Fastech Ezi-SERVOII EtherCAT TO User manual

Closed Loop Stepping System
EtherCAT Network
User Manual
•Ezi-SERVOII EtherCAT TO
FASTECH Co., Ltd.

Contents
Contents 2
Introduction 6
Before Operation ............................................ 6
Safety Precautions ........................................... 7
1 Product Specification 10
1.1 Model Naming .......................................... 11
1.2 Product Dimension ........................................ 12
1.3 EtherCAT Specifications ..................................... 13
1.4 Drive Specification ........................................ 14
2 Installation 15
2.1 Precautions of Installation .................................... 16
2.2 System Configuration ...................................... 17
2.3 External Wiring Diagram ..................................... 18
2.4 Appearance and Part Name ................................... 19
2.4.1 EtherCAT ID ....................................... 19
2.4.2 EtherCAT Status LED .................................. 20
2.4.3 EtherCAT Communication Connection ......................... 21
2.4.4 I/O Connector ...................................... 22
2.4.5 Encoder Connection Connector ............................. 23
2.4.6 Motor Connection Connector .............................. 23
2.4.7 Power Connection Connector .............................. 24
2.4.8 TQOFF Connector .................................... 25
2.4.9 USB Connector ...................................... 26
2.5 Appendix ............................................. 27
2.5.1 Extension Cable for Motor ................................ 27
2.5.2 Extension Cable for Encoder .............................. 27
2.5.3 Connector Specifications ................................ 28
3 EtherCAT Communication 29
3.1 CAN application protocol over EtherCAT ............................ 30
3.1.1 Object Dictionary ..................................... 30
3.1.2 Mailbox Communication ................................. 30
3.1.3 Process Data Communication ............................. 31
3.2 PDO Mapping ........................................... 31
3.2.1 PDO Mapping ...................................... 31
3.2.2 PDO Assign ....................................... 31
3.3 EtherCAT State Machine .................................... 32
3.4 Synchronization ......................................... 33
3.4.1 Free Run ......................................... 33
3.4.2 SM Event ......................................... 33
3.4.3 DC Sync Event ...................................... 33
3.5 EtherCAT Slave Information ................................... 34
4 CiA402 Drive Profile 35
Rev.37 FASTECH Co., Ltd. 2

4.1 Drive Status Control ....................................... 36
4.1.1 Control word ....................................... 38
4.1.2 Status word ........................................ 38
4.2 Error Code ............................................ 40
4.3 Mode of operation ........................................ 42
4.4 Cyclic Synchronous Position Mode ............................... 43
4.4.1 Definition ......................................... 43
4.4.2 Related Objects ..................................... 43
4.4.3 Control word and Status word .............................. 43
4.5 Profile Position Mode ...................................... 45
4.5.1 Definition ......................................... 45
4.5.2 Related Objects ..................................... 45
4.5.3 Control word and Status word .............................. 45
4.5.4 Position movement method ............................... 47
4.6 Homing Mode ........................................... 52
4.6.1 Definition ......................................... 52
4.6.2 Relative Objects ..................................... 52
4.6.3 Control word and Status word .............................. 52
4.6.4 Origin Search Method .................................. 53
4.7 Touch Probe ........................................... 60
4.7.1 Definition ......................................... 60
4.7.2 Related Objects ..................................... 60
4.7.3 Touch Probe Status and Control ............................ 60
4.8 Digital Input and Output ..................................... 62
4.8.1 Definition ......................................... 62
4.8.2 Related Objects ..................................... 62
4.8.3 User I/O .......................................... 62
4.8.4 ORIGIN and LIMIT Input ................................. 62
4.8.5 BRAKE Output ...................................... 63
4.9 Safety Function .......................................... 64
4.9.1 Operation of Safety Function .............................. 64
5 Operation 67
5.1 Operation Sequence ....................................... 68
5.2 Setting ............................................... 68
5.2.1 Installation ........................................ 68
5.2.2 Wiring ........................................... 68
5.2.3 Input Power ........................................ 68
5.2.4 PDO Mapping ...................................... 68
5.2.5 Set Communication Status ............................... 69
5.3 Operation ............................................. 69
5.3.1 Drive Status Control ................................... 69
5.3.2 Set Mode ......................................... 69
5.3.3 Set Operation ....................................... 69
5.3.4 Movement Command .................................. 69
5.3.5 Check Statues ...................................... 69
5.4 Drive Setting Adjustment .................................... 70
5.4.1 Change Rotation Direction ............................... 70
5.4.2 Change I/O Signal Level ................................. 70
6 EtherCAT Object Dictionary 71
6.1 Indication Type of Objects .................................... 72
6.1.1 Index and Sub-Index ................................... 72
6.1.2 Name ........................................... 72
6.1.3 Data Type ......................................... 72
6.1.4 Access .......................................... 73
6.1.5 SAVE ........................................... 73
6.1.6 PDO Mapping ...................................... 73
Rev.37 FASTECH Co., Ltd. 3

