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EtherCAT User`s Manual

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1. af Represents Twisted pair Wires 94 A t Servomotor U B 2 V e M C 3 w D o CN2 Absolute Encoder E Encoder 7 S E 8 S I 17 BAT t t PG 18 BAT T T 9 PG5V 19 PGOV T T Shell Shield w 1 TH Be sure to prepare the end ofthe 2 TD shielded wire properly 3 RD 4 N C 5 N C 6 RD 7 N C 8 N C Shell Shield CNA RJ45 Socket 1 TD 2 TD 3 RD 4 N C 5 N C 6 RD 7 N C 8 N C Shell Shield TESTA i Signal Allocations can be Modified 11 TGON C IN Positioning Completion upon Seaver ear 13 S RDY AE Eegen Brake Interlock M COM PGO Encoder C Pulse Output OT Over Travel l RD Servo Enabled Motor Excitation Output HOME Home Completion Output L IRy 24V i 12 ALM D T 14 com2 T D J 1D ov ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA ESTUN Ethe C 3 Three phase JUUVAG ProNet 10DEA EC to ProNet 75DEA EC
2. 2 2 EtherCAT interface specification EtherCAT interface should be connected by twisted pair wire Electrical feature according to IEEE802 3 standard Interface RJ45 8 pin modularize connector According to ISO 8877 RJ45 connector RJ45 connector connector description CN5 EtherCAT IN port 7 ESTUN EtherCAT User s Manual CN6 EtherCAT OUT port Pin layout Pin No Signal name abbreviation signal transmit direction 1 Data transmit TD Output 2 Data transmit TD Output 4 Not used 5 Not used 7 Not used E 8 Not used Interface grounding grounding FG 2 3 Wire specification Level 5 or above Shield Note Identify the cable model is suitable for the interface Identify items are as follows conductor specification single cable pair cable two pair four pair external diameter etc ESTUN EtherCAT User s Manual Chapter 3 EtherCAT EC information 3 1 CANopen over EtherCAT model ProNet Application CANopen service CoE Object dictionary EtherCAT Application layer State CANopen DS402 Machine Service data objects SDO Registers Process data FMMU 2 FMMU O FMMU 1 Data link layer EtherCAT data link layer EtherCAT physical layer Communication model EtherCAT CoE network model is composed of two parts data link layer an
3. 5 2 7 fault_reaction_option_code When it alarms fault_reaction_option_code will decide how to halt Index 605D h Name fault reaction option code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 Default Value 0 Introduction The servo excitation signal will be shut down and servo motor will stop freely 5 3 Control mode Now ProNet servo drive supports 5 control modes HOMING MODE PROFILE VELOCITY MODE PROFILE POSITION MODE CYCLIC SYNCHRONIZATION POSITION MODE INTERPOLATION POSITION MODE This chapter will mainly describe these 5 control methods as above 5 4 Control mode parameters Index Object Name Type Attr 6060 n VAR modes of operation INT8 RW 6061 n VAR modes of operation display INT8 RO modes of operation Servo drive s control mode is defined by modes of operation 23 ESTUN EtherCAT User s Manual Index 6060 n Name modes_of_operation Object Code VAR Data Type INT8 Access RW PDO Mapping YES Units Value Range 1 3 6 Default Value 0 Value Introduction 0 Not any control mode 1 PROFILE POSITION MODE 3 PROFILE VELOCITY MODE 6 HOMING MODE 8 CYCLIC SYNCHRONIZATION POSITION modes of operation display Servo drive s current control modes of operation display mode could be read from the
4. Index 6061 n Name modes of operation display Object Code VAR Data Type INT8 Access RO PDO Mapping YES Units Value Range 1 3 6 7 8 Default Value 0 Note Only through the parameters of modes of operation display we could get the control mode of the servo drive Only in Target Reached status servo drive s control mode can be transit to configured control mode And then modes of operation display could be the same as modes of operation 24 ESTUN EtherCAT User s Manual 5 5 Homing mode PRONET servo drive now supports multiple homing methods Clients could choose the homing method that suits the motor type and application For example if the servo drive uses incremental encoder we could choose C pulse to do the homing If the servo drive is using serial encoder or resolver we couldn t use C pulse as the homing method Clients can set homing method homing speed and acceleration After the servo drive finds the reference point we could also set the distance between homing position and reference point as much as the value defined by home_offset 607C 5 5 1 Control word 15 9 8 7 5 4 3 0 7 Halt 7 home start operation S please referred to previous chapters Name Value Description 0 Homing mode inactive 0 1 Start homing mode Homing operation start 1 Homing mode active 1 0 Interrupt homing mode Halt 0 Exec
5. 74 ESTUN B 2 Parameters in detail EtherCAT User s Manual Parameter No Description Setting Validation Control Mode Function and Meaning Pn000 0 Servo ON 0 External S ON enabled 1 External S ON disabled Servo motor excitation signal is turned ON automatically after S RDY is output Pn000 1 Forward rotation input signal prohibited P OT 0 External P OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs Pn000 Binary After restart ALL 1 External P OT disabled Pn000 2 Reverse rotation input signal prohibited N OT 0 External N OT enabled Operate in the time sequence setting in Pn004 0 when travel limit occurs 1 External N OT disabled Pn000 3 Alarm output when instantaneous power loss 0 Instantaneous power loss for one period with no alarm output 1 Instantaneous power loss for one period with alarm output Pn001 0 ALL Pn001 1 Pn001 0 CCW CW selection Pn001 Binary After restart Pn001 2 0 Sets CCW as forward direction PS 1 Sets CW as forward direction Pn001 3 P 75 Pn003 Pn004 Binary Hex ESTUN After restart After restart ALL Pn004 0 ALL Pn004 1 P Pn004 2 P Pn004 3 P EtherCAT User s Manual Pn003 0 Reserved Pn003 1 Reserved Pn003 2 Low speed compensation 0 Without low speed correction 1 With low speed correction to avoid servomotor creeping but the degree of correction is determ
6. L3 Three phase 380 480V 2 50 60Hz Molded case Circuit Breaker Surge Protector 34 1Ry 1PL Servo Alarm Display 2 i Noise Filter Power OFF Power ON KM Een 1KM 1Ry 1SUP lt Be sure to connect a surge suppressor to the x excitation coil of the magnetic contactor and relay r U L Am Servomotor L2 u B 2 L o v te M A C 3 961 W ProNet Di o 2 Series Servo Drives amp o r p 24V CN2 24VDC Power Supply Q GND Absolute Encoder ue er tS SEN E Encoder L E 7 S A External Regenerator Resistor 8 S BL ii B1 17 BAT PG 18 BAT H B D 9 PG5V n 19 PGOV k 88 sel s Li MM ER RES bsp B3 ell hield 9 CNS 1 TD Be sure to prepare the end of the Be sure to ground 2 TD shielded wire property 3 RD 4 p cNi rE ei 5 6 L Signal allocatons can be modified 2 pico 20 4 8 E ap S ON Servo ON S ON 15 l Shel Shield P CON P Control P CON 16 P OT Forward Run Prohibited P OT 17 N OT Reverse Run Prohibited NOT 18 CN gt RJ45 Socket ALN RST Alarm Reset Lamas 19 1 TD T i 2 TD 3 RD i 4 N C 1 5 NC 485 6 6 RD 485 7 7 NC GNDiso 8 Bg 8 NC l l Shell Shield l ee 1 1 Connect Shield to Connector Shell Shield shel En iG Signal Allocations cen be Modo ES TGON Rotation Detection E 14 COM2 S ADY Servo Ready EE 13 S RDY CLT Torque Limit Detection ina BK
7. R COMM O WONG Ee 5 2 2 Ile E n 19 5 2 3 sh tdown option Gode ener rere RR EE EUR paca Rs 20 5 2 4 disable operation option code rrenan 21 Re Ee BET tele 22 5 2 6 halt option Code EE 22 5 2 7 fault reaction Option Cod rnc th teniente 23 SS COMMON MONG 23 5 4 Control mode parameters eres 23 5 5 HOMINO ode EE 25 E Control Word ertet repre te ee Dag ba det de SES 25 5 5 2 Slate te WEE 25 5 5 3 Parameters related to homing mode sse 26 5 5 4 Homing method 5 6 Profile velocity mode B 6 1 Control WON ERROR 5 6 2 State word 31 5 6 3 Parameters related to velocity mode sss sees ee sees see sere serere ereer nner 31 5 7 Profile position mode ote en rn een iei ra dedu 35 ESTUN EtherCAT User s Manual GK Control 35 57 2 State WEE iaceat rer ptr eee ee tee e cia nd eee Ee amity 36 5 7 3 Parameters related to position control eee 36 5 74 Function e leie ci ctc erede sq cetera eina ida 40 5 8 Interpolation position mode 42 5 8 1 Control ee nra eren eret crit ede e voee sex beue 42 5 8 2 State Word C 42 5 8 3 Parameters related to interpolation position control 42 5 9 Cyclic synchronous position mode 45 Chapter 6 EtherCAT communication example we AT Appendix A Object dictionary s sseussensounsounsnunounsnunnunnnunnnnnn
8. f It is used to set JOG rotation speed and the direction is determined by the pressing Pn305 JOG speed Immediately S key during JOG operation Soft start The time for trapeziform acceleration to accelerate to 1000rpm Pn306 acceleration Immediately S Unit ms time Soft start The time for trapeziform deceleration to decelerate to 1000rpm Pn307 deceleration Immediately S Unit ms time Speed filter l 1st order filter time constant Pn308 time Immediately S l Unit ms constant S curve e Pn309 iseti Immediately S The time for transition from one point to another point in S curve risetime Speed 0 Slope Pn 10 reference xi bi s 1 S curve n er restar curve form 2 1 order filter 3 2 order filter S form e x Pn311 After restart S This value determines the transition form of S curve selection Notch filter 1 Pn407 Immediately PST Notch filter 1 frequency A E l frequency 1 In some conditions vibration will be picked up and Notch filter 1 response will be lagged after notch filter is set Pn408 Immediatel P S T Notch filter 1 depth depth d E 2 When notch filter frequency is set to 5000 the notch Notch filter 2 filter is invalid Pn409 Immediately P S T Notch filter 2 frequency frequency 84 ESTU A EtherCAT User s Manual Notch filter 2 Pn410 Immediately PST Notch filter 2 depth depth Low frequency Pn411 vibration
9. j J we mw e fe j J ve Jaw que qe LE 61 S lS lS lS lR IR IR IR IR IR IR lR lR lR lS E ESTUN PR CE PR em 7 B CET B CE B CER B CE B em S B CR B CE bm mw m o m EN me ee ee eei 3086 3088 3089 30FC UINT16 UINT16 EtherCAT User s Manual ESTUN EtherCAT User s Manual Status word UINT16 lo Quick stop option code 605B lo Shutdown option code Disable operation 605C ee option code Stop option code Fault reaction option code Modes of operation Modes of operation display mammae wee n ws ems EET o fe l1 Lll Post ac vo o fes LI Iess Following error window UINT32 YES IH JE position units Following error time out ame m Jus Position window time UINT16 YES 63 6069 606D e e 6070 m jo 607B 607D ESTUN Velocity sensor actual value o Velocity demand value Velocity Velocity demand value value fo Nectar o Velocity window Tae o reme 7 o remete o omite Position range limit o Number of entries Max position range limit Software Position Limit lo Number of entries Type UINT16 INT32 INT32 UINT16 UINT16 UINT16 UINT16 INT16 INT16 INT32 UINT8 INT32 INT32 INT32 UINT8 EtherCAT User s Manual speed units speed units Eom ON UN RES S E n T E eia E EE LEBEN FREE ENS 7 3 mo mos dto od I
