Econ EtherCAT EST-556 User manual

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
EST-556
EtherCAT Stepper Drive
© 2018 shenzhen ECON Technology Co.,Ltd. Version 1.0
Add:2F,BuildingB,Jintai,Industrial,Park,HangchengAvenue,GushuVillage,XixiangStreet,Bao'anArea,ShenzhenCity,
GuangdongProvince,China
E-mail:[email protected]
[e-mail]
All rights reserved
[Please read this manual carefully before use to avoid damage the drive]

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
Contents
Part 1:EST-556 Hardware Manual.............................................................................................................................. 5
1 Descriptions.............................................................................................................................................................. 5
2 Features.................................................................................................................................................................... 5
3 Applications.............................................................................................................................................................. 5
4.1 Electrical Specifications................................................................................................................................ 5
4.2 Operating Environment ................................................................................................................................. 6
5 Mechanical Specifications........................................................................................................................................ 6
6 Connectors and Pin Assignment............................................................................................................................... 7
6.1 Control signals connector.............................................................................................................................. 7
6.2 Power and Motor........................................................................................................................................... 8
6.3 EtherCAT Communication Port..................................................................................................................... 9
7 PA settings (DIP Switch Settings)............................................................................................................................. 9
7.1 Current Table(dynamic current) .................................................................................................................. 10
7.2 Standstill current setting.............................................................................................................................. 10
7.3 Motor direction setting ................................................................................................................................ 10
7.3 Smoothing filter time setting........................................................................................................................ 10
8 Stepper Motors ....................................................................................................................................................... 10
8.1 Nema23 stepper motor..................................................................................................................................11
8.2 Nema14 stepper motor..................................................................................................................................11
9 Wiring Diagrams .....................................................................................................................................................11
9.1 Interface........................................................................................................................................................11
9.2 Diagram....................................................................................................................................................... 12
10 Protection Indications........................................................................................................................................... 12
11 Frequently Asked Questions.................................................................................................................................. 13
Problem Symptoms and Possible Causes........................................................................................................... 13
12 Warranty............................................................................................................................................................... 14
Exclusions.......................................................................................................................................................... 14
Obtaining Warranty Service .............................................................................................................................. 14
Warranty Limitations......................................................................................................................................... 14
Part 2 :EST-556EtherCATCommunication Protocol Specification........................................................................... 15
1. Introduction ....................................................................................................................................................... 15
2. Operation mode................................................................................................................................................. 15
2.1 Profile position mode(PP)........................................................................................................................... 15
2.1.1 Related objects.................................................................................................................................. 16
2.1.2 Controlword and Status word........................................................................................................... 16
2.1.3Typical motion mode of bit 5 at PP mode.......................................................................................... 16
2.1.4 The bit 8,10.12-15 of status word ..................................................................................................... 17
2.2 Profile velocity mode(PV )........................................................................................................................... 18
2.3Cyclic synchronous position modemode(CSP)............................................................................................. 18
2.3.1 Related objects.................................................................................................................................. 18
2.4 Homing mode(HM)...................................................................................................................................... 19
3. Input and output................................................................................................................................................. 21

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
3.1 Input configuration................................................................................................................................ 21
3.2 Output configuration ............................................................................................................................. 22
3.3 Related node ID..................................................................................................................................... 23
3.4 Motor rotation direction setting............................................................................................................. 23
3.5 Pulse/Revolution setting ........................................................................................................................ 23
4. Parameters......................................................................................................................................................... 24
4.1 Parameter saving................................................................................................................................... 24
4.2 Parameter reset...................................................................................................................................... 24
4.3 Parameters list....................................................................................................................................... 24
5. Basic Information Of EtherCAT ........................................................................................................................ 28
5.1EtherCATData Frame Structure................................................................................................................... 28
5.2 Synchronous Mode....................................................................................................................................... 28
5.2.1 Random running mode...................................................................................................................... 28
5.2.2 Distributed clock synchronization mode........................................................................................... 29
5.2.3 EtherCAT state machine ................................................................................................................... 29
5.3 COE............................................................................................................................................................. 30
5.3.1 Service data object (SDO) ................................................................................................................ 30
5.3.2 SDO protocol and message format................................................................................................... 30
5.3.3SuspendSDO transmission................................................................................................................. 32
5.4 processing data object................................................................................................................................. 33
5.4.1 PDO mapping................................................................................................................................... 33
5.4.2 PDO dynamicalmapping................................................................................................................... 34
5.4.3The difference of PDO and SDO........................................................................................................ 35
Contact us:................................................................................................................................................................. 35

