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Estun EtherCAT User Manual

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EtherCAT User's Manual
(Version: V1.07)

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  • Page 1 EtherCAT User's Manual (Version: V1.07)
  • Page 2 Add：5.12 Touch Probe function Add：5.13 Torque limit Function Add：5.14 Digital Input/Output 2016-07-29 V1.06 Revision：5.5 Homing mode Revision：5.7.3 Parameters related to position control Revision： Chapter 6 EtherCAT communication example Revision： Appendix A Revision： Appendix D Revision：Pn006、Pn510、Pn511、Pn513、Pn517、Pn528 Add：ProNet-□□□EG-EC 2017-12-20 V1.07 Add：5.16 Absolute Encoder Setup...
  • Page 3 Date Version Description Add：5.17 Conversion factors...

  • Page 4: Table Of Contents

    EtherCAT User's Manual Content Chapter 1 Brief introduction of EtherCAT ............... 1 1.1 What is EtherCAT ..................1 1.2 EtherCAT general introduction ..............1 1.3 Product introduction ..................1 1.4 CoE terms ..................... 2 1.5 Data type ....................... 3 1.6 Communication specifications ..............3 1.7 LED indicators ....................
  • Page 5 5.17.2 Position factor ..................67 5.17.3 Velocity factor ..................69 5.17.4 Acceleration factor ................. 70 Chapter 6 EtherCAT communication example ............. 72 Appendix A Object dictionary ................76 Appendix B Parameters ..................95 Appendix C Standard Wiring Examples .............. 121 C.1 Single-phase 200VAC (ProNet-A5AEA-EC ~ ProNet-04AEA-EC...

  • Page 6: Chapter 1 Brief Introduction Of Ethercat

    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.

  • Page 7: Coe Terms

    Function. Clients 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.

  • Page 8: Data Type

    1.6 Communication specifications IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile Applied communication standard 100BASE-TX (IEEE802.3) Physical layer CN3 (RJ45): EtherCAT Signal IN Interface CN4 (RJ45): EtherCAT Signal OUT Level-5 twisted pair wire Wiring SM0: output mailbox, SM1: input mailbox SyncManager...

  • Page 9: Led Indicators

    EtherCAT User's Manual Emergency Message, SDO Request, SDO Response, Mailbox (CoE) SDO information Note: Don’t support TXPDO/RxPDO and remote TxPDO/RxPDO. Free-run, DC mode(activated by configuration) Distributed supported DC cycle time: 250us－8ms data(DC) 256 bytes(read only) EtherCAT system indicator(SYS)×1 LED light EtherCAT run indicator(RUN)×1...
  • Page 10 EtherCAT User's Manual LED indicator(green) Introduction Status Description System Continuously off initiation pre-operation Blinking status safety Double operation flashing mode Operation Continuously on status ERR light is used to indicate the error in EtherCAT communication. LED light(red) Introduction Status Description...
  • Page 11 EtherCAT User's Manual 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 Continuously off Physical level communication has not been started. EtherCAT controller has not been started.

  • Page 12: Chapter 2 Installation And Connection

    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.

  • Page 13: Wire Specification

    EtherCAT User's Manual Pin layout Pin No. Signal name abbreviation signal transmit direction Data transmit＋ TD＋ Output Data transmit－ Output Data receive ＋ Input － － Not used － － Not used Data receive － Input － － Not used －...

  • Page 14: Chapter 3 Ethercat Communication

    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, FMMU and Sync Manager have to configure as...

  • Page 15: Ethercat Slave Information

    *** is version number. The latest version is ESTUN_ProNet_V204. 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.

  • Page 16: Pdo Mapping

    Operational(Op) Process data communication is available now. 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.
  • Page 17 EtherCAT User's Manual PDO mapping example PDO configuration Sync manager object (SMCO) is composed of multiple PDOs. SM-PDO-Assign object (0x1C12 and 0x1C13) describes the relationship between PDOs and Sync Manager as below 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.

  • Page 18: Emergency Message

    EtherCAT User's Manual 0x1A00～0x1A03 into 0). Set the number of mapping entries in PDO mapping objects (Set sub-index 0 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 0x1C13h to 1).

  • Page 19: Chapter 4 Network Synchronization Based On Distributed Clocks

    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 provides 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...
  • Page 20 EtherCAT User's Manual Time schedule figure in DC mode is as follows: Master application task Master application task Master application task Master Network Frame Frame Frame Calc + Copy time (1C32:06) Slave Sync0 Sync0 Sync0 Event Event Event Cycle time (1C32:02)

  • Page 21: 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 Fault Disabled...

  • Page 22: Parameters For Device Control

    EtherCAT User's Manual 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 must ensure the servo drive’s parameters are correct. State Transition 9 will be used to shut down the main power supply.

  • Page 23: Controlword

    EtherCAT User's Manual 5.2.1 controlword Index 6040 Name Control word Object Code Data Type UINT16 Access PDO Mapping Units Value Range Default Value Control word bit description: Bit0 ~ 3 and Bit7: The transmission of state machine will be triggered by the command composed by these 5 bits.

