Hiwin E Series User manual

www.hiwinmikro.tw
Thunder over EtherCAT
User Manual
E Series Servo Drive
MD43UE01-2312_V1.0

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Revision History
The version of the manual is also indicated on the bottom of the front cover.
Release Date Version Applicable Product Revision Contents
Dec. 15th, 2023 1.0 E series EtherCAT
servo drive First edition.
Release Date
MD43UE01-2312_V1.0
Version

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Related Documents
Through related documents, users can quickly understand the positioning of this manual and the
correlation between manuals and products. Go to HIWIN MIKROSYSTEM’s official website → Download
→ Manual Overview for details (https://www.hiwinmikro.tw/Downloads/ManualOverview_EN.htm).

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Preface
Through the network protocol of Ethernet over EtherCAT, E series EtherCAT servo drive can do Thunder
connection via EtherCAT network architecture. This manual aims to assist users to do the related setup of
Ethernet over EtherCAT. In addition to connecting servo drive via USB, users can also choose to do
Thunder connection via Ethernet over EtherCAT communication to set parameters, perform motor tuning
and do troubleshooting.

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Technical Terms
Term Meaning
Ethernet Ethernet is the most commonly used local network technology at present; its
technical specifications are formulated by IEEE 802.3 standard.
EtherCAT Ethernet for Control Automation Technology is an Ethernet-based Fieldbus
system developed by Beckhoff Automation.
EoE
Ethernet over EtherCAT, a technology extended by EtherCAT, can transmit
Ethernet packets under the architecture of EtherCAT network without affecting
the data exchange within EtherCAT network.
ESI EtherCAT Slave Information is a file describing the characteristics of the slave;
its content is defined by ETG.2000.
EEPROM Electrically-Erasable Programmable Read-Only Memory is a read-only memory
that can be electronically rewritten multiple times.
IP address A string of numbers used in Internet Protocol to transmit identifications or receive
datagrams.
PreOp, SafeOp, Op
The states of ‘Pre-Operational’, ‘Safe-Operational’ and ‘Operational’ in EtherCAT
State Machine. Refer to section 2.4 in “E Series Servo Drive EtherCAT
Communication Command Manual” for detailed descriptions.

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Table of Contents
1. Environment configuration ............................................................................................................................... 1-1
1.1 Software and hardware requirements ............................................................................................ 1-2
1.2 Update EEPROM............................................................................................................................ 1-2
1.2.1 Connect the equipment.......................................................................................................... 1-3
1.2.2 Open EEPROM burner .......................................................................................................... 1-3
1.2.3 Check the equipment’s EEPROM.......................................................................................... 1-4
1.2.4 Burn EEPROM ....................................................................................................................... 1-5
1.3 EoE wiring setup............................................................................................................................. 1-7
2. Connecting methods ........................................................................................................................................ 2-1
2.1 Controller’s connection setup ......................................................................................................... 2-2
2.1.1 Network configuration ............................................................................................................ 2-2
2.1.2 EoE setup............................................................................................................................... 2-4
2.2 Drive’s connection setup................................................................................................................. 2-5
2.2.1 Add the route.......................................................................................................................... 2-5
2.2.2 Thunder connection ............................................................................................................... 2-6
3. Precautions ...................................................................................................................................................... 3-1
3.1 Supported functions........................................................................................................................ 3-2
3.2 Mastership setup ............................................................................................................................ 3-3
4. Appendix .......................................................................................................................................................... 4-1
4.1 Troubleshooting .............................................................................................................................. 4-2
4.2 EoE setup example - TwinCAT 3 .................................................................................................... 4-3

HIWIN MIKROSYSTEM CORP. 1-1
1. Environment configuration
1. Environment configuration ............................................................................................................................... 1-1
1.1 Software and hardware requirements ............................................................................................ 1-2
1.2 Update EEPROM............................................................................................................................ 1-2
1.2.1 Connect the equipment.......................................................................................................... 1-3
1.2.2 Open EEPROM burner .......................................................................................................... 1-3
1.2.3 Check the equipment’s EEPROM.......................................................................................... 1-4
1.2.4 Burn EEPROM ....................................................................................................................... 1-5
1.3 EoE wiring setup............................................................................................................................. 1-7

Environment configuration E Series Servo Drive Thunder over EtherCAT User Manual
1-2 HIWIN MIKROSYSTEM CORP.
MD43UE01-2312
1.1 Software and hardware requirements
Before executing EoE function, check if the specifications of software and hardware support EoE.
E1 series servo drive
Table 1.1.1 Specifications of E1 series servo drive supporting EoE
Model ED1F-E□ (EtherCAT model)
Firmware version 2.10.6 or above
ESI version HIWIN_MIKROSYSTEM_ED1F_20231212.xml
(and the versions with newer date)
EEPROM version EEPROM_ED1F (Version_2.10.6_or_above)
E2 series servo drive
Table 1.1.2 Specifications of E2 series servo drive supporting EoE
Model ED2F-E□ (EtherCAT model)
Firmware version 3.10.6 or above
ESI version HIWIN_MIKROSYSTEM_ED2F_20231212.xml
(and the versions with newer date)
EEPROM version EEPROM_ED2F (Version_3.10.6_or_above)
Host controller
Based on the specification, confirm that the product’s software can support EoE’s terminal setup.
Thunder software
The version of Thunder installation file must be 1.10.6.0 or above.
1.2 Update EEPROM
Before using EoE function for the first time, users must manually update EEPROM to support EoE function.
This section explains how to update EEPROM with tools.

E Series Servo Drive Thunder over EtherCAT User Manual Environment configuration
HIWIN MIKROSYSTEM CORP. 1-3
MD43UE01-2312
1.2.1 Connect the equipment
Connect the equipment with EEPROM to be updated in series (CN9) and connect them directly to the
computer. During the connecting process, check if the IN/OUT connection is correct, as Figure 1.2.1.1
shows.
Figure 1.2.1.1
1.2.2 Open EEPROM burner
Open “EtherCAT Configuration Tool for HIWIN.exe” in “C:\Thunder\dce\toolswin\winkmi\EtherCAT
Configuration Tool for HIWIN”. After entering the screen of the program, select the network card of the
equipment connected to the computer and click Scan. After the scan is done, all the scanned equipment
will be listed on the left.
Figure 1.2.2.1

Environment configuration E Series Servo Drive Thunder over EtherCAT User Manual
1-4 HIWIN MIKROSYSTEM CORP.
MD43UE01-2312
1.2.3 Check the equipment’s EEPROM
Double-click the equipment to view the key information contained in its EEPROM.
Figure 1.2.3.1
Check the equipment’s Product Code and Revision Number. Product Code corresponds to the model of
servo drive, while Revision Number corresponds to the version supporting EoE.
Table 1.2.3.1 Corresponding table for Product Code and Revision Number
Product Code Revision Number
ED1F (not support EoE) 0x00005 0x10000
ED2F (not support EoE) 0x00006 0x10000
ED1F (support EoE) 0x00005 0x10001
ED2F (support EoE) 0x00006 0x10001