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
EtherCAT :
EtherCAT (Ethernet for Control Automation Technology) is open network communication using
real-time Ethernet between masters and slaves developed by Beckhoff Automation GmbH, Germany.
This User Manual of EST-556 Included:
Part 1: EST-556 hardware manual
This part for hardware, function description, parameter configuration, etc.
Part 2 :EST-556 EtherCAT communication protocol specification
This part for EtherCAT communication protocol.
Notice!
Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can
result in injury and damage to persons and machinery. Strictly adhere to the technical information regarding
installation requirements.
This manual is not for use or disclosure outside of ECON technology except under permission. All rights are
reserved. No part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means,
electronic, mechanical, photocopying, recording, or otherwise without approval from ECON technology. While
every precaution has been taken in the preparation of the book, ECON technology assumes no responsibility for
errors or omissions. Neither is any liability assumed for damages resulting from the use of the information
contained herein.
This document is proprietary information of ECON technology that is furnished for customer use ONLY.
Information in this document is subject to change without notice and does not represent a commitment on the part
of ECON technology. Therefore, information contained in this manual may be updated from time-to-time due to
product improvements, etc., and may not conform in every respect to former issues.

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
Part 1:EST-556 Hardware Manual
1 Descriptions
EST-556 is Econ technology's new EtherCAT hybrid servo driver ,which adopt the latest floating-point 32-bit MCU
digital processing technology ,the advanced vector control technology drive the motor with low heating ,low noise
and extra smoothness. The user can set any ID address within 1-255 and any current value under the rated current,
it can be matched with different of size motors(from Nema23/Nema24) to applied for variable applications. the
drive can auto-tuning for matching the motor when power up ,which can automatically generate optimal operating
parameters for different motors to maximize the performance of the motor
2 Features
New floating point 32bit MCU technology
And Auto Tune after power up
3 channels opto-coupler isolation output
Advanced vector control technology
5 channels opto-coupler isolation input,2 of them are high speed opto-coupler isolation input
Communication Frequency up to 100MHz
DIPs can set 127 IPs or automatic allocate IP
Current setting range 1.0-5.6A(peak),the default is 4.2A
Smooth movement and extra low noise
The matched motor can be nema23,nema24
3 Applications
For a variety of small and medium-sized automation equipment and instruments, such as: Lithium equipment, 3C
equipment, engraving machine, marking machine, cutting machine, laser phototypesetting, engraving machine,
plotter, CNC machine tools, automatic assembly equipment. To match the application which need small noise and
high speed equipment
4 Specifications
4.1 Electrical Specifications
Description
EST-556
Min
Typical
Max
Unit
Output Current(peak)
1.0
-
5.6
A
Input Voltage（DC）
15
24/36
50
VDC

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
Control Signal Input Current
6
10
16
mA
Control Signal Interface
Electricity
4.5
5
28
Vdc
OC output Pull-Up voltage
5
-
24
Vdc
Ether-CAT communication
frequency
-
100
-
MHz
Insulation Resistance
100
MΩ
4.2 Operating Environment
Cooling
Natural Cooling or Forced cooling
Environment
Condition
Far away from other heating device, Avoid dust, oil fog
and corrosive gases, heavy humidity and strong vibration
occasion, forbid flammable gases and conductive dust
Temperature
-10℃～ +50℃
Humidity
40 ～90%RH
Vibration
5.9m/s2MAX
Storage Environment
-20℃～60℃
Altitude
Less than 1000m
Weight
about 0.2KG
5 Mechanical Specifications
※Recommend side installation, better cooling effect, when design installation dimension, consider the terminal
size and wiring!
Enhance Cooling method
A:The driver's reliable operating temperature is usually within 60 ℃, the motor operating temperature is within

