Econ T2-CAN-HS68D User Manual Download

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SHENZHEN ECON TECHNOLOGY CO.,LTD

User Manual For CANopen Hybrid Servo Driv

T2-CAN-HS68D

CANopen Hybrid Servo Drive

Add: 2F,Building B,Jintai Industrial Park,Hangcheng Avenue,Gushu Village,Xixiang Street,Bao'an Area,Shenzhen

City,Guangdong Province,China

Tel: +86 136 2096 1024

E-mail:[email protected]

[email protected]

[Please read this manual carefully before use to avoid damage the drive]

Summary of Contents for T2-CAN-HS68D

Page 1: ...chnology Co Ltd Version 2 0 Add 2F Building B Jintai Industrial Park Hangcheng Avenue Gushu Village Xixiang Street Bao an Area Shenzhen City Guangdong Province China Tel 86 136 2096 1024 E mail enquiry hybridservo com technical01 hybridservo com All rights reserved Please read this manual carefully before use to avoid damage the drive ...

Page 2: ...en Communication Port 8 7 DIP Switch Settings 9 7 1 T2 CAN ID Table 9 8 Hybrid servo Motors 10 8 1 Nema24 and Nema34motor 10 8 2 Nema34motor 10 9 Wiring Diagrams 11 9 1 Interface 11 9 2 Diagram for CANopen communication 11 10 Protection Indications 11 11 CANopen protocol and parameters 12 11 1 CANopen protocol 12 11 2 Common Object Table factory parameters list 12 11 3 Operation mode and control p...

Page 3: ...ns electronic mechanical photocopying recording or otherwise without approval from ECON technology While every precaution has been taken in the preparation of the book ECON technology assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of ECON technology th...

Page 4: ...hnology High torque at starting and low speed 5 channel opto coupler isolation input 2 of them are high speed opto coupler isolation input Communication Frequency up to 1Mhz default is 1Mhz Current setting range 0 1 8A Smooth movement and extra low noise Quick response no delay and zero settling time No loss of steps no hunting no overshooting 3 Applications For a variety of small and medium sized...

Page 5: ...ide installation better cooling effect when design installation dimension consider the terminal size and wiring Enhance Cooling method A The driver s reliable operating temperature is usually within 60 the motor operating temperature is within 80 B It is recommended to use the automatic half flow mode the current will be automatically reduced by half when the motor stops so as to reduce the heatin...

Page 6: ...eliable motion response DIR signal should be ahead of PUL signal by 2 5μs at least 4 28V when DIR HIGH 0 0 5V when DIR LOW Please note that rotation direction is also related to motor Drive wiring match Exchanging the connection of two wires for a coil to the Drive will reverse motion direction For reliable response pulse width should be longer than 1 5μs dr in Low speed signal in1 in2 in3 common ...

Page 7: ...ent 100mA gnd 5V 6 3 Power and Motor Pin Definition I O Description 1 A O Motor Phase A 2 A U O Motor Phase A U for dc brushless servo motor 3 B V O Motor Phase B V for dc brushless servo motor 4 B W O Motor Phase B W for dc brushless servo motor 5 VDC I 15 50VDC 36VDC is recommended leaving rooms for voltage fluctuation and back EMF 6 GND GND Power supply voltage between the provisions of the nor...

Page 8: ...drives can share a power supply but should ensure that the power supply is large enough 6 4 CANopen Communication Port Two RJ45 terminals PIN Signal Function Description 1 CANH CANopen signal input CAN IN 2 CANL CANopen signal low input 3 NC No wiring reserve 4 EGNG CANopen signal ground 5 EGNG CANopen signal ground 6 NC Reserved 7 EGNG CANopen signal ground for shield used for strong interference...

Page 9: ...S5 Reserved Default On On On On On 1 Off On On On On 2 On Off On On On 3 Off Off On On On 4 On On Off On On 5 Off On Off On On 30 On Off Off Off Off 31 Off Off Off Off Off Note lower 5 ID set by DIP switches and higher 2 ID set by master The calculation formula of the ID as follows ID 1 S1 2 S2 4 S3 8 S4 16 S5 The default ID value is 0 0 indicates the broadcast address you can set other addresses ...