6.1.7 Constant Value ...................................... 73
6.1.8 Value Range ....................................... 73
6.1.9 Default Value ....................................... 73
6.2 Communication Object ...................................... 74
6.2.1 Object 1000h: Device type ............................... 74
6.2.2 Object 1001h: Error register ............................... 74
6.2.3 Object 1008h: Device name ............................... 74
6.2.4 Object 1009h: Hardware version ............................ 74
6.2.5 Object 100Ah: Software version ............................ 74
6.2.6 Object 1010h: Store parameters ............................ 75
6.2.7 Object 1011h: Restore default parameters ....................... 75
6.2.8 Object 1018h: Identity .................................. 76
6.2.9 Object 10F1h: Error settings .............................. 76
6.2.10 Object 10F3h: Diagnosis history ............................ 77
6.3 PDO Mapping Object ...................................... 79
6.3.1 Object 1600h: RxPDO-Map 0 .............................. 79
6.3.2 Object 1601h: RxPDO-Map 1 .............................. 79
6.3.3 Object 1A00h: TxPDO-Map 0 .............................. 79
6.3.4 Object 1A01h: TxPDO-Map 1 .............................. 80
6.3.5 Object 1C12h: RxPDO assign ............................. 80
6.3.6 Object 1C13h: TxPDO assign .............................. 80
6.4 Sync Manager Object ...................................... 81
6.4.1 Object 1C00h: Sync manager type ........................... 81
6.4.2 Object 1C32h: SM output parameter .......................... 81
6.4.3 Object 1C33h: SM input parameter ........................... 81
6.5 Drive Profile Object ........................................ 82
6.5.1 Object 603Fh: Error code ................................ 82
6.5.2 Object 6040h: Control word ............................... 82
6.5.3 Object 6041h: Status word ............................... 82
6.5.4 Object 605Ah: Quick stop option code ......................... 82
6.5.5 Object 605Bh: Shutdown option code ......................... 83
6.5.6 Object 605Ch: Disable operation option code ..................... 83
6.5.7 Object 605Dh: Halt option code ............................. 83
6.5.8 Object 605Eh: Fault reaction option code ....................... 84
6.5.9 Object 6060h: Mode of operation ............................ 84
6.5.10 Object 6061h: Mode of operation display ....................... 84
6.5.11 Object 6062h: Position demand value ......................... 84
6.5.12 Object 6064h: Position actual value .......................... 84
6.5.13 Object 6065h: Following error window ......................... 85
6.5.14 Object 6067h: Position window ............................. 85
6.5.15 Object 606Bh: Velocity demand value ......................... 85
6.5.16 Object 606Ch: Velocity actual value .......................... 85
6.5.17 Object 607Ah: Target position .............................. 85
6.5.18 Object 607Ch: Home offset ............................... 86
6.5.19 Object 607Dh: Software position limit ......................... 86
6.5.20 Object 607Eh: Polarity .................................. 86
6.5.21 Object 607Fh: Max profile velocity ........................... 87
6.5.22 Object 6081h: Profile velocity .............................. 87
6.5.23 Object 6083h: Profile acceleration ........................... 87
6.5.24 Object 6084h: Profile deceleration ........................... 87
6.5.25 Object 6098h: Homing method ............................. 87
6.5.26 Object 6099h: Homing speeds ............................. 88
6.5.27 Object 609Ah: Homing acceleration .......................... 88
6.5.28 Object 60B8h: Touch probe function .......................... 88
6.5.29 Object 60B9h: Touch probe status ........................... 89
6.5.30 Object 60BAh: Touch probe 1 positive value ..................... 90
6.5.31 Object 60BBh: Touch probe 1 negative value ..................... 90
6.5.32 Object 60BCh: Touch probe 2 positive value ..................... 90
Rev.37 FASTECH Co., Ltd. 4

