Econ EtherCAT EHS-580 Скачать руководство пользователя

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SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For

EHS-580 EtherCAT Hybrid Servo Drive

5.4 processing data object

PDO generally used for real time data updating :it includes RXPDO and TXPDO.RXPDO is that master send the

data to slave station , and TXPDO is reversed

5.4.1 PDO mapping

The mapping objects can be real time transmission via PDO mapping.

E5-CAT supports 4groups RXPDO and 2 groups TXPDO for data transmission at the same time. Each PDO object

mapping to 8bytes object dictionary(the max length is 32bytes).

The PDO mapping format

Bit

31~16

15~8

7~1

Content

Index of mapped object

Sub-index of mapped object Bit length (hexadecimal

form)

Example

6040h

00h

10h (length:16bits)

The default PDO mapping(same as XML file)

PDO mapping

object index

PDO object

sub-index

Mapping

content

Mapping content details

Mapping content

definition

Index

Sub-index

Bit length

RXPDO1

(1600h)

01h

60400010h

6040h

00h

10h (16bits)

Control word

02h

607A0020h

607Ah

00h

20h (32bits)

Target position

03h

60B00020h

60B0h

00h

20h (32bits)

Position offset

04h

60B80010h

60B8h

00h

10h (16bits)

Probe function

RXPDO2

(1601h)

01h

60400010h

6040h

00h

10h (16bits)

Control word

02h

607A0020h

607Ah

00h

20h (32bits)

Target position

03h

60810020h

6081h

00h

20h (32bits)

Max. speed

04h

60830020h

6083h

00h

20h (32bits)

Acceleration

05h

60840020h

6084h

00h

20h (32bits)

Deceleration

06h

60600008h

6060h

00h

08h (8bits)

Operation mode

RXPDO3

(1602h)

01h

60400010h

6040h

00h

10h (16bits)

Control word

02h

60FF0020h

60FFh

00h

20h (32bits)

Target speed

03h

60830020h

6083h

00h

20h (32bits)

Acceleration

04h

60840020h

6084h

00h

20h (32bits)

Deceleration

06h

60600008h

6060h

00h

08h (8bits)

Operation mode

Содержание EtherCAT EHS-580

Страница 1: ...ECON Technology Co Ltd Version 2 0 Add 2F BuildingB Jintai Industrial Park HangchengAvenue GushuVillage XixiangStreet Bao anArea ShenzhenCity GuangdongProvince 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 ...

Страница 2: ...1 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 Profi...

Страница 3: ...reset 25 4 3 Parameters list 25 5 Basic Information Of EtherCAT 29 5 1 EtherCAT Data Frame Structure 29 5 2 Synchronous Mode 29 5 2 1 Random running mode 29 5 2 2 Distributed clock synchronization mode 29 5 2 3 EtherCAT state machine 30 5 3 COE 30 5 3 1 Service data object SDO 31 5 3 2 SDO protocol and message format 31 5 3 3 Suspend SDO transmission 32 5 4 processing data object 34 5 4 1 PDO mapp...

Страница 4: ... requirements This manual is not for use or disclosure outside of ECON technology except under permission All rights are reserved No part of this manual shall be reproduced stored in retrieval form or transmitted by any means electronic mechanical photocopying recording or otherwise without approval from ECON technology While every precaution has been taken in the preparation of the book ECON tech...

Страница 5: ...or different motors to maximize the performance of the motor 2 Features New floating point 64bit MCU technology Serial Port And Auto Tune Function 3 channels opto coupler isolation OC output Advanced vector control technology High torque at starting and low speed 5 channels opto coupler isolation input 2 of them are high speed opto coupler isolation input Communication Frequency up to 100MHz DIPs ...

Страница 6: ...5 28 Vdc OC output Pull Up voltage 5 24 Vdc Ether CAT communication frequency 100 MHz Insulation Resistance 100 MΩ 4 2 Operating Environment Cooling Natural Cooling or Forced cooling Environment Condition Far away from other heating device Avoid dust oil fog and corrosive gases heavy humidity and strong vibration occasion forbid flammable gases and conductive dust Temperature 10 50 Humidity 40 90 ...

