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4. CiA402 Drive Profile

4.6

Homing Mode

4.6.1

Definition

Homing Mode is the way of heading to origin with command of Control word (6040h). To use Homing
Mode, need to set Homing Mode at Mode of operation (6060h). Able to use origin search command
once Mode of operation display (6061h) indicates Homing Mode.

4.6.2

Relative Objects

Figure 4.9: Homing Mode Objects

There are 4 kinds (Origin Switch, Positive Limit Switch, Negative Limit Switch, Index pulse of Encoder)
switches to find out origin. And it can be differentiated by Homing method (6098h).
If it is not Homing method by Limit Switch, once Limit Switch goes ON during origin searching, it will move
to opposite direction against movement direction. During motion towards opposite direction, if opposite
side of Limit Switch goes ON, origin search goes failure.
If Sensor origin and mechanical origin is different, able to set with using Home offset (607Ch). Once
position of mechanical origin is set to Home Offset, Status word - bit 12: Home Attained is going to be
ON and position objects will be initialized.
When Limit Switch is ON during Homing operation, it stops to change the direction. How to stop after
detection of Limit Switch follows Object 2003h: Limit stop method setting.

4.6.3

Control word and Status word

Control word

Control word at Homing Mode are as follows.

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

-

-

-

-

-

-

-

Halt

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Fault Reset

-

-

Homing
Operation
Start

Enable Op-
eration

Quick Stop

Enable Volt-
age

Switch On

Table 4.19: Control word under Homing Mode

The functions of bits added in Homing Mode are as follows.

Rev.37

FASTECH Co., Ltd.

52

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Содержание Ezi-SERVOII EtherCAT TO

Страница 1: ...Closed Loop Stepping System EtherCAT Network User Manual Ezi SERVOII EtherCAT TO FASTECH Co Ltd...

Страница 2: ...ction Connector 23 2 4 6 Motor Connection Connector 23 2 4 7 Power Connection Connector 24 2 4 8 TQOFF Connector 25 2 4 9 USB Connector 26 2 5 Appendix 27 2 5 1 Extension Cable for Motor 27 2 5 2 Exte...

Страница 3: ...4 8 Digital Input and Output 62 4 8 1 Definition 62 4 8 2 Related Objects 62 4 8 3 User I O 62 4 8 4 ORIGIN and LIMIT Input 62 4 8 5 BRAKE Output 63 4 9 Safety Function 64 4 9 1 Operation of Safety Fu...

Страница 4: ...Object 605Bh Shutdown option code 83 6 5 6 Object 605Ch Disable operation option code 83 6 5 7 Object 605Dh Halt option code 83 6 5 8 Object 605Eh Fault reaction option code 84 6 5 9 Object 6060h Mode...

Страница 5: ...ethod 96 6 6 4 Object 2005h Encoder resolution 96 6 6 5 Object 2006h Start speed 96 6 6 6 Object 2007h Run current 96 6 6 7 Object 2008h Boost current 97 6 6 8 Object 2009h Stop current 98 6 6 9 Objec...

Страница 6: ...motion con troller supports Field network EtherCAT This manual describes handling safety instruction diagnosis and troubleshooting of Ezi SERVOII EtherCAT TO Before operating Ezi SERVOII EtherCAT TO t...

Страница 7: ...manual and fully understand the con tents Also before operation please understand the mechanical characteristics of the product and related safety information and precautions User manual describes le...

Страница 8: ...occur Please follow the wiring diagram for cable connection Otherwise a fire or other kinds of accidents may occur Danger Before connecting cables please check if input power is OFF Otherwise a fire o...

Страница 9: ...ricity remains in the capacitor may cause danger as like electric shock Do not change cabling while power is being supplied Otherwise the user may get injured or the product may get damaged Do not rec...

Страница 10: ...Chapter 1 Product Specification Rev 37 FASTECH Co Ltd 10...

