MOVENSYS Dunamis User manual

Open Loop Stepping System
EtherCAT Network
User Manual
• Dunamis Step EtherCAT
MOVENSYS Inc.

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MOVENSYS Inc.
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................................................................................................................. 20
2.4.2 EtherCAT Status LED .................................................................................................. 21
2.4.3 EtherCAT Communication Connection ........................................................................ 22
2.4.4 I/O Connector............................................................................................................... 23
2.4.5 Encoder Connection Connector................................................................................... 24
2.4.6 Motor Connection Connector ....................................................................................... 24
2.4.7 Power Connection Connector ...................................................................................... 24
2.4.8 USB Connector ............................................................................................................ 25
2.5 Appendix.................................................................................................................................. 25
2.5.1 Extension Cable for Motor............................................................................................ 25
2.5.2 Extension Cable for Encoder ....................................................................................... 26
2.5.3 Connector Specifications ............................................................................................. 27
3 EtherCAT Communication 30
3.1 CAN application protocol over EtherCAT ................................................................................ 31
3.1.1 Object Dictionary.......................................................................................................... 31
3.1.2 Mailbox Communication............................................................................................... 31
3.1.3 Process Data Communication...................................................................................... 32
3.2 PDO Mapping .......................................................................................................................... 32
3.2.1 PDO Mapping............................................................................................................... 32
3.2.2 PDO Assign.................................................................................................................. 32
3.3 EtherCAT State Machine......................................................................................................... 33
3.4 Synchronization ....................................................................................................................... 34
3.4.1 Free Run ...................................................................................................................... 34
3.4.2 SM Event...................................................................................................................... 34
3.4.3 DC Sync Event............................................................................................................. 34
3.5 EtherCAT Slave Information.................................................................................................... 35
4 CiA402 Drive Profile 36
4.1 Drive Status Control................................................................................................................. 37

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4.1.1 Control word................................................................................................................. 39
4.1.2 Status word .................................................................................................................. 39
4.2 Error Code ............................................................................................................................... 41
4.3 Mode of operation.................................................................................................................... 43
4.4 Cyclic Synchronous Position Mode ......................................................................................... 44
4.4.1 Definition ...................................................................................................................... 44
4.4.2 Related Objects............................................................................................................ 44
4.4.3 Control word and Status word...................................................................................... 44
4.5 Profile Position Mode............................................................................................................... 46
4.5.1 Definition ...................................................................................................................... 46
4.5.2 Related Objects............................................................................................................ 46
4.5.3 Control word and Status word...................................................................................... 46
4.5.4 Position movement method.......................................................................................... 47
4.6 Homing Mode........................................................................................................................... 50
4.6.1 Definition ...................................................................................................................... 50
4.6.2 Relative Objects ........................................................................................................... 50
4.6.3 Control word and Status word...................................................................................... 50
4.6.4 Origin Search Method .................................................................................................. 51
4.7 Touch Probe............................................................................................................................. 55
4.7.1 Definition ...................................................................................................................... 55
4.7.2 Related Objects............................................................................................................ 55
4.7.3 Touch Probe Status and Control .................................................................................. 55
4.8 Digital Input and Output........................................................................................................... 57
4.8.1 Definition ...................................................................................................................... 57
4.8.2 Related Objects............................................................................................................ 57
4.8.3 User I/O........................................................................................................................ 57
4.8.4 ORIGIN and LIMIT Input .............................................................................................. 57
4.8.5 BRAKE Output ............................................................................................................. 58
4.9 Safety Function........................................................................................................................ 58
4.9.1 Operation of Safety Function ....................................................................................... 59
5 Operation 61
5.1 Operation Sequence................................................................................................................ 62
5.2 Setting...................................................................................................................................... 62
5.2.1 Installation.................................................................................................................... 62
5.2.2 Wiring ........................................................................................................................... 62
5.2.3 Input Power .................................................................................................................. 62
5.2.4 PDO Mapping............................................................................................................... 62
5.2.5 Set Communication Status........................................................................................... 63
5.3 Operation................................................................................................................................. 63
5.3.1 Drive Status Control..................................................................................................... 63
5.3.2 Set Mode...................................................................................................................... 63
5.3.3 Set Operation ............................................................................................................... 63
5.3.4 Movement Command................................................................................................... 63
5.3.5 Check Statues.............................................................................................................. 63
5.4 Drive Setting Adjustment ......................................................................................................... 64
5.4.1 Change Rotation Direction........................................................................................... 64
5.4.2 Change I/O Signal Level .............................................................................................. 64
6 EtherCAT Object Dictionary 65
6.1 Indication Type of Objects ....................................................................................................... 66
6.1.1 Index and Sub-Index.................................................................................................... 66
6.1.2 Name............................................................................................................................ 66
6.1.3 Data Type...........................................................................................................................66
6.1.4 Access.......................................................................................................................... 67
6.1.5 SAVE ........................................................................................................................................67
6.1.6 PDO Mapping............................................................................................................... 67
6.1.7 Constant Value........................................................................................................................67

