SYSTEM Electronics ETC-QUAD UL User manual
system-electronics.it
ETC-QUAD UL
Order Code: 1902503003
Date: 01/2020 - Rev: 1.2
Contents
1. General characteristics....................................................3
2. Technicalspecications...................................................3
3. Displayandkeyboard.....................................................6
4. Axes management Firmware update.................................10
5. Standarddriveprole...................................................12
6. Unitsofmeasureforthekinematicparameters...............14
7. WEBinterface.............................................................15
8. CANopeninterface.......................................................15
9. Installation.................................................................16
10. Powersupplysizing...................................................17
11. Connection...............................................................18
12. Availableaccessories.................................................21
USER MANUAL
MICROSTEP MOTOR
DRIVER
page
2
January 2020 - Rev. 1.2 Order Cod. 1902503003
Revisions Log Pages
Rev. 1.2 Drafting 21
SYSTEM CERAMICS SPA Electronics Div.
viaGhiarolaVecchia,73
41042Fiorano(MO)-Italy
tel.0536/836111-fax0536/830901
www.system-group.it
e-mail:[email protected]
The product meets the EMC protection
requirements of Directive 2014/30/
CE (ex 89/336/CEE) and subsequent
amendments.
SYSTEM CERAMICS SPA reservestherighttomake
changesofanykind to the technical specications at
anytimewithoutpriornotice.Theinformationcontained
inthisdocumentisbelievedtobecorrectandreliable.
Thereproduction,evenpartial,ofthecontentsofthis
catalogue,isallowedonlywithpermissionfromSYSTEM
CERAMICS SPA.
1902503002 ETC-QUADMICROSTEPMOTORDRIVER160V10AIO_REMOTIUL
1902503003 ETC-QUADMICROSTEPMOTORDRIVER160V10AMORSETTIUL
2E000002 ETCQUADTERMINALDISTRIBUTIONBOARD
page
3
January 2020 - Rev. 1.2 Order Cod. 1902503003
1. General characteristics
The Quad Microstep driveunitisdesignedtocontrol
and monitor up to four two-phase stepper motors,
operatinginbipolarchoppermode.
Thedriveisequippedwithahighperformancetrajectory
generator and with a digital control system of the
current supplied to ensure smooth and silent motor
movement.
Microstepping generation is achieved digitally and
is congurable remotely, as well as all the operating
parametersthatcanbevariedviatheeldbusinuse
(the use of conguration jumpers or the like is not
required).
The drive is always equipped with a master board
containingtheglobalcontrolelectronicsandthepower
sectionfortwomotors;anexpansion boardisconnected
tothemasterboardandallowstocontroltwoadditional
motors.The expansion board also provides 16 digital
24Visolatedoutputsand16digitalinputs.
A front display and keyboard allow to rapidly view
the main conguration parameters and status of the
drive.
Thegeneralcharacteristicsofthesystemare:
• Opentype
• Limiteddimensions:375×190×80
• HighperformancethankstotheuseofMosfetin
thepowerstage
• Silentduetoanoperatingfrequencyequalto
25KHz
• Completeworkparametersettingfromremote
• Frontdisplayandkeyboardtoverifysome
operatingparameters
• Managementofstepfractionationupto1/256
stepsperstep(forexample,withmotorsoperating
at200steps/revolutiononecanachievepositioning
resolutionsupto51200microsteps/revolution).
Theuseofmicrosteppingalsoallowstoobtainless
motorheatingandincreasedsilentnessinrotation.
Themaximumgeneratedfrequencyisinanycase
equalto622500microstep/s
• Optimalintegrationbetweenthecontrolstage,
powerstageandinputs-outputs:infactthe
MicrostepunitfeaturesaPMDindexerintegrated
on-board,capableofhandling4independentaxes
withtrapezoidal,velocityandS-curveproles
• 16digital24Visolatedinputsand16outputs
• Controlofsteppermotorsat25V-160Vmax and 1A
-13A
• Guards:
• Protectionagainstshort-circuitbetweenthemotor
phases
• Protection against incorrect wiring (phases not
connected)
• Protectionagainstovertemperature
• Protectionagainstshort-circuitbetweenaphase
andthedrivepowersupply
• Faultmanagementandreport
• Remotereadingofthepowerstagetemperature
• Remotereadingofthemotorsupplyvoltage
• Reportoffailuretoreachthecurrentset-point
whileinmotion.