Страница 11: ...8mm 35 35mm 42 42mm 56 56mm 60 60mm Motor Length S Small M Medium L Large XL Extra Large Encoder Resolution A 10 000 ppr B 20 000 ppr D 16 000 ppr F 4 000 ppr Reduction Gear Ratio Blank Without Gear P...

Страница 12: ...1 Product Specification 1 2 Product Dimension Figure 1 2 Dimensions Rev 37 FASTECH Co Ltd 12...

Страница 13: ...35 Topology Line Structured by Products only Tree Star When use Junction products Support Protocol CoE CANopen application protocol over EtherCAT FoE File Access over EtherCAT Control Profile CiA402 d...

Страница 14: ...0 100 000 pulse Selectable by parameter Protection Functions Over Current Error Over Speed Error Position Tracking Error Over Load Error Over Temperature Error Over Regenerated Voltage Er ror Motor Co...

Страница 15: ...Chapter 2 Installation Rev 37 FASTECH Co Ltd 15...

Страница 16: ...50 C 2 If temperature of the case is 50 C radiate the outside to cool down 3 Do not install this product under direct rays or near magnetic or radioactive objects 4 If more than 2 drives are installed...

Страница 17: ...2 Installation 2 2 System Configuration Figure 2 1 System Configuration Diagram Rev 37 FASTECH Co Ltd 17...

Страница 18: ...2 Installation 2 3 External Wiring Diagram Figure 2 2 External Wiring Diagram Rev 37 FASTECH Co Ltd 18...

Страница 19: ...ndicates units Setting range is 0 99 Information ID value Configured Alias ID set by Rotary switch applies when power of controller turns on ID Indication 7 Segment indicates Physical Address or Ether...

Страница 20: ...ont side of product and Link Activity LED individually positions at the top of right corner of EtherCAT ports Indication Color Status Description RUN Green OFF Init Status or Power OFF Blinking Pre Op...

Страница 21: ...controller connect communication cable from ECAT OUT to next controller of ECAT IN No Function 1 TD 2 TD 3 RD 4 5 6 RD 7 8 Connection hood F GND Table 2 2 EtherCAT Connector EtherCAT Communication Ca...

Страница 22: ...CW and CCW direction using for protection of mechanical collision or others ORIGIN Sensor uses to assign origin of mechanisms Brake Signal Output Signal Brake function prevents motor rotation under S...

Страница 23: ...I O 1 A Input 2 A Input 3 B Input 4 B Input 5 Z Input 6 Z Input 7 5VDC Output 8 GND Output 9 F GND 10 F GND Table 2 4 Encoder Connection Connector 2 4 6 Motor Connection Connector No Function I O 1 A...

Страница 24: ...nput Table 2 6 Main Power Connection Connector You can supply power to the product control power by connecting power to Control Power Connection connector No Function I O 1 24VDC Input 2 GND Input Tab...

Страница 25: ...OFF Connector refer to 4 9 Safety Function No Function I O 1 TQOFF1_P Input 2 TQOFF1_N Input 3 TQOFF2_P Input 4 TQOFF2_N Input 5 TQMON_P Output 6 TQMON_N Output 7 OVRTQ Input 8 GND Input Table 2 8 TQO...

Страница 26: ...current when output is on 50mA Leakage current when output is off Less than 1mA Table 2 9 TQOFF electric specification 2 4 9 USB Connector Connect to a PC using USB cable to the USB Connector Monitori...

Страница 27: ...t Pin number Pin number Pin layout 1 1 2 2 3 3 4 4 Table 2 11 Wiring Diagram 2 5 2 Extension Cable for Encoder For cable extension between Encoder and Drive Connector of Drive Wiring Connector of Moto...

Страница 28: ...l 5556T Encoder Drive side Housing 51353 1000 MOLEX Terminal 56134 9000 Motor side Housing SMP 09V NC JST Terminal SHF 001T 0 8BS Signal Housing PADP 20V 1 S JST Terminal SPH 002T P0 5L TQOFF Housing...

Страница 29: ...Chapter 3 EtherCAT Communication Rev 37 FASTECH Co Ltd 29...