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6.1.8 Value Range................................................................................................................. 67
6.1.9 Default Value...........................................................................................................................67
6.2 Communication Object ............................................................................................................ 68
6.2.1 Object 1000h: Device type........................................................................................... 68
6.2.2 Object 1001h: Error register......................................................................................... 68
6.2.3 Object 1008h: Device name......................................................................................... 68
6.2.4 Object 1009h: Hardware version ................................................................................. 68
6.2.5 Object 100Ah: Software version .................................................................................. 68
6.2.6 Object 1010h: Store parameters.................................................................................. 69
6.2.7 Object 1011h: Restoredefault parameters .................................................................. 69
6.2.8 Object 1018h: Identity.................................................................................................. 70
6.2.9 Object 10F1h: Error settings........................................................................................ 70
6.2.10 Object 10F3h: Diagnosis history.................................................................................. 71
6.3 PDO Mapping Object............................................................................................................... 73
6.3.1 Object 1600h: RxPDO-Map 0...................................................................................... 73
6.3.2 Object 1601h: RxPDO-Map 1...................................................................................... 73
6.3.3 Object 1A00h: TxPDO-Map 0...................................................................................... 73
6.3.4 Object 1A01h: TxPDO-Map 1...................................................................................... 74
6.3.5 Object 1C12h: RxPDO assign ..................................................................................... 74
6.3.6 Object 1C13h: TxPDO assign...................................................................................... 74
6.4 Sync Manager Object .............................................................................................................. 75
6.4.1 Object 1C00h: Sync manager type.............................................................................. 75
6.4.2 Object 1C32h: SM output parameter........................................................................... 75
6.4.3 Object 1C33h: SM input parameter ............................................................................. 75
6.5 Drive Profile Object.................................................................................................................. 76
6.5.1 Object 603Fh: Error code............................................................................................. 76
6.5.2 Object 6040h: Control word......................................................................................... 76
6.5.3 Object 6041h: Status word........................................................................................... 76
6.5.4 Object 605Ah: Quick stop option code ........................................................................ 76
6.5.5 Object 605Bh: Shutdown option code ......................................................................... 77
6.5.6 Object 605Ch: Disable operation option code............................................................. 77
6.5.7 Object 605Dh: Halt option code................................................................................... 77
6.5.8 Object 605Eh: Fault reaction option code.................................................................... 78
6.5.9 Object 6060h: Mode of operation................................................................................. 78
6.5.10 Object 6061h: Mode of operation display .................................................................... 78
6.5.11 Object 6062h: Position demand value......................................................................... 78
6.5.12 Object 6064h: Position actual value ............................................................................ 78
6.5.13 Object 606Bh: Velocity demand value ......................................................................... 79
6.5.14 Object 606Ch: Velocity actual value............................................................................. 79
6.5.15 Object 607Ah: Target position...................................................................................... 79
6.5.16 Object 607Ch: Home offset.......................................................................................... 79
6.5.17 Object 607Dh: Software position limit.......................................................................... 79
6.5.18 Object 607Eh: Polarity ................................................................................................. 80
6.5.19 Object 607Fh: Max profile velocity............................................................................... 80
6.5.20 Object 6081h: Profile velocity ...................................................................................... 80
6.5.21 Object 6083h: Profile acceleration............................................................................... 81
6.5.22 Object 6084h: Profile deceleration............................................................................... 81
6.5.23 Object 6098h: Homing method.................................................................................... 81
6.5.24 Object 6099h: Homing speeds..................................................................................... 81
6.5.25 Object 609Ah: Homing acceleration ............................................................................ 82
6.5.26 Object 60B8h: Touch probe function............................................................................ 82
6.5.27 Object 60B9h: Touch probe status............................................................................... 82
6.5.28 Object 60BAh: Touch probe 1 positive value............................................................... 83
6.5.29 Object 60BBh: Touch probe 1 negative value.............................................................. 83
6.5.30 Object 60BCh: Touch probe 2 positive value............................................................... 83
6.5.31 Object 60BDh: Touch probe 2 negative value ............................................................. 83
6.5.32 Object 60C2h: Interpolation time period ...................................................................... 84
6.5.33 Object 60D0h: Touch probe source ............................................................................. 84