10. 0 50Kbps 1 100Kbps After restart ALL 2 125Kbps 3 250Kbps 4 500Kbps 5 1Mbps Pn704 Pn840 EtherCAT communication contact Hex After restart ALL EtherCAT Aix address of communication Pn840 0 Encoder model selection 0 2 Reserved For factory using 3 17 bit absolute encoder 4 Reserved After restart ALL 5 Resolved 6 Reserved Pn840 1 Reserved For factory using Pn840 2 Reserved For factory using Pn840 3 Reserved For factory using Note When connecting to EMJ 04ALIH Pn005 3 should be set as 1 Q the max value of servo receiving pu se frequency it means the sufficient max value of pulse frequency receiving by servo hardware 92 ESTUN Ethe Appendix C Standard Wiring Examples C 1 Single phase 200VAC ProNet 02AEA EC to ProNet 04AEA EC L2 single phase 200 230V 7 50 60Hz Molded case Circuit Breaker p Ne Surge Protector 1Ry 1PL Servo Alarm Display 7 in Noise Filte
11. 3 4 PDO mapping Process data of EtherCAT slaves is composed by SyncMangaer channels Each SyncMangaer channel describes the consistent area of process data EtherCAT slaves with application control function should support PDO mapping and SM PDO Assign object reading PDO mapping PDO mapping is related to the mapping from object dictionary to PDO s application objects real time process data The index 0x1600 and Ox1A00 in object dictionary are separately reserved for the mapping tables of RXPDO and TxPDOs The graph as below is one example 11 ESTUN EtherCAT User s Manual Object Dictionary Index sub Object Contents Mapping Object PDO Length 32 Bits genre See Seer Ser SEN a c PDO 1 ObjectA Object B Object D err per Ox6UUU 0xUU Object B vvv Application Object PDO mapping example PDO configuration Sync manager object SMCO is composed of multiple PDOs SM PDO Assign object 0x1C12 and Ox1C13 describes the relationship between PDOs and Sync Manager as below Object Dictionary Index Sub Object Contents 0x1C13 0x1A00 0x1C13 Ox1A01 Sync Manager Entity Z PDO 1 PDO 2 Sync Manager PDO Assign Object Mapping Objects PDO configuration example Note The PDO mapping objects index 1600h to 1603h 1A00h to 1A03h and the Sync Manager PDO assign objects Index 1C12h and 1C13h can be written only in Pre Operation state PDO m
12. EC 100 module indicates light used to show the software status in the module LED light green yellow Introduction Status Description No power supply or Off Continuously off iia statis SES On Flashing yellow Is Is Boot mode S RN Module s internal program has finished On green Continuously on initiation and operates well RUN RUN light is used to indicate the communication status of EtherCAT ESTUN EtherCAT User s Manual LED indicator green Introduction Status Description l System off Continuously off ec initiation On Blinkin pre operation S Of 200 ms status On safety Double le la 200 ms 200 ms 200 ms 1000 ms operation flashing of mode l Operation On Continuously on status ERR ERR light is used to indicate the error in EtherCAT communication LED light red Introduction Status Description Off Continuously off No error Blinking On Bum Due to register problem or 200 ms 200 ms ms Of object configuration problem the status changing required by the master couldn t be achieved On Single Sync error 200 ms 1000 ms flash Off g s Communicatio n data error Double NN e Application flash op 200 ms 200 ms 200 ms 1000 ms program supervision overtime SyncManager watchdog overtime Flickerin ve Initiat
13. 59 S lS lS lS lR IR IR IR IR IR IR lR lR lR lR E ESTUN sa jo Lem E Lem oe Jo fme mp Je fee o Jo Lo E 5 mm Jo Lo oe Jo Ier om o Lem oz Jo m9 mm Jo mo m Jo Lem mm Jo Le oe Jo ms ze Jo Les ae Jo Les ae o m5 EtherCAT User s Manual Type m Eee p vr le RE vs EE we ew e fe j we ew o we mw e j we mw e fs j we mw e fe j we Je je we ew vo fs we aw vo fs j we mw e fe j we ew e fe j wie me we Je we ew no fs we few je fs j J we mw e fe j we jaw e jJ 60 cleclc jclc jclclcelc lelci lclelel e E E ESTUN mm o my mp Jo m mm jo Lem mme Jo emo moe Jo Lem zm Jo Les ae jo In O E o mm jo Lem mm Jo Lem oe Jo qme mm Jo qm EN o Loes Jo mes O soro Jo Lee oe Jo Lee aer jo Lee EtherCAT User s Manual Type m Eee p vs le RE ur 2 15 35 35355 53 we ew e fe j we ew no we mw e j we mw e fs j we mw e fe j we Je je we ew vo fs we aw vo fs j we mw vo fe j J we ew vo fe j we ew vo we Je vo fs we few vo fs
14. APWR Auto Increment Physical Write a command of EtherCAT Date link layer APRW Auto Increment Physical ReadWrite a command of EtherCAT Date link layer ARMW Auto Increment Physical Read Multiple Write a command of EtherCAT Date link layer BRD Broadcast Read a command of EtherCAT Date link layer Broadcast Write a command of EtherCAT Date link layer CAN in Automation CANopen over EtherCAT Distributed Clocks Mechanism to synchronize EtherCAT slaves and master ECAT EtherCAT EEPROM Electrically Erasable Programmable Read Only Memory EtherCAT Slave Controller EtherCAT State Machine Real time Standard for Industrial Ethernet Control Automation Technology Ethernet for Control Automation Technolog FMMU Filedbus Memory Management Unit INIT Operational state of EtherCAT state machine Object Dictionar Process Data Object PbO Process Data Objet ooo O PREOP SyncManager ESC unit for coordinated data exchange between master and slaver controller TXPDO Transmit PDO i e Process Date that will be transmitted by ESC ESTUN EtherCAT User s Manual 1 5 Data type The table below lists all the data types and their range that will be used in this manual Code Data type Range UINT8 Unsigned integer 8 0 to 255 INT8 Integer 8 128 to 127 UINT16 Unsigned integer 16 0 to 65535 INT16 Integer 16 32768 to 32767 UINT32 Unsigned integer 32 0 to 4294967295 INT32 Signed integer
15. Pn006 Hex Pn006 0 Pn006 1 Bus mode Reserved 0 0x2133 0x0020 After restart 68 ESTUN EtherCAT User s Manual Parameter No Descripition Unit Range Default Setting invalidation Pn006 2 Low frequency jitter suppersion switch Online autotuning setting 0 Manual gain adjustment Pnioo EE mode 4 5 6 Vertical load 0 6 1 rm 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Pn101 Machine rigidity setting 0715 5 Immediately Pn102 Speed loop gain Hz 174000 160 Immediately Pn103 Speed loop integral time constant 0 1ms 174096 200 Immediately Pn104 Position loop gain 1 s 07 1000 40 Immediately Pn105 Torque reference filter time constant 0 1ms 0 250 Immediately Pn106 Load inertia percentage 0 20000 0 Immediately Pn107 2nd speed loop gain Hz 174000 40 Immediately Pn108 2nd speed loop integral time constant 0 1ms 174096 200 Immediately Pn109 2nd position loop gain Hz 0 1000 40 Immediately Pn110 2nd torque reference filter time constant 0 1ms 0 250 4 Immediately Pn111 Speed bias rpm 0 300 0 Immediately Pn112 Feedforward Yo 0 100 0 Immediately Pn113 Feedforward filter 0 1ms 0 640 0 Immediately Pni14 Torque feedforward Yo 0 100 0 Immediately Pn115 Torque feedforward filter 0 1ms 0 640 0 Immediately P PI switching condition Pni16 0 4 0 After restart O Torque reference pe
16. T o Dos um ro Ino b j wr2 Jow vs j I position units ups KE ET EI WE TE z 66 ESTUN Interpolation time e 60FC B Position demand value Digital outputs fo Number of entries 1 Physical outputs 2 Term Profile jerk E Number of entries Profile jerk 1 60A4 Supported drive modes EtherCAT User s Manual Type pom je Tele INT32 mz S ae E E EE A AT TE S oe ie et um ro Ino e ums ew vs e uro ow De fe Pp ppp Nm E uns ho Te TT TT UINT32 nite 67 B 1 Parameter list ESTUN Appendix B Parameters EtherCAT User s Manual Parameter No Descripition Unit Range Default Setting invalidation Pn000 Binary Pn000 0 Pn000 1 Pn000 2 Pn000 3 Servo ON Forward rotation input signal prohibited P OT Reverse rotation input signal prohibited N OT Alarm output when instantaneous power loss 071111 After restart Pn001 Binary Pn001 0 CCW CW selection 0 1111 After restart Pn003 Binary Pn003 0 Pn003 1 Pn003 2 Pn003 3 Reserved Reserved Low speed compensation Overload enhancement 071111 After restart Pn004 Hex Pn004 0 Pn004 1 Stop mode Error counter clear mode 0 0x3425 After restart Pn005 Hex Pn005 2 Pn005 3 Out of tolerance alarm selection Servomotor model 0 0x33E3 After restart
17. UINT32 Number of entries Standard error field1 Standard error field7 Standard error field8 Identity Object UINT8 UINT32 UINT32 UINT32 UINT32 Number of entries Vender ID Product code Revision number Serial number m oo EERIES Er INS Sc O O qp e er ro o P i i ho Jo e TTT TT TOO NO eo Ino Jo ro Ino e p ro Ino e ro Ino e ro Ino e ioo Ju fe 51 ESTUN Type 1st Receive PDO Mapping Number of entries UINT8 Mapping entry 1 UINT32 Mapping entry 2 UINT32 Mapping entry 3 UINT32 Mapping entry 4 UINT32 Mapping entry 5 UINT32 Mapping entry 6 UINT32 Mapping entry7 UINT32 Mapping entry 8 UINT32 2nd Receive PDO Mapping Number of entries UINT8 Mapping entry 1 NT32 Mapping entry 2 NT32 Mapping entry 3 E NT32 Mapping entry 4 E NT32 TT E E Mapping entry 5 NT32 EtherCAT User s Manual e EET RW ZIS 1 z z z E z E Zz z ziziziziziziziziz z 3rd Receive PDO Mapping 4th Receive PDO Mapping o Number of entries UINT8 Mapping entry 1 UINT32 z z zmimimim lt 0191919 lt mim GE Bs mim z tn LA Zz zz O O ziziziziziziziziz E EtherCAT User s Manual ESTUN Mapping entry 2 Mapping entry 3 Mapping entry 4 Mapping entry 5 Mapping entry 6 Mapping entry7 Mapping ent
18. YES Value Range INT32 Default Value 0 Comment the first parameter of ip function Index 60C1h Subindex 2 Object Code ARRAY Data Type INT32 Access RW PDO Mapping YES Value Range INT32 Default Value 0 Comment The second parameter of ip function Interpolation time period Interpolation time period is used to reserve the time data of interpolation position Index 60C2h Subindex 0 Object Code RECORD Data Type INT8 Access RO PDO Mapping NO Value Range 2 Default Value 2 Comment number of entries 44 ESTUN EtherCAT User s Manual Index 60C2h Subindex 1 Object Code Data Type UINT8 Access RW PDO Mapping YES Value Range 0 255 Default Value 1 Comment Interpolation time units Index 60C2h Subindex 2 Object Code Data Type INT8 Access RW PDO Mapping YES Value Range 4 0 Default Value 3 Comment Interpolation time index 5 9 Cyclic synchronous position mode Cyclic synchronous position mode is similar to position interpolation mode In this control mode the master could offer extra speed and torque to achieve speed and torque feed forward control The interpolation cycle time defines the time for target position updating In this case interpolation cycle time is the same as sync time Parameters related to CYCLIC SYNCHRO
19. 32 2147483648 to 2147483627 STR string 1 6 Communication specifications EtherCAT communication applied communication standard Physical layer IEC 61158 Type12 IEC 61800 7 CiA402 Drive Profile 100BASE TX IEEE802 3 Interface CNB RJ45 EtherCAT Signal IN CN6 RJ45 EtherCAT Signal OUT Wiring Level 5 twisted pair wire SyncManager SMO output mailbox SM1 input mailbox SMe input process data SM3 Output process data FMMU FMMUO mapped to output area of process data RXPDO FMMU1 mapped to transmit area of process data TxPDO FMMU2 mapped to mailbox status EtherCAT APRD FPRD BRD LRD APWR FPWR BWR LWR Commands ARMW FRMW Data Link Note APRW FPRW BRW LRW Commands are not Layer supported PDO data Dynamic PDO mapping Mailbox CoE Emergency Message SDO Request SDO Response SDO information Note Don t support TXPDO RxPDO and remote TxPDO RxPDO 3 ESTUN EtherCAT User s Manual Distributed data DC Free run DC mode activated by configuration supported DC cycle time 250us 2ms sil 256 bytes read only LED light EtherCAT system indicator SYS x1 EtherCAT run indicator RUN x1 EtherCAT error indicator ERR x1 CiA402 Drive Profile Homing mode Profile position mode Profile velocity mode Cyclic synchronous position mode 1 7 EC 100 module structure 1 8 LED indicators SYS Module structure