6.5.33 Object 60BDh: Touch probe 2 negative value ..................... 90
6.5.34 Object 60C2h: Interpolation time period ........................ 91
6.5.35 Object 60D0h: Touch probe source ........................... 91
6.5.36 Object 60D5h: Touch probe 1 positive edge counter ................. 91
6.5.37 Object 60D6h: Touch probe 1 negative edge counter ................. 91
6.5.38 Object 60D7h: Touch probe 2 positive edge counter ................. 92
6.5.39 Object 60D8h: Touch probe 2 negative edge counter ................. 92
6.5.40 Object 60E3h: Supported homing methods ...................... 92
6.5.41 Object 60F4h: Following error actual value ...................... 92
6.5.42 Object 60FDh: Digital inputs .............................. 93
6.5.43 Object 60FEh: Digital outputs .............................. 93
6.5.44 Object 6502h: Supported drive modes ......................... 94
6.6 Manufacture specific Object ................................... 95
6.6.1 Object 2001h: Sensors logics .............................. 95
6.6.2 Object 2002h: Reverse limit direction ......................... 95
6.6.3 Object 2003h: Limit stop method ............................ 96
6.6.4 Object 2005h: Encoder resolution ........................... 96
6.6.5 Object 2006h: Start speed ............................... 96
6.6.6 Object 2007h: Run current ............................... 96
6.6.7 Object 2008h: Boost current .............................. 97
6.6.8 Object 2009h: Stop current ............................... 98
6.6.9 Object 200Ah: Motor number .............................. 98
6.6.10 Object 200Ch: Reference resolution .......................... 98
6.6.11 Object 200Dh: Position control gain .......................... 99
6.6.12 Object 200Eh: In-position mode ............................ 100
6.6.13 Object 200Fh: Encoder filter time ............................ 100
6.6.14 Object 2010h: Brake delay ............................... 101
6.6.15 Object 2011h: Digital input levels ............................ 101
6.6.16 Object 2012h: Digital output levels ........................... 101
6.6.17 Object 2014h: Homing Torque Ratio .......................... 101
6.6.18 Object 2018h: Internal Current Value .......................... 102
6.6.19 Object 201Ah: Push Mode ............................... 102
6.6.20 Object 201Bh: Limit Deceleration ............................ 102
6.6.21 Object 2020h: Error code history setting ........................ 102
6.6.22 Object 2021h: Error code history ............................ 103
6.6.23 Object 2025h: Lifetime Record ............................. 104
6.6.24 Object 2030h: Advanced settings ............................ 105
6.6.25 Object 2031h: Encoder count error ........................... 106
Changelog 107
Rev.37 FASTECH Co., Ltd. 5

Introduction
Before Operation
• Thank you for your purchasing Ezi-SERVOII EtherCAT TO.
• 32 Bit high-performance of ARM Processor on-board Ezi-SERVOII EtherCAT TO is motion con-
troller supports Field-network EtherCAT.
• This manual describes handling, safety instruction, diagnosis and troubleshooting of Ezi-SERVOII
EtherCAT TO.
• Before operating Ezi-SERVOII EtherCAT TO, thoroughly read this manual.
• After reading the manual, keep the manual near the product so that any user can read the manual
whenever needed.
Rev.37 FASTECH Co., Ltd. 6

Safety Precautions
General Precautions
• Contents of this manual are subject to change without prior notice for functional improvement,
change of specifications or user’s better understanding.
• When the manual is damaged or lost, please contact with Fastech’s agents or our company to get
a manual again.
• It is not responsible for Fastech to guarantee product randomly reconstructed because this kind of
improper action is out of range of guarantee.
Safety Precautions
Before installation, operation and repairing, thoroughly read the manual and fully understand the con-
tents. Also before operation, please understand the mechanical characteristics of the product and related
safety information and precautions.
User manual describes level of precaution for safety as Warning and Danger.
Warning
If user does not properly handle the product, the user may seriously or slightly injured and damages
may occur in the machine.
Danger
If user does not properly handle the product, a dangerous situation (such as an electric shock) may
occur resulting in deaths or serious injuries.
Information
Necessary Information and extra attentions for operation.
Although precaution is only a Warning, a serious result could be caused depending on the situation.
Rev.37 FASTECH Co., Ltd. 7

