Physical Dimensions D1NCOE drive 5 0 1 238 5 0 1 4 2 4 9 231 0 2 75 0 5 75 0 5 65 0 5 75 1 0 2 181 6 0 2 25 0 1 24 15 0 1 www servosystem ru 7 495 407 01 02...

Page 6: ...Drive User Guide 6 D1COE drive www servosystem ru 7 495 407 01 02...

Page 7: ...Drive User Guide 7 D2COE drive 46 8 5 0 1 3 5 3 5 152 5 0 1 2 4 2 159 5 60 180 72 8 135 5 5 F Bx G 127 2 3 5 4 7 6 8 www servosystem ru 7 495 407 01 02...

Page 8: ...ow is the object dictionary table supporting by D2EtherCAT Drive 3 2Common Objects O Support X Not Support Index Sub index Name Type Access Value PDO mapping 0x1000 0x00 Device type UINT32 RO 0x000201...

Page 9: ...er of objects UINT8 RW 0x06 X 0x01 Mapping entry1 UINT32 RW 0x60410010 X 0x02 Mapping entry2 UINT32 RW 0x60640020 X 0x03 Mapping entry3 UINT32 RW 0x606C0020 X 0x04 Mapping entry4 UINT32 RW X 0x05 Mapp...

Page 10: ...on INT8 RW O 0x6061 0x00 Mode of operation display INT8 RO O 0x6063 0x00 Position Actual Internal Value INT32 RO O 0x6064 0x00 Position Actual Value INT32 RO O 0x6065 0x00 Following Error Window UINT3...

Page 11: ...x609A 0x00 Homing Acceleration UINT32 RW 1000000 X 0x60B1 0x00 Velocity Offset INT32 RW 1000 1000 O 0x60B2 0x00 Torque Offset INT16 RW 1000 1000 O 0x60B8 0x00 Touch Probe Function UINT16 RW O 0x60B9 0...

Page 12: ...on UINT16 RW 0x01 X 0x2042 0x00 Enable hardware limit protection UINT16 RW 0x01 X 0x2050 0x00 Common gain CG 0 01 1 0 REAL32 RW 0 3 X 0x2051 0x00 Velocity proportional gain REAL32 RW 0 001 X 0x2060 0X...

Page 13: ...rdware position limit protection 1 Enable the hardware position limit protection 0x2050 Common gain This object is for user to tune the motor performance stiffness in all servo loop 0x2051 Velocity pr...

Page 14: ...21 Motor maybe disconnected Bit 18 Motor short over current detected Bit 31 5V for encoder card fail Others reserved 0x2101 Drive Error Events 2 Bit 1 Phase initialization error Bit 5 Hall sensor err...

Page 15: ...complete within a specific time If not it may cause the control failure The data of time critical is normally used in the periodic communication It is called as cyclic process data communication Howev...

Page 16: ...Sync Manager 3 Process data communication transmit PDO TxPDO 0x1100 The drive supporting EtherCAT shall provide the files used by the master station to plan the layout and communication between the ma...

Page 17: ...station starts to transit from the initialization state to the operational state it must to follow the process of Initialization Init Pre Operational Safe Operational Operational Leapfrog transition...

Page 18: ...ion requests to enter Safe Operational state Set up AL Control register Wait for the response from AL Status register Safe Operational Able to use mailbox communication Able to use process data commun...

Page 19: ...s state machines State Description Not Ready to Switch On Drive is in the state of not ready to read Switch On Disabled Drive s main power switch is turned off and motor cannot be magnetized Ready to...

Page 20: ...On 0 0 1 1 1 3 Enable Operation 0 1 1 1 1 4 Disable Operation 0 0 1 1 1 5 Disable Voltage 0 X X 0 X 7 9 Fault reset 0 1 X X X X X The chart below showing the current state using StatusWord 0x6041 by t...

Page 21: ...Actual value 0x606C No Layout No Layout If the user requires the dynamic configuration of process data communication the drive shall be positioned as the Pre Operational phase of EtherCAT state machin...

Page 22: ...e content of the first sub index of 0x1C1 Designate TxPDO mapping object 0x1A01 to 0x1C13 Set up Numbers of Mapping Object as Designated to PDO of Sync Manager Set up the zero sub index of 0x1C12 and...

Page 23: ...nism of distribute clock Drive uses the reference clock to generate the internal SYNCO event to complete the synchronization function The figure below is the schematic diagram of synchronization by us...

Page 24: ...e may switch by changing the content of object 0x6060 and read the content of object 0x6061 to confirm the current operational mode of drive The chart below shown the set up value of object 0x6060 and...

Page 25: ...ow the movement status of motor Describe separately as follows 0x6040 Definition Value Description Bit4 New Set Up Point 0 Not initiate the movement of next target position 1 Initiate the movement of...

Page 26: ...llowing error 1 Following error exist A Single set point mode After completing the motor moving to the previous target position the controller of master station is able to initiate the movement of nex...

Page 27: ...r motor moving to the target position drive sets the bit10 of StatusWord 0x6041 to 1 Inform the motor of master station that the positioning has been completed 9 After master station confirming the po...

Page 28: ...the position command of the same direction the bit12 of StatusWord 0x6041 set by the drive will inform the controller of master station that the new target position has been ignored Therefore the moto...