20. Brake Interlock d COM2 PGC Encoder C Pulse Output OT Over Travel RD Servo Enabled Motor Excitation Output HOME Home Completion Output l i IRy 24V rap 221 Ate Q T ufa COM2 i T E gil gt ov af Represents Twisted pair Wires 95 ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50MA ESTUN Ethe C 4 Three phase 400VAC ProNet 1ADEA EC to ProNet 1EDEA EC DI L2 L3 Three phase 380 440V 50 60Hz Molded case Circuit Breaker tt 5 Surge Protector CL 1Ry 1PL Servo Alarm Display ed Noise Fiter PENES L ower oue ger e 1 o M p 1KM 1Ry 1SUP lt Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Servomotor A 1 ep Li U B 2 L2 V e M CO o ProNet w e Series Servo Drives 4 D 4 CN2 Lic Absolute Encoder P Encoder L2C IS 8 S ECH 17 BAT PG 18 BAT t t 9 PG5V i 9B 18 PGOV Shell Shield K 4 External Rege
21. Immediately P S Frequency of low frequency vibration with load frequency Low frequenc Pn412 EM M Immediately P S Attenuation damp of low frequency vibration with load It does not need to change vibration damp Positioning r Pn500 Immediately P Outputs COIN signal when error counter is less than this value error Coincidence Outputs VCMP signal when the difference between speed reference value and speed Pn501 Immediately P difference feedback value is less than this value Zero clamp The servomotor is locked in the form of temporary position loop when the speed Pn502 Immediately S l Speed corresponding to the analog input is less than this value Rotation l a When the servomotor speed exceeds this parameter setting value it means that the Pn503 detection speed Immediately P S T TGON servomotor has already rotated steadily and outputs TGON signal Offset counter When the value in error counter exceeds this parameter setting value it means that Pn504 Immediately P l overflow alarm error counter alarm has occurred and outputs alarm an signal Servo ON These parameters are only enabled when the port output parameters are allocated Pn505 ad Immediately PS T a pan S SECHER waiting time with BK signal output Basic waiting These parameters are used to keep braking prevent from gravity glissade or Pn506 Immediately P S T l flow continuous outside force on servomotor time seque
22. Units speed units Value Range Default Value velocity_window The difference between velocity actual value 606C p and target velocity 60FF is defined as actual velocity error window If the actual velocity error window is always smaller than velocity window 606D n within the time set by velocity window time 606E then bit 10 of status word target reached will be set as 1 to indicate that the set velocity has been reached Index 606D h Name velocity window Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units speed units Value Range Default Value 20 R 10min velocity_window_time Velocity window comparator is composed of velocity_window_time and velocity_window 33 ESTUN EtherCAT User s Manual Index 606E h Name velocity window time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range Default Value 0 velocity threshold Velocity threshold indicates a range close to zero speed in order to define if the servo motor has already stopped Index 606F n Name velocity threshold Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units speed units Value Range Default Value 10 R 10min velocity_threshold_time Velocity_threshold_time is used to set the shortest time when servo motor s speed is under velocity threshold The unit is ms Whe
23. Units speed units Value Range Default Value 0 homing acceleration Acceleration and deceleration in homing are all homing acceleration Index 609A n Name homing acceleration Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 0 28 defined by ESTUN EtherCAT User s Manual 5 5 4 Homing method Homing method 1 Use C pulse and negative limit switch Servo drive needs to move at first toward negative direction fast till reaching the negative limit switch and then decelerate till stop And then servo motor will be bounced back slowly and find the target homing position Under this homing method the target homing position is the first C pulse away from the limit switch Index Pulse Negative Limit Switch Homing method 2 Use C pulse and positive limit switch At first servo motor will move fast toward positive direction and decelerate to stop after reaching the positive limit switch And then servo motor will be bounced back slowly to find homing position Under this homing method the target homing position is the first C pulse away from the limit switch Index Pulse JI d Positive Limit Switch Home method 3 and 4 Use C pulse and reference limit switch Servo drive s initial moving direction is relied on the status of reference point limit switch The target homing position is on the left side or right
24. could also be done through switch or media converters or in order to achieve the combination of different Ethernet structure Relying on the ASICs for EtherCAT in the slave and DMA technology that reads network interface data the processing of the protocol is done in the hardware EtherCAT system could update the information for 1000 I O within 30us It could exchange a frame as big as 1486 bytes within 300us This is almost like 12000 digital output or input Controlling one servo with 100 8 byte I O data only takes 100us Within this period the system could update the actual positions and status presented by command value and control data Distributed clock technology could make the cyclic synchronous error lower than 1us 1 3 Product introduction ProNet servo drive achieves EtherCAT communication through EC100 network module It is a real time Ethernet communication and the application layer applies CANopen Drive Profile CiA 402 Besides supporting the PV PP IP and other control mode defined in CANopen DS402 this module also supports CSP control mode Clients 1 ESTUN EtherCAT User s Manual could switch the control mode by changing correspondent parameters It is available from simple velocity control to high speed high precision position control 1 4 CoE terms The tables below lists the terms used in CANopen and EtherCAT Abbreviation Description APRD Auto Increment Physical Read a command of EtherCAT Date link layer
25. enabled in ProNet 75 1A 1E 2B 0 Do not inverse signal 1 Inverse signal Output signal Pn528 05CN1 5 6 inversion Pn528 Immediately P S T inverse Pn528 05CN1 7 8 inversion Pn528 05CN1 9 10 inversion Pn528 02CN1 11 12 inversion Torque detection When motor torque output is higher than Pn529 setting value TCR is ON When Pn529 dutut signal Immediately P S T motor torque output is lower than Pn529 setting value TCR is OFF Unit threshold value Torque detection Torque detection output signal time Pn530 After restart P S T q pow output signal time Unit ms 90 Pn700 Hex ESTUN After restart ALL Pn700 0 MODBUS communication baud rate EtherCAT User s Manual 0 4800bps 1 9600bps 2 19200bps Pn700 1 MODBUS protocol selection 0 7 1 7 2 7 3 8 4 8 5 8 6 8 718 8 8 Pn700 2 Communication protocol selection 0 No protocol SCI communication 1 MODBUS SCI communication N 2 MODBUS ASCII E 1 MODBUS ASCII O 1 MODBUS ASCII N 2 MODBUS ASCII E 1 MODBUS ASCII O 1 MODBUS ASCII N 2 MODBUS RTU E 1 MODBUS RTU O 1 MODBUS RTU Pn700 3 Reserved Pn701 MODBUS Axis address After restart ALL Axis address of MODBUS protocol communication Pn702 Reserved 91 Pn703 ESTUN EtherCAT User s Manual EtherCAT communication speed Pn703 0 EtherCAT communication baud rate
26. hee e e position units LLL ER es fo LI de de mmm ioo Ino el bele 64 ESTUN EtherCAT User s Manual lit m oo EIE PV CSP mw qw fp LL Min position limit INT32 R NO Max position limit ma rw Iw je e position units uH e ee Jo Paa ew ew Iw P y om o Iron Im mm vs jw e o emm ume m Je jw Profile acceleration acceleration 6083 UINT32 RW YES units Profile deceleration acceleration 6084 UINT32 YES units RW acceleration 6085 RW 6086 Motion profile type INT16 Quick stop UINT32 deceleration lt n E Position factor In Number of entries UINT32 numerator UINT32 divisor UINT32 E Velocity encoder factor EE numerator UINT32 divisor UINT32 Number of entries UINT32 E Acceleration factor z z z m J z zlzliz z z z 65 ESTUN EE of entries numerator 6098 ru Homing method RN a oT 6099 609A 60B2 Number of entries of entries for switch for zero Homing acceleration LL Offset fo Toque Offset Interpolation data record Il Interpolation time period o EN a Number of entries 1st set point Number of entries Interpolation time period value EtherCAT User s Manual Type a UINT32 UINT32 TS EEE INTE ves e units UINT32 speed units UINT32 RW YES acceleration UINT32 INT32
27. side of the reference limit switch The distance between the reference position switch and homing position is one C pulse 29 ESTUN EtherCAT User s Manual Index Pulse Home Switch Homing method 17 20 Not to use C pulse These 4 homing methods are similar to approach 1 4 but the target homing position is not relied on C pulse any more but on the change of limit switch or reference point For example as below method 19 and method 20 are just similar to method 3 and method 4 Home Switch Homing method 35 set current position as the homing point 30 ESTUN EtherCAT User s Manual 5 6 Profile velocity mode 5 6 1 Control word 15 9 8 7 4 3 0 Halt S s Refer to previous chapters Name Value Description Halt 0 Execute the motion 1 Stop axle 5 6 2 State word 15 14 13 12 11 10 9 0 MaxSlippageError Speed Target reached Refer to previous chapters Name Value Description Target 0 Halt 0 Target position not reached reached Halt 1 Axle decelerates 1 Halt 0 Target velocity reached Halt 1 Axle has velocity O Speed 0 Speed is not equal O 1 Speed is equal 0 Max slippage O Maximum slippage not reached error 1 Maximum slippage reached 5 6 3 Parameters related to velocity mode Index Object Name Type Attr 6069 n VAR velocity sensor actual value INT32 RO
28. 31 ESTUN EtherCAT User s Manual 606B n VAR velocity demand value INT32 RO 606C h VAR velocity actual value INT32 RO 609D hn VAR velocity window UINT16 RW 606E n VAR velocity window time UINT16 RW 606F n VAR velocity threshold UINT16 RW 6070 n VAR velocity threshold time UINT16 RW 60FF h VAR target velocity INT32 RW velocity sensor actual value The master could read velocity sensor actual value to know the current velocity The parameter s unit is internal speed unit Index 6069 n Name velocity sensor actual value Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units O 1irmps 1R 10min Value Range ka Default Value velocity_demand_value Master can read velocity demand value to know the current reference speed value of the servo drive The unit of this parameter is user s velocity unit Index 606B h Name velocity demand value Object Code VAR Data Type INT32 Access RO PDO Mapping YES Units speed units Value Range Default Value 32 ESTUN EtherCAT User s Manual velocity_actual_value The master can read velocity_ actual _value to know the current velocity of the servo motor The unit of this parameter is user s velocity unit Index 606C n Name velocity_actual_value Object Code VAR Data Type INT32 Access RO PDO Mapping YES