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
80 ℃;
B: It is recommended to use the automatic half-flow mode, the current will be automatically reduced by half
whenthe motor stops, so as to reduce the heating of the motor and the drive;
C: When installing the driver, please use the vertical side installation, so that the cooling teeth form a strong air
convection; when necessary, install a fan where is close to the drive, forced cooling to ensure that the drive is in a
reliable working temperature range
6 Connectors and Pin Assignment
The EST-556 has three connectors: i/o connector, power and motor connector, and the CAT Communication Port
6.1 Control signals connector
Pin Function
Details
pl+
INEFFECTIVE
pl-
dr+
dr-
in+
Low speed signal：in1，in2，in3 common positive input,5-28VDC
in1
Low speed in1 negative input
in2
Low speed in2 negative input
in3
Low speed in3 negative input
ot-
Common negative OC emitter output，ot1，ot2，ot3 emitter OC output common terminal
ot1
ot1emitter output，the Max pull-up voltage 24Vdc，the pull-up resistance 2KΩ，the Max
output current 100mA
ot2
ot2 emitter output，the Max pull-up voltage 24Vdc，the pull-up resistance 2KΩ，the Max
output current 100mA
ot3
ot3 emitter output，the Max pull-up voltage 24Vdc，the pull-up resistance 2KΩ，the Max
output current 100mA
I/O signal
Motor
Power input

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
gnd
5V-
RS232-TX
RS232-RX
5V
5V+,current 50mA
6.2 Power and Motor
Pin
Definition
I/O
Description
1
A+
O
Motor PhaseA+
2
A
O
Motor PhaseA-
3
B+
O
Motor Phase B+
4
B-
O
Motor Phase B-
5
+VDC
I
15-50VDC,24V/36DC is recommended, leaving rooms for voltage
fluctuation and back-EMF.
6
GND
GND
Power supply voltage between the provisions of the normal work, EST series driver is best to use non-regulated DC
power supply, can also use the transformer step-down + bridge rectifier + capacitor filter. However, take care that
the peak value of the rectified voltage ripple does not exceed its maximum specified voltage. It is recommended
that users use DC voltage lower than the maximum voltage to supply power and avoid the fluctuation of power grid
beyond the working range of driver voltage.
If you are using a regulated switching power supply, be aware that the output current range of the switching power
supply needs to be maximized.
Please note!
A:When wiring, pay attention to the positive and negative poles of the power supply.
B:Better use non-regulated power supply;
C:When use a non-regulated power supply, the power supply current output capacity should be greater than 60% of
the drive setting current;
D:The use of regulated switching power supply, the output current of the power supply should be greater than or
equal to the working current of the driver;
E:To reduce costs, two or three drives can share a power supply, but should ensure that the power supply is large
enough.

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
6.3 EtherCAT Communication Port
Two RJ45 terminals
PIN
Signal
Function Description
1
TX+
Ether CAT data sending positive port
EtherCAT IN（ECAT IN）
2
TX-
Ether CAT data sending negative port
3
RX+
Ether CAT data receiving positive port
4
NC
No connected
5
NC
No connected
6
RX-
Ether CAT data receiving negative port
7
NC
Disconnect
8
NC
Disconnect
9
TX+
Ether CAT data sending positive
EtherCAT OUT（ECAT
OUT）
10
TX-
Ether CAT data sending negative
11
RX+
Ether CAT data receiving positive
12
NC
No connected
13
NC
No connected
14
RX-
Ether CAT data receiving negative
15
NC
No connected
168
NC
No connected
Note: The cable connecting EST-556 to PC must be a dedicated cable. Please check before use to avoid damage.
7 PA settings (DIP Switch Settings)
ECAT IN
ECAT OUT
DIP switch

