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Unimotion STDF EC Series, Руководство пользователя

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3 

ETHERCAT COMMUNICATION 

3.1

 

CAN application protocol over EtherCAT 

STDF  EC  is  an  EtherCAT  communication  embedded  type  of  controller  to  support  CAN 
application protocol over EtherCAT (CoE). EtherCAT slave structure is as below. 

 

Figure 3-1: EtherCAT Structure. 

 

3.1.1  Object dictionary 

Object dictionary is a dictionary of objects of the product. 

3.1.2  Mailbox communication 

Master and Slave commands receive service data object (SDO) at mailbox communication 
(SDO communication). This communication method is the way of message transfer and the 
master  delivers  commanded  slave  responses.  SDO  communication  is  used  for  setting  or 
confirmation of objects in the object dictionary. This communication can be used under the 
pre-operation, safe-operation, and operation status of the controller. 

Содержание STDF EC Series

Страница 1: ...Manual Closed Loop Stepping System Manual STDF EC EtherCAT...

Страница 2: ......

Страница 3: ...N1 21 2 4 5 Encoder connector CN2 22 2 4 6 Motor connector CN3 22 2 4 7 Power connector CN4 23 3 EtherCAT Communication 24 3 1 CAN application protocol over EtherCAT 24 3 1 1 Object dictionary 24 3 1...

Страница 4: ...and Output 56 4 8 1 Definition 56 4 8 2 Related Objects 56 4 8 3 User I O 56 4 8 4 ORIGIN and LIMIT Input 57 4 8 5 BRAKE Output 57 5 Operation 58 5 1 Operation sequence 58 5 2 Setting 58 5 2 1 Install...

Страница 5: ...bject 1C12h RxPDO assign 71 6 3 6 Object 1C13h TxPDO assign 71 6 4 Sync Manager Object 71 6 4 1 Object 1C00h Sync manager type 71 6 4 2 Object 1C32h SM output parameter 72 6 4 3 Object 1C33h SM input...

Страница 6: ...uch probe source 87 6 5 36 Object 60D5h Touch probe 1 positive edge counter 88 6 5 37 Object 60D6h Touch probe 1 negative edge counter 88 6 5 38 Object 60D7h Touch probe 2 positive edge counter 88 6 5...

Страница 7: ...6 18 Object 201Ah Push Mode 100 6 6 19 Object 2018h Internal Current Value 101 6 6 20 Object 201Bh Limit Deceleration 101 6 6 21 Object 2020h Error code history setting 101 6 6 22 Object 2021h Error c...

Страница 8: ...er If the user does not properly handle the product a dangerous situation such as an electric shock may occur resulting in death or serious injuries Information Necessary information and or extra atte...

Страница 9: ...ng diagram for the cable connection Disregard and fire or other kinds of accidents may occur Danger Before connecting the cables please check that the input power is OFF Otherwise a fire or other kind...

Страница 10: ...DF EC drive Electricity remaining in the capacitor may cause electric shock Do not change cabling while the power is supplied otherwise the user may get injured or the product may get damaged Do not t...

Страница 11: ...11 108 1 PRODUCT SPECIFICATION 1 1 Model naming Figure 1 1 Model naming 1 2 Product dimension Figure 1 2 Dimensions of the STDF A EC drive...

Страница 12: ...cal address at master 1 65535 Topology Line structured by products only Tree star when using a switch hub Support protocol CoE CANopen application protocol over EtherCAT FoE File access over EtherCAT...

Страница 13: ...st 0 5 G Function Rotation speed 0 3000 rpm Resolution ppr 500 100000 selectable by parameter Protection functions Over Current Error Over Speed Error Position Tracking Error Over Load Error Over Temp...

Страница 14: ...of the case reaches 50 C ventilate the outside of the case to cool down 3 Do not install this product in direct sunlight near magnetic or radioactive objects 4 If more than 2 drives are installed nex...