  • Page 24: Statusword

    EtherCAT User's Manual Control mode profile position mode profile velocity mode homing mode New set point reserved Start homing operation Change set immediately reserved reserved abs/rel reserved reserved Bit8: Halt. Set to 1 means servo motor stops according to the value of 605D.
  • Page 25 EtherCAT User's Manual introduction Homeflag (Absolute servo drive saves when power off) Bit0 ~ 3 , Bit5 and Bit6: The combination of these bits represents the status of the servo drive Value(binary) State xxxx xxxx x0xx 0000 Not ready to switch on...

  • Page 26: Shutdown_Option_Code

    EtherCAT User's Manual When absolute servo drive Pn002.2 is 0,this bit is effective. When this bit is 1,it means homing is completed and save when power off. 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.

  • Page 27: Quick_Stop_Option_Code

    EtherCAT User's Manual Value Introduction Servo drive is OFF. Servo motor will stop according to Pn004.0. After the servo motor decelerates and stops according to 0x6084, the servo excitation signal will be shut down. 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.

  • Page 28: Fault_Reaction_Option_Code

    EtherCAT User's Manual Index 605D Name halt_option_code Object Code Data Type INT16 Access PDO Mapping Units Value Range Default Value Value Introduction Servo motor decelerates and stops according to 0x6084. Servo motor decelerates and stops according to 0x6085. 5.2.7 fault_reaction_option_code When it alarms, fault_reaction_option_code will decide how to halt.

  • Page 29: Control Mode Parameters

    EtherCAT User's Manual Profile velocity mode Profile torque mode Interpolated position mode Cyclic synchronous position mode Cyclic synchronous velocity mode (ProNet-□□□EG-EC only) Cyclic synchronous torque mode Touch probe function Torque limit function This chapter will mainly describe these 8 control methods as above.

  • Page 30: Homing Mode

    EtherCAT User's Manual modes_of_operation_display Servo drive’s current control mode could be read from the modes_of_operation_display. Index 6061 Name modes_of_operation_display Object Code Data Type INT8 Access PDO Mapping Units Value Range 1,3,4,6,7,8,9,10 Default Value Note: Only through the parameters of modes_of_operation_display, we could get the control mode of the servo drive.

  • Page 31: Control Word

    EtherCAT User's Manual 5.5.1 Control word 15 ~ 9 7 ~ 5 3 ~ 0 Halt Homing operation start *: please refer to previous chapters Name Value Description Homing mode inactive 0 → 1 Start homing mode Homing operation start Homing mode active 1 →...
  • Page 32 EtherCAT User's Manual home_offset Home_offset defines the distance between home position and zero position. If 607C is set to 0, the home position coincides in zero position. If 607C is not set to 0, the home position is mechanical home= mechanical zero +607C...
  • Page 33 EtherCAT User's Manual Index 6098 Name homing_method Object Code Data Type INT8 Access PDO Mapping Units Value Range 1,2,3,4,5~14*,17,18,19,20,21~30*,33~34*,35,-1~-4* Default Value *: only for ProNet-□□□EG-EC. homing method table Reference Method Direction Target position DS402 Position Negative Zero impulse Positive Zero impulse...
  • Page 34 EtherCAT User's Manual Negative Reference switch Reference switch Negative Reference switch Reference switch Negative Reference switch Reference switch Negative Reference switch Reference switch Negative Current position Zero impulse Positive Current position Zero impulse Current position Current position Zero impulse Positive...
  • Page 35 EtherCAT User's Manual Sub-Index Name speed_during_search_for_zero Object Code Data Type INT32 Access PDO Mapping Units speed units (0.1r/min) Value Range Default Value Pn207（stopper torque） It is used for homing method -4、 -3、 -2、 -1.When the drive hits an end so that the torque set in Pn207 is reached for the blocking time set in Pn208,movement in the opposite direction or makes the current position for the origin.

  • Page 36: Homing Method

    EtherCAT User's Manual Index 304A Pn208（Blocking time） Name Object Code Data Type UINT16 Access PDO Mapping Units 0.125ms Value Range 0-10000 Default Value homing_acceleration Acceleration and deceleration in homing are all defined by homing_acceleration. Index 609A Name homing_acceleration Object Code...
  • Page 37 EtherCAT User's Manual 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.
  • Page 38 EtherCAT User's Manual Homing method 5 and 6: Use C pulse and negative reference point limit switch It is used that reference point limit switch is on negative direction and positive direction is zero. That is on the edge of movement negative direction.
  • Page 39 EtherCAT User's Manual Homing method 11~14: Use C pulse，reference point limit switch and negative limit switch It is used that reference point limit switch is in the middle. And homing is according to C pulse，reference point limit switch and negative limit switch.
  • Page 40 EtherCAT User's Manual Homing method 33 and 34：Homing on the position on reaching C pulse from current position Homing method 33：The drive moves slowly into the negative direction，stops until reaches C pulse. Homing method 34 is similar to method 34.
  • Page 41 EtherCAT User's Manual Homing method -4 Movement in positive direction, hitting an end and reversing to travel，the target homing position is the first C pulse In this method, the motor moves in positive direction. When it hits an end so that the torque set in Pn207 is reached for the blocking time set in Pn208,movement in the opposite direction, and the target homing position is the first C pulse.

  • Page 42: Profile Velocity Mode

    EtherCAT User's Manual 5.6 Profile velocity mode In the profile velocity mode, the speed is output in accordance with the acceleration and deceleration, until it reaches the target velocity. The following figure shows the block diagram of the profile velocity mode.

