AKT HS-S86E User manual

HS-S86E
EtherCAT Easy Servo
User Manual
EN Version: V1.0
(Based on CH Version：V1.2)
AKTAutomation Technology Co., Ltd.
www.aktmotor.com

www.aktmotor.com HS-S86E User Manual
Contents
Foreword..........................................................................................................1
1 Overview .......................................................................................................2
1.1 Product Description ....................................................................................................2
1.2 Feature......................................................................................................................2
1.3 Application Field........................................................................................................2
1.4 Product Naming Rules ................................................................................................2
2Performance Indicators..................................................................................3
2.1 EtherCAT Characteristic .............................................................................................3
2.2 Electrical Characteristics.............................................................................................3
2.3 Working Environment.................................................................................................3
3 Installation.....................................................................................................4
3.1 Installation Size..........................................................................................................4
3.2 Installation Method.....................................................................................................4
4 Drive Port and Wiring ...................................................................................5
4.1 Wiring Diagram .........................................................................................................5
4.2 Port Definition ........................................................................................................... 6
4.2.1 Status Indication Interface............................................................................................. 6
4.2.2 Knob DIP.................................................................................................................... 6
4.2.3 Status Indicator............................................................................................................ 6
4.2.4 EtherCAT Communication Port..................................................................................... 7
4.2.5 Control Signal Input/Output Port .................................................................................. 7
4.2.6 Encoder Input Port ...................................................................................................... 9
4.2.7 Power and Motor Output Port....................................................................................... 9
4.3 Input/Output Port Operation ........................................................................................9
5Matched Motor............................................................................................13
6 EtherCAT....................................................................................................14
6.1 EtherCAT Technical Principles..................................................................................14
6.2 EtherCAT Data Structure ..........................................................................................15
6.3 EtherCAT Message Addressing .................................................................................15
6.3.1 Device Addressing..................................................................................................... 16
6.3.2 Logical Addressing .................................................................................................... 17
6.4 EtherCAT Distributed Clock .....................................................................................17
6.5 EtherCAT Communication Mode...............................................................................18
6.5.1 Free Run Mode.......................................................................................................... 18
6.5.2 SM2/3 Mode.............................................................................................................. 18
6.5.3 DC Mode .................................................................................................................. 19
6.6 EtherCAT State Machine...........................................................................................19
6.7 CANopen Over EtherCAT(COE)...............................................................................20
6.7.1 COE Object Dictionary............................................................................................... 21
6.7.2 Service Data Object（SDO）..................................................................................... 21
6.7.3 Process Data Object（PDO）..................................................................................... 21

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7 Drive Control Protocol CiA 402....................................................................22
7.1 CIA402 State Machine..............................................................................................22
7.2 Mode of Operation ...................................................................................................24
7.3 Cyclic Synchronous Position Mode（CSP）...............................................................24
7.4 Profile Position Mode（PP）....................................................................................25
7.5 Profile Velocity Mode（PV）...................................................................................29
7.6 Homing Mode（HM）.............................................................................................29
7.7 Probe Function.........................................................................................................32
7.7.1 Related Object Dictionary........................................................................................... 32
7.7.2 Probe Function Description......................................................................................... 33
8Object Dictionary.........................................................................................36
8.1 Object Dictionary List...............................................................................................36
8.2 Drive Related Parameters Description.........................................................................49
9Alarm Exclusion ..........................................................................................56
9.1 Drive Error ..............................................................................................................56
9.2 EtherCAT Communication Error................................................................................56
Appendix 1: Getting Started with HS-S86E Drive Quick Configuration...........58

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Foreword
Thank you for using our EtherCAT hybrid servo drive.
Before using this product, be sure to read the manual to learn the necessary safety information,
precautions, and operating methods.
Incorrect handling may lead to extremely serious consequences.
Statement
This product is designed and manufactured without the ability to protect personal safety from
mechanical system threats. Users are advised to consider safety precautions during use to prevent
accidents caused by improper operation or product abnormalities.
Due to product improvements, the contents of this manual are subject to change without
notice.
Our company will not be responsible for any modification of the product by the user.
When reading, please pay attention to the following signs in the manual:
Notice: Remind you to pay attention to the main points in the text.
Caution: Indicates that incorrect operation may result in personal injury and
equipment damage.