Страница 15: ...15 108 2 2 System configuration only for motor sizes 42 and 56 Figure 2 2 System configuration diagram of the STDF EC...

Страница 16: ...16 108 2 3 External wiring diagram Figure 2 3 External wiring diagram of the STDF A EC drive...

Страница 17: ...herCAT ID 2 4 1 1 ID Setting Change EtherCAT ID configured alias ID value by the rotary switch setting The right switch indicates tens and the left switch indicates units The setting range is 0 99 Inf...

Страница 18: ...the rotary switch is set to other than 0 7 segment indicates the relevant set value EtherCAT configured alias If 7 segment of ID blinks it indicates that the ID value is not applied yet It can be appl...

Страница 19: ...king PRE OPERATIONAL Status Single Flash SAFE OPERATIONAL Status ON OPERATIONAL Status Flickering BOOTSTRAP Status ERR Red OFF Non error status or Power OFF Blinking Extra Error Single Flash Sync Erro...

Страница 20: ...ontroller connect the communication cable from ECAT OUT to the ECAT IN of the next controller Table 2 2 EtherCAT connector 2 4 3 1 EtherCAT communication cable Recommended communication cable should b...

Страница 21: ...t Input Input Input Output Output Output Output Output Output Output Output Input Input 2 4 4 1 Limit and origin input signal Connect limit sensor and origin sensor to IN OUT connector of LIMIT LIMIT...

Страница 22: ...nto capacity of power supply for input Supply voltage and capacity of power for control output connection as below Less than 30 V of supply voltage Less than 15 mA of current flow 2 4 5 Encoder connec...

Страница 23: ...23 108 Type of Connector Molex 556904A2 2 4 7 Power connector CN4 Table 2 6 Power connector No Function I O 1 2 24 VDC GND Input Input Type of Connector Molex 556902A2...

Страница 24: ...t dictionary is a dictionary of objects of the product 3 1 2 Mailbox communication Master and Slave commands receive service data object SDO at mailbox communication SDO communication This communicati...

Страница 25: ...er This communication can be used under the operational status of the controller and Tx PDO is only available for Safe Operation status Figure 3 2 EtherCAT PDO Communication 3 2 PDO Mapping PDO Mappin...

Страница 26: ...SyncManager Figure 3 4 PDO Assign 1C12h is object to assign Rx PDO and can assign one object among Rx PDO Object 1600h or 1601h 1C13h is object to assign Tx PDO and can assign one object among Tx PDO...

Страница 27: ...nication enters into this stage Network setting is initialized Only mailbox communication is available at this stage SAFE OP Available Non Available Available Stage of Tx PDO communication is availabl...

Страница 28: ...istributed Clock following DC DC is synchronized time shared between Master and Slave With a synchronized clock interrupt is generated under accurate synchronization and the controller executes comman...

Страница 29: ...Status of product moves as follows Status movement is executed by the status of controller and control word 6040h and current status can be checked by status word 6041h Figure 4 1 Drive State Machine...

Страница 30: ...able Voltage command from control device The drive function shall be disabled Motor power shall be switched off 10 Quick Stop or Disable Voltage command from control device 11 Quick Stop command from...

Страница 31: ...ck stop Disable Operation Enable Operation Fault reset 0 0 0 0 0 0 0 0 1 X 0 1 X X 0 1 x 1 1 1 X 0 1 1 x 1 1 1 0 1 1 1 x 0 1 1 X X 1 1 x 2 6 8 3 3 4 7 9 10 12 7 10 11 5 4 16 15 If Quick stop option co...

Страница 32: ...285 E 005 Over Temperature Error Inside temperature of drive exceeds 85 C 0xFF06 65286 E 006 Over Regenerated Voltage Error Motor Back EMF is higher than limit value 3 0xFF07 65287 E 007 Motor Connect...

Страница 33: ...rror ROM is blank status 0xFF65 65381 E 101 ROM Initialization Error Check sum of ROM is not matched 0xFF66 65382 E 102 FRAM Access Error Error generated during FRAM accessing 0xFF6E 65390 E 110 ROM R...