  • Page 43: Parameters Related To Velocity Mode

    EtherCAT User's Manual Halt = 1: Axle has velocity 0 Speed Speed is not equal 0 Speed is equal 0 Max slippage Maximum slippage not reached error Maximum slippage reached 5.6.3 Parameters related to velocity mode Index Object Name Type Attr.
  • Page 44 EtherCAT User's Manual Index 606B Name velocity_demand_value Object Code Data Type INT32 Access PDO Mapping Units speed units (0.1 r/min) Value Range Default Value 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.
  • Page 45 EtherCAT User's Manual Index 606D h Name velocity_window Object Code Data Type UINT16 Access PDO Mapping Units speed units (0.1 r/min) Value Range Default Value velocity_window_time Velocity window comparator is composed of velocity_window_time and velocity_window. Index 606E Name velocity_window_time Object Code...
  • Page 46 EtherCAT User's Manual Index 606F Name velocity_threshold Object Code Data Type UINT16 Access PDO Mapping Units speed units (0.1 r/min) Value Range Default Value 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. When the time that servo motor’s speed is lower than the threshold is more...

  • Page 47: Profile Position Mode

    EtherCAT User's Manual Index 60FF Name target_velocity Object Code Data Type INT32 Access PDO Mapping Units speed units Value Range Default Value 5.7 Profile position mode In the profile position mode, the motor position is controlled in accordance with the target position, target velocity , acceleration and deceleration, until it reaches the target position.

  • Page 48: Control Word

    EtherCAT User's Manual 5.7.1 Control word 15 ~ 9 3 ~ 0 Halt abs / rel change set immediately New set-point *: Please refer to previous chapters Name Value Description Does not assume target position New Set-point Assume target position...
  • Page 49 EtherCAT User's Manual Index Name Type Attr. PDO Mapping 6083 profile_acceleration UINT32 6084 profile_deceleration UINT32 6085 quick_stop_deceleration UINT32 6086 motion_profile_type INT16 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.
  • Page 50 EtherCAT User's Manual But in continuous multiple position, this value could be set as a non-zero value. Index 6082 Name end_velocity Object Code Data Type UINT32 Access PDO Mapping Units speed units (0.1 r/min) Value Range Default Value profile_acceleration Profile_acceleration is the acceleration speed before reaching the target position.
  • Page 51 EtherCAT User's Manual Index 6084 Name profile_deceleration Object Code Data Type UINT32 Access PDO Mapping Units acceleration units (0.1 r/min/s) 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...

  • Page 52: Function Description

    EtherCAT User's Manual Index 6086 h Name motion_profile_type Object Code Data Type INT16 Access PDO Mapping Units 0：trapezoid speed curve Value Range 2：S speed curve Default Value profile_jerk1 Profile_jerk1 is used to set the jerk of speed profile. The value is more smaller,the speed changing is more smooth.
  • Page 53 EtherCAT User's Manual reference positions, the servo motor doesn’t need to decelerate to zero. Above two methods could be switched to each other 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.

  • Page 54: Interpolation Position Mode

    EtherCAT User's Manual 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 ), 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.

  • Page 55: Parameters Related To Interpolation Position Control

    EtherCAT User's Manual Name Value Description Halt = 0: Target position not (yet) reached Target Halt = 1: Axle decelerates reached Halt = 0: Target position reached Halt = 1: Velocity of axle is 0 Interpolated position mode inactive ip mode...
  • Page 56 EtherCAT User's Manual Index 60C1h Subindex Object Code ARRAY Data Type INT32 Access PDO Mapping Value Range INT8 Default Value Comment number of entries Index 60C1h Subindex Object Code ARRAY Data Type INT32 Access PDO Mapping Value Range INT32 Default Value...
  • Page 57 EtherCAT User's Manual Index 60C2h Subindex Object Code RECORD Data Type INT8 Access PDO Mapping Value Range Default Value Comment number of entries Index 60C2h Subindex Object Code Data Type UINT8 Access PDO Mapping Value Range 0~255 Default Value Comment...

  • Page 58: Profile Torque Mode

    EtherCAT User's Manual 5.9 Profile torque mode Profile torque mode operates the controller outputs a target torque. Servo drive outputs signal to control the motor according to the target torque and acceleration. Speed limit is 607F The following figure shows the block diagram of the profile torque mode.

  • Page 59: Relevant Parameters Of Profile Torque Mode

    EtherCAT User's Manual Name Value Description  Halt = 0: Target torque not reached Target reached  Halt = 1: Axle decelerates  Halt = 0: Target torque reached  Halt = 1: Axle has velocity 0 5.9.3 Relevant parameters of profile torque mode...

  • Page 60: Cyclic Synchronous Position Mode

    EtherCAT User's Manual Torque_Actual_Value Index 6077h Name Torque_Actual_Value Object Code Data Type INT16 Access PDO Mapping Value Range Default Value Max profile velocity Index 607Fh Name Max profile velocity Object Code Data Type UINT32 Access PDO Mapping Value Range Default Value Value set in Pn406 5.10 Cyclic synchronous position mode...

  • Page 61: Cyclic Synchronous Velocity Mode (Pronet-□□□Eg-Ec Only)

    EtherCAT User's Manual Torque Offset (60B2h) Velocity Offset (60B1h) Target position (607Ah) Position Electronic Position Gear Ratio Software Position Limit (6093h:01/6093h:02) Limit (607Dh) Position Velocity Torque Position control control control Motor Profile Deceleration Trajectory loop loop loop (6084h) Acceleration Generator...

