Rtelligent ECT Series User manual

ECT Series User Manual
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ECT Series
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co., Ltd

ECT Series User Manual
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Revision history
V202
1、Add the phase loss detection function, when 0x2056 bit7 is 1, enable the phase loss detection.
2、PP, PV mode status flag perfect, homing parameter 0x6099 change to standard 32bit, the previous
version is 16bit, non-standard
3、homing method 0x6098 change to INT8 type, before the UINT16 is non-standard
4、Add control support for three-phase motors
5、Add CSV mode
6、Add ECR86/ECT86 product description
7、Product version unified upgrade to V202

ECT Series User Manual
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一Driver Description
1.1 Product Introduction
Thank you for choosing the Rtelligent EC series stepper motor driver. EC series is a high
performance bus control stepper motor driver, while integrating the functions of intelligent
motion controller. EC series EtherCAT drivers can be run as standard EtherCAT slave and
support CoE (CANopenover). ECT series is closed loop control.
1.1.1 Characteristics
Support CoE (CANopen over EtherCAT), meet CiA 402 standards
Support CSP, PP, PV, Homing mode
The minimum synchronization period is 500us
Dual port RJ45 connector for EtherCAT communication
Control methods: open loop control, closed loop control / FOC control (ECT series support)
Motor type: two phase, three phase;
Digital IO port:
4 channels optically isolated digital signal inputs: IN 1、IN 2 is encoder input; IN 3~IN 6 is 24V
single-ended input, common anode connection method;
2 channels optically isolated digital signal outputs, maximum tolerance voltage 30V, maximum
pouring or pulling current 100mA, common cathode connection method.
1.1.2 Electrical characteristics
ECT series product specifications
Product model
ECT42
ECT60
ECT86
Output current (A)
0.1~2 A
0.5~6 A
0.5~7 A
Default current (mA)
450
3000
6000
Power supply voltage
24~80 VDC
24~80 VDC
24~100VDC / 24~80VAC
Matched motor
Below 42 base
Below 60 base
Below 86 base

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Encoder interface
Incremental orthogonal encoder
Encoder resolution
1000~65535 pulse/turn
Optical isolation input
24 V input for 4 common anodes
Optical isolation output
2 channels: alarm, lock, in place and general output
Communication
interface
Dual RJ45, with communication LED indication
*Please do not exceed the scope of use specified above.
*Before enabling the motor, the user needs to set the operating current according to the motor
specifications, otherwise the current setting beyond the rated range may cause the motor to
burn.
1.2 Power and motor
Model
Description
ECT42
ECT60
ECT86
V+
AC
For ECT42、ECT60, the power supply is DC power supply, V+ is
connected to the positive pole of the power supply, and V- is
connected to the negative pole of the power supply. The
recommended power supply voltage is 24~80VDC..
For ECT86, the power supply is AC and DC compatible power supply.
AC and AC can input 24~100V DC power, and can also input 24~80V
AC power.
*The above power supply voltage is the limit value of the driver. Due to
the influence of the back electromotive force of the stepper motor, the
customer needs to reserve a certain voltage margin when using it.
V-
AC
A +
A +
Two phase stepper motor winding connection port, specific motor wire
connection please refer to the motor manufacturer instructions.
A-
A-
B +
B +
B -
B -
IN1+
IN1+
Encoder input interface, specific encoder connection please refer to
the motor manufacturer instructions.
IN1-
IN1-
IN2+
IN2+
IN2-
IN2-

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1.3 Digital input and output ports
ECT series can no longer be used for other input port functions because IN1 and IN2 are
assigned to orthogonal encoder interfaces and will not work for IN1、IN2 function settings.
1.3.1 Digital input port
ECT series step driver has 4 channels digital input port ,2 channels digital output port. The
object dictionary 0x2007 is the function setting of the input port and 0x2008 is the polarity
setting of the input port.
Note: IN1+ / IN1-、IN2+ / IN2- is motor encoder input terminal, do not directly connect the input
signal higher than this voltage, otherwise the driver will be damaged!
The schematic diagram of the input port is shown below, and the user can connect the system
according to the schematic diagram.
驱动器
+24V
IN1
IN2
IN3
IN4
IN5
IN6
驱动器
OUT1
OUT2
OUT3
OUT4
0V
NR60-6IN数字IO口接线端子示意图
驱动器
+24V
IN1
IN2
IN3
IN4
驱动器
OUT1
OUT2
0V
NR60-4IN数字IO口接线端子示意图
驱动器
IN1+
IN1-
IN2-
IN3
IN4
IN5
IN6
NT60 数字IO接线端子示意图
IN2+
+24V
驱动器
OUT1
OUT2
0V
IN3~IN6 are single-ended input terminal
Taking IN 3 as an example, the IN 3~IN 6 interface circuit is the same.
When the upper device is relay output:

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伺服驱动器
数字输入接口电路
外部+24VDC
外部GND
继电器
伺服驱动器
数字输入接口电路
外部+24VDC
外部GND
伺服驱动器
数字输入接口电路
外部+24VDC
外部GND
NPN
COM+
IN1
COM+
IN1
COM+
IN1
PNPPNP
When the upper device is open collector output:
伺服驱动器
数字输入接口电路
外部+24VDC
外部GND
继电器
伺服驱动器
数字输入接口电路
外部+24VDC
外部GND
伺服驱动器
数字输入接口电路
外部+24VDC
外部GND
NPN
COM+
IN3
COM+
IN3
COM+
IN1
PNPPNP
Note: PNP input is not supported
1.3.2 Digital output port
ECT series contains two optically isolated output signals.
OUT1 output current capacity up to 30 mA.
OUT2 output current capacity up to 150 mA.
By default, the digital output is all open points, the function of output port can be selected
through object dictionary 2005, and object dictionary 2006 is used to set the polarity of output
port.
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
Remarks
0x2005：01
Output Port
1 function
R/W/S
UINT
0~3
1
---
Output port function
selection:
0—— Custom output
1—— Alarm output
2—— Brake output
3—— In-place output
0x2005：02
Output port
2 function
R/W/S
UINT
0~3
2
---

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0x2006
Output port
polarity
setting
R/W/S
UINT
0~3
3
---
Set the normally open
and normally closed
characteristics of the
output port
0 - normally closed
1 - normally open
驱动器
+24V
IN1
IN2
IN3
IN4
IN5
IN6
驱动器
OUT1
OUT2
OUT3
OUT4
0V
NR60-6IN数字IO口接线端子示意图
驱动器
+24V
IN1
IN2
IN3
IN4
驱动器
OUT1
OUT2
0V
NR60-4IN数字IO口接线端子示意图
驱动器
IN1+
IN1-
IN2-
IN3
IN4
IN5
IN6
NT60 数字IO接线端子示意图
IN2+
+24V
驱动器
OUT1
OUT2
0V
Taking OUT1 as an example, the OUT1~OUT2 interface circuit is the same.
When the upper device is relay input:
Correct wiring diagram:
DC12-24V
继电器
伺服驱动器
外部地
输出电路外接继电器
DC12-24V 伺服驱动器
外部地
DC12-24V 伺服驱动器
外部地
OUT1
DG
DC12-24V
光耦
伺服驱动器
外部地
输出电路外接光耦
OUT1
DG
继电器
未接入继电器 续流二极管极性错误
DC12-24V
光耦
伺服驱动器
外部地
OUT1
DG
未接入限流电阻
Wrong wiring diagram:
DC12-24V
继电器
伺服驱动器
外部地
输出电路外接继电器
DC12-24V 伺服驱动器
外部地
DC12-24V 伺服驱动器
外部地
OUT1
DG
DC12-24V
光耦
伺服驱动器
外部地
输出电路外接光耦
OUT1
DG
继电器
未接入继电器 续流二极管极性错误
DC12-24V
光耦
伺服驱动器
外部地
OUT1
DG
未接入限流电阻

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When the upper device is optocoupler input:
DC12-24V
继电器
伺服驱动器
外部地
输出电路外接继电器
DC12-24V 伺服驱动器
外部地
DC12-24V 伺服驱动器
外部地
OUT1
DG
DC12-24V
光耦
伺服驱动器
外部地
输出电路外接光耦
OUT1
DG
继电器
未接入继电器 续流二极管极性错误
DC12-24V
光耦
伺服驱动器
外部地
OUT1
DG
未接入限流电阻
1.4 Connection EtherCAT
Please use CAT5E (or higher level) network cable.
The Ethernet input interface IN is connected to the Ethernet output interface OUT of the
previous driver on the controller or the bus. The Ethernet output interface OUT is connected to
the Ethernet input interface IN of the next driver on the bus. If the driver is the last node on the
bus, you only need to connect the Ethernet input interface IN.
1.4.1 EtherCAT status indicator
The yellow light of RJ45 is used for Link status, indicating whether there is a network cable
connection.
The green light of RJ45 is used for Activity state, indicating whether there is data
communication.
RUN/ERRLED indicator:
LED
Color
Status
Description
RUN
Green
Not bright
initialization status
Slow Flash
pre-operational status
Single flash
safe-operational status

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Always bright
operational status
ERR
Red
Not bright
No error
Slow Flash
General error
Single flash
Synchronization error
Double flash
Watchdog error
Fast flash: bright for 50ms, dark for 50ms (10Hz). So cycle.
Slow flash: bright for 200ms, dark for 200ms (2.5Hz). So cycle.
Single flash: 200ms bright, 1s dark. So cycle.
Double flash: bright for 200ms, dark for 200ms, bright for 200ms, dark for 1s. So cycle.
1.5 EtherCAT site address
The ECT series supports two methods to set the slave address: object dictionary 0x2150 to set
the site alias and ESC to set the site alias, and select through the object dictionary 0x2151.
The default 0x2151 is 0, and the node address is allocated by the master station and saved in
the EEPROM.
When users need to set their own fixed address, they need to set 0x2151 to 1, and then write
the required address value in 0x2150.
0x2151
0x2150
Site address
0
1001
Master station configures site aliases to ESC EEPROM 0x0004 word
addresses
1
Set value
Object dictionary 2150 sets the value to the node address value
1.6 Alarm code
LED status
Driver status
Green light on constantly
Driver not enabled
Green light flashing
The driver works fine
1 Green, 1 Red
Driver overcurrent
1 Green, 2 Red
Driver input power overvoltage
1 Green, 3 Red
Driver internal voltage error
1 Green, 4 Red
Encoder out of tolerance alarm
1 Green, 6 Red
Parameter check error

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1.7 Mechanical dimensions
ECT42、ECT60 Installation size
ECT86 Installation size