Страница 34: ...d operation mode can be checked by the Mode of operation display 6061h Operation modes supported by the current controller are as follows Table 4 7 Supported operation modes Mode of operation Descript...

Страница 35: ...nable Operation Reserved Please refer to 4 1 Drive Status Control for the rest of bits Status word 6041h under position control mode are as follows Table 4 9 Status word of CSP Mode Bit Name Descripti...

Страница 36: ...ror generated Table 4 12 Status word of Bit 15 Bit Value Description 15 1 Safety Function was activated and motor is disabled 4 5 Profile position mode 4 5 1 Definition Position control mode is to mov...

Страница 37: ...37 108 4 5 2 Related objects Figure 4 3 Profile position mode...

Страница 38: ...f bits Table 4 14 Control word of Bit 4 5 Bit 5 Bit 4 Description 0 0 1 Execute position movement command after completion of the previous command 1 0 1 Execute position movement command with ignoranc...

Страница 39: ...d In Push Mode state Reached target position New Set Point Response Following Error Work Detected Please refer to drive status control for the rest of bits Table 4 19 Status word of Bit 10 Bit Value D...

Страница 40: ...New Set Point Bit 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...

Страница 41: ...position movement command after completion of previous position movement So if already inputs next target position at buffer position movement command can be executed immediately without time delay Fi...

Страница 42: ...5 4 4 Push Motion Stop Mode The Push Motion Stop Mode of STDF EC moves the motor to the Target Position while maintaining the specified torque and stops and finishes Push Motion when work is detected...

Страница 43: ...arget position override commands are not allowed during the Push Motion 4 5 4 5 Push Motion Non stop Mode The Push Motion Stop Mode of STDF EC moves the motor to the Target Position while maintaining...

Страница 44: ...position is reached the Push Motion is finished when Halt Bit 8 of Control word becomes SET Figure 4 8 Push Motion Non stop Mode 1 A work was detected The detection status can be judged by Push Detec...

Страница 45: ...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 Ori...

Страница 46: ...l word Bit Name Description 0 1 2 3 4 5 6 7 8 9 15 Switch On Enable Voltage Quick Stop Enable Operation Homing Operation Start Reserved Fault Reset Halt Reserved Origin Search Command Stop Command Ple...

Страница 47: ...4 Origin Search Method Origin search methods supported by this product are as follows Table 4 30 Homing method list Homing method Name 1 2 7 11 17 18 24 28 33 34 35 37 3 4 5 6 Homing on Negative Limit...

Страница 48: ...e opposite direction and moves by velocity of Speed during the search for zero 6099h index 02h Index Pulse goes ON then stops and sets correspondent position as sensor origin position 4 6 4 2 Method 2...

Страница 49: ...the search for a switch 6099h index 01h Positive Limit Switch goes ON it goes to opposite direction and moves to the opposite direction Switch goes ON and moves by velocity of Speed during the search...

Страница 50: ...s for Negative Direction and movement velocity is the value of Speed during the search for a switch 6099h index 01h Negative Limit Switch goes ON it goes to the opposite direction by velocity of Speed...

Страница 51: ...99h index 01h Positive Limit Switch goes ON it goes to the opposite direction by velocity of Speed during the search for zero 6099h index 02h and gets out of Origin Switch If it gets out of Origin Swi...

Страница 52: ...locity is Speed during the search for zero 6099h index 02h Index Pulse goes ON then stops then sets correspondent position as sensor origin position 4 6 4 10 Method 35 Set the current position origin...

Страница 53: ...ad then stops and moves to the opposite direction and movement velocity is Speed during the search for zero 6099h index 02h Index Pulse goes ON then stops and sets correspondent position as sensor ori...

Страница 54: ...Touch probe 2 negative value RO Indicate detected position of Falling edge of Touch Probe 2 Touch probe 1 positive edge counter RO Indicate detected frequency of Rising edge of Touch Probe 1 Touch pr...

