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6.3

Controlword(6040h)

Index

sub-
index

Name

Range

Data
Type

Access

EEPROM PDO

6040h

00h

controlword

0-65535

U16

Set a command to a servo driver including the PDS state transition.

Bit

15 ~ 10

6 ~ 4

oms

r = reserve
oms = operation mode specific
(Different definitions according to

modes of operation)

fr = fault reset
h = halt

eo = Enable operation
qs = quick stop
ev = enable voltage
so = switch on

Bit7, 3 ~ 0(fault reset / Enable operation / quick stop / enable voltage / switch on):
The following table indicates the PDS command.

Command

bits of the controlword

PDS

State

bit 7

bit 3

bit 2

bit 1

bit 0

fault

reset

enable

operation

quick stop

enable

voltage

switch

Shutdown

2, 6, 8

Switch on

Switch on +

Enable operation

3+4

Enable operation

4, 16

Disable voltage

7, 9, 10, 12

Quick stop

7, 10, 11

Disable operation

Fault reset

rising

edge

Note: The bit logic of the quick stop command is valid at 0, please note that it is different
from other bit logic

Содержание ECAT-2094P

Страница 1: ...ECAT 2094P EtherCAT 4 Axis Pulse Output Module User Manual Version 1 0...

Страница 2: ...e The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use nor for any infringements of patents or other rights of third...

Страница 3: ...h 1FFFh 25 4 1 Device information 25 4 2 PDO Process Data Object Mapping 27 4 2 1 PDO Assign Object 1C12h 1C13h 27 4 2 2 PDO Mapping Object 1600h 1630h 1A00 1A30h 27 4 3 Sync manager 2 3 sychronizatio...

Страница 4: ...ofile Position Mode pp mode 51 6 6 3 Cyclic Synchronous Position Mode csp mode 54 6 6 4 Homing Mode hm mode 56 6 7 Velocity Control Function 72 6 7 1 Cyclic Synchronous Velocity Mode csv mode 72 7 Ala...

Страница 5: ...o be done by the EtherCAT master and the application program The ECAT 2094P has four integrated incremental encoder interfaces Four 32 bit high frequency encoder counter counts the input signal of ext...

Страница 6: ...I O EtherCAT and motion status Internal memory for storing configuration data EtherCAT 2 x RJ 45 bus interface Distance between stations up to 100 m 100BASE TX Support daisy chain connection EtherCAT...

Страница 7: ...tus Digital IO Communication Interface Connector 2 x RJ 45 Protocol EtherCAT Distance between stations Max 100 m 100BASE TX Data transfer medium Ethernet EtherCAT Cable Min CAT 5 Shielded Power Input...

Страница 8: ...ate Single flash Device is in SAFEOP state Outputs remain in safe state On Device is in OP state IN green Indicates the communication status of the EtherCAT port IN Off No connection Flashing Link and...

Страница 9: ...5 AXIS Y Alarm Code Bit1 LED 6 AXIS Y Alarm Code Bit2 LED 7 AXIS Y Alarm third row 16 17 18 19 20 21 22 23 green LED 0 AXIS Z Home Switch input LED 1 AXIS Z Positive direction hardware limit input LED...

Страница 10: ...10 2 2 Alias Rotary Swtich The Alias range is 0x00 0xFF...

Страница 11: ...er contact IN EtherCAT signal input Incoming EtherCAT cable OUT EtherCAT signal output Outgoing EtherCAT cable Name Signal Description PGND Ground 0V from negative power contact Power supply to encode...

Страница 12: ...for motor X Y_P Output Pulse Signal CW Signal Pulse Y Y_P Output Pulse Signal CW Signal Y_N Output Dir Signal CCW Signal Y_N Output Dir Signal CCW Signal Y_A Input Encoder Y input A Encoder Y Y_A Inpu...

Страница 13: ...for motor Z U_P Output Pulse Signal CW Signal Pulse U U_P Output Pulse Signal CW Signal U_N Output Dir Signal CCW Signal U_N Output Dir Signal CCW Signal U_A Input Encoder U input A Encoder U U_A Inpu...

Страница 14: ...itches for each motor Input type Wet Wet contact ON voltage level 10 to 24 VDC OFF voltage level 4 VDC MAX Photo isolation 3750 VDC The diagram for Positive RL and Negative LL direction hardware limit...

