Parker ECL E Series User manual

PARKER ECL
E Series Closed Loop Stepper Systems
Effective: October 2016
© 2016 Parker Hannifin Corporation
All Rights Reserved

Contents 2
Introduction 6
Before Operation ...............................................................................................................................................6
Safety Precautions .............................................................................................................................................7
1 Product Specification 10
1.1 Part Numbering .................................................................................................................................11
1.2 Product Dimension............................................................................................................................13
1.3 EtherCAT Specifications .....................................................................................................................14
1.4 Drive Specification.............................................................................................................................15
2 Installation 16
2.1 Precautions of Installation ................................................................................................................17
2.2 System Configuration ........................................................................................................................18
2.3 External Wiring Diagram ...................................................................................................................19
2.4 Appearance and Part Name..............................................................................................................21
2.4.1 EtherCAT ID ................................................................................................................................21
2.4.2 EtherCAT Status Indication LED .................................................................................................22
2.4.3 EtherCAT Communication Connection.......................................................................................23
2.4.4 I/O Connector.............................................................................................................................24
2.4.5 Encoder Connection Connector.................................................................................................25
2.4.6 Motor Connection Connector....................................................................................................25
2.4.7 Power Connection Connector ....................................................................................................25
3 EtherCAT Communication 26
3.1 CAN application protocol over EtherCAT ..............................................................................................27
3.1.1 Object Dictionary .......................................................................................................................27
3.1.2 Mailbox Communication ............................................................................................................27
3.1.3 Process Data Communication....................................................................................................28
3.2 PDO Mapping & Module...................................................................................................................29
3.2.1 PDO Mapping .............................................................................................................................29
3.2.2 PDO Assign .................................................................................................................................29
3.2.3 Module .......................................................................................................................................30
3.3 EtherCAT State Machine....................................................................................................................31
3.4 Synchronization .................................................................................................................................32
3.4.1 Free Run ............................................................................................................................................32
3.4.2 SM Event...........................................................................................................................................32
3.4.3 DC Sync Event...................................................................................................................................32
3.5 EtherCAT Slave Information...............................................................................................................33
4 CiA 402 Drive Profile 34
4.1 Drive Status Control ..........................................................................................................................35
4.2 Error Code .........................................................................................................................................37
4.3 Mode of Operation ...........................................................................................................................38
4.4 Cyclic Synchronous Position Mode ...................................................................................................39
4.4.1 Definition....................................................................................................................................39
. 2

Contents
3
4.4.2 Related Objects ..........................................................................................................................39
4.4.3 Control word and Status word ..................................................................................................39
4.5 Profile Position Mode........................................................................................................................41
4.5.1 Definition....................................................................................................................................41
4.5.2 Related Objects ..........................................................................................................................41
4.5.3 Control word and Status word ..................................................................................................41
4.5.4 Position movement method ......................................................................................................43
4.6 Homing Mode....................................................................................................................................46
4.6.1 Definition....................................................................................................................................46
4.6.2 Relative Objects .........................................................................................................................46
4.6.3 Control word and Status word ..................................................................................................46
4.6.4 Origin Search Method................................................................................................................48
4.7 Touch Probe.......................................................................................................................................54
4.7.1 Definition....................................................................................................................................54
4.7.2 Related Objects ..........................................................................................................................54
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.............................................................................................................58
4.8.5 BRAKE Output ............................................................................................................................58
5 Operataion 59
5.1 Operation Sequence..........................................................................................................................60
5.2 Setting................................................................................................................................................60
5.2.1 Installation..................................................................................................................................60
5.2.2 Wiring .........................................................................................................................................60
5.2.3 Input Power .............................................................................................................................................60
5.2.4 PDO Mapping .............................................................................................................................60
5.2.5 Set Communication Status.........................................................................................................60
5.3 Operation...........................................................................................................................................61
5.3.1 Drive Status Control...................................................................................................................61
5.3.2 Set Mode....................................................................................................................................61
5.3.3 Set Operation .............................................................................................................................61
5.3.4 Movement Command.................................................................................................................61
5.3.5 Check Statues.............................................................................................................................61
5.4 Drive Setting Adjustment ..................................................................................................................61
5.4.1 Change Rotation Direction.........................................................................................................61
5.4.2 Change I/O Signal Level .............................................................................................................62
6 EtherCAT Object Dictionary 63
6.1 Indication Type of Objects ................................................................................................................64
6.1.1 Index and Sub index ..................................................................................................................64
6.1.2 Name ..........................................................................................................................................64
6.1.3 Data Type ...................................................................................................................................64
6.1.4 Access .........................................................................................................................................64
6.1.5 SAVE ...................................................................................................................................................................65
6.1.6 PDO Mapping .............................................................................................................................65
6.1.7 Constant Value........................................................................................................................................ 65
6.1.8 Value Range................................................................................................................................65
6.1.9 Default Value........................................................................................................................................... 65
6.2 Communication Object......................................................................................................................66
6.2.1 Object 1000h: Device type ........................................................................................................66
6.2.2 Object 1001h: Error register .....................................................................................................66
6.2.3 Object 1008h: Device name ......................................................................................................66
6.2.4 Object 1009h: Hardware version ..............................................................................................66
6.2.5 Object 100Ah: Software version ...............................................................................................67