• ULcertied
2. Technical specifications
2.1 Electrical ratings
1. Power Input
Terminal Voltage Current
+V34-GND (XT2, pin B1,B2,B3,B4)
+V12-GND (XT1, pin B10,B11,B12,B13) 160Vdc 7A
Table 2.1.1
2. Power Output
Table 2.1.2
3. OPTIONAL Power Output
Table 2.1.3
4. Control Supply 24V Input
Table 2.1.4
Powersupplyseparatedandisolatedfromthecontrol
powersupplyandI/O
• Motorpowersupplymin25Vmax180V.Separate
motorpowersupplyforpairsofmotors1-2and3-
4:while maintaining the same mass,itispossible
topowermotorswithdierentvoltagesorpartly
disable them
• Thepowersupplyofthepairofmotors1-2shares
thesameGNDofthepairofmotors3-4.TheGND
canbeconnectedtothePEdependingonthe
application
• Powersectionoperatingtemperaturemax90°C
• Minimumoperatingtemperature0°C
• Readingviaeldbusofthepowerstagedissipators
temperatureofeachpairofmotors
Temperature readings “1” and “2” refer to the pair
of motors 1 - 2; temperature readings “3” and “4”
to the pair of motors 3 - 4 (motors 1 and 2 share
the same dissipator, just as motors 3 and 4)
• Programmablesettingofthedissipator
overtemperaturethreshold(<90°C)
• Remotereadingofthemotorsupplyvoltage
• Protectionofeverysinglemotorwithfuseonthe
removablefrontterminalboard.Fuseinstalled:
10AF250V(See par. 2.6 for details)
Terminal Output Voltage
Current
(Arms)
per
terminal
Max
two
phases
output
current
Peak
Current Freq. Power Duty
Cycle
AN1-A1-BN1-B1
XT1, pin B6,B7,
B8,B9
AN2-A2-BN2-B2
XT1, pin B2,B3,
B4,B5
Motor 1
Motor 2
Max
160Vac 7A Max
13A
Max
155KHz 2.7hp
10A
RMS
0-100%
Terminal Output Voltage Current
Max
two
phases
output
current
Peak
Current Freq. Power Duty
Cycle
AN3-A3-BN3-B3
(XT2, pin B9,
B10,B11,B12)
AN4-A4-BN4-B4
(XT2, pin B5,
B6,B7,B8)
Motor 3
Motor 4
Max
160Vac 7A Max
13A
Max
155KHz 2.7hp
10A
RMS 0-100%
Terminal
XP10
Voltage
24 Vdc
Current
0.5A
page
4
January 2020 - Rev. 1.2 Order Cod. 1902503003
• Operatingcurrentforeachmotormax10A
continuous(max13Aboost)
• Programmablesettingoftheovervoltageand
undervoltagethresholdtogenerateafault
• Coolingfanoperatedautomaticallybythedrive
• Managementandresetoffaultsdueto:
• Overcurrentbetweenphasesofthesamemotor
• Overcurrentbetweenphasesofdierentmotors
• Short-circuitbetweenphaseandpowersupply
• Short-circuitbetweenphaseandGND
• Overtemperature
• Undervoltage/overvoltage.
NOTE:
Maximum surrounding air temperature 40°C.
Suitable for use on a circuit capable of delivering
not more than 5000A RMS symmetrical amperes,
176V max
Motors with rating for high voltage must be use
in coupling with this drive.
2.2 Environmental Ratings
The Quad Microstep drive unit is intended for use in
end-useapplicationwithinnalenclosuretomaintaina
pollutiondegree2orequivalentenvironment.
2.3 Overvoltage Protection
Thesedevicesareintendeduseconnectedtoa“Circuit
OvervoltageCategoryIII”.
NOTE
Transient Surge Suppression Overvoltage Protec-
tion shall be externally provided in the end use
application on the Line side of the equipment by
any suitable R/C Surge-protective Devices – Com-
ponent (VZCA2/VZCA8) or a suitable “Power
Supply/System” of “Overvoltage Category II”,
rated minimum Nominal Voltage 160 V, maximum
Voltage Protection Rating VPR=2500 Vpk and
minimum Nominal Discharge Current In=5kA.
RECOMMENDED Suppressive Device model
BSPM1A150D200LV, rated 200Vdc, manufactured
by COOPER BUSSMANN (E340782).
2.4 Short Circuit Ratings and
Protection
TheShortCircuitCurrentisreferredtothemaximum
DrivePower.TheStepperMotorDCDriverseriesQuad
Remote Microstep Driver is rated for Standard Fault
CurrentvaluesinaccordancewithUL508C,Table45.1,
andbasedonanInternalSolidStateShortCircuitpro-
tectionwhoseoperationcomplieswithSection45.1.3
andwhosemanufacturingprocesscomplieswithSection
64.1,64.2and64.3.