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8
7.1 Current Table(dynamic current)
Current(peak)
Current(RMS)
SW1
SW2
SW3
Default[1.0A]
on
on
on
2.1A
1.5A
off
on
on
2.7A
1.9A
on
off
on
3.2A
2.3A
off
off
on
3.8A
2.7A
on
on
off
4.3A
3.1A
off
on
off
4.9A
3.5A
on
off
off
5.6A
4.0A
off
off
off
7.2 Standstill current setting
SW4 is used for this purpose. OFF meaning that the standstill current is software configured, and ON meaning that
standstill current is set to be the same as the selected dynamic current. Generally, set the SW4 to be off , that can
reduce the heating of motor
7.3 Motor direction setting
SW5 for setting the initial direction of motor
off=CCW，on=CW；
7.3 Smoothing filter time setting
Filter Sel
SW6
SW7
Description
Default【0ms】
on
on
The more higher value for
smoothing filter time
setting, the more better
performance for the Acc
and Dec,but worse
performance for the
interpolation
2ms
off
on
12ms
on
off
25ms
off
off
8 Stepper Motors
EST-556 can work with the following ECON technology’s stepper motors:
Current
Filter time setting
Half/full current
direction
Self test

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
8.1 Nema23 stepper motor
ECN57-10
ECN57-20
ECN57-20BK
(with brake)
ECN57-25
Step Angle (Degree)
1.8
1.8
1.8
1.8
Holding Torque (N.m)
1.1
2.0
2.0
2.5
Phase Current (A)
3.0
5
5
5.0
Phase Resistance (Ohm)
0.71
0.4
0.4
0.4
Phase Inductance (mH)
2.37
1.8
1.8
1.8
Inertia (g.cm2)
2
)
280
480
480
480
Weight (Kg)
0.72
1.2
1.8
1.0
8.2 Nema24 stepper motor
ECN60-10
ECN60-16
ECN60-21
ECN60-31
Step Angle (Degree)
1.8
1.8
1.8
1.8
Holding Torque (N.m)
1.1
1.65
2.1
3.1
Phase Current (A)
2.8
2.8
2.8
2.8
Phase Resistance (Ohm)
0.75
0.9
1.2
1.5
Phase Inductance (mH)
2.0
3.6
4.6
6.8
Inertia (g.cm2)
2
)
275
300
570
840
Weight (Kg)
0.6
0.77
1.2
1.4
9 Wiring Diagrams
9.1 Interface

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
9.2 Diagram
10 Protection Indications
The green indicator turns on when power-up. When drive protection is activated, the red LED blinks periodicity to
indicate the error type.
Flashes Times
Red LED flash wave
Fault Description
1
over-current or phase short-circuit fault
2
over-voltage fault
3
under-voltage fault
7
over-error alarm
9
phase fault or current collecting fault
A:Over current or phase Short circuit protection
When a short circuit occurs or the internal drive over-current, the drive RED Led flashes 1 time, and repeat flashing
within 3 seconds. At this point must discharge fault, re-power and reset.