Page 10: ...ECON technology s hybrid servo motors 8 1 Nema24 and Nema34motor TC60 30 TC86 45 Step Angle Degree 1 8 1 8 Holding Torque N m 3 6 4 5 Phase Current A 6 0 6 0 Phase Resistance Ohm 0 7 0 325 Phase Inductance mH 1 9 3 Inertia g cm2 2 0 91 1 4 Weight Kg 1 4 2 3 Encoder lines Rev 1000 1000 8 2 Nema34motor TC86 85 TC86 120 Step Angle Degree 1 8 1 8 Holding Torque N m 8 5 12 Phase Current A 6 0 6 0 Phase...

Page 11: ...pen Hybrid Servo Driv 9 Wiring Diagrams 9 1 Interface 9 2 Diagram for CANopen communication 10 Protection Indications The green indicator turns on when power up When drive protection is activated the red LED blinks periodicity to indicate the error type ...

Page 12: ... standard CAN slave device that follows the standard CiA 301 and 402 sub protocol stacks and any host controller computer that supports this protocol can communicate with it Currently the PLC supports CANopen master function can modify the object dictionary OD of T2 CAN driver through SDO communication to modify the status of the drive operation mode and control parameters which includes enable st...

Page 13: ...ent loop Ki R W S 200 0 32767 Auto tuning enable only for read disable user can write 2017 00 Current loop Kc R W S 100 80 300 Auto obtain do not allow to modify 2020 00 Motor resistor R W S 1000 1 20000 unit m Ohms 2021 00 Motor inductance R W S 1 1 6000 Unit uH 2024 00 open closed loop control mode R W S 2 0 2 1 open loop mode 2 close loop control mode 2025 00 Closed loop control mode R W S 5 0 ...

Page 14: ... the phase A 2062 00 First anti vibration phase B R W S 0 0 255 The first low speed resonance suppresses the phase B 2063 00 Second anti vibration amplitude R W S 0 0 100 The second low speed resonance suppresses the amplitude 2064 00 Second anti vibration phase A R W S 0 0 255 The second low speed resonance suppresses the phase A 2065 00 Second anti vibration phase B R W S 0 0 255 The second low ...

Page 15: ...Bit sec kBdi800kBaud 1 800 kBit sec kBdi500kBaud 2 500 kBit sec kBdi250kBaud 3 250 kBit sec kBdi125kBaud 4 125 kBit sec kBdi100kBaud 5 100 kBit sec kBdi50kBaud 6 50 kBit sec kBdi20kBaud 7 20 kBit sec 2152 01 Digital input 1 function selection R W S 1 0 32768 1 home signal 2 left limit 4 right limit 8 external enable coordinate AIO analogy input 16 motor direction coordinate AIO analogy input 2152 ...

Page 16: ...t 2 level R 0 0 1 0 low level 1 high level 2155 03 Digital input 3 level R 0 0 1 0 low level 1 high level 2156 00 Analog AI port function selection R W S 0 0 1 0 invalid 1 speed control 2157 00 Analog AI port filter time R W S 1000 50 60000 unit us 2158 00 Analog AI port dead zone voltage R W S 0 0 1000 unit 0 01V 2159 00 Analog AI port bias voltage R W S 0 0 1000 unit 0 01V 2160 01 Analog AI port...

Page 17: ... Max Trapezoid Velocity curve of PP mode 60FF 00 Target Velocity R W The Max Velocity at home mode 606C 00 Actual speed R W Display motor actual speed unit RPM 6083 00 Trapezoid acceleration R W Ladder curve acceleration 6084 00 Trapezoid deceleration R W Ladder curve deceleration 6098 00 Home mode R W Find home mode 6099 01 Home mode speed R W Find limit switch speed 6099 02 Home mode speed R W F...

Page 18: ... motion Motor cable incorrect connect Change any two cables of same phase such as A A change Motor cable has breakage Check and correct wiring connection The drive In alarm motor cable incorrect connect Check wiring over voltage or under voltage Check power supply motor or drive damaged Replace a motor or drive Position inaccurated signal is interfered Exclude interference Shield ground disconnect...

Page 19: ...rned to ECON technology for warranty service and ECON technology shall pay for return of products to customer Warranty Limitations ECON technology makes no other warranty either expressed or implied with respect to the product ECON technology specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long...

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