Econ EtherCAT EHS-580 User manual

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
EHS-580
EtherCAT Hybrid Servo Drive
© 2017 shenzhen ECON Technology Co.,Ltd. Version 2.0
Add:2F,BuildingB,Jintai,Industrial,Park,HangchengAvenue,GushuVillage,XixiangStreet,Bao'anArea,ShenzhenCity,
GuangdongProvince,China
Tel: [phone]
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 EHS-580 EtherCAT Hybrid Servo Drive
Contents
Part 1: EHS-580.......................................................................................................................................................... 5
Hardware Manual........................................................................................................................................................ 5
1 Descriptions.............................................................................................................................................................. 5
2 Features.................................................................................................................................................................... 5
3 Applications.............................................................................................................................................................. 5
4 Specifications............................................................................................................................................................ 6
4.1 Electrical Specifications................................................................................................................................ 6
4.2 Operating Environment ................................................................................................................................. 6
5 Mechanical Specifications........................................................................................................................................ 6
6 Connectors and Pin Assignment............................................................................................................................... 7
6.1 Control signals connector.............................................................................................................................. 7
6.2 Encoder Feedback and hall signal Connector............................................................................................... 8
6.3 Power and Motor........................................................................................................................................... 8
6.4 EtherCAT Communication Port..................................................................................................................... 9
7 DIP Switch Settings................................................................................................................................................ 10
7.1 E-CAT ID Table ........................................................................................................................................... 10
8 Hybrid servo Motors................................................................................................................................................11
8.1 Nema24 and Nema34motor..........................................................................................................................11
8.2 Nema34motor ...............................................................................................................................................11
9 Wiring Diagrams .................................................................................................................................................... 12
9.1 Interface....................................................................................................................................................... 12
9.2 Diagram....................................................................................................................................................... 13
10 Protection Indications........................................................................................................................................... 13
11 Frequently Asked Questions.................................................................................................................................. 13
Problem Symptoms and Possible Causes........................................................................................................... 14
12 Warranty............................................................................................................................................................... 14
Exclusions.......................................................................................................................................................... 15
Obtaining Warranty Service .............................................................................................................................. 15
Warranty Limitations......................................................................................................................................... 15
Part 2 : EHS-580 EtherCAT Communication Protocol Specification ....................................................................... 16
1. Introduction ....................................................................................................................................................... 16
2. Operation mode................................................................................................................................................. 16
2.1 Profile position mode(PP) ........................................................................................................................... 16
2.1.1 Related objects.................................................................................................................................. 17
2.1.2 Control word and Status word .......................................................................................................... 17
2.1.3 Typical motion mode of bit 5 at PP mode......................................................................................... 17
2.1.4 The bit 8,10.12-15 of status word ..................................................................................................... 18
2.2 Profile velocity mode (PV ).......................................................................................................................... 19
2.3 Cyclic synchronous position mode mode(CSP) ........................................................................................... 19
2.3.1 Related objects.................................................................................................................................. 19
2.4 Homing mode (HM)..................................................................................................................................... 20
3. Input and output................................................................................................................................................. 22

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
3.1 Input configuration................................................................................................................................ 22
3.2 Output configuration ............................................................................................................................. 23
3.3 Related node ID..................................................................................................................................... 24
3.4 Motor rotation direction setting............................................................................................................. 24
3.5 Pulse/Revolution setting ........................................................................................................................ 24
4. Parameters......................................................................................................................................................... 25
4.1 Parameter saving................................................................................................................................... 25
4.2 Parameter reset...................................................................................................................................... 25
4.3 Parameters list....................................................................................................................................... 25
5. Basic Information Of EtherCAT ........................................................................................................................ 29
5.1 EtherCAT Data Frame Structure................................................................................................................. 29
5.2 Synchronous Mode....................................................................................................................................... 29
5.2.1 Random running mode...................................................................................................................... 29
5.2.2 Distributed clock synchronization mode........................................................................................... 29
5.2.3 EtherCAT state machine ................................................................................................................... 30
5.3 COE............................................................................................................................................................. 30
5.3.1 Service data object (SDO) ................................................................................................................ 31
5.3.2 SDO protocol and message format................................................................................................... 31
5.3.3 Suspend SDO transmission............................................................................................................... 32
5.4 processing data object................................................................................................................................. 34
5.4.1 PDO mapping................................................................................................................................... 34
5.4.2 PDO dynamical mapping.................................................................................................................. 35
5.4.3 The difference of PDO and SDO....................................................................................................... 35
Contact us:................................................................................................................................................................. 36

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo 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 EHS-580 Included:
Part 1:EHS-580 hardware manual
This part for hardware, function description, parameter configuration, etc.
Part 2 :EHS-580 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 EHS-580 EtherCAT Hybrid Servo Drive
Part 1:EHS-580
Hardware Manual
1 Descriptions
EHS-580 is Econ technology's new EtherCAT hybrid servo driver, which adopt the latest floating-point 64-bit
MCU digital processing technology, the advanced vector control technology drive the motor with low heating ,low
noise and extra smoothly. 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 Nema17--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 64bit MCU technology
Serial Port And Auto Tune Function
3 channels opto-coupler isolation OC output
Advanced vector control technology
High torque at starting and low speed
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 0.5-8A
Smooth movement and extra low noise
The supported encoder can be 500ppr—5000ppr.
3 Applications
For a variety of small and medium-sized automation equipment and instruments, such as: AGV, speed pass door,
engraving machine, marking machine, cutting machine, laser Phototypesetting, router machine, plotter, CNC
machine tools, automatic assembly equipment. The users can get special effect from small noise, high speed
equipment application.