Страница 30: ...tionary is dictionary of Objects what product has 3 1 2 Mailbox Communication Master and Slave commands and receives Service Data Object SDO at Mailbox communication SDO Communication This communicati...

Страница 31: ...rational status of controller and TxPDO is only available for Safe Operational Figure 3 2 EtherCAT PDO Communication 3 2 PDO Mapping PDO Mapping is to set Application Object will be delivered and rece...

Страница 32: ...on is to reset Status of communi cation is not available at this stage Pre Operational Available Non Available Non Available After initialization of communi cation enters into this stage Network setti...

Страница 33: ...of EtherCAT communication SM Event is gener ated once controller receives EtherCAT Frame Once synchronization by SM Event each one of controller has few us range of jitter 3 4 3 DC Sync Event Synchro...

Страница 34: ...aster This file is described slave device information as XML format based on EtherCAT specifications With recording of XML file into EtherCAT Master Equipment through EtherCAT setting equipment easily...

Страница 35: ...Chapter 4 CiA402 Drive Profile Rev 37 FASTECH Co Ltd 35...

Страница 36: ...ct moves as follows Status movement is executed by status of controller and Control word 6040h and current status can be checked by Status word 6041h Figure 4 1 Drive State Machine Status movement and...

Страница 37: ...Stop command from control device The quick stop function shall be started 12 Automatic transition depends on the Quick stop option code The drive function shall be disabled Motor power shall be switc...

Страница 38: ...for status movement If Quick stop option code 605Ah of value is 5 6 7 8 under Quick stop active status waiting at corre spondent status Able to move to Operation Enabled status by Enable Operation com...

Страница 39: ...ation enabled xxxx xxxx x00x 0111b Quick stop active xxxx xxxx x0xx 1111b Fault reaction active xxxx xxxx x0xx 1000b Fault Table 4 7 Current status following by Status word Other bits are as follows B...

Страница 40: ...ts of drive generated Time out FF34h 65332 E 052 Internal communication error of drive Communication error from internal components of drive generated CRC Failed FF35h 65333 E 053 Internal communicati...

Страница 41: ...del of the product are as follows Motor Model Voltage Limit EzM2 20M 48V EzM2 20L EzM2 28S EzM2 28M EzM2 28L EzM2 35M EzM2 35L Motor Model Voltage Limit EzM2 42S 70V EzM2 42M EzM2 42L EzM2 42XL EzM2 5...

Страница 42: ...of operation display 6061h Able to set selected operation mode by Mode of operation 6060h Currently activated operation mode can be checked by Mode of operation display 6061h Operation modes supporte...

Страница 43: ...2 CSP Mode Objects 4 4 3 Control word and Status word Control word Control word under CSP Mode are as follows Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Halt Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 B...

Страница 44: ...rest of bits Bit Value Description 12 0 Target position value ignored 1 Target position value executed 13 1 Following Error has occurred Table 4 14 Bit description of Status word under CSP Mode For o...

Страница 45: ...to use position control command 4 5 2 Related Objects Figure 4 3 Profile Position Mode 4 5 3 Control word and Status word Control word Control word under Profile Position Mode are as follows Bit 15 B...

Страница 46: ...h command 13 0 In case of Push command if an object work is detected it stops and the Push com mand is released 1 In case of Push command it stops when an object work is detected and moves again when...

Страница 47: ...it 4 from RESET to SET Once controller receives this request Set Point Acknowledge of Status word Bit 12 is going to be SET and position movement command executed Target position refers to Target posi...

Страница 48: ...under SET status during position move ment command able to cancel currently operating position movement command and immediately move to new target position t t t t t Actual Speed Control Word bit 4 N...

Страница 49: ...n Stop Mode the Push Motion is finished when a work is detected or the target position is reached t t t t t Actual Speed Control Word bit 4 New Set Point Target Position Status Word bit 12 Set Point A...

Страница 50: ...ive Bit 6 In the Push Motion Non stop Mode the Push Motion is not finished even if a work is detected or the target position is reached the Push Motion is finished when Halt Bit 8 of Control word beco...