Страница 7: ...ide installation so that the cooling teeth form a strong air convection when necessary install a fan where is close to the drive forced cooling to ensure that the drive is in a reliable working temperature range 6 Connectors and Pin Assignment The EHS 580 has four connectors connector for i o connections connector for Encoder Feedback and hall signal connector for power and motor connection and th...

Страница 8: ... eb ez Encoder channel Z input if there is Z signal in encoder no connection needed ez eu Hall U channel U input special for dc brushless servo open loop hybrid servo no connection needed eu ev Hall V channel U input special for dc brushless servo open loop hybrid servo no connection needed ev ew Hall W channel U input special for dc brushless servo open loop hybrid servo no connection needed ew 5...

Страница 9: ...ge of the switching power supply needs to be maximized Please note A When wiring pay attention to the positive and negative poles of the power supply B Better use non regulated power supply C When use a non regulated power supply the power supply current output capacity should be greater than 60 of the drive setting current D The use of regulated switching power supply the output current of the po...

Страница 10: ...ng positive 12 NC No connected 13 NC No connected 14 RX Ether CAT data receiving negative 15 NC No connected 168 NC No connected Note The cable connecting EHS 580 to PC must be a dedicated cable Please check before use to avoid damage 7 DIP Switch Settings SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 7 1 Motor selection Filter Sel SW6 SW7 Nema11 on on Nema17 off on Nema23 nema24 on off Nema34 off off Motor sel...

Страница 11: ...cm2 2 57 73 86 102 Weight Kg 0 24 0 37 0 45 0 5 Encoder lines Rev 1000 1000 1000 1000 8 1 Nema23 TC57 11 TC57 24 BK TC57 28 Step Angle Degree 1 8 1 8 1 8 Holding Torque N m 1 1 2 4 2 8 Phase Current A 6 0 5 6 5 6 Phase Resistance Ohm 0 2 0 4 0 5 Phase Inductance mH 0 52 1 5 2 0 Inertia g cm2 2 300 480 550 Weight Kg 0 7 1 1 1 8 Encoder lines Rev 1000 1000 1000 BK the motor supports brake 8 3 Nema24...

Страница 12: ... hybrid servo motor TC86 45 TC86 85 TC86 120 Step Angle Degree 1 8 1 8 1 8 Holding Torque N m 4 5 8 5 12 Phase Current A 6 0 6 0 6 0 Phase Resistance Ohm 0 325 0 5 0 73 Phase Inductance mH 3 0 6 0 8 68 Inertia g cm2 2 1400 2700 4000 Weight Kg 2 3 3 8 5 3 Encoder lines Rev 1000 1000 1000 Note All motors can make brake 9 Wiring Diagrams 9 1 Interface ...

Страница 13: ... the internal drive over current the drive RED Led flashes 1 time and repeat flashing within 3 seconds At this point must discharge fault re power and reset B Over voltage protection When input voltage is higher than 55V the driver RED Led flashes twice and flashes repeatedly within 3 seconds At this point must discharge fault re power and reset Note Since the drive does not have the power supply ...

Страница 14: ...Micro step too small select the suitable micro step current setting is too small Select the correct current drive protected Reboot Enable signal too low Pull up enable signal or disconnect no action to control signal Check the power supply input Wrong motor 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 ...

Страница 15: ...arranty service a returned material authorization number RMA must be obtained from customer service at e mail technical01 hybridservo com before returning product for service Customer shall prepay shipping charges for products returned to ECON technology for warranty service and ECON technology shall pay for return of products to customer Warranty Limitations ECON technology makes no other warrant...

Страница 16: ...any applications with extra low noise low heating and super smoothness 2 Operation mode Command input type Variable Operation mode BUS command input Address 6060H 1 PP mode Address 6060H 3 PV mode Address 6060H 6 HM mode Address 6060H 8 CSP mode A PP mode profile position mode B PV mode Profile velocity mode C HM mode Homing mode D CSP mode Cyclic synchronous position mode 2 1 Profile position mod...

Страница 17: ...defined 2000h Revolution per round User self defined pulse TXPDO 6041h Status word Read only 6064h Actually position Feedback Read only Unit 606Ch Actual velocity feedback Read only Unit s 603Fh Error code Read only 6061h Operation mode display Read only 2 1 2 Control word and Status word In PP Mode the bits 4 6 of Control word 6040h Bit Value Description 4 new position 0 1 The motor run with the ...