6.2.6 Object 1010h: Store parameters...............................................................................................67
6.2.7 Object 1011h: Restore default parameters ..............................................................................67
6.2.8 Object 1018h: Identity...............................................................................................................68
6.2.9 Object 10F1h: Error settings .....................................................................................................68
6.3 PDO Mapping Object.........................................................................................................................69
6.3.1 Object 1600h: RxPDO-Map 0 ....................................................................................................69
6.3.2 Object 1601h: RxPDO-Map 1 ....................................................................................................69
6.3.3 Object 1A00h: TxPDO-Map 0.....................................................................................................69
6.3.4 Object 1A01h: TxPDO-Map 1.....................................................................................................70
6.3.5 Object 1C12h: RxPDO assign .....................................................................................................71
6.3.6 Object 1C13h: TxPDO assign......................................................................................................71
6.4 Sync Manager Object ........................................................................................................................72
6.4.1 Object 1C00h: Sync manager type............................................................................................72
6.4.2 Object 1C32h: SM output parameter .......................................................................................72
6.4.3 Object 1C33h: SM input parameter ..........................................................................................72
6.5 Drive Profile Object ...........................................................................................................................73
6.5.1 Object 603Fh: Error code ..........................................................................................................73
6.5.2 Object 6040h: Control word......................................................................................................73
6.5.3 Object 6041h: Status word........................................................................................................74
6.5.4 Object 605Ah: Quick stop option code.....................................................................................74
6.5.5 Object 605Bh: Shutdown option code......................................................................................75
6.5.6 Object 605Ch: Disable operation option code .........................................................................75
6.5.7 Object 605Dh: Halt option code ...............................................................................................76
6.5.8 Object 605Eh: Fault reaction option code ................................................................................76
6.5.9 Object 6060h: Mode of operation ............................................................................................76
6.5.10 Object 6061h: Mode of operation display................................................................................76
6.5.11 Object 6062h: Position demand value ..........................................................................................77
6.5.12 Object 6064h: Position actual value..............................................................................................77
6.5.13 Object 6065h: Following error window.....................................................................................77
6.5.14 Object 6067h: Position window ................................................................................................77
6.5.15 Object 606Ch: Velocity actual value ..............................................................................................77
6.5.16 Object 607Ah: Target position ..................................................................................................77
6.5.17 Object 607Ch: Home offset.......................................................................................................78
6.5.18 Object 607Dh: Software position limit .....................................................................................78
6.5.19 Object 607Eh: Polarity...............................................................................................................78
6.5.20 Object 607Fh: Max profile velocity...........................................................................................79
6.5.21 Object 6081h: Profile velocity...................................................................................................79
6.5.22 Object 6083h: Profile acceleration............................................................................................79
6.5.23 Object 6084h: Profile deceleration ...........................................................................................79
6.5.24 Object 6098h: Homing method.................................................................................................79
6.5.25 Object 6099h: Homing speeds ..................................................................................................80
6.5.26 Object 609Ah: Homing acceleration .........................................................................................80
6.5.27 Object 60B8h: Touch probe function ........................................................................................81
6.5.28 Object 60B9h: Touch probe status............................................................................................81
6.5.29 Object 60BAh: Touch probe 1 positive value................................................................................82
6.5.30 Object 60BBh: Touch probe 1 negative value ..............................................................................82
6.5.31 Object 60BCh: Touch probe 2 positive value................................................................................82
6.5.32 Object 60BDh: Touch probe 2 negative value ..............................................................................82
6.5.33 Object 60C2h: Interpolation time period..................................................................................82
6.5.34 Object 60D0h: Touch probe source...........................................................................................83
6.5.35 Object 60D5h: Touch probe 1 positive edge counter...............................................................83
6.5.36 Object 60D6h: Touch probe 1 negative edge counter..............................................................83
6.5.37 Object 60D7h: Touch probe 2 positive edge counter...............................................................83
6.5.38 Object 60D8h: Touch probe 2 negative edge counter..............................................................83
6.5.39 Object 60E3h: Supported homing methods .............................................................................84
6.5.40 Object 60F4h: Following error actual value ..................................................................................84
6.5.41 Object 60FDh: Digital inputs .....................................................................................................84
6.5.42 Object 60FEh: Digital outputs ...................................................................................................85