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
B: Over-voltage protection
When input voltage is higher than 55V, the driver RED Led flashes twice, and flashes repeatedly within 3 seconds.
At this point must discharge fault, re-power and reset.
△Note! Since the drive does not have the power supply reverse polarity protection function, therefore,
before power on, make sure the positive and negative power supply wiring is correct. Reverse polarity will
lead to burn the fuse in the drive!
11 Frequently Asked Questions
In the event that your drive doesn’t operate properly, the first step is to identify whether the problem is electrical or
mechanical in nature. The next step is to isolate the system component that is causing the problem. As part of this
process you may have to disconnect the individual components that make up your system and verify that they
operate independently. It is important to document each step in the troubleshooting process. You may need this
documentation to refer back to at a later date, and these details will greatly assist our Technical Support staff in
determining the problem should you need assistance.
Many of the problems that affect motion control systems can be traced to electrical noise, controller software errors,
or mistake in wiring.
Problem Symptoms and Possible Causes
Problem
Possible Reason
Solution
Motor is not rotating
Power supply light is off
check power supply line, keep power supply
normal
motor shaft disabled
Pulse signal weak, increase signal current to
7-16mA
Micro-step too small
select the suitable micro-step
current setting is too small
Select the correct current
drive protected
Reboot
Enable signal too low
Pull up enable signal or disconnect
no action to control signal
Check the power supply input
Wrong motor motion
Motor cable incorrect
connect
Change any two cables of same phase(such as
A+/A- change)
Motor cable has breakage
Check and correct wiring connection
The drive In alarm
motor cable incorrect
connect
Check wiring
over-voltage or
under-voltage
Check power supply
motor or drive damaged
Replace a motor or drive
Position inaccurate
signal is interfered
Exclude interference
Shield ground disconnect or
bad connect
Reliable ground connection
Motor cable has breakage
Check and correct wiring connection

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
Wrong micro-step
Set correct micro-step
Current small
Increase current
Motor stall when
speed increase
Acceleration time is too
short
Increase acceleration time
Motor torque is too small
Select big torque motor
Voltage is low or current is
small
Suitable increase voltage and current
12 Warranty
Shenzhen ECON Technology Co., Ltd. warrants its products against defects in materials and workmanship for a
period of 12 months from shipment out of factory. During the warranty period, ECON technology will either, at its
option, repair or replace products which proved to be defective.
Exclusions
The above warranty does not extend to any product damaged by reasons of improper or inadequate handlings by
customer, improper or inadequate customer wirings, unauthorized modification or misuse, or operation beyond the
electrical specifications of the product and/or operation beyond environmental specifications for the product.
Obtaining Warranty Service
To obtain warranty service, a returned material authorization number (RMA) must be obtained from customer
service at e-mail: [e-mail] before returning product for service. Customer shall prepay
shipping charges for products returned to ECON technology for warranty service, and ECON technology shall pay
for return of products to customer.
Warranty Limitations
ECON technology makes no other warranty, either expressed or implied, with respect to the product. ECON
technology specifically disclaims the implied warranties of merchantability and fitness for a particular purpose.
Some jurisdictions do not allow limitations on how long and implied warranty lasts, so the above limitation or
exclusion may not apply to you. However, any implied warranty of merchantability or fitness is limited to the
12-month duration of this written warranty.

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
Part 2:EST-556EtherCATCommunication
Protocol Specification
1. Introduction
EST-556 is a new released EtherCAT hybrid servo drive , which support CANopen over EtherCAT (CoE) control
and CiA 402 operating modes ,including Profile Position (PP), Profile Velocity (PV), Homing (HM) and Cyclic
Synchronous Position (CSP). This drive is compatible withmany EtherCAT controller/PLC ,such as Beckhoff,
Omron, etc. its excellent performance can meet many applications with extra low noise,low heating and super
smoothness.
2. Operation mode
Command input type
Variable
Operation mode
BUS command input
Address 6060H=1
PP mode
Address 6060H=3
PV mode
Address 6060H=6
HM mode
Address 6060H=8
CSP mode
A: PP mode：profile position mode
B: PV mode：Profile velocity mode
C: HM mode：Homing mode
D: CSP mode：Cyclic synchronous position mode
2.1 Profile position mode(PP)
Profile Position control mode is general point to point operation, to move to target position of Target position
(607Ah) object with receipt of Controlword (6040h) input, need to set Profile Position Mode at operation mode
object (6060h). The Operation Mode Display object (606lh) is shown as Profile Position Mode.