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1 Overview
1.1 Product Description
HS-S86E EtherCAT hybrid servo drive adds EtherCAT bus communication to the digital
hybrid servo drive and supports intelligent motion control. It supports the COE protocol and
supports the market's mainstream master controller as a standard EtherCAT slave drive unit.
1.2 Feature
A new generation of 32-bit DSP technology, cost-effective, smooth, low noise and
low vibration
Operating voltage range AVC24V~80V
Adjustable working current, maximum support 6A
Based on 100BASE-TX Ethernet transmission standards, transfer rates up to
100Mbps, full-duplex communication
Support CoE (CANopen over EtherCAT), in line with CiA 402 standard
Support Cyclic Sync Position, Profile Position, Profile Velocity, Homing multiple
working modes
Dual port RJ45 connector for EtherCAT communication
7 opto-isolated input interface, 5V ~ 24V compatible input
3 opto-isolated output interface
Microstep 400 to 51200 arbitrarily set, support electronic gear
Smooth and accurate current control, low motor heating
Protection against overvoltage, undervoltage, overcurrent, etc.
1.3 Application Field
Mainly used in battery equipment, photovoltaic equipment, semiconductor equipment, 3C
and mobile phone non-standard automation equipment, stripping machine, marking machine,
cutting machine, stage lighting, machine and medical equipment, laser equipment, plotter and
other automatic equipment..
1.4 Product Naming Rules

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2Performance Indicators
2.1 EtherCAT Characteristic
Parameter
HS-S86E
EtherCAT
communication
indicator
Link layer
100BASE-TX Ethernet
Communication
port
RJ45 Standard network port
Network
topology
Line type, tree type, star type, etc.
Baud rate
100Mbps full duplex communication
Sync manager
SM0: Mailbox reception
SM1: Mailbox sending
SM2: Process Data Output RPDO
SM3: Process Data Input TPDO
Communication
mode
SM sync mode
DC sync mode, sync cycle 250us~4000us
Application
layer protocol
COE：CANopen Over EtherCAT
Cia402
working mode
Cyclic Synchronous Position Mode;
Profile Position Mode;
Profile Velocity Mode;
Homing Mode
2.2 Electrical Characteristics
Parameter
HS-S86E
Minimum value
Typical value
Maximum value
Unit
Continuous Output Current
0
-
5.0
A
Input Supply Voltage
24
70
80
Vdc
Logic Input Current
10
10
50
mA
Logic Input Voltage
5
24
24
V
Pulse Frequency
0
-
200
kHz
Insulation Resistance
100
-
-
MΩ
2.3 Working Environment
Cooling Method
Heat sink cooling
Working
Environment
Working
occasion
Keep away from other heating equipment as far as
possible to avoid dust, oil mist, corrosive gas, strong
vibration, flammable gas and conductive dust
Temperature
0℃~50℃

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Humidity
40－90%RH（No dew）
Vibration
10~55Hz/0.15mm
Storage
Temperature
-20℃~+80℃
3 Installation
3.1 Installation Size
Side Front
Installation dimension drawing (unit: mm)
3.2 Installation Method
Install the drive with the upright side installation to create a strong air convection on the
surface of the heat sink; if necessary, install a fan near the drive to force heat dissipation to
ensure that the drive works within a reliable operating temperature range (The reliable operating
temperature of the drive is usually within 60 °C and the motor operating temperature is within
80 °C).

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4 Drive Port and Wiring
4.1 Wiring Diagram
Drive Port Schematic
Caution：
The personnel involved in wiring must have professional capabilities.
Do not connect wire with power on.
Wiring work can only be done after the installation is secure.
Do not misconnect power supply + and -, input voltage should not exceed
VAC80V.

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4.2 Port Definition
4.2.1 Status Indication Interface
Symbol
Function
ECAT ID
When the slave address DIP switch knob is not zero, the
digital LED display address that is set by DIP switch knob;
When the slave address from the DIP switch knob is 0, digital
LED display address in register of address 0010h-0011h,
which is assigned by master host.
4.2.2 Knob DIP
0
1
5
2
4
3
6
8
7
9
1
0
1
5
2
4
3
6
8
7
9
2
No.
Symbol
Function
1
LSD
Two 10-bit rotation codes can be combined into a
slave address, ranging from 0 to 99. If the LSD is
rotated to 1, and the MSD is rotated to 2, the slave
address is:
Slave address = LSD + MSD * 10;
The address value is saved to register 0012h-0013h
for master to check.
2
MSD
4.2.3 Status Indicator
Name
Color
Status
Function
PWR
Green
ON
When powered on, the green
indicator on
ALM
Red
Single Flash
Overcurrent
Double Flash
overvoltage
Triple Flash
Undervoltage
Flash 4 times in a row
Wrong phase
Flash 5 times in a row
Out of tolerance
RUN
Green
OFF
INIT state or power-down state
Blinking
Pre-Operational state
Single Flash
Safe-Operational state
Flickering
BootStrap state
ON
Operational state
ERR
Red
OFF
No error or power-down state
Blinking
Extra error
Single Flash
Sync error
Double Flash
Watch-dog error
L/A
Green
OFF
Physical layer link is not
established