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6.5.34 Object 60D5h: Touch probe 1 positive edge counter................................................... 84
6.5.35 Object 60D6h: Touch probe 1 negative edge counter ................................................. 84
6.5.36 Object 60D7h: Touch probe 2 positive edge counter................................................... 84
6.5.37 Object 60D8h: Touch probe 2 negative edge counter ................................................. 85
6.5.38 Object 60E3h: Supported homing methods................................................................. 85
6.5.39 Object 60F4h: Following error actual value................................................................. 85
6.5.40 Object 60FDh: Digital inputs........................................................................................ 85
6.5.41 Object 60FEh: Digital outputs...................................................................................... 86
6.5.42 Object 6502h: Supported drive modes ........................................................................ 87
6.6 Manufacture specific Object .................................................................................................... 88
6.6.1 Object 2001h: Sensors logics...................................................................................... 88
6.6.2 Object 2002h: Reverse limit direction.......................................................................... 88
6.6.3 Object 2003h: Limit stop method................................................................................. 89
6.6.4 Object 2004h: External Encoder.................................................................................. 89
6.6.5 Object 2006h: Start speed........................................................................................... 90
6.6.6 Object 2007h: Run current........................................................................................... 90
6.6.7 Object 2008h: Boost current........................................................................................ 91
6.6.8 Object 2009h: Stop current.......................................................................................... 91
6.6.9 Object 200Ah: Motor number....................................................................................... 91
6.6.10 Object 200Ch: Reference resolution............................................................................ 92
6.6.11 Object 200Fh: Encoder filter time ................................................................................ 92
6.6.12 Object 2010h: Brake delay........................................................................................... 92
6.6.13 Object 2011h: Digitalinput levels................................................................................. 93
6.6.14 Object 2012h: Digital output levels .............................................................................. 93
6.6.15 Object 201Bh: Limit Deceleration ................................................................................ 93
6.6.16 Object 2020h: Error code history setting ..................................................................... 93
6.6.17 Object 2021h: Error code history................................................................................. 94
6.6.18 Object 2025h: Lifetime Record .................................................................................... 95
6.6.19 Object 2030h: Advanced settings................................................................................ 96
6.6.20 Object 2040h: Safety Mode ......................................................................................... 97

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MOVENSYS Inc.
Introduction
Before Operation
• Thank you for your purchasing BHY-Step EtherCAT.
• 32 Bit high-performance of ARM Processor on-board BHY-Step EtherCAT is motion controller
supports Field-network EtherCAT.
• This manual describes handling, safety instruction, diagnosis and troubleshooting of BHY-Step
EtherCAT.
• Before operating BHY-Step EtherCAT, thoroughly read this manual.
• After reading the manual, keep the manual near the product so that any user can read the manual
whenever needed.
[MOVENSYS, in principle, repairs or replaces the DUNAMIS series free of charge if a problem
occurs due to a defect in the product within one year.
If a problem occurs while using the product, if you contact the place of purchase, paid or free
repair is possible according to our A/S procedure.]