Страница 15: ...15 2 5 Stepper Motor Wiring...

Страница 16: ...ECAT 2094P supports differential encoder by default Figure 1 Encoder connection Open collector type encoder For single ended encoder connection refers to the Figure 2 which lists the possible power s...

Страница 17: ...17 Figure 2 Open collector wiring diagram...

Страница 18: ...signment is compatible with the Ethernet standard ISO IEC 8802 3 3 2 EtherCAT State Machine The state of the EtherCAT master and slave is controlled via the EtherCAT State Machine ESM The state determ...

Страница 19: ...unication Pre Operational Pre Op In Pre Op state acyclic mailbox communication is possible but not process data communication In this state the EtherCAT master does the following configurations Set th...

Страница 20: ...output data and read input data This module supports two types of Op modes Free Run mode and Distributed Clock DC mode 3 3 Synchronization Modes ECAT 2094P devices support two different modes Free Run...

Страница 21: ...l input status are being read from motion chip In the final step the read status are being written to the DPRAM so that the master can retrieve the data ESC DPRAM in the next cycle time 3 3 2 Distribu...

Страница 22: ...as been set into DC communication mode by the master the ESC EtherCAT slave chip of each slave generates fixed time hardware interrupt which triggers the slave firmware to process the PDO data receive...

Страница 23: ...The maximum count value can be set by changing the default value of the Sync Error Counter Limit 0x10F1 02 Figure 8 Sync error counter limit object The setting of the sync manager for the output and...

Страница 24: ...24 is the total execution time of all slave application related operations...

Страница 25: ...of the EtherCAT slave 100Ah Manufacturer software version VS ro N N 1 0 Software version of the EtherCAT slave 1018h Identify object 00h Number of entries 0 255 U8 ro N N 4 01h Vendor ID 0 4294967295...

Страница 26: ...is incremented with every missing Sync Management Event by three and decremented by one if an event is received If the Sync Error Counter exceeds this limit the system changes into the SAFEOP state wi...

Страница 27: ...d RxPDO 3 1600h 1630h U16 rw N N 1620h 04h PDO mapping object of assigned RxPDO 4 1600h 1630h U16 rw N N 1630h 1C13h 00h Number of assigned PDOs 0 4 U8 rw N N 4 01h PDO mapping object of assigned TxPD...

Страница 28: ...ped 0 4294967295 U32 rw N N 00000000h 1610h Receive PDO mapping 2 01h 0Fh Subindex 1600h 0 4294967295 U32 rw N N 68400010h 68FF0020h 1620h 01h 0Fh Subindex 1600h 0 4294967295 U32 rw N N 70400010h 70FF...

Страница 29: ...U32 rw N N 00000018h 08h 8th transmit PDO mapped 0 4294967295 U32 rw N N 00000000h 0Fh 15th transmit PDO mapped 0 4294967295 U32 rw N N 00000000h 1A10h 01h 0Fh Subindex 1A00h 0 4294967295 U32 rw N N...

Страница 30: ...U32 ro N N 0007A120h 06h Calc and Copy Time 0 4294967295 U32 ro N N 00009C40h 08h Get Cycle Time 0 65535 U16 ro N N 0000h 09h Delay time 0 4294967295 U32 ro N N 00002710h 0Ah Sync0 Cycle Time 0 42949...

Страница 31: ...h Calc and Copy Time 0 4294967295 U32 ro N N 00009C40h 08h Get Cycle Time 0 65535 U16 ro N N 0000h 09h Delay time 0 4294967295 U32 ro N N 00002710h 0Ah Sync0 Cycle Time 0 4294967295 U32 ro N N 0000000...

Страница 32: ...rw Y N 01h 03h ORG2 Active Level 0 1 U16 rw Y N 01h 04h ORG3 Active Level 0 1 U16 rw Y N 01h 0x2002 NOT LL Active Level 00h Highest sub index supported 4 U8 ro N N 4 01h NOT0 Active Level 0 1 U16 rw...

Страница 33: ...h 02h Axis1 Encoder PPR 0 4294967295 U32 rw Y N 00000000h 03h Axis2 Encoder PPR 0 4294967295 U32 rw Y N 00000000h 04h Axis3 Encoder PPR 0 4294967295 U32 rw Y N 00000000h 0x3004 Axes Encoder Mode 00h H...