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ON
Physical layer link establishment
Flickering
Physical layer link data
interaction
4.2.4 EtherCAT Communication Port
Symbol
Function
RJ45
Two standard RJ45 Ethernet ports, supports EtherCAT data
transmission and reception, for in and out connection.
4.2.5 Control Signal Input/Output Port
No.
Symbol
Name
Function
1
YCOM
Output common port
Output signal common port
14
Y0
Output port 0
Digital output signal
2
Y1
Output port 1
15
Y2
Output port 2
6
XCOM
Input common port
Input signal common port
3
X0
Input port 0
Single-ended digital input
signal, shared XCOM, support
5V~24V
16
X1
Input port 1
4
X2
Input port 2
17
X3
Input port 3
5
X4
Input port 4
18
X5
Input port 5
19
X6+
Differential input port
6
Differential digital input
signal, support 5V~24V
7
X6-
Differential input port
6
20
GND
Encoder power ground
Encoder power ground
8
ZPOut
Encoder Z channel
Single-ended output
Encoder output signal
23
A+
Encoder A channel
positive output
11
A-
Encoder A channel
negative output
22
B+
Encoder B channel
positive output
10
B-
Encoder B channel

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negative output
21
Z+
Encoder Z channel
positive output
9
Z-
Encoder B channel
negative output
12~13
NC
Reserved
Reserved
24~25
NC
Reserved
Reserved

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4.2.6 Encoder Input Port
No.
Symbol
Name
Function
1
EA+
Encoder Aphase input
positive port
Connect encoder A channel
positive input
2
EB+
Encoder B phase input
positive port
Connect encoder B channel
positive input
3
GND
Encoder power ground
Encoder power ground
4
EZ+
Encoder Z phase input
positive port
Connect encoder Z channel
positive input
5
FG
Shielded ground
Connect shielded ground wire
6~10
NC
Reserved
Reserved
11
EA-
Encoder Aphase input
negative port
Connect encoder A channel
negative input
12
EB-
Encoder B phase input
negative port
Connect encoder B channel
negative input
13
5V
Encoder power supply
Encoder 5V power supply
14
EZ-
Encoder Z phase input
negative port
Connect encoder Z channel
negative input
15
NC
Reserved
Reserved
4.2.7 Power and Motor Output Port
No.
Symbol
Name
Function
1
AC
Power interface
VAC：24V~80V
2
AC
3
A-
Motor interface
Two-phase stepper motor wiring
port
4
A+
5
B-
6
B+
4.3 Input/Output Port Operation
Port Hardware Description
Provide 6 opto-isolated single-ended input, common anode connection, 1 opto-isolated
differential inputs, and 3 opto-isolated single ended output signal.
The input interface is wired as follows, supporting 5V~24V voltage:

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XCOM
X0
X1
Xn
R0
R1
Rn
5V-24V
0V
控制器 驱动器
0V
5V-24V X6+
X6-
X2
R2
Controller Drive
Input Port Connection Reference Circuit
Input signal must be longer than 10ms, otherwise the drive may not respond properly.
X0-X6 timing diagram is shown in the following:
10ms or more
X0-X6
X0-X6 Timing Diagram
The drive provides 3 optocoupler isolated output ports, the wiring is as follows:
驱动器
YCOM
YCOM
Y0
Yn
Drive
Y0-Y2 Output Port Internal Circuit
Port Function Description
Drive input and output ports can be configured by registers 2300h, 2300h ~ 2301h change
the active level state of the input signal and the output signal, 2310h ~ 2322h registers are used to

