Rtelligent ECT Series User manual

ECT Series User Manual
1
ECT Series
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co., Ltd

ECT Series User Manual
2
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

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二Parameter Description and Settings
2.1 General parameters
2.1.1 0x1000 Type of device
Object Type
Data Type
Access Type
PDO Mapping
Default Value
VAR
UNSIGNED32
RO
NO
0x00040192
Bit 0~15: Device profile number 0x0192：CiA402
Bit 16~31: Additional information 0x0004：Stepper Drive
2.1.2 0x1001 Device name
Displays the model of current driver.
The function of ECT42 is the same as ECT60. It only limits the default current of the drive to
prevent users from matching small motors without modifying the current of the driver at the first
time, resulting in excessive current and damaging the driver and motor. On 0x1001, both show
"ECT60".
Object Type
Data Type
Access Type
PDO Mapping
Default Value
VAR
Visible string
RO
NO
ECR60
ECT60
Object Type
Data Type
Access Type
PDO Mapping
Default Value
VAR
Visible string
RO
NO
ECT60
2.1.3 0x1009 Hardware version
Object Type
Data Type
Access Type
PDO Mapping
Default Value
VAR
Visible string
RO
NO
0xA1
2.1.4 0x100A Software version
Object Type
Data Type
Access Type
PDO Mapping
Default Value
VAR
Visible string
RO
NO
x 101B 0

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2.1.5 Save parameters
Sub-index of object dictionary 0x1010: 01 Write 1 to save current parameters.
When saving the parameters, first stop the motor running, then save the parameters.
The data structure is as follows:
Index
Sub-index
Name
PDO mapping
Default
1010
00
Maximum
number of
sub-indexes
No
1
01
Save parameters
No
0
2.1.6 Restore factory settings
Sub-index of object dictionary 0x1011: 01 Write 1, and then power on again to restore the driver
to the factory state.
When restoring the factory setting, first stop the motor running, then save the parameters.
Index
Sub-index
Name
PDO mapping
Default
1011
00
Maximum
number of
sub-indexes
N o
1
01
Save parameters
N o
0
2.2 Manufacturer-specific object
2.2.1 0x2000 Operating current
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2000
P eak Current
R/W/S
UINT
100~6000
3000
mA
This object is used to set the sinusoidal peak current when the stepper motor is running in open
loop.

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2.2.2 0x2001 Subdivision/resolution
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2001
M otor Resolution
R/W/S
UINT
200~65535
10000
Pulse/rev
This object is used to set the number of pulses required to run the motor for one revolution
when the stepper motor is running in open loop.
ECT60 default to works in closed loop mode, the number of pulses required to run the motor for
one revolution is set by the 0x2020 encoder resolution.
2.2.3 0x2002 Standby time
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2002
Idle Time
R/W/S
UINT
200~65535
500
ms
This object is used to set the time to enter the standby state after the motor stops running when
the stepping motor is open loop.
2.2.4 0x2003 Percentage of standby current
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2003
Idle Current
Percent
R/W/S
UINT
0~100
50
%
This object is used to set the percentage of the current relative to the operating current set at
0x2000 when the stepping motor is open-loop running and the motor stops running into standby
state.
2.2.5 0x2005 Output Port Function
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2005:01
Output 1Function
R/W/S
UINT
0~3
1
---
0x2005:02
Output 2Function
R/W/S
UINT
0~3
2
---
ECT series contains two output ports, which are used to set the function corresponding to the
output port.

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The port function is defined as follows:
Value
Function
0
Custom output
1
Alarm output
2
Brake output
3
In place output
When set as a custom output, the state of the port can be controlled by the polarity setting of
0x2006.
2.2.6 0x2006 Output port polarity
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2006
Outputs Polarity
R/W/S
UINT
0~3
3
---
Set the normally open and normally closed characteristics of the output port: Bit0 is the polarity
setting for output port 1, Bit1 is the polarity setting for output port 2.
0—— Normally closed
1—— Normally open
Bit15~bit2
Bit1
Bit0
---
OUT2
OUT1
2.2.7 0x2007 Input port function
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2007:03
Input 3Function
R/W/S
UINT
0~8
1
---
0x2007:04
Input 4Function
R/W/S
UINT
0~8
2
---
0x2007:05
Input 5Function
R/W/S
UINT
0~8
3
---
0x2007:06
Input 6Function
R/W/S
UINT
0~8
6
---
ECT60 contains 4 input ports, this object is used to set the function corresponding to the input
port.

