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ECR60/ECT60 User manual

第一章

Drive description

1.1

Product introduction

Thank you for choosing the Reiter EC series stepper motor driver. The EC Series is a

high-performance bus-controlled stepper motor driver with the ability to integrate

intelligent motion controllers. The EC Series EtherCAT drives can be operated as

standard EtherCAT slaves and support CoE (CANopen over EtherCAT).

The ECR60 is open-loop control and the ECT60 is closed-loop control.

Characteristics

⚫

Operating voltage DC: 24 to 80V

⚫

Support for CoE (CANopen over EtherCAT), CiA 402 compliant

⚫

Support for CSP, PP, PV, Homing mode

⚫

Minimum sync period 500us

⚫

Double-mouthEd RJ45 connector for EtherCAT communications

⚫

Maximum phase current output: 6A/phase (sine peak)

⚫

Control methods: open-loop control, closed-loop control, FOC control

⚫

Digital IO port:

6-way photoelectric isolation of digital signal input: IN1,IN2 for 5V differential input, can

also be connected to 5V single-ended input, IN3toIN6 for 24Vsingle-ended input, total

anode method;

2-way photoelectric isolation of digital signal output, maximum resistance voltage of

Содержание ECT60

Страница 1: ...ECR60 ECT60 User manual 1 ECR60 ECT60 User manual Shenzhen ReitE Electrical and Mechanical Technology Co Ltd...

Страница 2: ...op control Characteristics Operating voltage DC 24 to 80V Support for CoE CANopen over EtherCAT CiA 402 compliant Support for CSP PP PV Homing mode Minimum sync period 500us Double mouthEd RJ45 connec...

Страница 3: ...ching motors Below 86 base Encoder interface No Incremental orthogonal encoder 4x Encoder resolution No 1000 to 65535 pulses revolution Photoelectric isolation input 6 way 2 way 5V differential input...

Страница 4: ...ply Positive V DC power negative Ensure a reliable connection between the drive base and the earth with a ground screw ECR60 power range of 24 to 80VDC pay attention to the positive and negative polar...

Страница 5: ...ill not work for in1 IN2 functional settings Digital input port The ECR60 step driver has 6 digital inputs and2 digital outputs The object dictionary 0x2007 is the functional setting for the input por...

Страница 6: ...ls IN1 IN2 is reserved external motor encoder constitutes a closed loop system ECR60 can not receive encoder signal ECT60 is only allowed 5V differential input 5V single ended input IN1 IN1 IN2 IN3 IN...

Страница 7: ...king IN3 as an example the IN3toIN6 interface circuits are the same When the upper unit is the relay output When the upper unit is an open output for the collector PULSE PULSE SIGN SIGN DC5V PULSE PUL...

Страница 8: ...ECR60 ECT60 User manual 7 Note PNP input is not supported 24VDC GND 24VDC GND NPN COM IN3 COM IN1 PNP PNP...

Страница 9: ...onary 2005 and the object dictionary 2006 is used to set the polarity of the set output port Object dictionary Name Proper ty Type Range The default value Unit Note 0x2005 01 Output Port 1 Function R...

Страница 10: ...ircuit is the same When the upper unit is entered for a relay Correct wiring diagram Error wiring diagram When the upper unit is optically coupled input OUT1 OUT2 0V DC12 24V DC12 24V DC12 24V OUT1 DG...

Страница 11: ...ECR60 ECT60 User manual 10 DC12 24V DC12 24V OUT1 DG DC12 24V OUT1 DG...

Страница 12: ...t input IN needs to be connected EtherCAT status indicator The yellow light of RJ45 is used in the Link state to indicate whether there is a network connection The green light for RJ45 is used for the...

Страница 13: ...ECR60 ECT60 User manual 12 Slow flash 200ms 200ms 2 5Hz So loop Single flash 200ms 1s So loop Double flash bright 200ms 200ms 200ms 1s So loop...

Страница 14: ...n they need to set 0x2151 to 1 and then write the desired address value in 0x2150 0x2151 0x2150 Site address 0 1001 Master configuration site alias to ESC EEPROM 0x0004 word address 1 Set a value Obje...

Страница 15: ...ECR60 ECT60 User manual 14 1 7 Mechanical size...

Страница 16: ...e driver preventing the user from matching the small motor without the first time to modify the current of the driver resulting in excessive current damage to the driver and the motor On 0x1001 both s...

Страница 17: ...ndex Name PDO mapping The default value 1010 00 Maximum number of sub indexes No 1 01 Save parameters No 0 Restore factory settings Sub index of object dictionary 0x1011 01 writes to 1 then poweres on...

Страница 18: ...to65535 10000 Pulse rev This object is used to set the number of pulses required for the motor to run a circle while the stepper motor is running The ECT60 operates in closed loop mode by default whe...

Страница 19: ...le Current Percent R W S UINT 0to100 50 This object is used to set the percentage of the operating current set by 0x2000 when the motor stops running into standby when the motor is in standby while ru...