Contents
5
6.5.43 Object 6502h: Supported drive modes.....................................................................................86
6.6 Manufacture specific Object .............................................................................................................87
6.6.1 Object 2001h: Sensors logics ....................................................................................................87
6.6.2 Object 2002h: Reverse limit direction ......................................................................................87
6.6.3 Object 2003h: Limit stop method .............................................................................................88
6.6.4 Object 2005h: Encoder resolution ............................................................................................88
6.6.5 Object 2006h: Start speed ........................................................................................................88
6.6.6 Object 2007h: Run current........................................................................................................88
6.6.7 Object 2008h: Boost current.....................................................................................................89
6.6.8 Object 2009h: Stop current.......................................................................................................89
6.6.9 Object 200Ah: Motor number...................................................................................................89
6.6.10 Object 200Ch: Reference resolution .........................................................................................89
6.6.11 Object 200Dh: Position control gain.........................................................................................89
6.6.12 Object 200Eh: In-position mode ...............................................................................................89
6.6.13 Object 2010h: Brake delay ........................................................................................................90
6.6.14 Object 2011h: Digital input levels.............................................................................................90
6.6.15 Object 2012h: Digital output levels ..........................................................................................90

Introduction
Before Operation
. 6

Conten
ts
7
Important Safety Information
It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements
are met. It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with
them; failure to do so may result in damage to equipment and personal injury. In particular, you should study the contents of
this user guide carefully before installing or operating the equipment.
The installation, set up, test and maintenance procedures given in this user guide should only be carried out by competent
personnel trained in the installation of electronic equipment. Such personnel should be aware of the potential electrical and
mechanical hazards associated with mains-powered motion control equipment—please see the safety warnings below. The
individual or group having overall responsibility for this equipment must ensure that operators are adequately trained.
Under no circumstances will the suppliers of the equipment be liable for any incidental, consequential or special damages of
any kind whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the
equipment or this guide.
Warning: High-performance motion control equipment is capable of producing rapid movement and very high forces.
Unexpected motion may occur especially during the development of controller programs. KEEP WELL CLEAR of any
machinery driven by stepper or servo motors. Never touch any part of the equipment while it is in operation.
This product is sold as a motion control component to be installed in a complete system using good engineering practice.
Care must be taken to ensure that the product is installed and used in a safe manner according to local safety laws and