Страница 34: ...revolution of the motor 00h Highest sub index supported 4 U16 ro N N 4 01h Axis0 Motor PPR 1 4294967295 U32 rw Y N 0x0000000 1 02h Axis1 Motor PPR 1 4294967295 U32 rw Y N 0x0000000 1 03h Axis2 Motor P...

Страница 35: ...U16 rw Y N 0000h 03h DI2 AS ALM 0 3 U16 rw Y N 0000h 04h DI3 AS ALM 0 3 U16 rw Y N 0000h Any DI can be set as Alarm function If the pulse type driver has Alarm output it can be connected to any DI of...

Страница 36: ...rs from 0 to 1 If the save is successful Save counter 1 To restore to the default value please set Load Factory to 1 And set Save all Parameters from 0 to 1 to restore to the default value If the arch...

Страница 37: ...axis Index sub index Name Range Data Type Access EEPROM PDO default 0x603F 00h ErrorCode 0 65535 U16 ro N Y 0000h 0x6040 00h Controlword 0 65535 U16 rw N Y 0000h 0x6041 00h Statusword 0 65535 U16 ro N...

Страница 38: ...32 rw Y N 00000000h 0x607E 00h Polarity 0 224 U8 rw Y N 00h 0x607F 00h Max Profile Velocity 0 4294967295 U32 rw Y N 7FFFFFFFh 0x6081 00h Profile Velocity 0 4294967295 U32 rw Y N 0000C350h 0x6083 00h P...

Страница 39: ...U32 rw Y N 0000C350h 0x60C5 00h Max Acceleration 0 4294967295 U32 rw Y N 7FFFFFFFh 0x60C6 00h Max Deceleration 0 4294967295 U32 rw Y N 7FFFFFFFh 0x60FD 00h Digital Inputs 0 4294967295 U32 ro N Y 00000...

Страница 40: ...nd initialized 1 Auto skip 1 Automatic transition after the completion of initialization The communication is established 2 Shutdown The Shutdown command is received 3 Switch on The Switch on command...

Страница 41: ...ter Quick stop function is completed received Disable voltage command quick stop option code is 5 6 or 7 The drive functions are disabled 13 Error occurs An error is detected Performs the established...

Страница 42: ...switch on Bit7 3 0 fault reset Enable operation quick stop enable voltage switch on The following table indicates the PDS command Command bits of the controlword PDS State bit 7 bit 3 bit 2 bit 1 bit...

Страница 43: ...following shows the definition of oms bit under each control mode modes of operation reserve Op mode bit 9 bit 6 bit 5 bit 4 csp csv hm start homing pp absolute relative change set immediately new set...

Страница 44: ...the PDS state Statusword PDS State xxxx xxxx x0xx 0000 b Not ready to switch on Initialization non completed xxxx xxxx x1xx 0000 b Switch on disabled Initialization completed xxxx xxxx x01x 0001 b Re...

Страница 45: ...table shows the behavior of the operation mode Op mode specific bits Op mode bit 13 bit 12 bit 10 csp drive follows command value csv drive follows command value hm homing error homing attained targe...

Страница 46: ...EEPROM PDO default 6502h 00h Supported drive modes 0 4294967295 U32 ro N N 0x1A1 bit Modes of operation 0 Profile position mode pp Yes 1 Velocity mode vl No 2 Profile velocity mode pv No 3 Torque pro...

Страница 47: ...00h Modes of operation 128 127 I8 rw N Y 0x00 bit Modes of operation 1 Profile position mode pp 6 Homing mode hm 8 Cyclic synchronous position mode csp 9 Cyclic synchronous velocity mode csv Because 6...

Страница 48: ...ation monitor this object to confirm that the system operation is set as expected Index sub index Name Range Data Type Access EEPROM PDO default 6061h 00h Modes of operation 128 127 I8 ro N Y 0x00 Dis...

Страница 49: ...m the operation mode of the servo driver at present About 2 ms is required from the time when the operation mode is changed until the completion of the change When changing the operation mode make sur...

Страница 50: ...ROM PDO default 0x607D Software Position Limit 00h Number of entries 2 U8 ro N N 2 01h Min position limit 2147483648 2147483647 I32 rw Y N 00000000h 02h Max position limit 2147483648 2147483647 I32 rw...