Table 2.4.1
ShortCircuitProtectionisperformedbothbyInternal
Solid State Short Circuit Protection and by External
RecognizedSpecial-purposeFuses(recommended)Pro-
tection.ThefusehasbeenevaluatedduringtheShort
CircuitTestalsoforBranchCircuitProtection.
INTERNALSOLIDSTATESHORTCIRCUITPROTECTION
-TheDriveisequippedwithSolidStateShortCircuit
Protection.
EXTERNAL(RECOMMENDED)PROTECTIONFUSES–R/C
Special-purpose Fuses (JFHR2/JFHR8), manufactured
by COOPER BUSSMANN LLC (E91958), model FWP-
40B,seriesFWP,Fusesforprotectionofsemiconductor
devices.
Table 2.4.2
Alternative-AnyListedCartridgeFuses,Nonrenewable
(JDDZ/JDDZ7) or R/C Special-purpose Fuses (JFHR2/
JFHR8)withthesameratingsoftheabovefuse,inpar-
ticularwithI2tandIpeakequalorlower.
Integral solid state short circuit protection does
not provide branch circuit protection.
R/C (JHFR2/JHFR8)
Branch circuit protection fuses as indicated in
this description shall be present in the end-use
application.
2.5 Overload Protection
TheequipmentincorporatesinternalSolidStateMotor
Overloadprotectionforthemotorloadandspeedsensi-
tiveoverloadprotectionwiththermalmemoryretention
(incomplywithpar.43.1,43.3,43.4and43.5,UL508C),
thereforedoesnotrequiretobeusedwithexternalor
remoteoverloadprotection.
OVERLOAD IMPLEMENTATION: BY THE USER
The drive implements an algorithm for protection
againstmotor current overload;the user is responsi-
bleforsettingthepropervalueofMotorratedcurrent
parameter.
SetthevariableMotorratedcurrent foreachaxis
withtheratedcurrentofthemotoryouhave.(Nominal
Currentofthemotorfromitsdatasheet)
Themotorcanruncontinuouslyforcurrentvaluesbelow
the"ratedcurrent”setbytheuser.
Forcurrentrangesfrom100%to200%oftherarted
currenttherewillbeanoverloadifthemotorwillwork
for8minuteswithoutstopping.Themotorhastorunat
lowercurrentsatleastforthesametimeinordertocool
downproperlybeforemovingagainatcurrentshigher
thantheratedone.
Forcurrentvaluesgreaterthan200%theoverloaderror
occurswithin20seconds.Forcurrentvaluesgreaterthan
600%theoverloaderroroccursimmediately.
Follow the installation instruction in Table 5.1.2 and
Table 5.2.1.
Model Number
Model Number
Stepper Motor DC Driver series
Quad Remote Microstep Driver
Stepper Motor DC Driver series
Quad Remote Microstep Driver
Short Circuit Current, Amp
Short Circuit Current, Amp
5,000
5,000
External (Recommended) Cartridge Fuses - Rating
External (Recommended) Cartridge Fuses - Rating
Fuse Model
No.
Fuse Model
No.
FWP-40B
FWP-40B
Vac
Vac
Vdc
Vdc
Arms
Arms
500
500
500
500
40
40
Maximum Breaking
Capacity
Maximum Breaking
Capacity
ac
ac
dc
dc
50 kA
50 kA
200 kA
200 kA
I2t,
kA2sec
I2t,
kA2sec
Ip
(A)
Ip
(A)
900
900
96
96
page
5
January 2020 - Rev. 1.2 Order Cod. 1902503003
2.6 Internal Fuse Protection
(FU1-FU4)-R/CFuses,Supplemental(JDYX2,JDYX8),
manufacturedbyHOLLYLANDCOLTD(E156471),model
50CF-100H,lled-tube,rated10A,250Vac:Interrupting
Rating=1500A, 250Vdc: Interrupting Rating=1000A,
Size5x20mm.
Block diagram of internal operation
Figure 2.6.1
2.7 Control and processing
section
• Powersupply24V0.5ADC(isolatedfromthe
powerstage)
• Workenvironmenttemperature0…40°C
• Watch-Dog
• Communicationvia:
• EtherCAT(DeviceProle:MultidriveDSP-402)
• CAN/CANopen (Device Prole: Multidrive DSP-
402)
• Ethernet
• Firmwareupdatingviaeldbus(Ethernet/HTTP,
Ethernet/TFTP,EtherCAT/FoE)
• Possibilitytosetthemovementsseparatelyfor
eachaxisintermsofoperatingandstart-upspeed,
accelerationanddeceleration,positiontarget
• Possibilitytosetthecurrentstobeusedseparately
foreachaxis(nominal,boostandreduced)
• Stepfractionationsettingfrom½stepto1/256
stepindependentlyforeachmotor(fullstep
optional)
• Firmware(non-modiable)forupdate
management;thermwareiscalled"Monitor"
• Firmware(updatable)forthemanagementofthe
axesaccordingtotheprotocolCiADSP-402.