regulations. In particular, the product must be positioned such that no part is accessible while power may be applied.
This and other information from Parker Hannifin Corporation, its subsidiaries, and authorized distributors provides product
or system options for further investigation by users having technical expertise. Before you select or use any product or
system, it is important that you analyze all aspects of your application and review the information concerning the product in
the current product catalog. The user, through its own analysis and testing, is solely responsible for making the final selection
of the system and components and assuring that all performance, safety, and warning requirements of the application are
met.
If the equipment is used in any manner that does not conform to the instructions given in this user guide, then the protection
provided by the equipment may be impaired.
The information in this user guide, including any apparatus, methods, techniques, and concepts described herein, are the
proprietary property of Parker Hannifin or its licensors, and may not be copied disclosed, or used for any purpose not
expressly authorized by the owner thereof.
Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to modify equipment and user
guides without prior notice. No part of this user guide may be reproduced in any form without the prior consent of Parker
Hannifin.

Chapter 1
Product Specification
. 10

11
1.1 Part Numbering

13
1.2 Product Dimension
Figure 1.3: Dimensions

1.3 EtherCAT Specifications
Type of Communiation
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
Tree, Star (When use Switch hub)
Support Protocol
CoE (CANopen application protocol over EtherCAT)
FoE (File Access over EtherCAT)
Control Profile
CiA 402 drive profile (IEC61800-7)
Supported Operation Mode
Cyclic Synchronous Position Mode
Profile Position Mode Homing
Mode
Processing Data
Fixed PDO Mapping (1600h, 1A00h)
Configurable PDO Mapping (1601h, 1A01h) Support
Module Function
Table 1.1: Communication Specification

15
1.4 Drive Specification
Input Voltage
24VDC ±10%
Control Method
32bit ARM based Closed-loop Control
Current Consumption
500 mA (Except Motor Current)
Operating
Condition
Ambient
Temperature
In Use : 0 ∼ 55℃
In Storage : -27 ∼ 70℃
Humidity
In Use : 35 ∼ 85%RH
In Storage : 10 ∼ 90%RH
Vib. Resist.
0.5G
Function
Rotation Speed
0 ∼ 3,000 rpm
Resolution
200 ∼ 20,000 pulse (Resolution setting by Object)
Protection
Function
Over current, Over Speed, Step out, Position Tracking Error, Over load,
Over Temperature, Over regenerated voltage, Motor connect error, En- coder
connect error, Motor voltage error, In-Position error, System error, ROM error,
Input voltage error, Position overflow error
LED Display
Power status, In-Position status, Servo On status, Alarm status
I/O Signal
Input Signal
3 dedicated input (Limit+, Limit-, Origin)
7 user input
Output Signal
1 dedicated output (Brake)
6 user output
Table 1.2: Drive Specification

Chapter 2 Installation
. 16

2.1 Precautions of Installation
1. This product designed for indoor usage and the ambient temperature of the room should be 0 55℃.
2. If temperature of the case is 50℃, 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 at least 20mm or more vertically and 50mm
or more horizontally.
over 50mm
over 20mm
∼

2.2 System Configuration
⑤EtherCAT Cable
Figure 2.1: System Configuration Diagram

2.3 External Wiring Diagram

2.4 Appearance and Part Name
EtherCAT ID Display
EtherCAT Status LED
Drive Status LED
I/O Connector
Encoder Connector
Motor Connector
Power Connector
EtherCAT INPUT
Connector
EtherCAT OUTPUT
Connector EtherCAT
ID Setting
Figure 2.4: External Appearance
2.4.1 EtherCAT ID
EtherCAT ID Indication EtherCAT ID Setting
Figure 2.5: 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
Information
ID value (Configured Alias ID) set by Rotary switch applies when power of controller turns on.

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).