Econ EtherCAT EHS-580, Руководство пользователя

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SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Contents
Part 1: EHS-580 .......................................................................................................................................................... 5
Hardware Manual ........................................................................................................................................................ 5
1 Descriptions .............................................................................................................................................................. 5
2 Features .................................................................................................................................................................... 5
3 Applications .............................................................................................................................................................. 5
4 Specifications ............................................................................................................................................................ 6
4.1 Electrical Specifications ................................................................................................................................ 6
4.2 Operating Environment ................................................................................................................................. 6
5 Mechanical Specifications ........................................................................................................................................ 6
6 Connectors and Pin Assignment ............................................................................................................................... 7
6.1 Control signals connector .............................................................................................................................. 7
6.2 Encoder Feedback and hall signal Connector ............................................................................................... 8
6.3 Power and Motor ........................................................................................................................................... 8
6.4 EtherCAT Communication Port ..................................................................................................................... 9
7 DIP Switch Settings ................................................................................................................................................ 10
7.1 E-CAT ID Table ........................................................................................................................................... 10
8 Hybrid servo Motors ................................................................................................................................................ 11
8.1 Nema24 and Nema34motor .......................................................................................................................... 11
8.2 Nema34motor ............................................................................................................................................... 11
9 Wiring Diagrams .................................................................................................................................................... 12
9.1 Interface ....................................................................................................................................................... 12
9.2 Diagram ....................................................................................................................................................... 13
10 Protection Indications ........................................................................................................................................... 13
11 Frequently Asked Questions .................................................................................................................................. 13
Problem Symptoms and Possible Causes ........................................................................................................... 14
12 Warranty ............................................................................................................................................................... 14
Exclusions .......................................................................................................................................................... 15
Obtaining Warranty Service .............................................................................................................................. 15
Warranty Limitations ......................................................................................................................................... 15
Part 2 : EHS-580 EtherCAT Communication Protocol Specification ....................................................................... 16
1. Introduction ....................................................................................................................................................... 16
2. Operation mode ................................................................................................................................................. 16
2.1 Profile position mode(PP) ........................................................................................................................... 16
2.1.1 Related objects .................................................................................................................................. 17
2.1.2 Control word and Status word .......................................................................................................... 17
2.1.3 Typical motion mode of bit 5 at PP mode ......................................................................................... 17
2.1.4 The bit 8,10.12-15 of status word ..................................................................................................... 18
2.2 Profile velocity mode (PV ) .......................................................................................................................... 19
2.3 Cyclic synchronous position mode mode(CSP) ........................................................................................... 19
2.3.1 Related objects .................................................................................................................................. 19
2.4 Homing mode (HM) ..................................................................................................................................... 20
3. Input and output ................................................................................................................................................. 22