Страница 18: ...ponse 0 When current movement is completed or interruptable can update new target position 1 When current motion uncompleted uninterruptable it can not update new target position 14 parameters value for movement are 0 0 Parameters for movement are effective and all necessary parameters are not 0 1 One of parameters max speed 6081h acceleration 6083h and deceleration 6084h must be 0 15 Trigger resp...

Страница 19: ...Status word In PV Mode bits 4 6of Control word 6040h are not effective the movement will be active by setting some movement parameters including target velocity 60FFh acceleration deceleration 6083h 6084h Bit Value Description 8 quickly stop 0 Quickly stop is disabled 1 Quickly stop is enabled 10 speed reached 0 The current speed has not reach to target speed 1 The current speed reach to target sp...

Страница 20: ...splay 6061h indicates Homing Mode 2 4 1 Related objects Data write read Object Description Value Unit RXPDO 6060h Operation Mode 1 6040h Control word User self defined 607Ah Target Position User self defined Unit 6081h Maximum speed User self defined Unit s 6082h Start Stop speed User self defined Unit S 2 6083h Profile Acceleration User self defined Unit S 2 6084h Profile Deceleration User self d...

Страница 21: ...ponse 0 When current movement is completed or interruptable can update new target position 1 When current motion uncompleted uninterruptable it can not update new target position 14 parameters value for movement are 0 0 Parameters for movement are effective and all necessary parameters are not 0 1 One of parameters max speed 6081h acceleration 6083h and deceleration 6084h must be 0 15 Trigger resp...

Страница 22: ...W S 1 0 32768 1 homing 2 limit 4 limit 2152 02 Input 2 R W S 2 0 32768 1 homing 2 limit 4 limit 2152 03 Input 3 R W S 4 0 32768 1 homing 2 limit 4 limit 2152 04 Input 4 R W S 8 0 32768 1 homing 2 limit 4 limit 2152 05 Input 5 R W S 0 0 32768 1 homing 2 limit 4 limit 2153 01 Filter time for Input1 R W S 20 1 60000 Unit 50us 2153 02 Filter time for Input2 R W S 20 1 60000 Unit 50us 2153 03 Filter ti...

Страница 23: ...atus display Address Definition Description 60FD 00 Input status R bit0 limit bit1 limit bit2 homing 3 2 Output configuration A The power supply for outputs is 12 24VDC and if power supply is wrong wiring it is a risk to burnt the drive B It is OC output with the maximum capacity of 50mA 25V it is recommended to connect a resistor to power supply 1K Ohm for 12VDC 2K Ohm for 24VDC C If the output i...

Страница 24: ...f the slave after the power supply restarted 3 3 3 Setting the ID alias via object dictionary If the 2151h is 1 the value of 2150h will be the ID alias after the power supply restarted Address Definition Default value Range Description 2150 00 Slave address R W S 1 1 65535 Slave address 2151 00 Salve address resource R W S 0 0 2 0 From DIP switch when the DIP setting is 0 it is from EEPROM 1 From ...

Страница 25: ...f 0x1010 04 from master is 0x64616f6c all parameter will be reset to default value 4 3 Parameters list 4 3 1 General parameter list Address Definition Default value Range Description 2000 00 Peak current R W S 3200 1 to the max current Output current mA 2001 00 Pulse revolution R W S 50000 200 51200 Pulse for per revolution pulse 2002 00 Stand by time R W S 500 100 10000 Unit ms 2005 01 Output1 R ...

Страница 26: ... Control mode R W S 5 0 10 0 DIP switch 1 Lead2 PM 3 FOC 4 self test 5 CL 2026 00 Current for shaft locking R W S 50 0 100 Unit Effective at open loop mode only 2029 00 Encoder resolution R W S 1000 200 60000 p r 2030 00 Position following error R W S 1000 1 60000 pulse 2039 00 Pulse amount H R 0 0 65535 The received pulse amount H 16bit 2040 00 Pulse amount L R W 0 0 65535 The received pulse amou...