Страница 51: ...the previous move command the push command cannot be executed Please execute the command after the motor has completely stopped The Input next target position and Target position override commands ar...

Страница 52: ...osite direction if opposite side of Limit Switch goes ON origin search goes failure If Sensor origin and mechanical origin is different able to set with using Home offset 607Ch Once position of mechan...

Страница 53: ...Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Switch on disabled Quick stop Voltage en abled Fault Operation enabled Switched on Ready to switch on Table 4 21 Status word under Homing Mode Please refer to...

Страница 54: ...ming on Negative Limit touch and Index Pulse 6 Homing on Positive Limit touch and Index Pulse Table 4 23 Homing Method List Supported origin searching method lists can be also checked from Supported h...

Страница 55: ...hat position as sensor origin position Method 7 Homing on Origin Switch Positive Direction Negative Edge and Index Pulse Figure 4 12 Homing Method 7 In this homing method it start to move in the posit...

Страница 56: ...site direction to detect the Origin Switch again Then it moves in the positive direction until Index Pulse is detected and sets that position as sensor origin position Method 17 Homing on Negative Lim...

Страница 57: ...Index Pulse is detected and sets that position as sensor origin position Method 24 Homing on Origin Switch Positive Direction Negative Edge Figure 4 16 Homing Method 24 In this homing method it start...

Страница 58: ...the Origin Switch again and sets that position as sensor origin position Method 33 34 Homing Index Pulse Figure 4 18 Homing Method 33 Origin search method 33 is to move from current position to negati...

Страница 59: ...ulse This origin search method is to start toward Positive Direction and movement velocity is the value of Speed during search for zero 6099h Sub Index 2 If it sense certain Load then stops and moves...

Страница 60: ...e edge counter 60D6h Indicate the number of times the Falling edge of Touch Probe 1 was detected Touch probe 2 positive edge counter 60D7h Indicate the number of times the Rising edge of Touch Probe 2...

Страница 61: ...lows Figure 4 20 Touch Probe Operation Bit 1 Bit 9 1 Touch probe status of bit number 6 7 14 15 Counter value increases every single of input signal acknowledgement Range of this value is 0 3 For the...

Страница 62: ...ital output levels R W Active Level of user outputs Object 2010h Brake delay R W Set Delay at BRAKE output Table 4 25 I O related Objects 4 8 3 User I O Able to set Active Level of user I O through Di...

Страница 63: ...tion 2002h and Limit Sensor 4 8 5 BRAKE Output BRAKE output signal activates according to Operation Enabled of Status word 6041h Timing of BRAKE ON can be set by Brake delay 2010h Figure 4 22 Brake Si...

Страница 64: ...Enable Operation t Motor Speed 1 t speed TQOFF1 ON t ON OFF ON TQOFF2 ON t ON OFF ON Object 6041h Status Word Bit 15 Safety Activated OFF ON OFF t ON TQMON ON t OFF ON OFF Object 60FDh Digital Inputs...

Страница 65: ...nsit to Fault state when Safety activated of Advanced settings 2030h an alarm can be set to occur when the Safety function is activated Abnormal Safety Input State If the status of TQOFF1 and TQOFF2 a...

Страница 66: ...ord to command the Safety Function to deactivate When the Safety Fnction is deactivated bit 15 of Status word Safety Activated is turned off and the motor can be powered on again Refer to 4 1 Drive St...

Страница 67: ...Chapter 5 Operation Rev 37 FASTECH Co Ltd 67...

Страница 68: ...ute 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 condi...

Страница 69: ...f operation display 6061h whether it has properly changed 5 3 3 Set Operation Set Objects according to Motion will be executed Information Trial operation explains operation by Profile Position Mode I...

Страница 70: ...etween Reverse limit direction and Limit Sensors please refer to 4 8 5 BRAKE Output 5 4 2 Change I O Signal Level LIMIT LIMIT ORIGIN Input Signal If Active Level of LIMIT LIMIT ORIGIN input signal has...

