Hiwin E Series User manual

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

ii
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

iii
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).

iv
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.

v
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.

vi
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

E Series Servo Drive Thunder over EtherCAT User Manual Environment configuration
HIWIN MIKROSYSTEM CORP. 1-5
MD43UE01-2312
1.2.4 Burn EEPROM
This section explains how to update servo drive’s EEPROM via EEPROM burner. The steps are as follows:
1. Click Write EEPROM to slave in Setup in the upper left corner.
Figure 1.2.4.1
2. Select the equipment to be burned and search for the EEPROM file (.bin) to be burned. The EEPROM
file is included in Thunder’s path “C:\Thunder\dce\toolswin\winkmi\EtherCAT Configuration Tool for
HIWIN\Bin Library”. The corresponding content of the file is shown in Table 1.2.4.1.
Figure 1.2.4.2

Environment configuration E Series Servo Drive Thunder over EtherCAT User Manual
1-6 HIWIN MIKROSYSTEM CORP.
MD43UE01-2312
Table 1.2.4.1 Corresponding table for EEPROM file’s content
Product Code Revision Number Applicable
Firmware Version
EEPROM_ED1F
(Version_2.8.18_or_below) 0x00005 0x10000
All versions
(but cannot support
EoE function)
EEPROM_ED2F
(Version_3.9.20_or_below) 0x00006 0x10000
All versions
(but cannot support
EoE function)
EEPROM_ED1F
(Version_2.10.6_or_above) 0x00005 0x10001 2.10.6 or above
EEPROM_ED2F
(Version_3.10.6_or_above) 0x00006 0x10001 3.10.6 or above
3. Click Write to burn EEPROM. When the progress bar below is completed and Success is displayed,
EEPROM updating is done.
Figure 1.2.4.3
Important
Reminder
EEPROM burner only supports the burning of HIWIN series. Do not perform the
related operations on other servo drives.
If servo drive’s EEPROM has been updated, do not use old firmware version,
or communication errors will occur. If users need to use old firmware version,
re-burn the corresponding equipment with Revision Number of 0x10000 (refer
to Table 1.2.4.1).

E Series Servo Drive Thunder over EtherCAT User Manual Environment configuration
HIWIN MIKROSYSTEM CORP. 1-7
MD43UE01-2312
1.3 EoE wiring setup
The main characteristic of EoE is that the controller can be used as a gateway to convert Ethernet packets
into EoE packets and transmit them to slave. Therefore, if it complies with the network segment protocol
and confirms that Ethernet packets can reach the terminal through IP protocol (such as executing Ping
test), Thunder connection can be made through EoE. The wiring methods are given as follows:
Example 1: Computer (Thunder) - Controller - Drive
Figure 1.3.1
Example 2: Computer (Thunder) - Switch - Controller - Drive
Figure 1.3.2
Example 3: Industrial computer (Thunder) - Drive
Figure 1.3.3
Note:
1. For the first time of EoE application, it is recommended to conduct a stand-alone test with the above examples.
Users can modify the network architecture for development after becoming familiar with it.

Environment configuration E Series Servo Drive Thunder over EtherCAT User Manual
1-8 HIWIN MIKROSYSTEM CORP.
MD43UE01-2312
2. The industrial computer in Example 3 must support EtherCAT’s transmission.

HIWIN MIKROSYSTEM CORP. 2-1
2. Connecting methods
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

Connecting methods E Series Servo Drive Thunder over EtherCAT User Manual
2-2 HIWIN MIKROSYSTEM CORP.
MD43UE01-2312
2.1 Controller’s connection setup
This section outlines the required setup on the controller side. For the actual operations, refer to the
relevant operating instructions of the controller.
2.1.1 Network configuration
Connect the computer and the controller, set the IP of each network port, and configure the network
segmentation. Take Windows as an example, the setting can be performed in Control Panel → Network
and Internet → Network and Sharing Center.
Figure 2.1.1.1
Note:
EoE does not support the network segmentation of 169.254.X.X (the IP that Obtain an IP address automatically is
checked). Please avoid this kind of setup.

E Series Servo Drive Thunder over EtherCAT User Manual Connecting methods
HIWIN MIKROSYSTEM CORP. 2-3
MD43UE01-2312
The following are the setting examples of mesh and network segmentation:
Example 1
Port A Port B Port C
IP address: 192.168.2.129
Subnet mask: 255.255.255.0
IP address: 192.168.2.128
Subnet mask: 255.255.255.0
IP address: 192.168.1.128
Subnet mask: 255.255.255.0
Example 2
Port A Port B Port C
IP address: 192.168.2.129
Subnet mask: 255.255.255.0
IP address: 192.168.2.128
Subnet mask: 255.255.255.0
IP address: 192.168.1.128
Subnet mask: 255.255.255.0
Example 3
Port A
IP address: 192.168.2.129
Subnet mask: 255.255.255.0

Connecting methods E Series Servo Drive Thunder over EtherCAT User Manual
2-4 HIWIN MIKROSYSTEM CORP.
MD43UE01-2312
Figure 2.1.1.2
2.1.2 EoE setup
Refer to the product manual of the controller or the relevant teaching documents to complete EtherCAT
connection for performing EoE setup, including:
1. Open EoE function on the controller side.
2. Set EoE’s terminal.
When setting EoE’s terminal, users must set the virtual IP of servo drive. Please set the virtual IP of
servo drive to the address within EtherCAT network segmentation, and it cannot be the same as the
IP of controller. Take Example 1, 2, 3 in section 2.1.1 as examples:
IP address: 192.168.1.1
Subnet mask: 255.255.255.0
After the setup is done, ensure the servo drive has entered PreOp, SafeOp or Op before proceeding to
the next step. If the servo drive has not entered the above states, check if the firmware has been updated
to the version supporting EoE.
Note:
Refer to section 4.2 for the example of TwinCAT 3.
Important
Reminder
Since EoE’s data exchange is implemented through Ethernet packets, if there is a
network topology between HMI (Thunder) and the controller (as Figure 2.1.1.2
shows), check if the Ethernet packets can be transmitted and received between HMI
and the controller first, or EoE function cannot be applied. For example, send the
packets to 192.168.2.128 via Ping test and ensure the reply can be received.

E Series Servo Drive Thunder over EtherCAT User Manual Connecting methods
HIWIN MIKROSYSTEM CORP. 2-5
MD43UE01-2312
2.2 Drive’s connection setup
2.2.1 Add the route
If the EoE wiring setup that the HMI is connected to the servo drive via the controller is adopted, it indicates
that the controller is used as a gateway. At this time, a route must be added for the network to send
Ethernet packets. Users can add the route by opening command prompt and perform the related
operations:
Add the route
ROUTE ADD <destination subnet> MASK <Destination subnet mask> <Gateway> -p
Delete the route
ROUTE DELETE <destination subnet> -p
Check the route
ROUTE PRINT
Important
Reminder
The actual operations for network setting may be different. Please contact the system
administrator for detailed setup.

Connecting methods E Series Servo Drive Thunder over EtherCAT User Manual
2-6 HIWIN MIKROSYSTEM CORP.
MD43UE01-2312
2.2.2 Thunder connection
1. Open Thunder, select Fieldbus in Drive type.
Figure 2.2.2.1
2. Select Network (Ethernet over EtherCAT)in Config. interface.
Figure 2.2.2.2
3. Set the IP address of servo drive connected to the controller (that is, the virtual IP of servo drive set
in section 2.1.2).
Figure 2.2.2.3
4. Click Ping to simply test if the computer can send packets to servo drive via the controller.