Страница 20: ...s follows Value Function 0 Custom output 1 Alarm output 2 Holding gate output 3 Output in place When set to custom output the state of the port can be controlled by the polarity setting of 0x2006 0x20...

Страница 21: ...ECR60 ECT60 User manual 20...

Страница 22: ...ntains six input ports which are used to set the corresponding functions for the input port Value Function 0 Universal input 1 CW Limit Input 2 CCW Limit Input 3 HOME input 4 Clear the fault 5 Emergen...

Страница 23: ...ECR60 ECT60 User manual 22 Bit15 to bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 IN6 IN5 IN4 IN3 IN2 IN1 0 Often closed 1 Always open...

Страница 24: ...ult value Unit 0x2009 Soft lock Time R W S UINT 0to65535 1000 50us The ECR60 requires locking the stepper motor for initial positioning when enabling and in order to reduce the jitter of the initial p...

Страница 25: ...calculate the appropriate current ring PI parameters When the automatically recognized PI parameters do not meet the requirements the user can set the parameters themselves 0x200C motor parameters Obj...

Страница 26: ...al by checking the self identification resistance and inductor value of the object Servo mode 2 The E CT60 operates in servo mode 2 and the closed loop stepper motor is in FOC mode Due to the special...

Страница 27: ...ECR60 ECT60 User manual 26...

Страница 28: ...ring 0x200E internal alarm code Object dictionary Name Prope rty Type The default value 0x200E Alarm Code R UINT 0 This object shows the current fault code for the drive with each bit of the object co...

Страница 29: ...e 0x0020 Drive ready Other Keep 0x2010 Position Zeroing Object dictionary Name Property Type Range The default value Unit 0x2010 Zero Position R W UINT 0 to1 0 Setting the object to 01h clears the pos...

Страница 30: ...rev When the operating mode of the stepper motor is closed you need to set the corresponding encoder resolution for the motor to run one turn After this parameter is set you need to save to power on...

Страница 31: ...p R W S UINT 0 to 0 10000 2000 Proportional gain Adjusting the motor position response rigidity 0x2023 02 PosLoop_Ki R W S UINT 0to 1000 100 Integral gain to eliminate positional errors when the motor...

Страница 32: ...eed Filter Object dictionary Name Property Type Range The default value Note 0x2025 01 FV1_HZ R W S UINT 0 to1000 200 Set the filter for servo mode 2 0x2025 02 FV2_HZ R W S UINT 0to2000 600 0x2025 03...

Страница 33: ...kes effect under ECT60 in servo mode 2 and uses a vector control algorithm Usually PVIA_Kv1 PVIA_Kv2 PVIA_Kvff 0x2043 speed Given Object dictionary Name Propert y Type Range The default value Unit 0x2...

Страница 34: ...9 input level Object dictionary Name Propert y Type Range The default value Unit 0x2049 Input Level R UINT 0 Show the physical level of the current IO input Bit15 to bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0...

Страница 35: ...alue Unit 0x2060 Amplitude of First Anti Vibration R W S UINT 0 1000 0 Used to eliminate the vibration of the first resonance point of a two phase stepper motor This method cancels out resonance by ad...

Страница 36: ...ECR60 ECT60 User manual 35 0x204A Phase B of First Anti Vibration R UINT 0 1024 0 Adjust the harmonic phase of the B phase winding...

Страница 37: ...occurs the failure condition is first eliminated and then 0x0080 is written to the control word 0x6040 to clear 0x603F The fault code is as follows Error Code Describe 0x7500 Communication failure 0x3...

Страница 38: ...as follows Bit Describe 0 Switch ON 1 Enable Voltage 2 Quick Stop 3 Enable Operation 4 Operating mode related 5 Operating mode related 6 Operating mode related 7 Fault reset 8 Time out 9 Operating mod...

Страница 39: ...ep 6 Absolute relative 0 Absolute position mode 1 Relative position mode 8 Time out 0 Motor waiting to complete positioning 1 Stop Run 9 Keep PV mode Bit Name Value Describe 8 Pause Run 0 Motor runs t...

Страница 40: ...e Enabled 5 Quick Stop 6 Switch On Disabled 7 Warning 8 Keep 9 Remote 10 Target Reach 11 15 Keep Bit 9 Remote Shows whether the control word is set This bit bit expresss control word has settled 0x606...

Страница 41: ...ype Rang e The default value 0x6064 Position Actual Value R INTEGER32 0 0x606C Actual Speed Shows the actual position of the current motor in Pulse Object dictionar y Name Prope rty Type Rang e The de...

Страница 42: ...struction stoais in PP mode In Pulse s Object dictionar y Name Prope rty Type Rang e The default value 0x6081 Profile Velocity RW INTEGER32 10000 0x6083 Track Acceleration This object is used to set t...

Страница 43: ...or the motor to return to zero Object dictionar y Name Propert y Type Range The default value 0x6098 Homing Method RW UNSIGNED16 17 to 35 17 The specific description refers to the back to zero mode 0x...