  • Page 62: Cyclic Synchronous Torque Mode

    EtherCAT User's Manual control the motor according to the target velocity value. The following figure shows the control mode： Target Velocity (60FFh) Velocity Electronic Gear Ratio Max Profile Velocity (607Fh) (6094h:01/6094h:02) Velocity Torque control control Motor Acceleration Profile Deceleration (6084h)

  • Page 63: Touch Probe Function

    EtherCAT User's Manual Target Torque (6071h) Torque Limit Values (60E0h, 60E1h) Velocity Torque control control Motor Torque loop loop Limit Controlword (6040h) Max Profile Velocity (607Fh) Torque Actual Value (6077h) Velocity Actual Value (606Ch) Position Actual Value (6064h) Refer to the objects as follows:...
  • Page 64 EtherCAT User's Manual The application principle are as follows： Touch Probe Function（0x60B8） The object is configured to the touch probe function. Index 60B8h Name Touch Probe Function Object Code Data Type UINT16 Access PDO Mapping Value Range 0-0xFFFF Default Value Touch Probe Function（60B8h）...
  • Page 65 EtherCAT User's Manual Switch off touch probe 1 Enable touch probe 1 Single trigger mode （Latches the position at the first trigger event.） Continuous trigger mode （.Latches the position every trigger event.） Triggers with touch probe 1 input Triggers with encoder zero signal(phase-C)
  • Page 66 EtherCAT User's Manual Value Definition Switch off touch probe 1 Enable touch probe 1 Switch off sampling at positive edge of touch probe Enable sampling at positive edge of touch probe 1 Switch off sampling at negative edge of touch probe...
  • Page 67 EtherCAT User's Manual Index 60BBh Name TouchProbeNeg1PosValue Object Code Data Type INT32 Access PDO Mapping — Value Range — Default Value ） TouchProbePos2PosValue（60BC ）shows the location of the motor TouchProbePos2PosValue（60BC when the positive edge of Touch Probe2 trigger condition occurs.

  • Page 68: Torque Limit Function

    EtherCAT User's Manual Pn209、Pn210 (ProNet-□□□EG-EC only) Pn209 is Touch Probe input channel signal selection. Pn210 is Touch Probe input signal filtering time. 5.14 Torque limit Function The torque is limited by 0x60E0,0x60E1. The following figure shows the block diagram of the torque limit function.

  • Page 69: Digital Input /Output

    EtherCAT User's Manual Index 60E1h Name NegTorLimit Object Code Data Type UINT16 Access PDO Mapping Value Range 0-3000 Default Value 3000 5.15 Digital Input /Output In some situations, some switches (such as the origin signal and limit signal) are not sent to the servo drive directly, but sent by the host.

  • Page 70: Absolute Encoder Setup(Fn010、Fn011)

    EtherCAT User's Manual Sub-Index Name Bit mask Object Code Data Type UINT32 Access PDO Mapping Default Value If the host needs to monitor switch input signals of the servo drive, the host can read the object 60FDh (Inputs Digital) to obtain. The...

  • Page 71: Conversion Factors (Factor Group)

    EtherCAT User's Manual cancel the alarm by using the same method as the setup. They cannot be cancelled with the servo drive alarm reset input signal(/ALM-RST). 3. Any other alarms that monitor the inside of the encoder should be cancelled by turning OFF the power.

  • Page 72: Related Parameters

    EtherCAT User's Manual ﹡: Common incremental encoder: 10000P/R Resolver: 65536P/R 17bit incremental encoder: 131072P/R 17bit absolute encoder: 131072P/R 20bit absolute encoder: 1048576P/R 5.17.1 Related parameters Index Object Name Type Attr. 6093 ARRAY position factor UINT32 6094 ARRAY velocity factor UINT32...
  • Page 73 EtherCAT User's Manual To calculate the position factor the following values are necessary: gear_ratio Ratio between revolutions on the driving side (RIN) and revolutions on the driven side (ROUT). feed_constant Ratio between revolutions on the driven side (ROUT) and equivalent motion in position_units (e.g. 1 rev = 360° ) The calculation of the position_factor is done with the following equation: gear_ratio ...

  • Page 74: Velocity Factor

    EtherCAT User's Manual 5.17.3 Velocity factor The object velocity factor converts all speed values of the application from speed_units into the internal unit revolutions 0.1rpm. It consists of numerator and divisor Index 6094 Name velocity factor Object Code ARRAY No. of Elements...

  • Page 75: Acceleration Factor

    EtherCAT User's Manual 360° ) The calculation of the velocity factor is done with the following equation: gear_ratio  numerator time_facto velocity factor = division feed_const 5.17.4 Acceleration factor The object acceleration_factor converts all acceleration values of the application from acceleration_units into the internal unit （0.1rpm）...
  • Page 76 EtherCAT User's Manual side (ROUT). feed_constant Ratio between revolutions on the driven side (ROUT) and equivalent motion in position_units (e.g. 1 R = 360° ) The calculation of the acceleration_factor is done with the following equation: gear_ratio  numerator time_facto...