29. EtherCAT User s Manual Version V1 03 ESTUN AUTOMATION TECHNOLOGY CO LTD Drive Your Success UMLSI A ESTUN EtherCAT User s Manual Content Chapter 1 Brief introduction of EtherCAT essen 1 1 1 What a ne 9 taco reete ete A o Pa Poenus 1 1 2 EtherCAT general introduction sse eee eee eee eee 1 1 3 Product introd ctioh iecuiiil eiiis canada sa ueniens int cana aU da hann cR aeania cedes 1 EE Te qa pi OR RR DE RENDER RR PR RR RR OS 2 15 Data AY POs shes fee hen 1 6 Communication specifications 1 7 EC 100 module structure 1 9 LED Indicators etcetera ete taire E dE again nana Chapter 2 Installation and connection essere 7 2 1 Installation and connection errar 7 2 2 EtherCAT interface spechflcation eee ee eee eee eee 7 2 3 Wiro Specificato sssr a a enre ea AEE EEan Chapter 3 EtherCAT EC information 3 1 CANopen over EtherCAT model 3 2 EtherCAT slave information tree 3 3 EtherCAT network state machine rt 10 3 4 PDO mapping se ceni cete cedecen cnet Da nana ne inanin die nime sene d cru dal dana sanies 11 3 5 Emergency message eene eene nnne nnne nnns 13 Chapter 4 Network synchronization based on distributed clocks 14 Chapter 5 CiA402 device protocol essent 5 1 CANopen over EtherCAT CoE state machine 5 2 Parameters for device control
30. NOUS POSITION MODE Index Name Type Attr PDO Mapping M O 6040 Controlword UINT16 RW YES M 6041 Statusword UINT16 RO YES M 6064 Position actual value INT32 RO YES M 607A target position INT32 RW YES M 607B Positin range limit INT32 RW NO O 6081n profile velocity UINT32 RW YES M 45 ESTUN EtherCAT User s Manual Index Name Type Attr PDO Mapping M O 6082 end velocity UINT32 RW YES O 6083 profile acceleration UINT32 RW YES O 6084n profile deceleration UINT32 RW YES O 6085 quick stop deceleration UINT32 RW YES O 46 ESTUN EtherCAT User s Manual Chapter 6 EtherCAT communication example In this example we use Beckhoff TwinCAT software as the real time master Please prepare as below before the test 1 correctly Install Beckhoff TwinCAT software Copy the device description document XML document to the directory Identify the network interface model number and install the network interface C TwinCAT lO EtherCAT You could contact Estun to have this XML document Pn704 is the address Set drive s parameter Pn006 0 4 select EtherCAT communication mode After finishing copying reactivate TwinCAT software Then TwinCAT will list an ESTUN ProNet servo drive EtherCAT bus option And then please follow steps as below 1 Use the right butt
31. Pn520 Position complete time 0 1ms 0 60000 500 Immediately If connect externally regenerative resistor 0 connect externally regenerative resistor between B1 and B2 Pn521 1 dose not connect externally regenerative resistor relay on internal 0 1 1 Immediately capacitance This parameter is in effect only on ProNet 02 04 ProNet E 02 04 Pn522 Reserved Pn523 Reserved Pn524 Reserved Pn525 Overload alarm threshold Yo 100 150 100 Immediately Pn526 Temperature threshold of motor overheat alarm Only enabled in C 50 180 110 Immediately ProNet 75 1A 1E 2B Pn528 Output signal inverse 0 1111 0 Immediately Pn529 Torque detection output signal threshold value Yo 3 300 100 Immediately Pn530 Torque detection output signal time ms 1 1000 10 After restart Hex Pn700 Pn700 0 MODBUS communication baud 0 0x0182 0x0151 After restart rate 73 ESTUN EtherCAT User s Manual Parameter No Descripition Unit Range Default Setting invalidation Pn700 1 MODBUS protocol selection Pn700 2 Communication protocol selection Pn700 3 Reserved Pn701 MODBUS axis address 1 247 1 After restart Pn702 Reserved o Pn703 EtherCAT communication speed 0x0005 0x0004 After restart Pn704 EtherCAT communication contact 1 127 1 After restart Hex Pn840 0 Encoder model selection 0x0003 Pn840 Pn840 1 Reserved After restart 0x0B06 Pn840 2 Reserved Pn840 3 Reserved
32. apping process Stop PDO allocating function set the sub index O of 0x1c12 and 0x1c13 into 0 Stop PDO mapping function set sub index 0 of 0x1600 0x1603 and 0x1A00 0x1A03 into 0 12 ESTUN EtherCAT User s Manual Set the number of mapping entries in PDO mapping objects Set sub index O of object 0x1600h to 0x1603h 0x1A00h to 0x1A03h Set the assignment of the Sync manager and PDO Set sub index 1 of object 0x1C12h and 0x1C13h Enable the assignment of the Sync manager and PDO Set sub index 0 of object 0x1C12h and Ox1C13h to 1 Over again open PDO assignment function set the sub index 0 of 0x1c12 and 0x1c13 into 1 3 5 Emergency message When the servo drive generates an alarm Coe will activate an emergency message and inform consumers the current servo drive model number and error code Emergency message structure 6 bytes 2 bytes 2 bytes 1 byte 5bytes 1 n bytes Mailbox Header CoE Header ErrorCode Error Register Data Data1 Standard data frame head Standard CANopen urgent event message Optional Byte 0 1 2 3 4 5 6 7 Data Emergency Error Reserved Manufacturer Specific Error Field Error Code Register ProNet Reserved Object Alarm Warning 1001h Code 2 13 ESTUN EtherCAT User s Manual Chapter 4 Network synchronization based on distributed clocks Any slave in the EtherCAT network can be used as reference clock for the whole network It pr
33. ate configuration Click online label and start to operate on servo axis i23 NI Bile pdit getions De Qptions ely PEA SISTBI Configuration TwinCAT System Manager E Configuration 5 D cotes 1 Sar Week 1 SVE We Tark t Iasge Tables Axar TLE Conti guration s vo Conti guration 1 0 Bava lt M Device I MtherCAT Davies Tep Device Inace Info Inputs Outpats InfoBata Brive 1 STUN SERVO DKIVEK S DM FY Mode TD 4 CH Velocity actual value s QU CMOS PY Mode Om DU Controlverd Di dotar gelado ty 3 rius OF Keftatsfn S Ketter Infdete EP Mappings G Zeck SAP Device 1 therCAT Ep DV TRAE PIA ello CO Coupling Gea Comp Dynamics Pestien General Setgsint ER 10000000000 0000 scis dm Leg Distance fra Actual Velocity las Setpoint Tea s 0 0000 0 000 0 000 0 0007 0 0000 Override X Total Control Al Error 100 0000 000 000 Status phys Uri Mode Lin Tweet Pos Din fos Range Settings Online 0 x0 Enabling Pcontrotte Set Iv feed fe Crest De Status Qog Ready EWT moving Calibrated loving Fe Ds J Citing De Controller rFactor live a Al Target Position lal o A LIII M E bet mss Velocity m s Target Yelocity o esad 127 255 255 1 1 1 50 lal ESTUN EtherCAT User s Manual Appendix A Object dictionary Type Device type UINT32 Error register UINT8 Pre defined error field UINT8 UINT32 UINT32 UINT32
34. ch negative limit switch reference position switch and C pulse 26 ESTUN EtherCAT User s Manual Index 6098 n Name homing_method Object Code VAR Data Type INT8 Access RW PDO Mapping YES Units Value Range 1 2 3 4 17 18 19 20 Default Value 1 Homing method table Method Direction Target position Reference Position DS402 1 negative NOT C pulse 1 2 positive POT C pulse 2 3 negative reference position switch C pulse 3 4 positive Reference position switch C pulse 4 17 negative NOT NOT 17 18 positive POT POT 18 19 negative reference position switch reference position switch 19 20 positive reference position switch reference position switch 20 35 currently position currently position 35 homing speeds Two kinds of speed are used in finding the reference position The speed to find reference position and the speed to find zero position Index 6099 n Name homing speeds Object Code ARRAY No of Elements 2 Data Type INT32 27 ESTUN EtherCAT User s Manual Sub Index Oln Name speed during search for switch Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 Sub Index 02n Name speed during search for zero Object Code VAR Data Type INT32 Access RW PDO Mapping YES
35. cient 0 30000 0 Immediately Pn130 Friction load 0 1 0 3000 0 Immediately Pn131 Friction compensation speed hysteresis area rpm 0 100 0 Immediately Pn132 Sticking friction load 0 1 1000rpm 0 1000 0 Immediately Pn133 Reserved Pn134 Reserved Pn135 Reserved Pn136 Reserved Pn137 Reserved Pn138 Reserved Pn139 Reserved E Pn140 Reserved Pni41 Reserved Pn142 Reserved Pn143 Reserved no Pn144 Reserved Pn304 Parameter speed rpm 6000 6000 500 Immediately Pn305 JOG speed rpm 0 6000 500 Immediately Pn306 Soft start acceleration time ms 0 10000 0 Immediately Pn307 Soft start deceleration time ms 0 10000 0 Immediately Pn308 Speed filter time constant ms 0 10000 0 Immediately Pn309 S curve risetime ms 0 10000 0 Immediately Pn310 Speed reference curve form o jon 0 Ee 0 Slope 71 ESTUN EtherCAT User s Manual Parameter No Descripition Unit Range Default Setting invalidation 1 S curve 2 1 order filter 3 2 order filter Pn311 S form selection 0 3 0 Immediately Pn407 Notch filter 1 frequency Hz 50 5000 5000 Immediately Pn408 Notch filter 1 depth 0 711 1 Immediately Pn409 Notch filter 2 frequency Hz 50 5000 5000 Immediately Pn410 Notch filter 2 depth 0711 1 Immediately Pn411 Low frequency jitt
36. d application layer Data link layer is mainly in charge of EtherCAT communication protocol Application layer is mainly oriented to CANOpen drive profiles DS402 communication protocol Object dictionary in CoE includes parameters application data and PDO mapping information Process data object PDO is composed of objects in the object dictionary that could operate PDO mapping The content of PDO data is defined by PDO mapping PDO data s read and write are periodical without checking OD However mail communication SDO is not periodic When they are read or written it is necessary to check OD Note To decode SDO data and PDO data on EtherCAT data link layer correctly we need to configure FMMU and Sync Manager as below Sync Manager Configuration Sync Manager Assignment Fixed Size Start Address Fixed Sync Manager 0 Assigned to Receive Mailbox 128byte Fixed 0x1000 Sync Manager 1 Assigned to Transmit Mailbox 128byte Fixed 0x1080 Sync Manager 2 Assigned to Receive PDO 0 to 200byte 0x1100 Sync Manager 3 Assigned to Transmit PDO 0 to 200byte 0x1358 ESTUN EtherCAT User s Manual FMMU Settings FMMU Settings FMMU O Mapped to Receive PDO FMMU 1 Mapped to Transmit PDO FMMU 2 Mapped to Fill Status of Transmit Mailbox 3 2 EtherCAT slave information EtherCAT slave information XML document could be read by the master to build the master slave configurati
37. e Target reached please refer to previous chapters acknowledge N ame Value Description E Halt 0 Target position not reached EE Halt 1 Axle decelerates i Halt 0 Target position reached Halt 1 Velocity of axle is 0 Trajectory generator has not assumed the positioning values Set point 0 yet Trajectory generator has assumed the positioning values Following error No following error Following error 5 7 3 Parameters related to position control Index Name Type Attr PDO Mapping M O 6040 Control word UINT16 RW YES M 6041 Statusword UINT16 RO YES M 607A 1 target position INT32 RW YES M 607B Positin range limit INT32 RW NO O 6081n profile velocity UINT32 RW YES M 6082 end velocity UINT32 RW YES O 6083 profile acceleration UINT32 RW YES O 6084n profile deceleration UINT32 RW YES O 6085n quick stop deceleration UINT32 RW YES O 6086n motion profile type INT16 RW YES M target position Target position is reference position and this position could be an incremental value or an absolute value It is up to bit6 of control word 36 ESTUN EtherCAT User s Manual Index 607A n Name target_ position Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units position units Value Range Defa