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configure each terminal’s function. 2330h ~ 2336h registers describes the software filter time
blocked interference signal of the internal drive on input port.
Index
Subindex
Name
Description
Default
Value
Parameter
range
2300h
00
Input port active level
logic
Bit0：Input port X0 control bit;
Bit1：Input port X1 control bit;
Bit2：Input port X2 control bit;
Bit3：Input port X3 control bit;
Bit4：Input port X4 control bit;
Bit5：Input port X5 control bit;
Bit6：Input port X6 control bit;
Bit7~Bit15：Reserved;
0：Default;
1：Level inversion
0
0~65535
2301h
00
Output port active level
logic
Bit0：Output port Y0 control
bit;
Bit1：Output port Y1 control
bit;
Bit2：Output port Y2 control
bit;
0：Default;
1：Level inversion
0
0~65535
2310h
00
Input port X0 function
selection
0：Undefined;
1：Home;
2：Positive limit;
3：Negative limit;
4：Stop;
5：Emergency Stop;
6：MF signal;
7：Probe 1;
8：Probe 2;
9：User-defined 0;
10：User-defined 1;
11：User-defined 2;
12：User-defined 3;
13：User-defined 4;
0
0~8
2311h
00
Input port X1 function
selection
0
0~8
2312h
00
Input port X2 function
selection
0
0~8
2313h
00
Input port X3 function
selection
0
0~8
2314h
00
Input port X4 function
selection
0
0~8
2315h
00
Input port X5 function
selection
0
0~8
2316h
00
Input port X6 function
selection
0
0~8
2320h
00
Output port Y0 function
selection
0：Undefined;
0
0~11

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2321h
00
Output port Y1 function
selection
1：Alarm signal;
2：Position arrival signal;
3：Homing complete signal;
4：Brake signal;
9：User-defined 0;
10：User-defined 1;
11：User-defined 2;
0
0~11
2322h
00
Output port Y2 function
selection
0
0~11
2330h
00
Input port X0 filtering
time
Input port X0 filtering time
0
0~65535
2331h
00
Input port X1 filtering
time
Input port X1 filtering time
0
0~65535
2332h
00
Input port X2 filtering
time
Input port X2 filtering time
0
0~65535
2333h
00
Input port X3 filtering
time
Input port X3 filtering time
0
0~65535
2334h
00
Input port X4 filtering
time
Input port X4 filtering time
0
0~65535
2335h
00
Input port X5 filtering
time
Input port X5 filtering time
0
0~65535
2336h
00
Input port X6 filtering
time
Input port X6 filtering time
0
0~65535
When the output port Y0 ~ Y2 is set to a user-defined function, output valid or invalid can
be controlled by 60FE object dictionary.
Index
Subindex
Name
Description
Default
Parameter
range
60FEh
00
Subindex
Output port status
0
-
01
Physical function
Output port function is valid
Bit0~Bit15：Reserved;
Bit16~Bit31：User defined;
0：Invalid output;
1：Output valid;
02
Output enable
Output port function enable
Bit0~Bit15：Reserved;
Bit16~Bit31：User defined;
0：Output disable;
1：Output enable;
0
-
For example, when bit 16 of 60FE-01 and of 60FE-02 are both 1, the Y0 port output is
valid;

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5Matched Motor
HS-S86E mainly matches open-loop and close-loop 86mm motors.
Two phase closed loop motor wiring. Two phase open loop motor wiring.
Notice：
Please ensure that the motor and encoder are wired correctly, otherwise the motor
will be out of tolerance after receiving the pulse.
When installing the motor, it is forbidden to strike the back cover of the motor to
avoid damage to the encoder.

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6 EtherCAT
EtherCAT is a fieldbus technology based on open technology real-time Ethernet proposed by
Beckhoff in Germany. It features excellent performance, flexible topology and simple system
configuration. At the same time, it also meets or even reduces the cost of fieldbus. EtherCAT also
features high-precision device synchronization, optional cable redundancy, and a functional safety
protocol (SIL3). EtherCAT is a completely open technology that is currently incorporated into the
international standards IEC61158, IEC61784 and ISO15745-4.
6.1 EtherCAT Technical Principles
Traditional Ethernet-based fieldbus solutions must receive Ethernet packets to decode them,
and then copy the process data to each device, which greatly compromises the real-time
capabilities of the fieldbus.
By using EtherCAT technology, Beckhoff broke through these system limitations of other
Ethernet solutions: Instead of receiving Ethernet packets at each connection point as before, then
decoding and copying the process data. When the frame through each of the devices (direct I / O
terminal module), EtherCAT slave controller reads the data associated with the device. Similarly,
input data can be quickly inserted into the data stream. When the frame is passed (only a few bits
are delayed), the slave will recognize the relevant command and process it accordingly. This
process is implemented in hardware in the slave controller and is therefore independent of the
Run-Time system or processor performance of the protocol stack software. The last EtherCAT
slave in the segment sends the fully processed message back so that the message is returned as a
response message from the first slave to the primary station.
From an Ethernet perspective, the EtherCAT bus segment is a large Ethernet device that can
receive and transmit Ethernet frames. However, the "device" does not include a single Ethernet
controller with a downstream microprocessor, but only a large number of EtherCAT slaves. As
with any other Ethernet device, EtherCAT does not require a switch to establish communication,
resulting in a pure EtherCAT system.
Schematic Map of A Single Ethernet Data Fram