  • Page 77: Chapter 6 Ethercat Communication Example

     Install Beckhoff TwinCAT software.  Copy the device description document (.XML document) to the directory C:\TwinCAT\IO\EtherCAT. (You could contact Estun to have this XML document) Set drive’s parameter Pn006.0=4, select EtherCAT communication mode.   Pn704 can set the address（Station Alias）.
  • Page 78 EtherCAT User's Manual Use the right button of the mouse to single click Device 1 and add a slave ProNet device. 3. Add one NC task and name it as Task 1. Add Axis 1 under NC task.
  • Page 79 EtherCAT User's Manual Choose application layer protocol CoE. Click Link to button and map servo drive axis to the device.
  • Page 80 EtherCAT User's Manual Click activate configuration button on the toolbar and activate configuration. Click online label and start to operate on servo axis.

  • Page 81: Appendix A Object Dictionary

    EtherCAT User's Manual Appendix A Object dictionary Support Index Name Type Access. Unit index Device type 1000 UINT32 ● Error register 1001 UINT8 ● Pre-defined error field ● Number of entries UINT8 ● Standard error field1 UINT32 1003 … …...
  • Page 82 EtherCAT User's Manual Support Index Name Type Access. Unit index ● 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 ●...
  • Page 83 EtherCAT User's Manual Support Index Name Type Access. Unit index Mapping entry 1 ● UINT32 Mapping entry 2 UINT32 ● Mapping entry 3 UINT32 ● Mapping entry 4 ● UINT32 Mapping entry 5 UINT32 ● Mapping entry 6 UINT32 ●...
  • Page 84 EtherCAT User's Manual Support Index Name Type Access. Unit index 1st Transmit PDO Mapping Number of entries UINT8 ● Mapping entry 1 UINT32 ● Mapping entry 2 UINT32 ● Mapping entry 3 UINT32 ● 1A00 Mapping entry 4 UINT32 ●...
  • Page 85 EtherCAT User's Manual Support Index Name Type Access. Unit index Mapping entry 5 UINT32 ● Mapping entry 6 UINT32 ● Mapping entry7 UINT32 ● Mapping entry 8 UINT32 ● 3rd Transmit PDO Mapping Number of entries ● UINT8 Mapping entry 1 UINT32 ●...
  • Page 86 EtherCAT User's Manual Support Index Name Type Access. Unit index ● Mapping entry 3 UINT32 ● Mapping entry 4 UINT32 ● Mapping entry 5 UINT32 ● Mapping entry 6 UINT32 ● Mapping entry7 UINT32 ● Mapping entry 8 UINT32 Sync Manager Communication Type...
  • Page 87 EtherCAT User's Manual Support Index Name Type Access. Unit index Sync Manager PDO assignment 2 Number of assigned UINT8 ● PDOs 1C12 Index of assigned UINT16 ● RxPDO 1 Index of assigned UINT16 ● RxPDO 2 Sync Manager PDO assignment 3...
  • Page 88 EtherCAT User's Manual Support Index Name Type Access. Unit index Pn000 3000 UINT16 ● UINT16 3001 ● Pn001 Pn002 3002 UINT16 ● Pn003 3003 UINT16 ● Pn004 3004 UINT16 ● Pn005 3005 UINT16 ● Pn006 3006 UINT16 ● Pn007 3007 UINT16 ●...
  • Page 89 EtherCAT User's Manual Support Index Name Type Access. Unit index Pn108 3018 UINT16 ● Pn109 UINT16 3019 ● Pn110 301A UINT16 ● Pn111 301B UINT16 ● Pn112 301C UINT16 ● Pn113 301D UINT16 ● Pn114 301E UINT16 ● Pn115 301F UINT16 ●...
  • Page 90 EtherCAT User's Manual Support Index Name Type Access. Unit index Pn125 3029 UINT16 ● Pn126 302A UINT16 ● Pn127 302B UINT16 ● Pn128 UINT16 302C ● Pn129 302D UINT16 ● Pn130 302E UINT16 ● Pn131 302F UINT16 ● Pn132 3030 UINT16 ●...
  • Page 91 EtherCAT User's Manual Support Index Name Type Access. Unit index Pn410 3071 UINT16 ● Pn411 3072 UINT16 ● Pn412 3073 UINT16 ● Pn413 3074 UINT16 ● Pn414 3075 UINT16 ● Pn505 307D UINT16 ● Pn506 307E UINT16 ● Pn507 UINT16 307F ●...
  • Page 92 EtherCAT User's Manual Support Index Name Type Access. Unit index Pn700 30FC UINT16 ● Pn701 30FD UINT16 ● Pn704 3100 UINT16 ● Pn840 3138 UINT16 ● Un000 320A UINT16 ● Un001 320B UINT16 ● Un002 320C UINT16 ● Un003 320D UINT16 ●...
  • Page 93 EtherCAT User's Manual Support Index Name Type Access. Unit index Un013 3217 UINT16 ● Un014 3218 UINT16 ● CO_Fn010 321B UINT16 ● CO_Fn011 321C UINT16 ● Rotation 3300 UINT16 ● SinglePos 3301 UINT32 ● JLoad 3302 UINT16 ● VibFr 3303 UINT16 ●...
  • Page 94 EtherCAT User's Manual Support Index Name Type Access. Unit index Stop option code 605D INT16 ● Fault reaction option 605E UINT16 ● code Modes of operation 6060 INT8 ● Modes of operation 6061 INT8 ● display Position demand position units...
  • Page 95 EtherCAT User's Manual Support Index Name Type Access. Unit index Velocity demand speed units 606B INT32 ● value Velocity actual value speed units 606C INT32 ● ● ● ● ● ● ● Velocity window speed units 606D UINT16 ● Velocity window...
  • Page 96 EtherCAT User's Manual Support Index Name Type Access. Unit index Max profile velocity speed units 607F UINT32 ● Profile velocity speed units 6081 UINT32 ● End velocity speed units 6082 UINT32 ● Profile acceleration acceleration 6083 UINT32 ● ● units...
  • Page 97 EtherCAT User's Manual Support Index Name Type Access. Unit index ● Number of entries UINT32 ● numerator UINT32 Homing method 6098 INT8 ● Homing speeds ● Number of entries UINT8 Speed during speed units 6099 UINT32 ● search for switch...
  • Page 98 EtherCAT User's Manual Support Index Name Type Access. Unit index Touch Probe Pos2 60BC INT32 ● Pos Value Touch Probe Neg2 60BD INT32 ● Pos Value Interpolation data record ● 60C1 Number of entries UINT8 ● 1st set-point INT32 position units Interpolation time period ●...
  • Page 99 EtherCAT User's Manual Support Index Name Type Access. Unit index ● Number of entries UINT8 ● Physical outputs UINT32 ● Bit mask UINT32 Target velocity 0.1rpm 60FF INT32 ● Profile jerk ● Number of entries UINT8 60A4 Profile jerk 1...