38. e 1033 06 Y Y Y Save Y gt Cycle time 1C32 02 Cycle time 1C32 02 Cycle time 1C32 02 Delay Time 1C32 0 output valid latch Time schedule figure in DC mode 15 ESTUN EtherCAT User s Manual Chapter 5 CiA402 device protocol ProNet s device control is used mainly to achieve the motion control in different control modes The master controls the servo drive through control word and knows the status of the servo drive by reading the servo drive s status word 5 1 CANopen over EtherCAT CoE state machine Power Disabled Not Ready to Switch On fiia Ready to Switch On Power Enabled Operation Quick Stop Active CANopen state machine As above the state machines could be divided into 3 parts power disabled power enabled and fault All the states will be into Fault status after alarm After power enabled servo drive will finish initiating and then enter SWITECH ON DISA status Now we could configure the servo drive for example set the working mode of the servo drive as profile position mode At this time the main power supply is still shut down and the servo 16 ESTUN EtherCAT User s Manual motor is now excitated After the state transition 2 3 and 4 the servo drive will be in OPERATION ENABLE mode At this time the main power will be switched on and servo drive starts to control the servo motor according to the configured working mode So before this state we mu
39. er frequency 0 1Hz 50 500 100 Immediately Pn412 Low frequency jitter damp 0 200 25 Immediately Pn500 Positioning error Puls 0 5000 10 Immediately Pn501 Coincidence difference rpm 0 100 10 Immediately Pn502 Zero clamp speed rpm 0 3000 10 Immediately Pn503 Rotation detection speed TGON rpm 0 3000 20 Immediately Pn504 Offset counter overflow alarm 256Puls 1 32767 1024 Immediately Pn505 Servo ON waiting time ms 2000 2000 O Immediately Pn506 Basic waiting flow 10ms 0 500 0 Immediately Pn507 Brake waiting speed rpm 10 100 100 Immediately Pn508 Brake waiting time 10ms 10 100 50 Immediately Pn509 Allocate input signal to terminal 0 0xFFFF Ox3210 After restart Pn510 Allocate input signal to terminal 0 OxFFFF 0x7654 After restart Pn511 Allocate output signal to terminal 0 0x0999 0x0210 After restart Pn512 Bus control input node low bit enable 071111 0 Immediately Pn513 Bus control input node low bit enable 071111 0 Immediately 72 ESTUN EtherCAT User s Manual Parameter No Descripition Unit Range Default Setting invalidation Pn514 Input port filter 0 2ms 07 1000 1 Immediately Pn515 Alarm port filter 0 2ms 0 3 1 Immediately Pn516 Input port signal inversion 07 1111 0 Immediately Pn517 Input port signal inversion 071111 0 Immediately Pn518 Dynamic brake time 0 5ms 50 2000 125 Immediately Pn519 Serial encoder error time 0 1ms 0710000 3 Immediately
40. her by using control word bit 4 bit 5 and statues word bit 12 set point acknowledge in real time Through handshaking mechanism we could pause the position control in the process and use these bits above to reset the target position and then re active and operate Single step setting procedure At first set the NMT status into Operational and set the control mode parameter 6060 n as 1 According to the actual demand we could set the target position target positon 607A n and so on We need set bit4 new set point of the control word as 1 bit 5 change set immediately as 0 bit 6 absolute comparative should be determined by whether the reference target position is an absolute value or a comparative value 40 ESTUN EtherCAT User s Manual We use bit12 set_point_acknowledge of the status word to configure the servo drive acknowledge mechanism And then we start to operate position control After reaching the target position servo drive will need to respond through bit 10 target_reached of the status word And then servo drive will follow the program to keep moving or accept new target position t t t t Time Continuous step setting procedure 1 Atfirst we need to set NMT status into operational and set control mode 6060 n as 1 According to actual demand we need to set the first target position target position 607A n target speed acceleration deceleration and other relevant parameters Set bit 4 new
41. ined by the setting in Pn219 Pn003 3 Overload enhancement 0 Without overload enhancement function 1 With overload enhancement function which can enhance the overload capacity when servomotor exceeds the 2 times rated overload It is used in frequent power ON OFF occasions Pn004 0 Stop Mode 0 Stops the servomotor by applying DB and then releases DB 1 Coast to a stop 2 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 3 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into coast power OFF mode 4 Stops the servomotor by DB when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode 5 Makes the servomotor coast to a stop state when servo OFF stops the servomotor by plug braking when overtravel then places it into zero clamp mode Pn004 1 Error counter clear mode 0 Clear error pulse when S OFF do not when overtravel 1 Do not clear error pulse 2 Clear error pulse when S OFF orovertravel excep for zero clamp 76 Pn005 Pn006 Hex Hex ESTUN After restart After restart Pn005 0 P S Pn005 1 ALL Pn005 2 P EtherCAT User s Manual Pn005 2 Out of tolerance alarm selection 0 Out of tolerance alarm disabled 1 Out of tolerance alarm enabled Outputs ala
42. ing error g On os JUU UU ESTUN EtherCAT User s Manual On Continuously on PDI supervision overtime LINK ACT green light on RJ45 COM1 COM2 LINK ACT light is used to indicate the physical communication and if there is data exchange LED light green Introduction Status Description Off Continuously off Physical level communication has not been started EtherCAT controller has not been started 50 ms Flickering bat Te m slave is exchanging data On oe JUUUUU On Continuously on There is connection in link layer but there is no date exchange ESTUN EtherCAT User s Manual Chapter 2 Installation and connection 2 1 Installation and connection EtherCAT network is normally composed of one master for example industrial PC and some slaves for example servo drives filed bus terminals and so on Every EtherCAT slave has two standard Ethernet interfaces 9099 erum E i 3E Go DI Go biie 712 Cols i EE Eg rm emnt E oe DB JE Sal Sa EG EtherCAT network
43. ion filter lagged if the value is too large Speed gain acceleration relationship The increasing multiple of speed loop gain is the same rigidity during online Pn128 i Immediately P SC e during autotuning The speed loop gain is larger when this value is higher online autotuning 82 ESTUN EtherCAT User s Manual nii spoed l The intensity of anti friction and anti creeping at low speed Vibration will occur if this Pn129 correction Immediately P S coefficient value is set too large Pn130 Friction Load Immediately P S Frictin load or fixed load compensation Friction Pn131 compensaton Immediately P S Threshold of friction compensation start speed hysteresis area Pn132 Beu friction Immediately P S Sticking damp which is in direct proportion to speed Pn133 Reserved Pn134 Reserved Pn135 Reserved Pn136 Reserved Pn137 Reserved Pn138 Reserved Pn139 Reserved Pn140 Reserved Pni41 Reserved Pn142 Reserved Pn143 Reserved Pnt44 Reserved Parameter The parameter can be set to positive or negative When control mode is set to D it Pn304 speed Immediately S determines the speed of motor The servomotor speed is determined by this parameter when Pn005 1 D 83 ESTUN EtherCAT User s Manual
44. itched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warming 9 8 reserved 10 Target reached 11 Internal limit active 15 14 13 12 Operation mode specific reserved Dm 3 Bit5 and Bit6 19 ESTUN EtherCAT User s Manual The combination of these bits represents the status of the servo drive Value binary State XXXX XXXx x0xx 0000 Not ready to switch on XXXX Xxxx x1xx 0000 Switch on disabled XXXX xxxx x01x 0001 Ready to switch on XXXX xxxx x01x 0011 Switched on xxxx xxxx x01x 0111 Operation enabled xxxx xxxx x00x 0111 Quick stop active XXXX xxxx XOxx 1111 Fault reaction active XXXX XXxx x0xx 1000 Fault Bit4 Voltage enabled When this bit is 1 it means the main power is on Bit5 Quick stop When this bit is 0 it means the servo drive will stop the servo motor according to the configuration 605A n quick stop option code Bit7 Warning When the bit is 1 it means the servo drive detects alarm Bit10 Target reached In different control mode this bit has different meanings In Profile Position Mode when the set position is reached this bit will be set as 1 When Halt is activated and speed decreases to zero this bit will be set as 1 When a new position is set this bit will be cleared In Profile Velocity Mode when the speed reaches the required speed this bit will be set as 1 When Halt is activated the speed wi
45. its acceleration units Value Range Default Value 100000 R 10min s quick stop deceleration Quick stop deceleration is the deceleration speed in Quick Stop Index 6085 Name quick stop deceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 200000 R 10min s motion profile type Motion profile type is used to select the motion curve Now we only support trapezoid speed curve 39 ESTUN EtherCAT User s Manual Index 6086 n Name motion_profile_type Object Code VAR Data Type INT16 Access RW PDO Mapping YES Units Value Range 0 Default Value 0 5 7 4 Function description There are two methods to allocate a reference position Single step setting After reaching the target position servo drive will inform the master that Reach the target position And the servo drive will start new motion after getting new target position Before getting the new reference position the velocity of the servo motor is zero Continuous setting After reaching the target position the servo motor will keep moving toward next target position which is set in advance In this way the servo motor could move continuously without pause Between two reference positions the servo motor doesn t need to decelerate to zero Above two methods could be switched to each ot
46. ll decrease to zero and this bit will be set as 1 Bit11 Internal limit active When this bit is 1 it means that the internal torque has surpassed the set value Bit12 13 These two bits in different control mode have different meaning Control mode Bit profile position mode profile velocity mode homing mode 12 Set point acknowledge Speed Homing attained 13 Following error Max slippage error Homing error The other bits All reserved 5 2 3 shutdown option code When Operation Enable mode is transit to Ready to Switch On status Shutdown option code will be used to define how to stop the servo motor 20 ESTUN EtherCAT User s Manual Index 605B n Name Shutdown option code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 Default Value 0 value Introduction LO Shutdown servo excitation signal Servo motor will stop freely 1 After the servo motor decelerates and stops the servo excitation signal will be shut down 5 2 4 disable operation option code When the status of Operation Enable transits to Switched On status disable operation option code will decide how to halt Index 605C h Name Disable operation option code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 Default Value 0 Value Introduction Shutdown ser