Страница 55: ...cknowledgment If the Touch probe function of bit number 1 9 has set as 1 the Touch probe uses all acknowledged signals after Enable Please refer to the Timing chart as follows Figure 4 20 Touch Probe...

Страница 56: ...als Object 2001h Sensors logics R W Set Active Level of ORIGIN LIMIT LIMIT input signals Object 2002h Reverse limit direction R W Exchange LIMIT and LIMIT inputsignals Object 2011h Digital input level...

Страница 57: ...le 4 33 Relationship between reverse limit direction 2002h and limit sensor Reverse Limit Direction Sensor 1 Detect Sensor 2 Detect 0 Negative Limit Positive Limit 1 Positive Limit Negative Limit 4 8...

Страница 58: ...Enabled 7 Set Mode Set Object 6060h Mode of operation 8 Set Operation Input value into Object needed for execution of Motion 9 Movement Command Execute command by setting of Control word 10 Check Sta...

Страница 59: ...achine as Operation Enabled by setting of Control word 6040h Check the Status word 6041h whether it can be changing to Operation Enabled In case of changing to Fault status check the type of error by...

Страница 60: ...riate action 5 4 Drive Setting Adjustment 5 4 1 Change Rotation Direction If the rotation direction of the motor goes to the opposite direction set Polarity 607Eh value then able to change the rotatio...

Страница 61: ...61 108 5 4 2 2 User I O Active Level of User I O User Input 1 7 and User Output 1 6 can be changing by Digital input levels 2011h and Digital output levels 2012h...

Страница 62: ...Sub Index Name Type Access Constant Value 1008h 0 Device name STR 18 RO STDF EC 6 1 1 Index and Sub Index All object divides into 4 digits of hexadecimal index and configured as following field Table...

Страница 63: ...er can be read or written 6 1 5 SAVE Value of object can be saved at EEPROM through Store parameters 1010h 6 1 6 PDO Mapping Indicates object whether correspondent object can be mapping at PDO communi...

Страница 64: ...vice Profile Number 0192h CiA 402 Profile 16 23 Type 04h Stepper Driver 24 31 Mode 00h 6 2 2 Object 1001h Error register Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 100...

Страница 65: ...version STR 8 RO 01 00 00 This object indicates the version of the software Indicated value can be different by the version of the product 6 2 6 Object 1010h Store parameters Index Sub Index Name Typ...

Страница 66: ...a o l Hex 64h 61h 6Fh 6Ch If failed to initialize SDO communication returns Abort SDO Transfer abort code 0606 0000h If inputs incorrect value device will not be initialized and return Abort SDO Trans...

Страница 67: ...ge Default Value 1600h 0 Number of entries U8 RW No No 0 10 2 1 1st PDO object U32 RW Yes No 6040 0010h 2 2nd PDO object U32 RW Yes No 607A 0020h 3 3rd PDO object U32 RW Yes No 0000 0000h 4 4th PDO ob...

Страница 68: ...PDO object U32 RW Yes No 6081 0020h 4 4th PDO object U32 RW Yes No 6060 0008h 5 5th PDO object U32 RW Yes No 0000 0000h 6 6th PDO object U32 RW Yes No 0000 0000h 7 7th PDO object U32 RW Yes No 0000 00...

Страница 69: ...DO object U32 RW Yes No 0000 0000h 5 5th PDO object U32 RW Yes No 0000 0000h 6 6th PDO object U32 RW Yes No 0000 0000h 7 7th PDO object U32 RW Yes No 0000 0000h 8 8th PDO object U32 RW Yes No 0000 000...

Страница 70: ...3rd PDO object U32 RW Yes No 606C 0020h 4 4th PDO object U32 RW Yes No 6061 0008h 5 5th PDO object U32 RW Yes No 0000 0000h 6 6th PDO object U32 RW Yes No 0000 0000h 7 7th PDO object U32 RW Yes No 000...