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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 MOVENSYS’agents or our company to
get a manual again.
• It is not responsible for MOVENSYS 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. Alsobefore operation,please understandthemechanicalcharacteristics of theproductandrelated
safety information and precautions.
User manual describes level of precaution for safety as Warning and Danger.
Although precaution is only a Warning, a serious result could be caused depending on the situation.
Warning
Ifuser 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.

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Check the product
Installation
Connect Cables
Operation and Setting
Warning
Check the product is damaged or parts are missing. Otherwise, the machine may get damaged or
the user may get injured.
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 ‘MOVENSYS Inc.’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.
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.
Thecase of BHY-StepEtherCATisinsulatedfromthegroundoftheinternalcircuitbythecondenser
so please ground the product. Otherwise, an electric shock or a fire may occur.
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 themachine
may get damaged or the user may get injured.
All parameter values of BHY-Step EtherCAT 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.

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MOVENSYS Inc.
Check the Repair
Danger
Stopto supply power to main circuit and wait for a while before checking or repairing the BHY-Step
EtherCAT. Electricity remains in the capacitor may cause danger as like electricshock.
Do not change cabling while power is being supplied. Otherwise, the user may get injured or the
product may get damaged.
Donotreconstructtheproduct. Otherwise, anelectricshockmayoccurorthereconstructedproduct
can not get After Sales Service.

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MOVENSYS Inc.
Chapter 1
Product Specification

1. Product Specification
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MOVENSYS Inc.
1.1 Model Naming
BHY-Step-EC-56 L-BK
Figure 1.1: Model Naming
Product Name
Drive Series Type
EC : EtherCAT
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
Brake
Blank : Without Brake
BK : Brake

1. Product Specification
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1.2 Product Dimension
Figure 1.2: Dimensions of BHY-Step EtherCAT

1. Product Specification
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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

1. Product Specification
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MOVENSYS Inc.
1.4 Drive Specification
Model
BHY-Step EtherCAT
Input Voltage
24VDC ±10%
Control Method
Bipolar PWM drive 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
OverCurrentError,OverSpeedError,OverTemperatureError,Over
Regenerated Voltage Error, Motor Connect Error, ROMError
LED Display
Power status, Alarm status, Run status, STEP On status
I/O Signal
Input Signals
3 dedicated input (LIMIT+, LIMIT-, ORIGIN)
7 user inputs (Photocoupler Input)
Output Signals
Brake
6 user outputs (Photocoupler Output
Table 1.2: Drive Specification

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Chapter 2
Installation

2. Installation
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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 radioactiveobjects.
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 50mm
over 20mm

2. Installation
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2.2 System Configuration
Figure 2.1: System Configuration Diagram of BHY-Step EtherCAT

2. Installation
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2.3 External Wiring Diagram
Figure 2.3: External Wiring Diagram of BHY-Step EtherCAT
BHY-Step EtherCAT

2. Installation
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2.4 Appearance and Part Name
Figure 2.5: Appearance of BHY-Step EtherCAT

2. Installation
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MOVENSYS Inc.
2.4.1 EtherCAT ID
EtherCAT ID Display EtherCAT ID Set
Figure 2.7: 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.
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 relevantvalue.
• 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.
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.
Figure 2.8: Error value indication (ex: E-015)
Please refer to 4.2 Error Code regarding indication value
Information
ID value (Configured Alias ID) set by Rotary switch applies when power of controller turns on.