47. lt 1 Axle decelerates 1 Halt 0 Target position reached Halt 1 Velocity of axle is O ip mode 0 Interpolated position mode inactive active 1 Interpolated position mode active 5 8 3 Parameters related to interpolation position control Index Object Name Type Attr 60C0 h VAR Interpolation sub mode select INT16 RW 42 ESTUN EtherCAT User s Manual 60C1 h ARRAY Interpolation data record INT32 RW 60C2 h RECORD Interpolation time period RW Interpolation sub mode select Interpolation sub mode select is used to select the method of interpolation under IP control Pronet servo drive only offers linear interpolation Index 60COh Name Interpolation sub mode select Object Code VAR Data Type INT16 Access RW PDO Mapping NO Value Range 0 Default Value 0 Comment 0 Linear interpolation Interpolation data record Interpolation data record is used to reserve interpolation potion data Our servo drive s interpolation command only uses the first data whose subindex is 1 Index 60C1h Subindex 0 Object Code ARRAY Data Type INT32 Access RO PDO Mapping YES Value Range INT8 Default Value 2 Comment number of entries 43 ESTUN EtherCAT User s Manual Index 60C1h Subindex 1 Object Code ARRAY Data Type INT32 Access RW PDO Mapping
48. ly PST It is usad to set input port filter time The signal will be lagged if the parameter setting is too high Pn515 Reserved Pn516 Input port signal Immediately P S T 0 Do not inverse signal inversion 1 Inverse signal Pn516 0 gt CN1_14 inversion Pn516 1 gt CN1_15 inversion Pn516 2 gt CN1_16 inversion Pn517 Input port signal immediat ly PST Pn516 35CN1 17 inversion inversion Pn517 0 gt CN1_39 inversion Pn517 1 gt CN1_40 inversion Pn517 25CN1 41 inversion Pn517 35CN1 42 inversion Pn518 Reserved Pn519 Reserved Pn520 Reserved If a regenerative resistor if connected externally 0 connect externally regenerative resistor between B1 and B2 Pn521 Binary Immediately P S T 1 Dose not connect externally regenerative resistor relay on internal capacitance This parameter is in effect only on ProNet 02 04 ProNet E 02 04 Pn522 Reserved Pn523 Reserved Pn524 Reserved Overload alarini When load percentage is larger than overload alarm threshold A04 will occur soon Pn525 DEEG Immediately P S T Pn525 is recommended to set below 120 otherwise the servo drive and motor will be damaged 89 Temperature threshold of motor overheat ESTUN EtherCAT User s Manual When servomotor winding temperature exceeds Pn526 setting A19 will occur Only Pn526 alarm Only Immediately P S T Z enabled in ProNet 75 1A 1E 2B
49. n the time that servo motor s speed is lower than the threshold is more than velocity threshold time status word bit 12 speed is zero will be set as 1 34 ESTUN EtherCAT User s Manual Index 6070 n Name velocity threshold time Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units ms Value Range Default Value 0 target velocity Target velocity is reference speed Index 60FF h Name target velocity Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 5 7 Profile position mode 5 7 1 Control word 15 98 7 6 5 4 3 0 E Halt abs rel change set immediately New set point Please refer to previous chapters Name Value Description New Set point 0 Does not assume target position 1 Assume target position Change set 0 Finish the actual positioning and then start the next immediately positioning S O 1 Interrupt the actual positioning and start the next positioning 35 ESTUN EtherCAT User s Manual Abs rel 0 Target position is an absolute value 1 Target position is a relative value Halt 0 Execute positioning 1 Stop axle with profile deceleration if not supported with profile acceleration 5 7 2 State word 15 14 13 12 11 10 9 0 Following error Set_point acknowledg
50. nce Brake waiting Servo ON waiting time Pn507 Immediately P S T l ae speed For the parameter is plus BK signal is output firstly when servo ON signal is input 85 ESTUN EtherCAT User s Manual and then servomotor excitation signal is created after delaying the parameter setting time 2For the parameter is minus servomotor excitation signal is output firstly when servo ON signal is input and then BK signal is created after delaying the parameter setting time Basic waiting flow Standard setting BK output braking action and servo OFF are at the same time Now the machine movable part may shift slightly due to gravity according to Brake waiting mechanical configuration and character it can be eliminated by using the parameters Pn508 Immediately P S T time when the servomotor is at stop or at a low speed Brake waiting speed BK signal is output when the servomotor speed is decreased below the parameter setting value at servo OFF Brake waiting time BK signal is output when the delay time exceeds the parameter setting value after servo OFF BK signal is output as long as either of the brake waiting speed or brake waiting time is satisfied Allocate input Pn509 0 corresponding port CN1 14 Pn509 port to signal dee PST Pn509 1 corresponding port CN1_15 one port with Pn509 2 corresponding port CN1 16 four bits hex Pn509 3 corresponding port CN1 17 86 Pn510 Allocate inpu
51. nerator Resisotr e CN3 1 TD Be sure to prepare the end of the Be sure to ground 2 TD shielded wire properly 3 RD 4 N C ON e 5 NC 7 6 RD TI NC Signal allocatons can be modified e DIGOM 20 8 NC SON Seno ON S ON TRT HSE l Shell Shield P CON P Control P CON 16 k I P OT Forward Run Prohibited P OT 17 k N OT Reverse Run Prohibited NOT 18 EIS CN4 NIS Socket ALM RST Alarm Reset IALM RST _19 LESS I 1 To 2 TD 3 RD 4 NC L 5 NC 485 6 6 RD 485 7 7 NC GNDiso 8 bry 8 NC l Shel Shield Lessa as a E l d i Signal Allocati be Modified Connect Shield to Connector Shell Shield Shell Ez 11 TGON ER Postionng Compieton bi E 14 COM2 S RDY Servo Ready EQ 13 S RDY Se Limit ger E te 14 COM2 PGC Encoder C Pulse Output OT Over Travel 1 RD Servo Enabled Motor Excitation Output l HOME Home Completion Output l IRy 24V EI 12 ALM D Ti fia com ji I l D RCM S E LO DN af Represents Twisted pair Wires ALM Servo Alarm Output Photocoupler Output Maximum Operating Voltage DC30V Maximum Output Current DC50mA 96 gestur pipi a T mT panjani ESTUN AUTOMATION TECHNOLOGY CO LTD TT Address 16 Shuige Road Jiangning Development Zone Nanjing 211106 PR China Tel 86 0 25 52785866 Fax 86 0 25 52785576 Web www estun com E Mail info estun com
52. ng entry 6 UINT32 UINT32 Mapping entry 8 UINT32 EtherCAT User s Manual pew Iw e TT CERE SS es E a ew Iw Iw Iw Jp Ew fo Je jew wo je z m m z mi mi m mi m Zz z z z 2 2 Z z z ESTUN Sync Manager Communication Type mmm Manager channels Communication type 1C00 sync manager O sync manager 1 E Communication type sync manager 2 Communication type sync manager 3 Sync Manager PDO assignment 2 Number of assigned 1C12 PDOs Index of assigned RxPDO 1 2 Index of assigned RxPDO 2 EtherCAT User s Manual Type an ee ev mu i Leer em ju jo fT TT TT aoe O T ss ju Jo ss jm Jo LIT ss Is Jo J tt 57 Sync Manager PDO assignment 3 fo Number of assigned 1C13 PDOs f d 1 ndex of assigne UINT16 TxPDO 1 f assigned 2 ndex of assigne UINT16 TxPDO 2 58 EtherCAT User s Manual 3017 ESTUN Pn002 EtherCAT User s Manual Type m FII vr le RE ir EE we ew e LIT j we ew o we mw e j we mw e fs j we mw e fe j we Je je we ew vo fs we aw vo fs j we mw e fe j we ew e fe j wie me we Je we Je no we mw e fs j we mw e j J wms ew que qe dp Jo ge dq
53. o large or does not cooperate with Pn111 correctly vibration will occur The relationship with speed reference error counter positioning error is shown in the following chart A Speed reference Pni11 Speed bias Immediately PSD Error counter lt gt Pnill Pn500 Y It is used to set position feedforward The response speed is faster and position error l is less when this parameter setting is higher Vibration will occur if the value is set too Pn112 Feedforward Immediately large Unit 96 Eoddfoneid It is used to ease mechanical vibration due to position feedforward The feedforward Pn113 filter Immediately lag will be enlarged and result to vibration if the value is set too large Unit 0 1ms 80 ESTUN EtherCAT User s Manual It is used to set torque feedforward and enhance response speed Torque Set the load inertia percentage Pn106 correctly to enable this function in manual gain Pni14 Immediately P l feedforward adjustment mode Unit Torque It is used to ease mechanical vibration due to torque feedforward Pn115 feedforward Immediately P S Unit 0 1ms filter O Torque reference percentage m 1 Value of offset counter P PI switching l Pn116 diti After restart P 2 Value of acceleration speed setting condition 3 Value of speed setting 4 Fixed PI Torque i Threshold of torque to switch PI control to P control Pn117 switching After restart P Uni
54. on ESTUN ProNet servo drive offers document as below ESTUN_ProNet_CoE xml 3 3 EtherCAT network state machine EtherCAT state machine is used to describe the states that one slave applies and the state change State change request is normally launched by the master and answered by the slave The graph below describes the slave s state machine Power ON Description Init No mailbox communication No process data communication 10 ESTUN EtherCAT User s Manual Staus L Init to Pre Op Master configures data link layer address and initiate mailbox communication Master initializes DC clock synchronization Master requests to change into Pre op status Master sets AL control register Slave checks if mailbox initialization is good Pre Op Process data communication is not available Pre Op to Safe Op Master configures SyncManager channels and FMMU channels for process data Master configures PDO mapping and the sync manager PDO assignment parameters via SDO Master requests Safe Operational state Slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings are correct Safe Operation Safe Op Slave s program will transmit actual input data and will not execute output Output is set as safety status Safe Op to Op Master transmits effective output data Master asks to change into OP status Operational Op Process data communication is available now
55. on of the mouse to single click UO Device and choose EtherCAT network adapter Name it as Device 1 I TwinCAI System Manager File Edit Actions View Options Help Dc uk AB SV A KREESSER Oo e Bl SYSTEM Configuration Number NC Configuration PLC Configuration 1 0 Configuration KA Devi com Inport Device a Scan Devices Paste Ctrlt EB Paste with Links M UE Device Type Insert Device WO Beckhoff Li ghtbus WO IT O Lightbus FC200x PCI WO II 0 Lightbus C1220 ISA WO TI 0 Lightbus Master EL8720 EtherCAT WO II 0 Lightbus C1200 2 Telegrams WO TI O Lightbus Master CX1500 N200 PC104 WO IT O Lightbus Slave CX1500 B200 PC104 E M Profibus DP fr Interbus S CIA CANopen DeviceNet Ea EtherCAT Adapter Direct Mode gj EI Ethernet 5 USB egt Beckhoff Hardware E Miscellaneous Device 1 47 Target Type OPC only OCX only OBX only Om ocal 192 168 1 164 1 1 SEU ESTUN EtherCAT User s Manual Use the right button of the mouse to single click Device 1 and add a slave ProNet device Dis g t kens De Goticas Bis Deep pr AP al s d RENAS KAA CC RD Geanral Abitar Hart feint Cel Onlise Device Geet Zaff Adapter Qurect Bode X Delete Penes E dua Bes BZ online Balosi Config Beie only Online Bebeto Config Mode ly Ua Create md br Deren M uero Wee dent Bing 1 sa pato lt B teaaett one Gei Comenica