2.8 I/O section
• 16digitalinputsisolatedfromthepowerstage
and24Vpowersupplyforthelogic,16PNP24Vdc
0.5Ageneralpurposedigitaloutputswhichcanbe
managedasremoteI/O
• Theoutputsareopticallyisolated,thermally
protectedandprotectedagainstshort-circuits
• Diagnosticsofintervenedprotectionasaresult
ofshort-circuits.Outputspowersupplyseparated
fromthatoftheinputsandcontrolsection.The
digitaloutputsandinputscanbeconguredto
performspecicfunctionssuchaslimitswitch,
home,positioncapture,etc.
PHY
PHY
Ethercat
ET1100
ETHERCAT
CONTROLLER
MICROCONTROLLER
Ethernet & CAN
PMD
MAGELLAN CP
PMD
MAGELLAN IO
FPGA
APPLICATION
PROGRAM
DISPLAY
KEYS
H BRIDGE
MOTOR 1
POWER SECTION
Motors
1-2 power supply
COMMAND
CURRENT
READING
M
H BRIDGE
MOTOR 2
POWER SECTION
COMMAND
CURRENT
READING
M
H BRIDGE
MOTOR 3
POWER SECTION
Motors
3-4 power supply
COMMAND
CURRENT
READING
M
H BRIDGE
MOTOR 4
POWER SECTION
COMMAND
CURRENT
READING
M
Expansion
Communication for
digital inputs and outputs
Motors 3 and 4 control
24V
isolated
power supply
page
6
January 2020 - Rev. 1.2 Order Cod. 1902503003
3. Display and keyboard
The drive is equipped with a backlit display and a keypad
withfourbuttonsfordisplayingandeditingsomeofthe
operatingparameters.
Thedisplayisorganizedasasetofcircularsequences
ofpagesthatcanbebrowsedusingthebuttonsonthe
keyboard;theseare:
Toscrollasequenceofpagesinthedesired
directionortoincrease/decreasethevalue
ofaparameterbeingedited.
Togobacktoasequenceofpagesonan
upper level or to the default page or to
cancel parameter editing operations in
progress.
To switch to a sequence of pages on a
lowerlevel,toaccesstheeditingmodefor
aparameterthatisbeingdisplayedandto
conrmitsnewvalue.
Figure 3.1
The main menu (the sequence of pages at the
highest level) allows to view the following read-only
parameters:
• Axesstatus(default page)
• Digital inputs status
• Digitaloutputsstatus
• Motorsupplyvoltage
• Motordissipatortemperature
• Controllertemperatureandsupplyvoltages
• StatusofjumpersJ2..J5(for testing only during
drive production).
PressingtheEnterkeywhileviewingthedefaultpage
makesanewsequenceofpagesappear(sub-menu):
• Axesmanagementrmwarerelease
• Monitorrmwarerelease
• Communicationmode (modiable)
• EtherCATnodeaddress (modiable)
• CANnetworkbitrate (modiable)
• CANnetworkterminationandsloperesistors
(modiable)
• CANopennodeaddress (modiable)
• EthernetMACaddress
• EthernetIPaddress (modiable)
• EthernetIPsubnetmask (modiable)
3.1 Display
WhentheETCQUADdriveisswitchedonsomemessages
appearonthedisplay,showingtheoperationsperformed
during the initialization of the axes management
rmware.
Ifnoproblemshaveoccurred,afterafewsecondsthe
displayshowsamessagesimilartothefollowing:
3.1.1 Axes status page
(default page)
E:00001:012:01
Init3:014:01
The beginning of the upper line shows the type of
communicationset(E=EtherCAT/C=CANopen)and
thenodeaddress(inhexadecimalformat).
TheEtherCATnode addressis setat 0000to request
dynamicassignmentoftheaddressitself.Otherwisethe
driveusestheaddresssetashot-plugaddressofthe
EtherCATnode.
The beginning of the lower line displays (with four
characters)theEtherCATorCANopenstatus:
[“Init”/”PrOp”/”SfOp”/”Op“/“ERR”/“Boot”].