  • Page 100: Appendix B Parameters

    EtherCAT User's Manual Appendix B Parameters B.1 Parameter list Parameter No. Descripition Unit Range Default Setting invalidation Binary Pn000.0: Servo ON — Pn000 Pn000.1: Forward rotation input signal prohibited (P-OT) 0~1111 After restart Pn000.2: Reverse rotation input signal prohibited (N-OT) Pn000.3: Alarm output when instantaneous power loss...
  • Page 101 EtherCAT User's Manual Parameter No. Descripition Unit Range Default Setting invalidation Pn006.2: Low frequency jitter suppersion switch — Pn100 Pn100.0: Load inertia setting 0~0x0036 0x0011 After restart Pn100.1: Online autotuning setting — Pn101 Machine rigidity setting 0~36 Immediately Pn102 Speed loop gain...
  • Page 102 EtherCAT User's Manual Parameter No. Descripition Unit Range Default Setting invalidation 4: Fixed PI Pn117 Torque switching threshold 0~300 Immediately Pn118 Offset counter switching threshold reference pulse 0~10000 Immediately Pn119 Setting acceleration speed switching threshold 10rpm/s 0~3000 Immediately Pn120 Setting speed switching threshold...
  • Page 103 EtherCAT User's Manual Parameter No. Descripition Unit Range Default Setting invalidation Pn132 Sticking friction load 0.1%/1000rpm 0~1000 Immediately — — — — Pn133 Reserved — — — — Pn134 Reserved — — — — Pn135 Reserved — — — —...
  • Page 104 EtherCAT User's Manual Parameter No. Descripition Unit Range Default Setting invalidation 0:Slope 1:S curve order filter order filter — Pn311 S form selection Immediately Pn407 Notch filter 1 frequency 50~5000 5000 Immediately — Pn408 Notch filter 1 depth 0~11 Immediately...
  • Page 105 EtherCAT User's Manual Parameter No. Descripition Unit Range Default Setting invalidation — Pn513 Bus control input node low-bit enable 0~1111 Immediately Pn514 Input port filter 0.2ms 0~1000 Immediately Pn515 Alarm port filter 0.2ms Immediately — Pn516 Input port signal inversion...
  • Page 106 EtherCAT User's Manual Parameter No. Descripition Unit Range Default Setting invalidation rate Pn700.1: MODBUS protocol selection Pn700.2:Communication protocol selection Pn700.3: Reserved — Pn701 MODBUS axis address 1~247 After restart — — — — Pn702 Reserved — — — — Pn703 Reserved —...
  • Page 107 EtherCAT User's Manual B.2 Parameters in detail 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.
  • Page 108 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 Pn003 Binary After restart correction is determined by the setting in Pn219.
  • Page 109 EtherCAT User's Manual Pn005.2 Out-of-tolerance alarm selection [0] Out-of-tolerance alarm disabled [1] Out-of-tolerance alarm enabled. Outputs alarm when the value of error counter Pn005.0 exceeds Pn504 setting value. P, S [2] Reserved Pn005.1 Pn005 After restart [3] Reserved Pn005.3 Servomotor model selection①...
  • Page 110 EtherCAT User's Manual Pn100.0 Load inertia setting [0] Manual setting [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 Pn100.1 Online autotuning setting [0] Manual setting...
  • Page 111 EtherCAT User's Manual Speed loop This parameter determines speed loop gain. Pn102 Immediately P, S gain Unit: Hz Speed loop Decreases the value of this parameter to shorten positioning time and enhance speed Pn103 integral time Immediately P, S response.
  • Page 112 EtherCAT User's Manual This parameter setting can shorten positioning time. However, if it is too 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.
  • Page 113 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 Pn114 Immediately P, S feedforward adjustment mode. Unit: % Torque It is used to ease mechanical vibration due to torque feedforward.
  • Page 114 EtherCAT User's Manual 0: Fix to 1st group gain 1: External switch gain switching(G-SEL) 2: Torque percentage Gain switching 3: Value of offset counter Pn121 condition After restart P, S 4: Value of acceleration speed setting (10rpm) 5: Value of speed setting...
  • Page 115 EtherCAT User's Manual Low speed The intensity of anti-friction and anti-creeping at low speed. Vibration will occur if this Pn129 correction Immediately P, S value is set too large. coefficient Pn130 Friction Load Immediately P, S Frictin load or fixed load compensation...