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
2.1.1 Related objects
Data write/read
Object
Description
Value
Unit
RXPDO
6060h
Operation Mode
1
-
6040h
Control word
User self-defined
-
607Ah
Target Position
User self-defined
Unit
6081h
Maximum speed
User self-defined
Unit/s
6082h
Start /Stop speed
User self-defined
Unit/S^2
6083h
ProfileAcceleration
User self-defined
Unit/S^2
6084h
Profile Deceleration
User self-defined
Unit/S^2
6085h
Emergency stop deceleration, base
on the value of 605Ah
User self-defined
Unit/S^2
605Ah
Enable the deceleration of E-stop(5:
enable; Others: disable)
User self-defined
-
2000h
Revolution per round
User self-defined
pulse
TXPDO
6041h
Status word
Read only
-
6064h
Actually position Feedback
Read only
Unit
606Ch
Actual velocity feedback
Read only
Unit/s
603Fh
Error code
Read only
-
6061h
Operation mode display
Read only
-
2.1.2 Controlword and Status word
In PP Mode, the bits 4~6 of Controlword (6040h)
Bit
Value
Description
4(new position)
0 —> 1
The motor run with the max speed(6081h) and
Acc(6083h )/Dec(6084h) to latest target position(607Ah)
5((trigger immediately)
0
Trigger the new movement after the current movement is
completed
1
Interrupt the current movement immediately, and start the
new movement
6 (absolutely /relatively)
0
Process target position(607Ah) as the absolutely position
1
Process target position(607Ah) as the relatively position
2.1.3Typical motion mode of bit 5 at PP mode
Bit 5
0
1

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
Forward movement to updated
target position with Acc/constant
speed
Forward movement to updated
target position with Dec
Backward movement to updated
target position
A:Command change time of master
B:Arrived time to the target position(before updated)
C:Arrived time to the target position(after updated)
2.1.4 The bit 8,10.12-15 of status word
Bit
Value
Description
8 (abnormal stop)
0
Normal movement
1
Trigger by abnormal stop, motor will stop
10 (position reached)
0
Movement is continue
1
target position reached
12 (new position
response)
0
When current movement is completed or interruptable, can update new target
position
1
When current motion uncompleted/uninterruptable, it can not update new target
position
14(parameters value
for movement are 0)
0
Parameters for movement are effective, and all necessary parameters are not 0
1
One of parameters( max speed-6081h, acceleration-6083h) and deceleration
--6084h)must be 0
15 (Trigger
response)
0
When current movement is not completed or not interruptable,can not update
new target position
1
When current movement is completed or interruptable, can update new target
position
A: Bit8 abnormal stop is effective at the triggered status for hardware limit switch, deceleration stop and
emergency stop
B:Bit 12 of Status word (6041h) will clear to 0 when the bit 5 of control word (6040h) is triggered and bit 4 of

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
(6040h) is invalid triggered (for example 6040h = 0x2F/4F), it can be interrupted
C: The logic of bit 5 and bit 12 is always reverse in PP mode.
2.2 Profile velocity mode(PV )
Profile velocity mode is a relatively simple operating mode via execution related command sending by EtherCAT
master
Data write/read
Object
Description
Value
Unit
RXPDO
6060h
Operation Mode
1
-
6040h
Control word
User self-defined
-
60FFh
Target Position
User self-defined
Unit
6083+00h
ProfileAcceleration
User self-defined
Unit/S^2
6084+00h
Profile Deceleration
User self-defined
Unit/S^2
TXPDO
6041h
Status word
Read only
-
6064h
Actually position Feedback
Read only
Unit
606Ch
Actual velocity feedback
Read only
Unit/s
2.2.1Controlword and Status word
In PV Mode, bits 4~6of Control word (6040h) are not effective, the movement will be active by setting some
movement parameters, including target velocity (60FFh), acceleration/deceleration (6083h/6084h).
Bit
Value
Description
8(quickly stop)
0
Quickly stop is disabled
1
Quickly stop is enabled
10(speed reached)
0
The current speed has not reach to target speed
1
The current speed reach to target speed
12 (speed is 0)
0
Speed is not 0 , the movement is not completed
1
Speed is 0 or the speed is ready to be 0 with Dec
2.3 Cyclic synchronous position mode(CSP)
Cyclic Synchronous Position mode (CSP Mode) assigns target position to EST-556hybrid servo drives by Master's
profile creation function through cyclic communication. Drives internally execute position/velocity control with
receipt of target position in each cycle.
The supported synchronizing cycles are: 250us, 500us, 750us, 1000us, 2000us and 4000us.
2.3.1 Related objects
Data write/read
Object
Description
Value
Unit
6060h
Operation Mode
1
-