Страница 27: ...0 00 Speed loop KP R W S 60 0 150 2150 00 Slave ID R W S 1 1 65535 Slave address 2151 00 Slave ID resource R W S 0 0 2 0 from DIP switch when DIP switch is 0 it is from EEPROM 1 from2150h 2152 01 Input 1 R W S 1 0 32768 1 homing 2 limit 4 limit 2152 02 Input 2 R W S 2 0 32768 1 homing 2 limit 4 limit 2152 03 Input 3 R W S 4 0 32768 1 homing 2 limit 4 limit 2152 04 Input 4 R W S 8 0 32768 1 homing ...

Страница 28: ...R W 4 3 2 Operation mode control parameter list Address Definition Description 6040 00 Control word R W Control word 6041 00 Status word R Status word 6060 00 Operation mode RW 1 PP mode 3 PV mode 6 HM mode 8 CSP mode 6061 00 Mode display R Display the operation mode 6062 00 Command position R Display the motor command position 6064 00 Actual position R Display the motor actual position 606B 00 Co...

Страница 29: ...e Structure EtherCAT transmit the data with the network data frame the fixed frame type is 0x88A4 It includes two bytes of EtherCAT frame header and 44 1498 bytes of EtherCAT data The EtherCAT data field consists of one or some EtherCAT sub messages each message is corresponding to a storage area of the slave station Frame structure Definition Target address MAC address of Receiver Source address ...

Страница 30: ...s A From initialization to operation it must follow the sequence low high strictly you must switch from low to high such as initialization pre operation Safe operation operation B From high to low transmission it can be skipped C The master is the sender for all state transmission the slave must response all request from master D If the request from master is failed the slave will feedback error t...

Страница 31: ...O The SDO is the user server mode the master is corresponds to the user in the SDO operation and The drive is a server all of transmission command must be from master to user At the CANopen DS301 mode the SDO protocol can transmit 8 bytes one time in order to match the data length of CAN packets at the COE enhancement mode it expand the payload data only and don t change the protocol header In thi...

Страница 32: ... Completed visit 0 incomplete visit 1 complete visit 5 7 Command code 0 segment download request 1 download request 2 16 Index Object dictionary index 1 8 Sub index Object dictionary sub index 4 32 Data Fast transmission specified object dictionary data Conventional transmission total bytes of object dictionary n 10 Extended data Conventional transmission for extended data 5 3 3SuspendSDO transmis...

Страница 33: ...sion timeout 0x05040001 Command code is invalid or unknown 0x05040005 Memory overflow 0x06010000 An attempt to manipulate objects that do not support access 0x06010001 An object that attempts to write only properties 0x06010002 An object that attempts to write a read only property 0x06020000 The object to access does not exist 0x06040041 Object cannot be mapped to PDO 0x06040042 The length of the ...

Страница 34: ...ile PDO mapping object index PDO object sub index Mapping content Mapping content details Mapping content definition Index Sub index Bit length RXPDO1 1600h 01h 60400010h 6040h 00h 10h 16bits Control word 02h 607A0020h 607Ah 00h 20h 32bits Target position 03h 60B00020h 60B0h 00h 20h 32bits Position offset 04h 60B80010h 60B8h 00h 10h 16bits Probe function RXPDO2 1601h 01h 60400010h 6040h 00h 10h 16...

Страница 35: ...061h 00h 08h 8bits Operation mode display 04h 60640020h 6064h 00h 20h 32bits Actual position 05h 60B90008h 60B9h 00h 10h 16bits Probe status 06h 60BA0020h 60BAh 00h 20h 32bits Probe 1 rising edge position 07h 60FD0020h 60FDh 00h 20h 32bits Digital input status TXPDO2 1A01h No default mapping 5 4 2 PDO dynamical mapping COE use PDO specified object 1C12h 1C13h to configure PDO mapping object 1600h ...

Страница 36: ...ansmission Object dictionary visit Indirect visit Direct visit Visit PDO mapping object Visit arbitrary objects synchronism synchronization synchronization Synchronization Application Real time data transmission Configure PDO mapping parameter setting Contact us Shenzhen ECON Technology Co Ltd Add 2F BuildingB Jintai Industrial Park HangchengAvenue GushuVillage XixiangStreet Bao anArea ShenzhenCit...

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