56. ovides system time And the distribute clock in slave device synchronizes with the reference clock It enables slave s local application to synchronize with reference clock events EC netX50 model achieves the synchronous mode as following Switching synchronous mode can be controlled by synchronous control register ESC 0x980 and 0x981 e Free Run mode ESC register 0x980 0x0000 In this mode local application cycle communication cycle and master cycle is independent DC mode ESC register 0x980 0x0300 In this mode local application is synchronous with SyncO PDO Index Sub Name Access Type Value Mapping Sync Manager channel 2 process data output Synchronization Current status of DC mode Synchronization RO UINT 0 Free run o type 2 DC Mode Synchronous with SyncO 0x1C32 Sync0 event cycle ns The value is set by 2 Cycle time RO No UINT master via ESC register range 125000 n n 2 16 ns Sync Manager channel 3 process data input Synchronization 3 Shift ti RO N UINT 0x1C33 TS Calc and copy 6 j RO No UINT time Time schedule figure in DC mode is as follows 14 ESTUN EtherCAT User s Manual Master application task Master application task Master application task Master Network Frame U Frame U Frame U ET E ee ee Ce ee pedea eee Calo Copy tim
57. r Power OFF Power ON A KM a A 1KM r 1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay Servomotor AU U u 1 B 2 _ L2 V e M Cl 981 ProNet w a Series Servo Drives Di o LIC CN2 Lac Absolute Encoder E AS Encoder 7 S 8 S TT Bi 17 BAT PG 18 BAT t t 9 PG5V p RA 19 PGOV E ops Shel Shield Y e CN3 1 TD Be sure to prepare the end of the Be sure to ground 2 TD zm shielded wire properly 3 RD 4 N C CNi SSS 5 N C d E 6 RD 7 NC Signal allocatons can be modified paid DICOMT 20 8 NC Ee SON 15 peik Shell Shield P CON P Control P CON 16 ES P OT Forward Run Prohibited P OT 17 SH N OT Reverse Run Prohibited N OT 18 ESA CHA RJ45 Socket ALM RST Alarm Reset ALM RST 19 ES 1 TD 2 TD 3 RD 4 NC L 5 N C 485 6 6 RD 485 T 7 NC GNDiso a ry 8 N C shell Shield 4 _ 1 Connect Shield to Connector Shell Shield Shell i A TGON Ew Es polius i Eu 14 COME TGON Rotation Detection S RDY Servo Ready i Fags S RDY GLT Torque Limit Detection ES Brake Interloct 14 COM PGC Encoder C Pulse Output OT Over Travel I RD Servo Enabled Motor Excitation Output l HOME Home Completion Output 1Ry 24y E 12 ALM 1 T Th fa come 7 I T E 4 DN af Represents Twisted pair Wires 93 ALM Servo Alarm Output Photocoupler Ou
58. r when large vibration is present This parameter is only valid in autotuning Speed loo This parameter determines speed loop gain Pn102 2 E Immediately P P P Pg ain Unit Hz Speed loop Decreases the value of this parameter to shorten positioning time and enhance speed Pn103 integral time Immediately P response constant Unit 0 1ms 78 Pn104 Position loop gain ESTUN Immediately EtherCAT User s Manual This parameter determines position loop gain Decreases this value to enhance servo rigidity but vibration will occur if the value is too large Unit 1 s Pn105 Pn106 Pn107 Pn108 Torque reference filter time constant Load inertia 2nd speed loop ain 2nd speed loop integral time constant Immediately Immediately Immediately Immediately percentage Pn109 2nd position loop gain Immediately Pn110 2nd torque reference filter time constant Immediately Torque reference filter can eliminate or lighten mechanical vibration but incorrect setting will result to mechanical vibration Unit 0 1ms Setting value load inertia rotor inertia X 100 Unit The meanings of these parameters are the same as Pn102 Pn105 These parameters are only needed to set when two types of gain function are enabled 79 EtherCAT User s Manual ESTUN This parameter setting can shorten positioning time However if it is to
59. rcentage 69 ESTUN EtherCAT User s Manual Parameter No Descripition Unit Range Default Setting invalidation 1 Value of offset counter 2 Value of acceleration speed setting 3 Value of speed setting 4 Fixed PI Pn117 Torque switching threshold Yo 0 300 200 Immediately Pn118 Offset counter switching threshold reference pulse 0 10000 0 Immediately Pn119 Setting acceleration speed switching threshold 10rpm s 0 3000 Immediately Pn120 Setting speed switching threshold rpm 0 10000 Immediately Gain switching condition 0 Fix to 1st group gain 1 External switch gain switching 2 Torque percentage Pn121 3 Value of offset counter 0 6 0 After start 4 Value of acceleration speed setting 5 Value of speed setting 6 Speed reference input 7 actual motor speed Pni22 Switching delay time 0 1ms 0 20000 Immediately Pn123 Threshold switching level 0 20000 0 Immediately Pn124 Reserved Pn125 Position gain switching time 0 1ms 0 20000 0 Immediately Pn126 Hysteresis switching E 0 20000 0 Immediately Pn127 Low speed detection filter 0 1ms 0 100 10 Immediately Pn128 Speed gain acceleration relationship during online autotuning 0 3 3 Immediately 70 ESTUN EtherCAT User s Manual Parameter No Descripition Unit Range Default Setting invalidation Pn129 Low speed correction coeffi
60. ription BitO 3 and Bit7 15 11 10 9 8 7 6 4 3 2 1 0 manufacturer reserved halt Fault Operation Enable Quick Enable Switch specific reset mode specific operation stop voltage on The transmission of state machine will be triggered by the command composed by these 5 bits Device control command list Command Bit of the controlword Fault Enable Quick Enable Switch Transitions reset operation stop voltage on Shutdown 0 x 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 Switch on 0 1 1 1 1 du Disable 0 x x 0 x 7 9 10 12 voltage Quick stop 0 x 0 1 x 7 9 10 11 Disable 0 0 1 1 1 5 operation Enable 0 1 1 1 1 4 16 operation Fault reset Es x x x x 15 Note X means this bit could be ignored Bit4 5 6 8 In different control mode these 4 bits definition will be different 18 ESTUN EtherCAT User s Manual Control mode Bit profile position mode profile velocity mode homing mode 4 New set point reserved Start homing operation 5 Change set immediately reserved reserved 6 abs rel reserved reserved 8 Halt Halt Halt The other bits All reserved 5 2 2 statusword Index 6041 n Name statusword Object Code VAR Data Type UINT16 Access RO PDO Mapping YES Units Value Range Default Value Statusword bit introduction is as below bit introduction LO Readytoswitchon 1 Sw
61. rm when the value of error counter exceeds Pn504 setting value 2 Reserved 3 Reserved Pn005 3 Servomotor model selection 1 0 EMJ 1 EMG 2 Reserved 3 EMB Pn006 0 Bus type selection 0 3 No bus 4 EtherCAT Pn006 1 Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibration suppression function disabled 1 Low frequency vibration suppression function enabled TI ESTUN EtherCAT User s Manual 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia with great variation Online Note autotuning m Pn100 zattin After restart P 1 Autotuning is invalid when servomotor max speed is less than 100rpm Manual gain adjustment is used 2 Autotuning is invalid when servomotor acceleration deceleration speed is less than 5000rpm s Manual gain adjustment is used 3 Autotuning is invalid when mechanical clearance is too big during operation Manual gain adjustment is used 4 Autotuning is invalid when the difference of different speed load is too great Manual gain adjustment is used The response speed of servo system is determined by this parameter Normally the Machine rigidity rigidity should be set a little larger However if it is too large it would suffer mechanical Pn101 Immediately P E SR setting impact It should be set a little smalle
62. ry 8 1st Receive PDO Mapping Number of entries Mapping entry 1 Mapping entry 2 Mapping entry 3 Mapping entry 4 Mapping entry 5 Mapping entry 6 Mapping entry7 Type UI UI UI UI UI UI UI UI UI UI UI UI UI UI UI NT32 NT32 NT32 NT32 NT32 NT32 NT32 NT8 NT32 NT32 NT32 NT32 NT32 NT32 NT32 EtherCAT User s Manual eee graca a Corea mw o j j NO m Iw jw Je jw Je fT NO ww qo j 54 ESTUN Mapping entry 8 2nd Transmit PDO Mapping Number of entries Mapping entry 1 Mapping entry 2 Mapping entry 3 Mapping entry 4 Mapping entry 5 Mapping entry 6 Mapping entry7 Mapping entry 8 3rd Transmit PDO Mapping Number of entries Mapping entry 1 Mapping entry 2 Ul Ul Ul Ul Ul Ul Ul Ul Ul Ul Ul Ul Ul NT32 NT8 NT32 NT32 NT32 NT32 NT32 NT32 NT32 NT32 NT8 NT32 NT32 EtherCAT User s Manual Type La ee rv mu i er pw Je LT j jw Je fe j jew no j NO mm Je j j Iw Iw Je ew Iw je few wo Jj 55 ESTUN oo atone entry 3 UINT32 4thTransmit PDO Mapping o o Number of entries UINT8 1 Mapping entry 1 UINT32 UINT32 UINT32 4 Mapping entry 4 UINT32 UINT32 e Mappi
63. set point of control word as 1 Set bit 5 change set immediately as 0 Set bite absolute comparative according to the type of object position Set bit 12 set point acknowledge of the status word and then start to operate position control Set the second target position target position 607A n target speed acceleration deceleration speed Set bit4 new set point as 1 bit 5 change set immediately as 0 Set Bit6 absolute comparative according to the target position type After reaching the first target position the servo drive will not stop and keep moving toward the second target position After reaching the second target position the servo drive will respond through status word bit 10 target reached And then the servo motor will follow the program to keep moving or accept new target position 41 ESTUN EtherCAT User s Manual t t t Time 5 8 Interpolation position mode 5 8 1 Control word 9s lei s o Enable ip mode please referred to previous chapters Name Value Description 0 Interpolated position mode inactive Enable ip mode 1 Interpolated position mode active Halt 0 Execute the instruction of bit 4 1 Stop axle 5 8 2 State word 15 14 13 12 11 10 9 0 i S ip mode active Target reached please referred to previous chapters Name Value Description Target 0 Halt 0 Target position not yet reached reached Ha
64. sss Yelp OSs Oh DAANA Sov we ae Pesti Coupling Compansatico General Settings Chabal Dromies Colina Mais Type Standard Gapping vie Encoder wd Brive Bier Weeping vis baste end Eet GER dr leg EtherCAT Sef Drive Atua D790 R RR e 5 Y amp el Ais Leve Brive Lightbon Ans Lt i K ra DES Gage Interface v K Outputs TLE Configuration NL2530 812542 312552 812535 12545 apli fier Toterfece Lente Drive pss 70 Condi guration Result Brr ss 1 Tart Position Acceleration Zeie I Tnage d na sais rd Device Irinagerinto Inputs Outputs Velocity dais Cyrle Tine Areass Divider Divider fi 5 Cycle Tine e 2 000 pae TY Mote 1 Meddo H CA IV Moda D Wet TateDate Click Link to button and map servo drive axis to the device 49 ESTUN EtherCAT User s Manual 2 7 rent Syston Manager E RESISTEM Configuration K Configuration 5 P We task i SAP W Tark SYS KZer t Enage Tables 5 Se bos a 1 Een wad Drive dais ted amp QI lapas Outgats HE Configuratica pe MP IO Devices vies 1 Tiat Device Tier Device 1 Iouge Tofo Tapata ES raez FY Mode TT CAR PY ode RX Tate Tadodate EECH LSA Aris Type EQek weir ed Compensation Devic Ondine Puta Conrad Coming pr aga CANopen MSUN ep EtharCAT Ce Drive Merey sg S paie uy Tenuen DIS otal TR 160 1 164 1 1 Click activate configuration button on the toolbar and activ