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Value
Function
0
General input port
1
CW limit input
2
CCW limit input
3
HOME input
4
Fault clearance
5
Emergency stop signal
6
Motor offline
7
Probe 1
8
Probe 2
The state of the input port can be read through the 0x60FD object.
The polarity of the input port can be set by the 0x2008 object.
2.2.8 0x2008 Input port polarity
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2008
Inputs Polarity
R/W/S
UINT
0~3 F
x3F 0
---
Each bit defines the polarity of the corresponding port. Bit 0 defines the polarity of input port 1:
Bit15~bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
---
IN 6
IN 5
IN 4
IN 3
IN 2
IN1
0——Normally closed，1——Normally open
2.2.9 0x2009 Filter time
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2009
Filter Time
R/W/S
UINT
0~25600
6400
us
The ECT60 has a built-in sliding average filter, and this object is used to set the time of the
sliding average filter. The larger the filter time, the smoother the motor starts and stops, but the
greater the motor response lag.
Lag time = filter time

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2.2.10 0x200A Shaft lock time
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2009
Soft lock Time
R/W/S
UINT
0~65535
1000
50 us
When ECR60 is enabled, the stepper motor needs to be locked for initial positioning. In order to
reduce the jitter of initial positioning, ECR60 has a built-in ramp-locking function. This object is
used to set the ramp time of the motor shaft lock when the motor is enabled.
Shaft lock time = set value*50us*2 = set value*100us
2.2.11 0x200B Current loop parameters
Object
Dictionary
Name
Property
Type
Scope
Default
Remarks
0x200B:01
AutoPI enable
R/W/S
UINT
0~1
1
The driver identify the motor
parameters while positioning
for the first time and
automatically calculates the PI
gain
0-- disable; 1-- enable
0x200B:02
Iloop_Kp
R/W/S
UINT
100~
65535
1000
0x200B: When 01 is 1, this
register cannot be set.
When it is 0, users can set
0x200B:03
Iloop_Ki
R/W/S
UINT
0~
10000
200
0x200B:04
Iloop_Kc
R/W/S
UINT
0~1024
256
Anti-integral saturation
coefficient.
ECT60 uses current control to achieve subdivision operation of stepper motors. ECT60 adopts
automatic parameter recognition algorithm by default to recognize the electrical parameters of
the motor and automatically calculate the appropriate current loop PI parameters. When the
automatically identified PI parameters cannot meet the requirements, users can set the
parameters by themselves.

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2.2.12 0x200C Motor parameters
Object
Dictionary
Name
Property
Type
Scope
Default
Remarks
0x200C:01
Motor type
R/W/S
UINT
0~1
0
0—— Two-phase
stepper motor
1—— Three-phase
stepper motor
0x200C:02
Resistance Auto
R
UINT
100~
65535
1000
When automatic PI is
turned on, the motor
winding resistance value
is recognized.
Unit: mOhm
0x200C:03
Inductance Auto
R
UINT
0~
10
1
When automatic PI is
turned on, the motor
winding inductance
value is recognized.
Unit: mH
0x200C:04
Resistance Set
R/W/S
UINT
0~
10000
1000
Motor winding
resistance value
Unit: mOhm
0x200C:05
Inductance Set
R/W/S
UINT
1~10
1
Motor winding
inductance value
Unit: mH
0x200C:06
BEMF coefficient
R/W/S
UINT
0~1000
256
ECT60
Servo Mode 1:
When ECT60 works in servo mode 1, the motor parameters themselves do not participate in
motor control, and the user does not need to make special settings. The user can judge
whether the motor connection is normal by checking the self-identifying resistance and
inductance of the object.
Servo Mode 2:
When ECT60 driver works in servo mode 2, the closed-loop stepper motor is in FOC control
mode. Due to the special structure of the stepper motor, a weak magnetic control is required for