Check the product
Warning
Check the product is damaged or parts are missing. Otherwise, the machine may get damaged or
the user may get injured.
Installation
Warning
Carefully operate the product. Otherwise the product may get damaged or user’s foot may get
injured by dropping the product.
Use non-flammable materials such as metal in the place where the product is to be installed. Oth-
erwise, a fire may occur.
When installing several units of FASTECH Co., Ltd.’s products in a sealed place, install a cooling
fan to keep the ambient temperature as 50°C or lower. Otherwise a fire or other kinds of accidents
may occur due to overheating.
Danger
The process of installation, Connection, Operation, Checking and Repairing should be done with
qualified person.
Connect Cables
Warning
Keep the rated range of input voltage of the drive. Otherwise, a fire or other kinds of accidents may
occur.
Please follow the wiring diagram for cable connection. Otherwise, a fire or other kinds of accidents
may occur.
Danger
Before connecting cables, please check if input power is OFF. Otherwise, a fire or other kinds of
accidents may occur.
The case of Ezi-SERVOII EtherCAT TO is insulated from the ground of the internal circuit by the
condenser so please ground the product. Otherwise, an electric shock or a fire may occur.
Operation and Setting
Warning
If a protection function (alarm) occurs, firstly remove its cause and then release (alarm reset) the
protection function. If you operate continuously without removal of root cause, the machine may
get damaged or the user may get injured.
Make all input signals to OFF before supply input voltage to drive. Motor will run then the machine
may get damaged or the user may get injured.
All parameter values of Ezi-SERVOII EtherCAT TO are set by default factory setting value. Change
this value after reading this manual thoroughly. Otherwise, the machine may get damaged or other
kinds of accidents may occur.
Rev.37 FASTECH Co., Ltd. 8

Check and Repair
Danger
Stop to supply power to main circuit and wait for a while before checking or repairing the Ezi-
SERVOII EtherCAT TO. Electricity remains in the capacitor may cause danger as like electric shock.
Do not change cabling while power is being supplied. Otherwise, the user may get injured or the
product may get damaged.
Do not reconstruct the product. Otherwise, an electric shock may occur or the reconstructed product
can not get After Sales Service.
Rev.37 FASTECH Co., Ltd. 9

Chapter 1
Product Specification
Rev.37 FASTECH Co., Ltd. 10

1. Product Specification
1.1 Model Naming
Ezi-SERVOII-EC-TO-56 L-A-BK-PN05
Product Name
Drive Series Type
EC : EtherCAT
TO : Torque Off
Motor Flange Size
20 : 20mm
28 : 28mm
35 : 35mm
42 : 42mm
56 : 56mm
60 : 60mm
Motor Length
S : Small
M : Medium
L : Large
XL : Extra Large
Encoder Resolution
A : 10,000[ppr]
B : 20,000[ppr]
D : 16,000[ppr]
F : 4,000[ppr]
Reduction Gear Ratio
Blank – Without Gear
PN03 – 1:3
PN05 – 1:5
PN08 – 1:8
PN10 – 1:10
PN15 – 1:15
PN25 – 1:25
PN40 – 1:40
PN50 – 1:50
Brake
Blank : Without Brake
BK : Brake
Figure 1.1: Model Naming
Rev.37 FASTECH Co., Ltd. 11

1. Product Specification
1.2 Product Dimension
Figure 1.2: Dimensions
Rev.37 FASTECH Co., Ltd. 12

1. Product Specification
1.3 EtherCAT Specifications
Type of Communication EtherCAT
Physical Layer Ethernet - 100BASE-TX
Connector
RJ45 (shielded)
ECAT IN : EtherCAT Input
ECAT OUT : EtherCAT Output
ECAT Device ID Set Configured Station Alias by ECAT ID Switch : 1 ∼99
Set Physical Address at Master : 1 ∼65535
Topology Line (Structured by Products only)
Tree, Star (When use Junction products)
Support Protocol CoE (CANopen application protocol over EtherCAT)
FoE (File Access over EtherCAT)
Control Profile CiA402 drive profile (IEC61800-7)
Supported Operation Mode
Cyclic Synchronous Position Mode
Profile Position Mode
Homing Mode
Synchronization Free Run, SM Event, DC SYNC Event
(minimum cycle time: 250us)
Processing Data Configurable PDO Mapping
Table 1.1: Communication Specification
Rev.37 FASTECH Co., Ltd. 13