Страница 44: ...ECR60 ECT60 User manual 43 Object dictionar y Name Propert y Type Range The default value 0x609A Homing Ense RW UNSIGNED32 100000...

Страница 45: ...rohibit probe 1 drops along latch 1 Enable probe 1 to rise along the latch 5 0 Prohibit probe 1 drops along latch 1 Enable probe 1 drops along latch 6 Keep 7 Keep 8 0 Probe 2 Prohibited 1 Probe 2 Enab...

Страница 46: ...robe 1 drops along latch There 3 7 0 Keep 8 0 Probe 2 is prohibited 1 Probe 2 Enable 9 0 Probe 2 Rise Edge Latch None 1 Probe 2 rise spout lock There 10 0 Probe 2 drops along latch None 1 Probe 2 drop...

Страница 47: ...position where the probe 2 rises along the latch Object Type Data Type Access Type PDO Mapping Default Value Var UNSIGNED32 R Yes 0 0x60BD probe 2 negative latching value This object saves probe 2 dr...

Страница 48: ...ng Default Value Var UNSIgned Ro Yes 0x00000000 Bit0 CW Limit 0 Invalid 1 Limit stake effective Bit1 CCW Limits Bit2 HOME 0 Zero invalid 1 Zero effective Bit3 to Bit15 Keep Bit16 IN1 The physical stat...

Страница 49: ...pported by 0x6502 This object describes the operating mode supported by the drive Object dictionary Name Prope rty Type Range The default value Unit 0x6052 Supportdrive Drive Modes R UDINT 0x000000A5...

Страница 50: ...nt mode that uses setpoints consisting of speed acceleration deceleration and target position Once all these parameters are set the drive caches these commands and starts executing the setpoint Enable...

Страница 51: ...once the drive receives and processes the set point the control word must be cleared by writing 000FH to the control word register Control word related bits Controlword Bits New set point bit 4 set th...

Страница 52: ...ew set point is 20000 the final position will be 30000 If low set the point absolute position mode If the previous motor position is 10000 and the newly set position is 20000 the new position will be...

Страница 53: ...ng speed according to the acceleration parameters or stops the movement according to the deceleration parameters The following illustration shows an example of a configuration speed pattern The figure...

Страница 54: ...stop bit It should be noted that the powerful moment is kept on the motor whether the stop bit is set and the target speed is set to zero If you want the shaft to move freely you must place the drive...

Страница 55: ...bit is set to 0 000Fh the motion starts or continues and when the stop bit is set to 1 010Fh the motion stops Track speed 60FFh greater than zero indicates the motor is moving forward less than zero...

Страница 56: ...and optional actual motor speed and torque Enable CSP mode To enable the circular synchronization location mode the value 0008h must be written to 6060 h at the dictionary address Enable Drive When po...

Страница 57: ...as follows Index Object description 0x60B8 Probe function settings Touch Probe Function 0x60B9 Probe status Touch Probe Status 0x60BA Probe 1 rises along the latch position Touch Probe Position 1 Pos...

Страница 58: ...ECR60 ECT60 User manual 57 Probe Time Series...

Страница 59: ...rise son latch is placed 4a 60BA Probe 1 positive position is locked 5 The external probe signal drops on the edge 6 60B9 Bit 2 s 1 Status Probe 1 drops along latch is placed 6a 60BB Probe 1 negative...

Страница 60: ...60B9 Bit 1 s 1 Status Probe 1 rise son latch is placed 12a 60BA Probe 1 positive position is locked 13 60B8 Bit 0 0 Probe 1 function prohibited 14 60B9 Bit 0 1 2 s 0 Status bits cleared 14a 60BA 60BB...

Страница 61: ...t polarity settings Enable zero function To be able to track position mode the value of the object dictionary 6060h operating mode must be set to 0006h The object dictionary 6061h operation mode displ...

Страница 62: ...g edge you can start back to zero The status of zeroback is queried by 6041 status word Abort Back to Zero function The back zero method is set up through the 6098h object dictionary By controlling bi...

Страница 63: ...ECR60 ECT60 User manual 62 2 4 6 1 Zero back method The ECR60 drive product supports the way back to the origin of 17 to 34 35 as described below 2 4 6 2 Method 17 2 4 6 3 Method 18...

Страница 64: ...ECR60 ECT60 User manual 63 2 4 6 4 Method 19 2 4 6 5 Method 20 2 4 6 6 Method 21...

Страница 65: ...ECR60 ECT60 User manual 64 2 4 6 7 Method 22 2 4 6 8 Method 23...

Страница 66: ...ECR60 ECT60 User manual 65 2 4 6 9 Method 24 2 4 6 10 Method 25...

Страница 67: ...ECR60 ECT60 User manual 66 2 4 6 11 Method 26 2 4 6 12 Method 27...

Страница 68: ...ECR60 ECT60 User manual 67 2 4 6 13 Method 28 2 4 6 14 Method 29...

Страница 69: ...ECR60 ECT60 User manual 68 2 4 6 15 Method 30 2 4 6 16 Method 35...

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Страница 71: ...ECR60 ECT60 User manual 70...

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