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
4 Specifications
4.1 Electrical Specifications
Description
EHS-580
Min
Typical
Max
Unit
Output Current(peak)
0.5
-
8.0
A
Input Voltage（DC）
15
24/36/48
50
VDC
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

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
※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
80 ℃;
B: It is recommended to use the automatic half-flow mode, the current will be automatically reduced by half when
the 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 EHS-580 has four connectors, connector for i/o connections, connector for Encoder Feedback and hall signal,
connector for power and motor connection, 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
]I/O signal
Encoder
Motor
Power input

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
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
gnd
5V-
RS232-TX
RS232-RX
5V
5V+,current 50mA
6.2 Encoder Feedback and hall signal Connector
Pin Function
Details
ea+
Encoder channel A input
ea-
eb+
Encoder channel B input
eb-
ez+
Encoder channel Z input(if there is Z signal in encoder ,no connection needed )
ez-
eu+
Hall U channel U input, special for dc brushless servo, open loop/hybrid servo no
connection needed
eu-
ev+
Hall V channel U input, special for dc brushless servo, open loop/hybrid servo no
connection needed
ev-
ew+
Hall W channel U input, special for dc brushless servo, open loop/hybrid servo no
connection needed
ew-
5V
Provide 5V+ dc power to motor encoder and Hall components, current 100mA
gnd
5V-
6.3 Power and Motor
Pin
Definition
I/O
Description
1
A+
O
Motor PhaseA+
2
A-
O
Motor PhaseA- (U for dc brushless servo motor)
3
B+
O
Motor Phase B+ (V for dc brushless servo motor)
4
B-
O
Motor Phase B- (W for dc brushless servo motor)
5
+VDC
I
15-50VDC,36VDC is recommended, leaving rooms for voltage fluctuation

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
6
GND
GND
and back-EMF.
Power supply voltage between the provisions of the normal work, EHS-580 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.
6.4 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
ECAT IN
ECAT OUT

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
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 EHS-580 to PC must be a dedicated cable. Please check before use to avoid damage.
7 DIP Switch Settings
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8
7.1 Motor selection
Filter Sel
SW6
SW7
Nema11
on
on
Nema17
off
on
Nema23/nema24
on
off
Nema34
off
off
Motor selection
Direction
Filter time setting
Open/closed loop Working mode
Self- test
DIP switch

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
8 Hybrid servo Motors
EHS-580 can work with the following ECON technology’s hybrid servo motors:
8.1 Nema17
TC42-03
TC42-04
TC42-06
TC42-08
Step Angle (Degree)
1.8
1.8
1.8
1.8
Holding Torque (N.m)
0.3
0.4
0.6
0.8
Phase Current (A)
2.3
1.68
2.3
2.3
Phase Resistance (Ohm)
0.94
1.65
1.3
1.7
Phase Inductance (mH)
1.8
2.8
2.5
4.6
Inertia (g.cm2)
2
)
57
73
86
102
Weight (Kg)
0.24
0.37
0.45
0.5
Encoder (lines / Rev.)
1000
1000
1000
1000
8.1 Nema23
TC57-11
TC57-24(BK)
TC57-28
Step Angle (Degree)
1.8
1.8
1.8
Holding Torque (N.m)
1.1
2.4
2.8
Phase Current (A)
6.0
5.6
5.6
Phase Resistance (Ohm)
0.2
0.4
0.5
Phase Inductance (mH)
0.52
1.5
2.0
Inertia (g.cm2)
2
)
300
480
550
Weight (Kg)
0.7
1.1
1.8
Encoder (lines / Rev.)
1000
1000
1000
BK:the motor supports brake
8.3 Nema24 motor
TC60-15
TC60-30
TC60-40
Step Angle (Degree)
1.8
1.8
1.8
Holding Torque (N.m)
1.5
3.0
4.0
Phase Current (A)
6.0
6.0
5.6
Phase Resistance (Ohm)
0.3
0.6
0.5
Phase Inductance (mH)
1.1
1.8
2.1
Inertia (g.cm2)
2
)
400
840
840

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Weight (Kg)
0.8
1.4
1.6
Encoder (lines / Rev.)
1000
1000
1000
8.4 Nema34 hybrid servo motor
TC86-45
TC86-85
TC86-120
Step Angle (Degree)
1.8
1.8
1.8
Holding Torque (N.m)
4.5
8.5
12
Phase Current (A)
6.0
6.0
6.0
Phase Resistance (Ohm)
0.325
0.5
0.73
Phase Inductance (mH)
3.0
6.0
8.68
Inertia (g.cm2)
2
)
1400
2700
4000
Weight (Kg)
2.3
3.8
5.3
Encoder (lines / Rev.)
1000
1000
1000
Note:All motors can make brake
9 Wiring Diagrams
9.1 Interface

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo 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.
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

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
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
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

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
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 EHS-580 EtherCAT Hybrid Servo Drive
Part
2:EHS-580
EtherCAT Communication Protocol
Specification
1. Introduction
EHS-580 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 with many 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 Control word (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 EHS-580 EtherCAT Hybrid Servo 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 Control word and Status word
In PP Mode, the bits 4~6 of Control word (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 EHS-580 EtherCAT Hybrid Servo 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 EHS-580 EtherCAT Hybrid Servo 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
2.3Cyclic synchronous position mode(CSP)
Cyclic Synchronous Position mode (CSP Mode) assigns target position to EHS-580hybrid 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 EHS-580 EtherCAT Hybrid Servo 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)