ThestatusaccordingtostandardproleDSP402isthen
displayedforeachaxis1..4(inhexadecimalformat):
Table 3.1.1.1
ESC
CAN ETC RUN
ETC QUAD
ESC
01 NotReadyToSwitchOn
02 SwitchOnDisabled
04 ReadyToSwitchOn
08 SwitchedOn
10 OperationEnabled
20 QuickStopActive
40 FaultReactionActive
80 Fault
page
7
January 2020 - Rev. 1.2 Order Cod. 1902503003
3.1.2 Digital Inputs
status display page
Digital Inputs
0000000000000000
Displaystheinstantaneousstatusofthe16digitalinputs
(fromIN_16toIN_1readingfromlefttoright)
1: active input
0: inactive input
3.1.3 Digital Outputs
status display page
DigitalOutputs
0000000000000000
Displays the instantaneous status of the 16 digital
outputs(from OUT_16 to OUT_1 reading from left to
right)
1: activeoutput
0: inactiveoutput
3.1.4 Power voltages display page
V1:000VV2:000V
V3:000VV4:000V
Displays the power voltage applied to the various
axes.
The voltage is measured in volts with an accuracy of
±3V.
Ifthepowersupplyterminalsarenotconnectedorthe
endsarenotconnectedtothedischargeresistors,itis
typicaltodisplayavoltageofabout10Vduetointernal
pull-ups.
VoltageV1andV2comefromterminals+V12ofthe
terminalboard;voltageV3andV4comefromterminals
+ V34 of the front terminal board: if the voltages
betweenthepairsV1-V2andV3-V4diersignicantly
checktheterminalboardfuses.
The drive always stays live even for a long time when
the power supply is disconnected.
Do not rely on the reading displayed on this page
for maintenance operations: one must measure the
voltage actually on the terminals by means of special
multimeters.
Do not disconnect the terminal board with voltage
present.
Attention!
Dangerous internal active live parts.
Attention!
Parties actives internes à haute tension
dangereuses.
3.1.5 Dissipator temperature
display page
T1:27CT2:28C
T3:27CT4:24C
Displays(indegreesCelsius)theinternaltemperature
ofthepowerdissipatorswithanaccuracyof±3V.
N.B.!
Titemperatures are not rigidly associated to the
i-th axis; T1 and T2 are two temperatures read
inside the only dissipator associated to axes 1 and
2; T3 and T4 are two temperatures read inside the
only dissipator associated to axes 3 and 4.
3.1.6 Jumpers J2..J5
display page
J2=OFFJ3=OFF
J4=OFFJ5=OFF
ThispageallowstoknowwhetherjumpersJ2..J5are
inserted(ON)ornot(OFF).
Atthemoment,thepositionofthesejumpersDOESNOT
aectthebehavioroftheaxesmanagementrmware
and this page is only required for tests during drive
production.
3.2 Conguration sub-menu
Asalreadymentionedpreviously,bypressingthe8key
ontheaxesstatuspageonecanaccessadisplay/editing
sub-menu.
Ifoneisonapagethatdisplaysamodiableparameter
andonepressesthe8key,itswitchestoedit mode;
asmentioned,onecanusethearrowstoeditthevalue
oftheparameterandconrmthevaluebypressingthe
8key;whilepressingtheESCkeycancelstheediting
inprogress.
Pressing either the 8keyortheESCkeyexitsthe
parametereditingmode;if,however,theparameterin
questionisactuallypartofacomplexparameter(i.e.,
theIPaddressorsubnetmask)pressingthe8key
switchestothenextportionoftheparameter,untilthe
entirecomplexparameterhasbeencompleted(orone
hasnotpressedESCthuscancellingtheeditingof
theentireparameter).
!
!
page
8
January 2020 - Rev. 1.2 Order Cod. 1902503003
3.2.1 Firmware revision display
F/W5907995102
Vx.xx
Displays the current revision of the programmed
Firmware.
3.2.2 Monitor revision display
MON5907995101
Vx.xx
DisplaysthecurrentrevisionoftheMonitor.
3.2.3 Communication Type Display /
Setting
COMM.MODE
ETHERCAT
Displaysthetypeofcommunicationsetandallowsto
modifyit.
The admitted values are: [CAN] or [ETHERCAT].
Defaultvalue:[ETHERCAT].
3.2.4 EtherCAT Address Display /
Setting
ECAT Address
0
Displays the EtherCAT node number used and allows
tomodifyit.
Typically theEtherCATnodeisacquired automatically
accordingtothepositionofthenodesintheEtherCAT
network. If the number of the node is [0] the Quad
addresswill be automatic; onecanforce the address
by changing it manually.
Defaultvalue:[0]
3.2.5 CAN communication Speed
Display / Setting
CANOpenBitrate
500 Kbps
DisplaystheCANcommunicationspeedandallowsto
modifyit.