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6.2 EtherCAT Data Structure
EtherCAT data is transmitted directly using Ethernet data frames of data frame type Ox88A4.
EtherCAT data comprises 2 bytes of header and 44 to 1498 bytes of data. The data area consists of
one or more EtherCAT sub-messages, each of which corresponds to a separate device or slave
storage area, as shown below. The table shows the data frame structure defined EtherCAT.
EtherCAT Telegrams Embedded Ethernet Data Frame
Name
Description
Destination address
Receiver MAC address
Source address
Sender MAC address
Frame type
0x88A4
EtherCAT head: length
EtherCAT data area length, the sum of all sub-message
lengths
EtherCAT head: Type
1: indicates communication with the slave, the
remaining reserved
FCS（Frame Check Sequeuce）
Frame check sequence
Each EtherCAT sub-message includes a sub-message header, a data field, and a
corresponding work counter (WKC) that records the number of times the sub-message is operated
by the slave station, and the primary station sets the expected WKC for each communication
service sub-message. The initial value of the WKC in the transmitted sub-message is 0. After the
sub-message is correctly processed by the slave station, the value of the WKC is incremented by
one increment. The WKCs in the sub-message and expected are compared by the master station, to
determine whether the sub-message is correctly processed. WKC processed while processing the
data frame by the ESC, different communication services increase WKC different ways.
6.3 EtherCAT Message Addressing
EtherCAT communication is realized by the main station transmitting EtherCAT data frame
to read and write the internal storage area of the slave device. EtherCAT message uses multiple

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addressing modes to operate the ESC internal storage area to implement various communication
services.
Two addressing modes are available within the EtherCAT network segment: device
addressing and logical addressing. The first one is performed for a single slave to read and write.
The second one is oriented to process data, which enables multicasting. The same sub-message
can read and write multiple slave devices. A slave that supports all addressing modes is called a
full slave, while a slave that only supports partial addressing mode is called a basic slave.
EtherCAT Message Addressing Mode
6.3.1 DeviceAddressing
When addressing devices, the 32-bit address in the EtherCAT sub-header is divided into a
16-bit slave device address and a 16-bit slave device internal physical memory space address. One
slave device address can address 65,535 slave devices, each of which can have up to 64K bytes of
local address space.
EtherCAT Device Addressing Structure
When the device is addressed, each message is addressed to only one slave device, but it has
two different device addressing mechanisms, sequential addressing and set addressing.
Sequential Addressing
In sequential addressing, the address of the slave is determined by its connection location

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within the network segment, with a negative number indicating the position determined by the
wiring sequence for each slave station segment. When the sequential addressing sub-message
passes through each slave device, its location address is incremented by 1; When the slave
receives the message, the message with the sequence address 0 is the message addressed to itself.
Since this mechanism updates the device address as the message passes, it is also referred to as
"automatic incremental addressing."
Set Addressing
When set addressing, the address of the slave is independent of its connection order within
the network segment. The address can be configured by the master station to the slave station
during the data link startup phase, it can also be loaded from its own configuration data storage
area when the slave station is initialized at power-on. The set address of each slave is then read by
the master station using the sequential addressing mode during the link startup phase and used in
subsequent operation.
6.3.2 Logical Addressing
In logical addressing, the slave address is not defined separately, but uses an area of the 4 GB
logical address space within the addressed segment. The 32-bit address area within the message
completes the logical addressing of the device as the overall logical address of the data.
EtherCAT Logical Addressing Structure
The logical addressing mode is implemented by the Fieldbus Memory Management Unit
(FMMU), which is located inside each ESC, and the local physical storage address of the slave is
mapped to the logical address in the network segment.
6.4 EtherCAT Distributed Clock
The Distributed Clock (DC) allows all EtherCAT devices to use the same system time to
control the simultaneous execution of individual device tasks. The slave device can generate a
synchronization signal based on the synchronized system time for interrupt control or triggering
digital input and output. A slave station that supports a distributed clock is called a DC slave. DC
has the following main functions:
Implement clock synchronization between slaves
Provide synchronous clock for the master station
Produce a synchronized output signal
Generate accurate time stamps for input events
Generating user step interrupts
Synchronous update digital output
Synchronous sampling digital input