65. st ensure the servo drive s parameters are correct State Transition 9 will be used to shut down the main power supply Once alarm happens to the servo drive the servo drive s state will be in FAULT state States Description Not Ready to Switch On Servo drive is initiating Switch On Disabled Initiation completed Servo drive enters Switch On state The servo motor is not Ready to Switch On servo on yet Switched On Servo drive ready and main power is on Servo on and control the servo motor according to the control Operation Enable d mode Quick Stop Active Servo drive stops in pre defined method Servo drive detects alarm and stop according to pre defined Fault Reaction Active MC method Servo motor is still on Fault Servo off 5 2 Parameters for device control Index Object Name Type Attr 6040 n VAR Controlword UINT16 RW 6041 n VAR Statusword UINT16 RO 605A h VAR Quick stop option code INT16 RW 605B h VAR Shutdown option code INT16 RW 605C hn VAR Disabled operation option code INT16 RW 605D hn VAR Halt option code INT16 RW 605E n VAR Fault reaction option code INT16 RW 17 ESTUN EtherCAT User s Manual 5 2 1 controlword Index 6040 n Name Control word Object Code VAR Data Type UINT16 Access RW PDO Mapping YES Units Value Range Default Value 0 Control word bit desc
66. t 96 threshold Offset counter M Threshold of error counter to switch PI control to P control Pn118 switching Immediately P Unit pulse threshold Setting acceleration f l Threshold of acceleration speed to switch PI control to P control Pnt19 speed Immediately P SE Unit 10rpm s switching threshold Setting speed i P Threshold of speed to switch PI control to P control Pn120 switching Immediately P Unit rpm threshold 81 ESTUN EtherCAT User s Manual 0 Fix to 1st group gain 1 External switch gain switching G SEL e sis 2 Torque percentage Gain switching Pni21 diti m E P 3 Value of offset counter n condition er restar l 4 Value of acceleration speed setting 10rpm 5 Value of speed setting 6 Speed reference input 7 actual motor speed Switching dela Pn122 9 S Immediately P Delay time of switching gain when switching condition is satisfied ime Switch T Pn123 Immediately P Gain switching trigger level threshold level Pni24 Reserved Position gain This parameter is used to smooth transition if the change of the two groups of gain is Pn125 pie eine Immediately P switching time too large Hysteresis l Te Pn126 itchi Immediately P This parameter is used to set the operation hysteresis of gain switching switching Low speed This parameter is used to filter in low speed detection The speed detection will be Pn127 a Immediately P f detect
67. t port to signal one port with four bits hex ESTUN After restart EtherCAT User s Manual Pn510 0 corresponding port CN1 39 Pn510 1 corresponding port CN1 40 Pn510 2 corresponding port CN1 41 Pn510 3 corresponding port CN1 42 Terminal PRI CN1 14 CN1 15 CN1 16 CN1 17 CN1 39 CN1 40 CN1 41 CN1 42 Corresponding signal of each data is shown as following S ON P CON Reserved Reserved ALMRST CLR Reserved Reserved Reserved Reserved Reserved Reserved HmRef Reserved moou oomuoocsom o Reserved 87 Pn511 Pn512 Output signal allocation Bus control input node low bit enabled ESTUN After restart Immediately S T Pn513 Bus control input node low bit enabled Immediately EtherCAT User s Manual Pn511 0 corresponding port CN1_11 CN1_12 Pn511 1 corresponding port CN1_05 CN1_06 Pn511 2 corresponding port CN1 09 CN1 10 Corresponding signal of each data is shown as follows COIN VCMP TGON S RDY CLT IBK Reserved Reserved Reserved HOME Reserved o o JO 0 A Go M o Bus communication input port enabled 0 Disabled 1 Enabled Pn512 02CN1 14 Pn512 15CN1 15 Pn512 22CN1 16 Pn512 32CN1 17 Pn513 0 CNT 39 Pn513 15CN1 40 Pn513 22 CN1 41 Pn513 32 CN1 42 88 ESTUN EtherCAT User s Manual Pn514 Input port filter jinthediate
68. thom Terminals denn X 04 Cult Syston Couplers R Cor tul LIGO Heber CAT Coupler QA Eu ba TIO Hart Coler CA PPer D it FRISOS EtharCA Coler CA Efe FI ultifede ID mnd D EIN EuberCAT Peover supply G Ibn Terminal Cooplers Dies Tass SUE LIED Biete enne Falen Ternes Precos X pidii ej Wives Pr Dowd Gaterfeces Ee Fei erts Seurce Benea pke Theerbock sorts boarde ITI d no Ronse SM Musgo Te zs Lare Mali ep lt L Rosli Information 3 Add one NC task and name it as Task 1 EHM TwincAT Sys B bis Bait kense per Options Eor Deen PER MS Sov HS HITA L SCD 1 0 Config e WD 1 0 Devices TeinCAT System Manager OW Device 1 EtherCAT Es 210 Guild 1379 Device Lieue pense InInagerints Inputs Outputs InfoDate Drive 3 ET SERVO DRIVER TwinCAT NC Server Server currently not available Copyright CET e http ovx Backhoes cen Tastate Y S CAE PY Mode TX amp Koap PY ma Ox D TafeDate GB LITT Ready ocal 92 168 1 164 1 1 RR Add Axis 1 under NC task 48 ESTUN EtherCAT User s Manual TwinCAT System Tile au petias Des Options Kelp DES ab 3 ss 5 amp t xS Qe HU eH SISTEM Configuration K ries bue General Ondina S P Task 1 SAF K Zwek p mm Axes e E uis List nz cnt EES D Bro cont Bro de d 58 Davi Ign Axis Hr Mad dr CAME PY Bede TX CAE PY Bede X KERN Infedeta NU Ble Hat Actions View S
69. tput Maximum Operating Voltage DC30V Maximum Output CurrentDC50mA ESTUN Ethe C 2 Three phase 200VAC ProNet 08AEA EC to ProNet 50AEA EC Li L2 L Molded case Circuit Breaker q yt Surge Protector EI 4 Three phase 200 230V 5 50 60Hz Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay 1Ry 1PL Servo Alarm Display Noise Filler REN ouer ouer IKM Me 1KM Ry 1SUP 4 31 U i L2 dite TE TUE ProNet o Series Servo Drives LIC L2c PSS rw Extemal Regenerator Resistor i Brod l B1 ad oB2 l 85 de a PH e QD Be sure to ground pI ENT ees ee k 7 l l l Signal allocatons can be modified zw DIGOM 20 S ON Servo ON SON 15 Lon Bs P CON P Control P CON 16 i P OT Forward Run Prohibited P OT 17 I N OT Reverse Run Prohibited N OT 18 ALM RST Alarm Reset ALM RST 19 T I 485 6 485 T GNDiso E 3 j l i Connect Shield to Connector Shell Shield Shen T I I l I I T I L
70. ult Value O profile_velocity Profile_velocity is the speed that the servo motor could finally reach after acceleration Index 6081 n Name profile velocity Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 end velocity End velocity is the speed when servo motor reaches the target position Normally we set this value as 0 in order to stop the servo motor when the servo motor reaches the requested position But in continuous multiple position this value could be set as a non zero value 37 ESTUN EtherCAT User s Manual Index 6082 n Name end_velocity Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units speed units Value Range Default Value 0 profile acceleration Profile acceleration is the acceleration speed before reaching the target position Index 6083 n Name profile acceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Units acceleration units Value Range Default Value 100000 R 10min s profile_deceleration Profile_deceleration is the deceleration speed before reaching the target position 38 ESTUN EtherCAT User s Manual Index 6084 n Name profile deceleration Object Code VAR Data Type UINT32 Access RW PDO Mapping YES Un
71. unnnnnnuunnannnnnnnnnnnnn nnne 51 Appendix B Parameters eeeseeeeeseeeseeee nennen nnne natn aa annA n nnn antra 68 Appendix C Standard Wiring Examples eese 93 ESTUN EtherCAT User s Manual Chapter 1 Brief introduction of EtherCAT 1 1 What is EtherCAT EtherCAT is an open network based on Ethernet to achieve real time control It could support high speed and synchronized control By using efficient network topology the network structure with too many concentrator and complicated connections are avoided It is very suitable to use this protocol in motion control and other factory automation applications 1 2 EtherCAT general introduction EtherCAT technology breaks the limits of normal internet solution Through this technology we don t need to receive Ethernet data decode the data and then copy the process data to different devices EtherCAT slave device could read the data marked with this device s address information when the frame passes this device As the same some data will be written into the frame when it passes the device In this way data reading and data writing could be done within several nanoseconds EtherCAT uses standard Ethernet technology and support almost kinds of topologies including the line type tree type star type and so on Its physical layer could be 100 BASE TX twisted pair wire TOOBASE FX fiber or LVDS low voltage differential signaling It
72. ute the instruction of bit 4 1 Stop axle with homing acceleration 5 5 2 State word 15 14 13 12 11 10 9 0 homing error homing attained target reached Please refer to the previous chapters Name Value Description Halt 0 Home position not reached Target Halt 1 Axle decelerates reached i Halt 0 Home position reached Halt 1 Axle has velocity O 0 Homing mode not yet completed Homing attained g 1 Homing mode carried out successfully 0 No homing error Homing error occurred Homing error 1 Homing mode carried out not successfully The error cause is found by reading the error code 25 ESTUN EtherCAT User s Manual 5 5 3 Parameters related to homing mode Index Object Name Type Attr 607C VAR home_offset INT32 RW 6098n VAR homing method INT8 RW 6099 ARRAY homing speeds UINT32 RW 609A VAR homing acceleration INT32 RW home offset Home offset defines the distance between reference position and homing position Home Zero Position Position home offset i Homing mode Index 607C n Name home offset Object Code VAR Data Type INT32 Access RW PDO Mapping YES Units position units Value Range Default Value O homing method There are 4 signals as homing signals positive limit swit
73. vo excitation signal Servo motor will stop freely down After the servo motor decelerates and stops the servo excitation signal will be shut 21 ESTUN EtherCAT User s Manual 5 2 5 quick_stop_option_code When the Operation Enable status transits to Quick Reaction Active status quick_stop_option_code will define how to stop Index 605A n Name quick_stop_option_code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units Value Range 0 1 2 5 6 Default Value 0 Value Introduction 0 Shutdown servo excitation signal Servo motor will stop freely 1 After the servo motor decelerates and stops the servo excitation signal will be shut down 2 After servo motor stops urgently the servo excitation signal will be shut down After the servo motor decelerates to zero it will still stay in QuickStop status After the servo motor stops urgently it will still stay in QuickStop status 5 2 6 halt option code When bit8 of Controlword is 1 halt option code will define how to halt Index 605D h Name halt option code Object Code VAR Data Type INT16 Access RW PDO Mapping NO Units E Value Range 1 2 Default Value 0 22 ESTUN EtherCAT User s Manual Value Introduction 1 Servo motor will decelerate gradually to zero 2 Servo motor will decelerate urgently and then stop

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