Theadmittedvaluesare:
[10Kbps]
[20Kbps]
[50Kbps]
[125Kbps]
[250Kbps]
[500Kbps](<-default)
[800Kbps]
[1000Kbps]
3.2.6 CAN Slope and terminations
Display / Setting
CANResistors
Slope:YTerm:N
DisplaysthestateoftheterminationsandSLOPEofthe
CANnetworkandallowstomodifythem.
Typically in a CAN network one must only set the
terminationofthelastnodeofthenetwork.
WiththeSlopeonecanchoosebetweenalowemission
communicationmodeandmorereactivecommunication
mode,butpotentiallydisturbing.
SLOPE:Y forfastcommunicationmode
(800Kbpsor1Mbps)
SLOPE:N forlowdisturbancemodes
The type of slope setting must be identical in all nodes
of the CAN network to avoid errors when receiving
messages.
Defaultvalue:Slope:YTerm:N
page
9
January 2020 - Rev. 1.2 Order Cod. 1902503003
3.2.7 EtherCAT Address Display /
Setting
CANOpenNodeId
1
Displays the EtherCAT node number used and allows
tomodifyit.
A CANopen network must not feature two dierent
devices connected together with the same node
number.
The node number must be above zero (1..127).
Defaultvalue:[1]
3.2.8 MAC Address Display
MAC Address
001163-xxxxxx
DisplaysthenumberoftheMACaddressoftheEthernet
port.
TheMACaddressisuniqueanddierentforeachQuad
andcanonlybedisplayed.
3.2.9 Ethernet IP Address Display /
Setting
IPADDRESS:
192.168.1.1
DisplaystheIPaddressnumberoftheEthernetportand
allowstomodifyitin4subsequentsteps.
Defaultvalue:[192.168.1.1]
3.2.10 Ethernet Subnet MASK
Display / Setting
Subnet mask
255.255.255. 0
Displays the Subnet mask of the Ethernet port and
allowstomodifyit.
Defaultvalue:[255.255.255.0]
3.3 Saving the parameters
If one has edited the parameters and one presses
ESCtogoupalevelandgobacktothemainmenu,one
ispromptedwhethertosavethedatapermanently.
Save Parameters?
NO
Usingthearrowsáand âonecanchoosebetween
thefollowingsavingoptions:
[NO] Themodiedparametersarekept,butonly
untiltherestart.TheyarethereforeNOTsavedin
thenon-volatilememoryofthedrive.
[SAVE]Themodiedparametersaresavedinthe
non-volatilememoryofthedrive,butwillonlybe
usedstartingfromthenextrestart.
[RESTORE]The changes made are cancelled and
theparametersarerecoveredfromthenon-volatile
memoryofthedrive;ingeneral,theseparameters
willonlybeusedstartingfromthenextrestart.
Ifonehasselected[SAVE]andonepressesEnter,the
followingmessagewillbedisplayed:
Parameters saved
fornextpowerup
3.4 Alarm or fail messages
shown on the display
ETHERCAT INIT
ERROR.....
Indicates an initialisation error of the EtherCAT
peripherals; the negative number displayed species
theerrormoreindetail.
ETHERCATERROR
WATCH-DOGEXPIRED
Indicatesnocommunicationonthenetwork
EtherCAT.
***ALARM!***
*SAFETYSTATE*
Indicates that the axes safety protection has been
activated,oranovertemperatureerroroccurred.This
situationrequiresboardreset.
page
10
January 2020 - Rev. 1.2 Order Cod. 1902503003
3.5 Other diagnostics
messages
The following messages appears in the event of an
error during the detection of the drive boards; it is
recommendedtocontactSYSTEMElectronics.
HARDWAREERROR
SLAVEHWMISSING
HARDWAREERROR
SLAVEHWPRESENT
CONFIGERROR
ProdCodenotset
3.6 Indicator LEDS
CAN communicationviaCANbuseldbus
ETC RUN EtherCATcommunicationstatusaccording
tostandard:
Table 3.6.1
4. Axes management
Firmware update
Asalreadymentioned,theaxesmanagementrmware
canbeupdatedontheeldthankstothepresenceof
another rmware (xed) on the drive called Monitor
whoseexecutionmust,obviously,beforced.
TherearetwowaystoforceMonitorexecution:
• PressandholdtheESCkeywhileswitchingthe
driveon;
• Invalidatetheaxesmanagementrmware(via
therelevantcommandsentvianetworktothe
rmware)andrequiredrivereset(stillusingthe
relevantcommandsentvianetwork).