Page 29: ...Motor has not been positioned to the target position 1 Motor has been positioned to the target position Complete the stop motion and the motor has been stopped Bit11 Internal Limit active 0 Limit is...

Page 30: ...master station is 500us then the drive will set up the interpolation time period to 0 5 0 0625 8 3 Set the content of operational mode 0x6060 to 8 4 Confirm the content of operational mode 0x6061 has...

Page 31: ...iggers the hardware limit signal Bit12 Ignore Target Velocity 0 Ignore target velocity 1 Target velocity enters into velocity control loop The steps of using profile velocity mode to operate the motor...

Page 32: ...current loop and accepts with the target current command transmitted from the master station The objects used by the profile torque mode and cyclic synchronization torque mode are listed as follows T...

Page 33: ...to Chapter 7 the setting method of PDO mapping A If the drive is operated under the profile torque mode the content of 0x6060 shall be set to 4 B If the drive is operated under the cyclic synchroniza...

Page 34: ...UINT32 RW X 3 Slower homing speed 0x6099 02 Drive will use this speed to move motor to search the homing signal Index Sub index Name Type Access Value PDO mapping 0x6099 0x02 Slower Homing Speed UINT3...

Page 35: ...will move to the positive direction until the positive limit switch is triggered Then the motor will move to the negative direction After the light of positive limit switch light turns off the locati...

Page 36: ...oming switch turns off the location of the first triggered index signal is seen as homing position 5 Negative direction homing switch and index signal homing mode In this mode the motor will move to t...

Page 37: ...l in the negative direction mode In this mode the motor will move to the negative direction to search the position of the first triggered index signal This position is seen as homing position 34 Locat...

Page 38: ...x6060 to 6 and operate the drive under homing mode Set up the content of 0x6098 to the desired homing method Set up the homing acceleration 0x609A homing speed 0x6099 01 0x6099 02 and homing offset 0x...

Page 39: ...ion table into flash as shown in the figure below III Enable the function of accuracy compensation as shown in the figure below IV Save the new parameter settings into the flash of drive as shown in t...

Page 40: ...ds the Bit10 Bit12 and Bit15 of StatusWord 0x6041 being set to 1 this indicates that the accuracy compensation function has been enabled and the feedback position of motor has been cleared to 0 VIII B...

Page 41: ...sition is always stored to the Touch Probe Position Value 0x60BA Trigger Signal encoder zero signal Z phase Index Sub index Name Type Access Default Value PDO mapping 0x60B8 0x00 Touch Probe Function...

Page 42: ...Drive User Guide 42 Continuous Trigger Mode 0x60B8 bit 1 1 0x60B8 Bit 0 0x60B8 Bit 4 0x60B9 Bit 0 0x60B9 Bit 1 0x60BA encoder zero signal 0x60B9 Bit 7 www servosystem ru 7 495 407 01 02...

Page 43: ...ch as D2COE xml file of D2 EtherCAT drive in the folder of C TwinCAT Io EtherCAT Step 2 Open TwinCAT System Manager as shown in the figure below Step 3 Right click mouse on I O Devices and select Scan...

Page 44: ...e window of HINT Not all types of devices can be found automatically please click OK as shown in the figure below Step 5 Select the network card supporting EtherCAT and click OK as shown in the figure...

Page 45: ...ide 45 Step 6 When popout the window of Scan for boxes please click YES as shown in the figure below Step 7 At this time the operational interface of TwinCAT shown D2 CoE Drivers www servosystem ru 7...

Page 46: ...is mm INC Calculation example of AC servo If the encoder of AC servo motor is 17 bits screw pitch is 5mm The calculation result of Scaling Factor is 5 131072 0 00003814697265625 Step 2 Click Axis 1 an...

Page 47: ...n synchronization mode as shown in the figure below Note The default synchronization cycle time of TwinCAT is 2 ms Step 4 Execute TwinCAT in Run Mode Click in sequence Generate mappings Check configur...

Page 48: ...Drive User Guide 48 www servosystem ru 7 495 407 01 02...

Page 49: ...put value 8 Force to set up the operational mode to the Cyclic Position Mode Step 6 On the page of Drive 1 CoE Online search 0x607D 01 Min Software Position Limit and 02 Max Software Position Limit In...

Page 50: ...ton in Enabling block Press All button at the right corner of popout window Set Enabling to magnetize motor Step 8 On the page of Online click the four buttons in the red box area or press F1 F4 on th...

Page 51: ...At the right side of Online page of Axis 1 press Set button in Enabling block Check cancel of Controller Feed Fw and Feed Bw from the popout window and press OK button to de magnetize motor www servo...

Page 52: ...eration Display object to TxPDO Double Click on the blank object behind 0x606C Velocity Actual Value When Edit Pdo Entry window popout click 0x6061 and then click OK as shown in the figure below Step...

Page 53: ...n Mode will also be shown as shown in the figure below Before setting up the motor the option of EtherCAT Operation Mode is default setting and invalid and will unable to click Once the setting of mot...

Page 54: ...ive and access in Performance center the Home and Set button are deactivated as shown in the figure below because homing mode is already defined in CiA402 standard and the built in homing procedures a...

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