Parker ECL E Series, Manual

Page: 68 / 107

5.1
Operation Sequence
Sequence of controller operation is as follow. Exampled operation sequence of Profile Position Mode listed at
the table as below..
Step Name Action
1
Setting
Installation
Install motor/controller according to conditions of installa-
tion.
2 Wiring
Check power cable, motor/encoder cable, I/O cable, Ether-
CAT communication cables are properly connected.
3 Input power Turn power on. Check controller status.
4 PDO Mapping Set Module/PDO Mapping.
5 Set communication status Change EtherCAT State Machine as ‘OP’
6
Operation
Control Drive Status
Set Control Word then change Drive State Machine to Op-
eration Enabled.
7 Set Mode Set Object 6060h: Mode of operation.
8 Set Operation Input value into Object needed for execution of Motion.
9 Movement Command Execute command by setting of Control word.
10 Check Status Check the status of Motion execution.
11 Set Drive Reset object if need.
5.2
Setting
5.2.1
Installation
Install motor/controller according to conditions of installation. Check operation in advance under unload status
and recommend to connect Load. Please refer to 2.1 Precautions of Installation
5.2.2
Wiring
Check power cable, motor/encoder cable, I/O cable, EtherCAT communication cables are properly con- nected.
Please refer to 2.2 System Configuration
5.2.3
Input Power
Turn power (24V DC) onto controller and check followings.
•
Check Power LED (Red Color) of Drive status LED lights.
•
Check 7-Segment indicates 0 or other value.
5.2.4
PDO Mapping
Set Module and PDO Mapping by setting function of Master.
5.2.5
Set Communication Status
Change EtherCAT State Machine as ‘OP’ status by controlling Master.
•
Check State Machine of Master can be changing to ‘OP’ status.
•
Check State Machine of Controller can be changing to ‘OP’ status.
Information
Trial operation explains operation by Profile Position Mode.
Select the Module: ‘Axis (Normal) : dynamic select operation mode’.
Name of Module can be differentiated by each Master.