Страница 51: ...tem Servo On state 3 Change the target position Target Position 607Ah 4 Change the target velocity Profile velocity 6081h this object is restricted by the setting value of Max profile velocity 607Fh 5...

Страница 52: ...y start the next positioning action 6 absolute relative 0 Target position 607A is treated as an absolute position 1 Target position 607A is treated as a relative position The difference according to t...

Страница 53: ...t oe operation enabled so switched on rtso ready to switch on bit Name Value Definition 10 target reached 0 Command not completed 1 When halt 0 positioning is complete When halt 1 the axis stops speed...

Страница 54: ...n interpolation cycle Step 1 Read Position Actual Value 6064h and write to Target position 607Ah Step 2 Set Mode of operation 6060h to Cyclic synchronous position mode csp mode value 0x08 and check Mo...

Страница 55: ...2 1 0 r driver follows command value ila r rm r w sod qs ve f oe so rtso r reserve fe following error ila internal limit active rm remote w warning sod switch on disabled qs quick stop ve voltage ena...

Страница 56: ...Value 0x06 and check Mode of operations Display 6061h 0x06 Step 2 Set Home offset 607Ch the default is 0 Step 3 Set Homing method 6098h Step 4 Set Homing speeds 6099h Sub 1 Step 5 Set Homing speeds 6...

Страница 57: ...hm mode Bit 15 10 9 8 7 6 5 4 3 2 1 0 r r h fr r start homing eo qs ev so r reserve fr fault reset h halt eo Enable operation qs quick stop ev enable voltage so switch on bit Name Value Definition 4 s...

Страница 58: ...d state 12 homing attained 0 The homing operation is incomplete 1 The homing operation complete to be performed successfully 13 homing error 0 A homing error does not occur normal 1 A homing error occ...

Страница 59: ...on direction is the negative direction If the LL switch has been activated at the beginning of the action the initial action direction is the positive direction The home detection position is the firs...

Страница 60: ...on direction is the positive direction If the RL switch has been activated at the beginning of the action the initial action direction is the negative direction The home detection position is the firs...

Страница 61: ...rection is the positive direction If the Home switch has been activated at the beginning of the action the initial action direction is the negative direction The home detection position is the first I...

Страница 62: ...rection is the negative direction If the Home switch has been activated at the beginning of the action the initial action direction is the positive direction The home detection position is the first I...

Страница 63: ...n direction is the negative direction If Home switch of Method 9 and 10 is activated at the beginning of the action the initial action direction is the positive direction The home detection position i...

Страница 64: ...ion direction is the negative direction If Home switch of Method 11 and 12 is activated at the beginning of the action the initial action direction is the positive direction The home detection positio...

Страница 65: ...the action the initial action direction is the negative direction If the LL switch has been activated at the beginning of the action the initial action direction is the positive direction The home de...

Страница 66: ...the action the initial action direction is the positive direction If the RL switch has been activated at the beginning of the action the initial action direction is the negative direction The home de...

Страница 67: ...f the action the initial action direction is the positive direction If the Home switch has been activated at the beginning of the action the initial action direction is the negative direction The home...

Страница 68: ...f the action the initial action direction is the negative direction If the Home switch has been activated at the beginning of the action the initial action direction is the positive direction The home...

Страница 69: ...ing of the action the initial action direction is the negative direction If Home switch of Method 25 and 26 is activated at the beginning of the action the initial action direction is the positive dir...

Страница 70: ...ing of the action the initial action direction is the negative direction If Home switch of Method 27 and 28 is activated at the beginning of the action the initial action direction is the positive dir...

Страница 71: ...71 Method35 37 The home detection position is the current position...

Страница 72: ...itting the command velocity in an interpolation cycle Step 1 Set Target velocity 60FFh to 0 Step 2 Set Mode of operation 6060h to Cyclic synchronous position mode csv mode value 0x09 and check Mode of...

Страница 73: ...2 1 0 r driver follows command value ila r rm r w sod qs ve f oe so rtso r reserve fe following error ila internal limit active rm remote w warning sod switch on disabled qs quick stop ve voltage ena...

Страница 74: ...List Alarm Alarm Code 0 1 2 Description 0x7500 0 0 0 EtherCAT Communication error 0xFF02 0 1 0 DI Alarm 0xFF03 1 1 0 Changing mode of operation 6060h during the running of the motor 0xFF04 0 0 1 EEPR...

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