Страница 71: ...lue Range Default Value 1C13h 0 Number of entries U8 RO No No 1 1 TxPDO U16 RW No No 1A00h 6 4 Sync Manager Object 6 4 1 Object 1C00h Sync manager type Index Sub Index Name Type Access SAVE PDO Mappin...

Страница 72: ...ycle time U32 RO No No 0000 0000h 4 Synchronization type supported U16 RO No No 0780h 5 Minimum cycle time U32 RO No No 0000 0000h 6 Calc and copy time U32 RO No No 0000 0000h 8 Get cycle time U16 RW...

Страница 73: ...No 0000 0000h 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 time too small U16 RO...

Страница 74: ...Drive Status Control 1 Enable Voltage 2 Quick Stop 3 Enable Operation 4 6 Operation mode specific 7 Fault Reset Initialize Fault status 8 Halt Cancel command and stop 9 Operation mode specific 10 15 R...

Страница 75: ...le description Current status can be checked through number 0 6 bits according to controller Table 6 14 Current status following by Status word Status word Description xxxx xxxx x0xx 0000b xxxx xxxx x...

Страница 76: ...s is Quick Stop Table 6 15 Quick Stop Option Code Value Description 0 1 2 Torque Disable Motor Free After decelerated stop changes to be switch On Disable status After quick stop changes to be Switch...

Страница 77: ...ough Halt once stops command Table 6 18 Halt Option Code Value Description 1 2 After deceleration stops maintains Operation Enabled status After quick stops maintain Operation Enabled status 6 5 8 Obj...

Страница 78: ...tual operation mode is indicated at Mode of operation display 6061h 6 5 10 Object 6061h Mode of operation display Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 6061h 0 Mo...

Страница 79: ...mation This object can NOT be set while it s Operation Enabled state Please set after Operation Disable Please refer to 4 1 Drive Status Control If the value of Following error actual value is greater...

Страница 80: ...PDO 2147483648 2147483647 0 This object sets target position under Profile Position Mode Cyclic Synchronous Position Mode 6 5 17 Object 607Ah Target position Index Sub Index Name Type Access SAVE PDO...

Страница 81: ...his range target position can be adjusted within range and if current position currently is out of range Status word of Internal Limit Active Bit goes SET and unable to move to correspondent direction...

Страница 82: ...07Fh 0 Max profile velocity U32 RW Yes No 1 2500000 2500000 This object sets Max allowable velocity Whatever it receives value of velocity controller does not move faster than Max Profile Velocity 6 5...

Страница 83: ...ing on Negative Limit Switch and Index Pulse Homing on Positive Limit Switch and Index Pulse Homing on Origin Switch Positive Direction Negative Edge and Index Pulse Homing on Origin Switch Negative D...

Страница 84: ...to sense correspondent Switch Speed during search for zero index 02h is the velocity that is used for searching sensor origin after searching correspondent Switch 6 5 27 Object 609Ah Homing accelerati...

Страница 85: ...of 1 signal 6 7 0 Reserved 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 signal...

Страница 86: ...ling edge of set signal has sensed 11 13 0 Reserved 14 15 0 3 Indicates frequency of Touch probe 2 acknowledgement 6 5 30 Object 60BAh Touch probe 1 positive value Index Sub Index Name Type Access SAV...

Страница 87: ...lue U8 RW Yes No 0 65535 2 2 Interpolation time index I8 RW Yes No 4 1 3 This object indicates and sets cycle time using at synchronous control mode for example Cyclic synchronous Position Mode cycle...

Страница 88: ...ct indicates frequency for acknowledgement of Touch Probe 1 rising edge 6 5 37 Object 60D6h Touch probe 1 negative edge counter Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Va...

Страница 89: ...hod I16 RO 17 18 24 8 8th supported homing method I16 RO 9 9th supported homing method I16 RO 10 10th supported homing method I16 RO 25 28 29 33 34 11 11th supported homing method I16 RO 12 12th suppo...