1. Product Specification
1.4 Drive Specification
Input Voltage 24VDC ±10%
Control Method Closed loop control with 32bit MCU
Current Consumption Max 500mA (Except motor current)
Operating
Condition
Ambient
Temperature
In Use : 0 ∼50°C
In Storage : -20 ∼70°C
Humidity In Use : 35 ∼85%RH (Non-Condensing)
In Storage : 10 ∼90%RH (Non-Condensing)
Vib. Resist. 0.5g
Function
Rotation Speed 0 ∼3,000 [rpm]
Resolution [ppr] 500 ∼100,000 pulse (Selectable by parameter)
Protection
Functions
Over Current Error, Over Speed Error, Position Tracking Error, Over
Load Error, Over Temperature Error, Over Regenerated Voltage Er-
ror, Motor Connect Error, Encoder Connect Error, In-Position Error,
ROM Error, Position Overflow Error
LED Display Power status, In-Position status, Servo On status, Alarm status
I/O Signal
Input Signals
3 dedicated input (LIMIT+, LIMIT-, ORIGIN)
6 user inputs (Photocoupler Input)
TQOFF Input
Output Signals
Brake
5 user outputs (Photocoupler Output)
TQMON Output
Table 1.2: Drive Specification
Rev.37 FASTECH Co., Ltd. 14

Chapter 2
Installation
Rev.37 FASTECH Co., Ltd. 15

2. Installation
2.1 Precautions of Installation
1. This product designed for indoor usage and the ambient temperature of the room should be 0 ∼
50°C.
2. If temperature of the case is 50°C, radiate the outside to cool down.
3. Do not install this product under direct rays or near magnetic or radioactive objects.
4. If more than 2 drives are installed in a line, keep the interval of 20mm or more vertically and 50mm
or more horizontally at least.
over 20mm
over 50mm
Rev.37 FASTECH Co., Ltd. 16

2. Installation
2.2 System Configuration
Figure 2.1: System Configuration Diagram
Rev.37 FASTECH Co., Ltd. 17

2. Installation
2.3 External Wiring Diagram
Figure 2.2: External Wiring Diagram
Rev.37 FASTECH Co., Ltd. 18

2. Installation
2.4 Appearance and Part Name
Main Power connection
(CN4)
Motor connection
(CN3)
Encoder connection
(CN2)
Digital I/O signal connection
(CN1)
Control Power connection
(CN5)
TQOFF connection
(CN6)
Drive status LED EtherCAT ID display
EtherCAT status LED
EtherCAT communication
(CN7)
EtherCAT communication
(CN8)
EtherCAT ID setting switch
(SW1, SW2)
USB connection
(CN9)
Figure 2.3: Appearance
2.4.1 EtherCAT ID
EtherCAT ID Display EtherCAT ID Set
Figure 2.4: EtherCAT ID
ID Setting
Change EtherCAT ID (Configured Alias ID) value by Rotary switch setting. Right switch indicates tens
and left switch indicates units.
Setting range is 0 ∼99.
Information
ID value (Configured Alias ID) set by Rotary switch applies when power of controller turns on.
ID Indication
7-Segment indicates Physical Address or EtherCAT ID (EtherCAT configured Alias) value. Conditions
for value indication as below.
• When Rotary Switch set all ‘0’, 7-Segment indicates EtherCAT Physical Address Value. Before
Physical Address assigned due to no connection between controller and master, It indicates 0.
Once Master assigns each controllers physical address, it indicates relevant value.
• If Rotary switch set as not 0 but other value, 7-Segment indicates relevant set value (EtherCAT
configured Alias).
• If 7-Segment of ID blinks, It indicates ID value as not applied yet. It can be applied once power
turn on again.
Rev.37 FASTECH Co., Ltd. 19

2. Installation
Error value indication
If error generates from controller (Fault Status), 7-Segment indicates Error value instead of EtherCAT ID
Value.
Error value is ‘E-000’ types then 2 digits will be indicated at 7-Segment.
1s 1s 1s 1s 1s
Figure 2.5: Error value indication (ex: E-015)
Please refer to 4.2 Error Code regarding indication value
2.4.2 EtherCAT Status LED
RUN / ERR Link / Activity
Figure 2.6: EtherCAT Status LED
This LED informs EtherCAT communication status. RUN LED, ERROR LED positions at the front side
of product and, Link/Activity LED individually positions at the top of right corner of EtherCAT ports..
Indication Color Status Description
RUN Green
OFF Init Status or Power OFF
Blinking Pre-Operational Status
Single Flash Safe-Operational Status
ON Operational Status
Flickering Bootstrap Status
ERR Red
OFF Non-error status or Power OFF
Blinking Extra Error
Single Flash Sync Error
Double Flash Watch-dog Error
Link/Activity Green
OFF Link not established in physical layer
ON Link established in physical layer
Flickering In operation after establishing link
Table 2.1: EtherCAT Status LED
EtherCAT LED Status Indication shown as picture as below to check visually.
Rev.37 FASTECH Co., Ltd. 20
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