Страница 71: ...Chapter 6 EtherCAT Object Dictionary Rev 37 FASTECH Co Ltd 71...

Страница 72: ...d Index Field Description 1000h 1FFFh Communication profile area Objects that sets EtherCAT communication related settings or diplay status or information 2000h 5FFFh Manufacture specific area FASTECH...

Страница 73: ...on No Object can not be mapping at PDO TxPDO Object can be mapping at TxPDO RxPDO Object can be mapping at RxPDO Table 6 4 PDO Mapping Description 6 1 7 Constant Value Default value what correspondent...

Страница 74: ...r Current error Generic er ror Table 6 6 Error register correspondent bit can be set if correspondent error generated General Error always goes to be set once bit error generated 6 2 3 Object 1008h De...

Страница 75: ...ave Parameter 1 31 0 Table 6 8 Save Parameters State Check SAVE part for each object 6 2 7 Object 1011h Restore default parameters Sub PDO Value Default Index index Name Type Access SAVE Mapping Range...

Страница 76: ...U16 RW No No 0 65535 12 Sync Error Counter Limit This object sets the crieria for judging the failure to receive Process Data as a Communication Error when the Communication Synchronization type is D...

Страница 77: ...in the Sub Index position The value of this object increases from 6 up to 50 At 50 when new diagnosis messages occur again it increases again from 6 i e if more than 45 diagnosis messages are generat...

Страница 78: ...on Mode is Acknowledge mode this bit indicated that there are 45 unacknowledged messages and the newly created messages were discarded Diagnosis Messages 1 45 This object is the content of the diagnos...

Страница 79: ...020h 3 3rd PDO object U32 RW No No 6081 0020h 4 4th PDO object U32 RW No No 6060 0008h 5 5th PDO object U32 RW No No 0000 0000h 6 6th PDO object U32 RW No No 0000 0000h 7 7th PDO object U32 RW No No 0...

Страница 80: ...2 RW No No 0000 0000h 8 8th PDO object U32 RW No No 0000 0000h 9 9th PDO object U32 RW No No 0000 0000h 10 10th PDO object U32 RW No No 0000 0000h This object points TxPDO 1 information among TxPDO Tx...

Страница 81: ...and copy time U32 RO No No 10000 8 Get cycle time U16 RW No No 0000h 9 Delay time U32 RO No No 0000 0000h 10 Sync0 cycle time U32 RW No No 0000 0000h 11 SM Event missed U16 RO No No 0000h 12 Cycle tim...

Страница 82: ...ble 6 15 Definition of Control word For details please refer to each profile description 6 5 3 Object 6041h Status word Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 6041...

Страница 83: ...6 18 Shutdown Option Code 6 5 6 Object 605Ch Disable operation option code Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 605Ch 0 Disable operation option code I16 RW Yes...

Страница 84: ...de currently requested Current operation mode is indicated at Mode of operation display 6061h 6 5 10 Object 6061h Mode of operation display Sub PDO Value Default Index index Name Type Access SAVE Mapp...

Страница 85: ...s SAVE Mapping Range Value 606Bh 0 Velocity demand value I32 RO No TxPDO 0 This object indicates internal command velocity The velocity value is a positive value when the motor rotates in the positive...

Страница 86: ...itioned Controller is unable to get out of this range If needs to move position out of this range target position can be adjusted within range and if current position currently is out of range Status...

Страница 87: ...23 Object 6083h Profile acceleration Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 6083h 0 Profile acceleration U32 RW Yes RxPDO 1000 1000000000 1000000 This object sets...

Страница 88: ...ion and velocity of each Homing Method 6 5 26 Object 6099h Homing speeds Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 6099h 0 Number of entries U8 RO No No 2 1 Speed dur...

Страница 89: ...falling edge of 1 signal 6 7 0 8 0 Turn off Touch probe 2 function 1 Turn on Touch probe 2 function 9 0 Sense 1st signal only 1 Sense signal continuously 10 11 0 Sense origin signal 1 Sense Z Phase s...