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
RXPDO
6040h
Control word
User self-defined
-
607Ah
Target Position
User self-defined
Unit
60B0h
Maximum speed
User self-defined
Unit/s
2000h
Revolution per round
User self-defined
pulse
TXPDO
6041h
Status word
Read only
-
6064h
Actually position Feedback
Read only
Unit
606Ch
Actual velocity feedback
Read only
Unit/s
603Fh
Error code
Read only
-
6061h
Operation mode display
Read only
-
2.4 Homing mode(HM)
Homing mode is the way of detecting the home point with command of Control word (6040h). 6060h is address for
homing Mode enable/disable. And will execute the command once Mode of operation display (6061h) indicates
Homing Mode.
2.4.1 Related objects
Data write/read
Object
Description
Value
Unit
RXPDO
6060h
Operation Mode
1
-
6040h
Control word
User self-defined
-
607Ah
Target Position
User self-defined
Unit
6081h
Maximum speed
User self-defined
Unit/s
6082h
Start /Stop speed
User self-defined
Unit/S^2
6083h
ProfileAcceleration
User self-defined
Unit/S^2
6084h
Profile Deceleration
User self-defined
Unit/S^2
6085h
Emergency stop deceleration, base
on the value of 605Ah
User self-defined
Unit/S^2
605Ah
Enable the deceleration of E-stop(5:
enable; Others: disable)
User self-defined
-
2000h
Revolution per round
User self-defined
pulse
TXPDO
6041h
Status word
Read only
-
6064h
Actually position Feedback
Read only
Unit
606Ch
Actual velocity feedback
Read only
Unit/s
603Fh
Error code
Read only
-
6061h
Operation mode display
Read only
-
2.4.2 The bits 4~6 of Control word (6040h)

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive
Bit
Value
Description
4(new position)
0 —> 1
The motor run with the max speed(6081h) and
Acc(6083h )/Dec(6084h) to latest target position(607Ah)
5((trigger immediately)
0
Trigger the new movement after the current movement is
completed
1
Interrupt the current movement immediately, and start the
new movement
6 (absolutely /relatively)
0
Process target position(607Ah) as the absolutely position
1
Process target position(607Ah) as the relatively position
2.4.3 The bit 8,10.12-15 of status word
Bit
Value
Description
8 (abnormal stop)
0
Normal movement
1
Trigger by abnormal stop, motor will stop
10 (position reached)
0
Movement is continue
1
target position reached
12 (new position
response)
0
When current movement is completed or interruptable ,can update new target
position
1
When current motion uncompleted/uninterruptable, it can not update new target
position
14(parameters value
for movement are 0)
0
Parameters for movement are effective, and all necessary parameters are not 0
1
One of parameters( max speed-6081h, acceleration-6083h) and deceleration
--6084h)must be 0
15 (Trigger
response)
0
When current movement is not completed or not interruptable,can not update
new target position
1
When current movement is completed or interruptable, can update new target
position
A: Bit8 abnormal stop is effective at the triggered status for hardware limit switch, deceleration stop and
emergency stop
B:Bit 12 of Status word (6041h) will clear to 0 when the bit 5 of control word (6040h) is triggered and bit 4 of
(6040h) is invalid triggered (for example 6040h = 0x2F/4F), it can be interrupted
C: The logic of bit 5 and bit 12 is always reverse in PP mode.