Страница 90: ...dow 6065h during certain timing Following Error will be generated 6 5 42 Object 60FDh Digital inputs Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 60FDh 0 Digital Inputs...

Страница 91: ...28 Definition of Physical outputs and Bit mask Bit Name 0 Set Brake 1 15 16 Reserved User Output 1 17 User Output 2 18 User Output 3 19 User Output 4 20 User Output 5 21 22 31 User Output 6 Reserved 6...

Страница 92: ...odes currently supported Table 6 30 Supported Drive Modes Bit Description 0 1 2 3 4 5 6 7 8 9 10 31 Profile Position Mode Velocity Mode Profile Velocity Mode Torque Profile Mode Reserved Homing Mode I...

Страница 93: ...Access SAVE PDO Mapping Value Range Default Value 2003h 0 Limit stop method U8 RW Yes No 0 4 0 This Object sets the method of stop once Hardware Limit Switch goes ON Table 6 33 Stop Method Value Defin...

Страница 94: ...5 10 This Object sets Run current of Motor Unit is Run current means that current value flowing through the motor while the motor is running It is set based on the rated current of the motor This valu...

Страница 95: ...not increase as much as the set value even if the set value is raised Information This object can NOT be set while it is in Operation Enabled state Please set after Operation Disable Please refer to...

Страница 96: ...solution certain value of Following error can be generated Information This object can NOT be set while it is in Operation Enabled state Please set after Operation Disable Please refer to 4 1 Drive St...

Страница 97: ...2 58 7 2 11 1 3 27 3 3 43 5 3 59 7 3 12 1 4 28 3 4 44 5 4 60 7 4 13 1 5 29 3 5 45 5 5 61 7 5 14 1 6 30 3 6 46 5 6 62 7 6 15 1 7 31 3 7 47 5 7 63 7 7 If the bandwidth set value is small the target fol...

Страница 98: ...pulse is completed it is judged that the positioning is completed Target Reached Figure 6 2 Target reached status changes according to In position Mode Information This object can NOT be set while it...

Страница 99: ...timing up to Brake release after Enable commands 6 6 15 Object 2011h Digital input levels Index Sub Index Name Type Access SAVE PDO Mapping Value Range Default Value 2011h 0 Digital input levels U16 R...

Страница 100: ...of the motor Table 6 36 List of Homing methods which uses Homing Torque Ratio Homing method Name 3 4 5 6 Homing on Negative Limit touch Homing on Positive Limit touch Homing on Negative Limit touch an...

Страница 101: ...he value is mA 6 6 20 Object 201Bh Limit Deceleration This object sets deceleration ratio applied in deceleration stop in Cyclic Synchronous Position Mode Index Sub Index Name Type Access SAVE PDO Map...

Страница 102: ...t of setting value 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 Index Sub Index Name Type Access SAVE PDO M...

Страница 103: ...0 5 POR Enable Time U32 RO No No 0 6 POR Rotating Count U32 RO No No 0 This Object shows the time the controller has operated and the distance traveled For example if the controller operates as follow...

Страница 104: ...ler is powered off LTR Rotating Count It displays the total number of revolutions the motor has rotated through the command for a lifetime Since the product was shipped The unit is rev and the number...

Страница 105: ...EtherCAT communication status is activated again If the value is set to 1 the EtherCAT communication error 0x7500 is automatically cleared the state of EtherCAT State Machine changes from SAFE OP to O...

Страница 106: ...10000 1000 This object can set the Error Code 0xFF46 Encoder Count Error 6 6 25 1 Enable Encoder Count Error This object can enable or disable the Error Code 0xFF46 Encoder Count Error 6 6 25 2 Accep...

Страница 107: ......

Страница 108: ...Unimotion March 2023 NORTH AMERICA Unimotion North America Inc 3952 Ben Hur Ave Unit 5 Willoughby OH 44094 T 1 440 525 9106 www unimotionusa com info unimotionusa com GERMANY Unimotion GmbH Waldstras...

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