Страница 90: ...Index index Name Type Access SAVE Mapping Range Value 60BAh 0 Touch probe 1 positive value I32 RO No TxPDO 0 This object indicates encoder position value sensed by Touch Probe 1 at rising edge 6 5 31...

Страница 91: ...ouch probe 1 source U16 RW No No 1 2 Touch probe 2 source U16 RW No No 1 If the value of Bit 2 3 10 11 for Touch probe function 60B8h as 2 uses input signal already set at this Object Value Input Sour...

Страница 92: ...ming method I16 RO 24 10 10th supported homing method I16 RO 25 11 11th supported homing method I16 RO 28 12 12th supported homing method I16 RO 29 13 13th supported homing method I16 RO 33 14 14th su...

Страница 93: ...oes ON Table 6 29 Definition of Input Value Bit 28 Bit 29 indicate the status of input signals used for the Safety function 6 5 43 Object 60FEh Digital outputs Sub PDO Value Default Index index Name T...

Страница 94: ...puts 6 5 44 Object 6502h Supported drive modes Sub Index index Name Type Access Constant Value 6502h 0 Supported drive modes U32 RO 0000 00A1h This Object indicates Operation modes currently supported...

Страница 95: ...Value Definition 0 Low active 1 High active Table 6 35 Definition of Logic Value 6 6 2 Object 2002h Reverse limit direction Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value...

Страница 96: ...2 or higher Declaration ratio during decelerated stop follows Deceleration of correspondent operation mode The deceleration ratio for Cyclic Synchronous Position Mode follows Object 201Bh Limit Decele...

Страница 97: ...ion Disable Please refer to 4 1 Drive Status Control 6 6 7 Object 2008h Boost current Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 2008h 0 Boost current U8 RW Yes No 0 7...

Страница 98: ...at generation when the motor is stationary or when the load is light Information If Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 2009h 0 Stop current U8 RW Yes No 2 10 5...

Страница 99: ...ng Value 7 56 57 58 59 60 61 62 63 Table 6 37 Definition of Position control gain The bandwidth tuning value sets the mechanical bandwidth range for the inertial load and affects the stability of the...

Страница 100: ...Figure 6 2 Target reached status changes according to In position Mode Information This object can NOT be set while it s Operation Enabled state Please set after Operation Disable Please refer to 4 1...

Страница 101: ...el of User Input 6 6 15 6 6 16 Object 2012h Digital output levels Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 2012h 0 Digital output levels U16 RW Yes No 0000h This Obj...

Страница 102: ...t is If a force greater than the torque set is applied to the motor in the opposite direction of the push direction it is determined that a work is detected Pull back distance The motor can be pulled...

Страница 103: ...ue is ms If the value is set to 0 all occurrences of Error code are recorded without any restrictions 6 6 22 Object 2021h Error code history Sub PDO Value Default Index index Name Type Access SAVE Map...

Страница 104: ...Operating Time 28 s 12 16 1 28 1 LTR Enable Time 23 s 10 3 8 9 5 23 3 LTR Rotating Count 17 rev 10 1 1 2 4 3 9 17 4 POR Operating Time 16 s 16 1 POR Enable Time 13 s 3 8 9 5 13 3 POR Rotating Count 7...

Страница 105: ...e Time LTR2 Rotating Count can be initialized When the initialization command is written the values of the above three objects are immediately cleared to 0 and the data is accumulated again from that...

Страница 106: ...ormation This object is supported on devices with Software version 100Ah 02 03 48 or higher Transit to Fault state when Safety activated This object can be set to notify as an alarm when the Safety fu...

Страница 107: ...imal number representation Update the table of 4 2 Error Code Update the description of Object 2030h Advanced settings Update the description of 2 4 7 Power Connection Connector 2022 03 31 Rev 37 Upda...

Страница 108: ...tion in order to reflect improvement or change of the product specifications and for the improvement of user manual Ezi SERVOII is registered trademark of FASTECH Co Ltd which is registered in Korea E...

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