Whiletherstmethodrequiresamanualintervention
(butdoesnotinvalidatethemanagementrmware),the
secondoneallowstoruntheupdateremotelywithout
anyneedtoswitchoorevenopenthedrive.
OncetheMonitorexecutionhasbeenforced,thenew
axes management rmware can be downloaded onto
the drive using either EtherCAT or Ethernet network;
viathesamecommunicationchannelonecanthensend
commands that validate the previously downloaded
rmwareandforcethedrivereset;theupdatedrmware
willberunuponrestart.
The various stages of the updating procedure are
accompaniedbyrelevantmessagesonthedisplay.
Thisprocesscan,obviously,be automatedso thatall
drivespresentonanetworkareupdatedinparallel.
Make sure you have a power supply with the correct
voltage during the update procedure and do not
disconnectfromthepowersupplywhiledownloading.
It is in fact essential to update the rmware after
havingdisconnectedthemotorpowersupply,toprevent
uncontrolledmovementsduringtheprogramupdate.
4.1 Update via EtherCAT/FoE
Invalidationofthecurrentrmwareandresetofthedrive
viaEtherCATrequirewriting “make”in twovariables,
each4characterslong,locatedrespectivelyintheObject
Dictionaryataddresses0x4010sub1and0x4010sub2
(seeTable5.3.1)
TheObjectDictionaryisaccessibleusingtheEtherCAT/
CoEprotocol.
Downloading new rmware requires the use of the
EtherCAT/FoEprotocol.
Validation of the new rmware is automatic and is
performedattheendofasuccessfuldownload.
4.2 Update via Ethernet/HTTP
One can perform the invalidation, downloading,
validation and reset operations by connecting to the
Ethernetportofthedriveandusingabrowser(Internet
Explorer,Chromeetc.).
BydefaulttheIPaddressofthedriveis192.168.1.1;
asmentionedpreviously,itcanbechangedviathefront
keypad(orvianetwork).
1 - Viathebrowser,entertheaddressofthedevice
tobeupdatedintheaddressbarandclickonthe
"InvalidateApplication"link.
Figure 4.2.1
LED Description
Off The device is in INIT state
Blinking The device is in PRE-OPERATIONAL state
Single Flash The device is in SAFE-OPERATIONAL state
On The device is in OPERATIONAL state
Flickering The device is booting and has not yet entered the
INIT state, or in BOOTSTRAP firmware download
operation in progress
page
11
January 2020 - Rev. 1.2 Order Cod. 1902503003
2 - Pressthe"InvalidateApplication"button.
Figure 4.2.2
3 -Waitforthe"invalidationok"messagetoappear
andpresstheREBOOTbutton.
Figure 4.2.3
4 - "RESETTING ..." appears.
Figure 4.2.4
5 -EntertheaddressagainintheQuadEtherCATIP
addressbarandpressthebrowserRefreshbutton
toreloadthepageproperly.
Clickonthe"UploadFile"Link
Figure 4.2.5
6 - Selecttheletobeloadedbypressing"Select
le"andthen"Send".
Figure 4.2.6
7 - Waitforthe"downloadOK"messagetoappearand
pressthe"VALIDATEFIRMWARE"button.
Figure 4.2.7
At the end, wait for the "validation OK" message to
appearandpresstheREBOOTbuttonorswitchtheQuad
onandoagaintoloadtheupdatedrmware.
NOTE
Make sure you have a power supply with the
correct voltage during the update procedure and
do not disconnect from the power supply while
downloading.
4.3 Update via Ethernet/TFTP
Onecandownloadthenewaxesmanagementrmware
byconnectingtotheEthernetportofthedriveandusing
a TFTP Client.
Validation of the new rmware is automatic and is
performedattheendofasuccessfuldownload.
Driveresetrequiresswitchingoandonagain.
page
12
January 2020 - Rev. 1.2 Order Cod. 1902503003
5. Standard drive
prole
TheETC840/QUADdriveisamultipledrive(multidrive)
implemented in compliance with the following
standardizationDirectives:
• DSP-402(CAN in Automation – CiA Device Prole
for drives)
• ETG.6010(EtherCAT Technology Group - Use of
IEC 61800-7-201 in drives based on EtherCAT)
Thedriveimplements,therefore,anObjectDictionary
structuredasfollows:
Table 5.1
ForacompletedescriptionoftheObjectDictionary,in
general,refertotheXMLleassociatedtothedrive;
itisavailableontheportalwww.system-electronics.it.