  • Page 116 EtherCAT User's Manual Lock torque during homing method The value limits the torque during homing method （-1,-2,-3,-4）, Unit:%rated torque. Pn207 Immediately （-1,-2,-3,-4） (ProNet-□□□EG -EC only) Lock time during homing method The allowed time for the stalled during homing method （-1,-2,-3,-4）. Unit : 0.125ms...
  • Page 117 EtherCAT User's Manual Soft start The time for trapeziform deceleration to decelerate to 1000rpm. Pn307 deceleration Immediately Unit: ms time Speed filter 1st order filter time constant Pn308 time Immediately Unit: ms constant S curve Pn309 Immediately The time for transition from one point to another point in S curve.
  • Page 118 EtherCAT User's Manual Low frequency Pn412 Immediately P, S Attenuation damp of low frequency vibration with load. It does not need to change. vibration damp Positioning Pn500 Immediately Outputs /COIN signal when error counter is less than this value. error...
  • Page 119 EtherCAT User's Manual and then servomotor excitation signal is created after delaying the parameter setting time. ○ 2 For 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.
  • Page 120 EtherCAT User's Manual Pn510.0 corresponding port CN1_19 Terminal PRI: CN1_15< CN1_16< CN1_17< CN1_18< CN1_19 Corresponding signal of each data is shown as following: 0：S-ON 1：P-CON 2：POT 3：NOT 4：ALMRST Allocate input 5：CLR port to signal, Pn510 After restart P, S, T 6：PCL...
  • Page 121 EtherCAT User's Manual Pn511.1 corresponding port CN1_11,CN1_14 Pn511.2 corresponding port CN1_13,CN1_14 Corresponding signal of each data is shown as follows: 0: /COIN/VCMP 1: /TGON 2: /S-RDY Output signal Pn511 After restart P, S, T 3: /CLT allocation 4: /BK 5: Reserved...
  • Page 122 EtherCAT User's Manual Pn516.0CN1_15 inversion Pn516.1CN1_16 inversion Input port signal Pn517 Immediately P, S, T Pn516.2CN1_17 inversion inversion Pn516.3CN1_18 inversion Pn517.0CN1_19 inversion — — — Pn518 Reserved — — — Pn519 Reserved — — — Pn520 Reserved If a regenerative resistor if connected externally...
  • Page 123 EtherCAT User's Manual [0]: Do not inverse signal. [1]: Inverse signal Output signal Pn528 Immediately P, S, T Pn528.0 CN1_11,CN1_14 inversion inverse Pn528.1 CN1_12,CN1_14 inversion Pn528.2 CN1_13,CN1_14 inversion Torque When motor torque output is higher than Pn529 setting value, /TCR is ON. When...
  • Page 124 [0] No protocol SCI communication [1] MODBUS SCI communication Pn700.3 Reserved MODBUS Axis Pn701 After restart Axis address of MODBUS protocol communication address — — — Pn702 Reserved — — — Pn703 Reserved EtherCAT Pn704 communication After restart EtherCAT Aix address of communication contact...
  • Page 125 EtherCAT User's Manual Pn840.0 Encoder model selection [0]-[2] Reserved (For factory using) [3] 17-bit absolute encoder [4] Reserved [5] Resolved Pn840 After restart [6] Reserved [7] Reserved [8] 20-bit incremental encoder Pn840.1 Reserved (For factory using) Pn840.2 Reserved (For factory using) Pn840.3 Reserved (For factory using)

  • Page 126: Appendix C Standard Wiring Examples

    EtherCAT User's Manual Appendix C Standard Wiring Examples C.1 Single-phase 200VAC (ProNet-A5AEA-EC ~ ProNet-04AEA-EC ProNet-02AEF-EC~ ProNet-04AEF-EC) + 10% single-phase 200~230V (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1PL ( 1 Ry Servo Alarm Display Noise Filter Power OFF Power ON...

  • Page 127: Single-Phase 200Vac (Pronet-A5Aeg-Ec ~ Pronet-04Aeg-Ec)

    EtherCAT User's Manual C.2 Single-phase 200VAC (ProNet-A5AEG-EC ~ ProNet-04AEG-EC) Single-phase 200~230V (50/60Hz) + 10% - 15% Molded-case Circuit Breaker Surge Protector 1PL (Servo Alarm Display) 1 Ry Noise Filter Power OFF Power ON 1 KM 1 Ry Be sure to connect a surge suppressor to the...

  • Page 128: Three-Phase 200Vac（Pronet-08Aea-Ec ~ Pronet-50Aea-Ec

    EtherCAT User's Manual C.3 Three-phase 200VAC（ProNet-08AEA-EC ~ ProNet-50AEA-EC ProNet-08AEF-EC ~ ProNet-20AEF-EC） + 10% Three-phase 200~230V (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1PL ( 1 Ry Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 Ry...