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FOC control. The weak magnetic control parameters are estimated from the motor's resistance,
inductance and back EMF coefficient.
Usually the automatically estimated resistance and inductance can meet the demand, and the
user can also set the resistance and inductance by themselves according to the motor
parameters of the motor manufacturer. The calculation of back-EMF coefficient can be
calculated by the following formula:
0x200C:06 =（rated torque (N.M) / rated current(A) ）*500
2.2.13 0x200D Run reverse
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x200D
Invert motor
direction
R/W/S
UINT
0~1
0
---
If the forward direction of the motor is inconsistent with the system requirements, this object can
reverse the direction of the motor without modifying the motor wiring.
2.2.14 0x200E Internal alarm code
Object
Dictionary
Name
Property
Type
Default
0x200E
Alarm Code
R
UINT
0
This object displays the current fault code of the driver, and each bit of the object corresponds
to an alarm state.
Alarm code
Alarm status
0x0001
Internal voltage error
0x0002
Overcurrent
0x0004
Overvoltage
0x0008
Reserved
0x0080
Position error is out of
tolerance
Other
Reserved
When the above fault occurs, after the fault condition is eliminated, by writing 0x80 in the
0x6040 object, the fault codes of 0x603F and 0x200E will be cleared.

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2.2.15 0x200F Internal status code
Object
Dictionary
Name
Property
Type
Default
0x200F
Status Code
R
UINT
0
This object displays the current status code of the driver, and each bit of the object corresponds
to a status.
Status code
Status
0x0001
Driver enables
0x0002
Driver has failed
0x0004
In place signal
0x0008
Motor running or stopped
0x0010
Homing completed or not
0x0020
Driver ready
Other
Reserved
2.2.16 0x2010 Position cleared
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2010
Zero Position
R/W
UINT
0~1
0
---
Setting the object to 01h can clear the position value (position actual value) in 0x6064.
It is usually used when the motor is always moving in one direction. The user needs to stop the
motor at an appropriate time, clear the actual position value through this object, and then
enable the motor again. Otherwise, the motor position counter will be saturated.
2.2.17 0x2011 Control mode
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2011
Control mode
R/W/S
UINT
0~2
0
---
Set the working mode of the stepper motor.
0—— open loop
1—— closed loop
2—— closed loop / FOC mode
ECR60 can only work in open loop mode, setting other values is invalid.

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2.2.18 0x2020 Encoder Resolution
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2020
Encoder Resolution
R/W/S
UINT
1000~65535
4000
Pulse/rev
When the working mode of the stepper motor is closed loop, the encoder resolution
corresponding to one revolution of the motor needs to be set. After this parameter is set, it
needs to be saved and power-on again to take effect. Only ECT series products are valid.
2.2.19 0x2021 Encoder position
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2021
Encoder Counter in
one rev
R
UINT
1000~65535
0
Pulse/rev
This object reflects the current position of the motor in a circle. Only ECT series products are
valid.
2.2.20 0x2022 Position Excess Alarm Value
Object
Dictionary
Name
Property
Type
Scope
Default
Unit
0x2022
Position Trae Error
Limit
R/W/S
UINT
1000~65535
4000
Pulse/rev
When the working mode of the stepper motor is closed loop, and when the position error
exceeds this set value, the motor will alarm and disconnect the enable. After this parameter is
set, it will take effect immediately. Only ECT series products are valid.
2.2.21 0x2023 Servo Mode 1 Control Parameters
Object
Dictionary
Name
Property
Type
Scope
Default
Remarks
0x2023：01
PosLoop_Kp
R/W/S
UINT
0~
10000
2000
Proportional gain:
adjust the motor
position response
rigidity
0x2023：02
PosLoop_K i
R/W/S
UINT
0~
1000
100
Integral gain: used to
eliminate the position