  • Page 129: Three-Phase 200V（Pronet-08Aeg-Ec ~ Pronet-50Aeg-Ec

    EtherCAT User's Manual C.4 Three-phase 200V（ProNet-08AEG-EC ~ ProNet-50AEG-EC） Three-phase 200~230V (50/60Hz) + 10% - 15% Molded-case Circuit Breaker Surge Protector 1PL (Servo Alarm Display) 1 Ry Noise Filter Power OFF Power ON 1 KM 1 Ry Be sure to connect a surge suppressor to the...

  • Page 130: Three-Phase 400Vac (Pronet-10Dea-Ec ~ Pronet-70Dea-Ec)

    EtherCAT User's Manual C.5 Three-phase 400VAC (ProNet-10DEA-EC ~ ProNet-70DEA-EC) + 10% Three-phase 380~440V (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1 Ry 1PL ( Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 Ry 1 KM...

  • Page 131: Three-Phase 400Vac（Pronet-10Deg-Ec ~ Pronet-50Deg-Ec

    EtherCAT User's Manual C.6 Three-phase 400VAC（ProNet-10DEG-EC ~ ProNet-50DEG-EC） Three-phase 380~440V (50/60Hz) + 10% - 15% Molded-case Circuit Breaker Surge Protector 1PL (Servo Alarm Display) 1 Ry Noise Filter Power OFF Power ON 1 KM 1 Ry Be sure to connect a surge suppressor to the...

  • Page 132: Three-Phase 400Vac (Pronet-75Dea-Ec To Pronet-2Bdea-Ec)

    EtherCAT User's Manual C.7 Three-phase 400VAC (ProNet-75DEA-EC to ProNet-2BDEA-EC) + 10% Three-phase 380~440V (50/60Hz) - 15% Molded-case Circuit Breaker Surge Protector 1 Ry 1PL ( Servo Alarm Display Noise Filter Power OFF Power ON 1 KM 1 Ry 1 KM...

  • Page 133: Appendix D Alarm Display

    EtherCAT User's Manual Appendix D Alarm Display D.1 ProNet-□□□□A/F-EC Alarm Alarm Alarm Name Meaning Display Output checksum results ╳ A．01 Parameter breakdown parameters are abnormal. shift channels AD related electrical circuit is ╳ A．02 breakdown faulty. servomotor speed ╳ A．03...
  • Page 134 EtherCAT User's Manual Alarm Alarm Alarm Name Meaning Display Output ╳ A．15 Bleeder resistor error Bleeder resistor is faulty. ╳ A．16 Regeneration error Regenerative circuit error. ╳ A．18 IGBT superheat alarm IGBT temperature is too high. ╳ A．19 Motor overheat alarm Motor temperature is too high.
  • Page 135 EtherCAT User's Manual Alarm Alarm Alarm Name Meaning Display Output Absolute encoder Absolute encoder multiturn ╳ A．45 multiturn information information is faulty. error Absolute encoder Absolute encoder multiturn ╳ A．46 multiturn information overflow. information overflow Battery voltage below Absolute encoder multiturn ╳...
  • Page 136 EtherCAT User's Manual Alarm Alarm Alarm Name Meaning Display Output Parity bit or end bit in Encoder signal is disturbed or ╳ A．54 serial encoder control the encoder decoding circuit is domain error faulty. Serial encoder Encoder signal is disturbed or ╳...
  • Page 137 EtherCAT User's Manual Alarm Alarm Alarm Name Meaning Display Output EtherCAT master set the period EtherCAT does not meet the requirements ╳ A．70 synchronization error or SYNC0 is not synchronized with the drive. Internal error of ESC An error has occurred inside ╳...
  • Page 138 EtherCAT User's Manual D.2 ProNet-□□□□G-EC Alarm Alarm Alarm Name Meaning Display Output checksum results ╳ A．01 Parameter breakdown parameters are abnormal. shift channels AD related electrical circuit is ╳ A．02 breakdown faulty. servomotor speed ╳ A．03 Overspeed excessively high servomotor is out of control.
  • Page 139 EtherCAT User's Manual Alarm Alarm Alarm Name Meaning Display Output ╳ A．16 Regeneration error Regenerative circuit error. ╳ A．18 IGBT superheat alarm IGBT temperature is too high. ╳ A．19 Motor overheat alarm Motor temperature is too high. Power line phase One phase does not bring into ╳...
  • Page 140 EtherCAT User's Manual Alarm Alarm Alarm Name Meaning Display Output Absolute encoder Absolute encoder multiturn ╳ A．46 multiturn information overflow. information overflow Battery voltage below Absolute encoder multiturn ╳ A．47 2.5V information is lost. Battery voltage below ╳ A．48 Battery voltage is too low.
  • Page 141 The filling time and the cycle of signal monitoring ╳ A．69 the synchronous signal does cycle is longer than not match. setting EtherCAT master set the period EtherCAT does not meet the requirements ╳ A．70 synchronization error or SYNC0 is not synchronized with the drive.
  • Page 142 EtherCAT User's Manual Alarm Alarm Alarm Name Meaning Display Output Internal error of ESC An error has occurred inside ╳ A．71 chip the communication chip. parallel port CPU data line, address line or ╳ A．80 communication FRAM is faulty. abnormal...

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