5.1 Standard objects relating
to the individual axes
AmongtheobjectsdenedbyDSP-402foraxisETC840/
QUADactuallyimplementsonlythosecontainedinthe
followingtable(relativetoaxis1only):
Table 5.1.1
NOTES
(1) Bit 15 of the ControlWord (manufacturer
defined) allows to perform an action similar
to that of homing mode 37 if the axis is in
halt and in pp mode; the bit is referred to as
"SetPositionOnTheFly" and acts on the positive
edge.
(2) The only value admitted for the “Quick stop
option code” variable is, actually, value 0 (default)
that corresponds to the “Disable Drive” option.
(3) The unit of measure of the positions is the
microstep; those relating to speed, accelerations
and jerk refer to a quantum of time of 256
microseconds. Paragraph 7 explains the format
of these variables in detail.
(4) The only value admitted for the “Homing
method” variable is, actually, value 37 (default)
that corresponds to the “Homing on current
position” mode i.e. to the imposition of the reset
value of the axis in the “Home oset” variable as
current position.
(5) These ags are associated to the individual
axis and are not to be confused with the generic
digital inputs present on the drive, even if there
may be some overlapping in the limit switches
(if dened); refer to Table 6.1.2 for a detailed
description.
(6) The “csp” mode, even if supported, is
unadvised.
Table 5.1.2
NOTES
Signaling of current overload is maintained for
at least 8 minutes, so that a overloaded motor
might cool down properly after an overload. The
Overload Error is stored in permanent memory,
and if the drive will be switched o before the
cooling down period, the user has to wait for 8
minutes again at next power up.
Between 0x0000 and 0x0FFF Not used
Between 0x1000 and 0x1FFF Communication objects
Between 0x2000 and 0x27FF Objects defined by System SpA for axis 1
Between 0x2800 and 0x2FFF Objects defined by System SpA for axis 2
Between 0x3000 and 0x37FF Objects defined by System SpA for axis 3
Between 0x3800 and 0x3FFF Objects defined by System SpA for axis 4
Between 0x4000 and 0x5FFF Objects defined by System SpA for the
drive in its entirety
Between 0x6000 and 0x67FF Objects defined by DSP-402 for axis 1
Between 0x6800 and 0x6FFF Objects defined by DSP-402 for axis 2
Between 0x7000 and 0x77FF Objects defined by DSP-402 for axis 3
Between 0x7800 and 0x7FFF Objects defined by DSP-402 for axis 4
Between 0x8000 and 0xEFFF Not used
Between 0xF000 and 0xFFFF Objects for the management of the modular
profile (for four axes)
Index Name Bit
size Type Min Max default
R/W
0x6040 Control Word (1) 16 UINT rw
0x6041 Status Word 16 UINT ro
0x605A Quick stop option
code (2)
16 UINT 0rw
0x6060 Mode of Operation 8SINT 0rw
0x6061 Mode of Operation
display 8SINT ro
0x6064 Position Actual
Value (3)
32 DINT ro
0x607A Target Position (3) 32 DINT rw
0x607C Home Offset (3) 32 DINT
0
rw
0
0x6081 Profile velocity (3) 32 UDINT 010443816 1044381 rw
0x6086 Motion profile type 16 INT 0rw
0x6098 Homing method (4) 8SINT 37 rw
0x60A4 Profile jerk (3) 1rw
Sub 1: Profile jerk 1 32 UDINT 00x7FFFFFFF 0 rw
0x60C5 Max acceleration (3) 32 UDINT 00x7FFFFFFF 0x7FFFFF rw
0x60C6 Max deceleration (3) 32 UDINT 00x7FFFFFFF 0x7FFFFF rw
0x60FD Digital inputs (5) 32 UDINT ro
0x60FF Target Velocity (3) 32 DINT rw
0
0x6402 Motion Type 16 UINT 0x8008 ro
0x6502 Supported drive
modes (6)
32 UDINT 0x000101A5 ro
0x67FF Single device type 32 UDINT ro
0x00040192
0x00000001UL DIGIN_NegativeLimit Sensor Switch Backward
0x00000002UL DIGIN_PositiveLimit Sensor Switch Forward
0x00000004UL DIGIN_Home Sensor Switch Home Position
0x00000008UL DIGIN_Interlock
0x0000FFF0UL DIGIN_Reserved Reserved by CiA DS-402
0x00010000UL DIGIN_OverTemperature Overtemperature
0x00020000UL DIGIN_OverVoltage Overvoltage
0x00040000UL DIGIN_UnderVoltage Undervoltage
0x00080000UL DIGIN_HwFail H/W Overvoltage /
OverTemperature /
ClkFailure
0x00100000UL DIGIN_CaptureFailed
0x00200000UL DIGIN_MotionError
0x00400000UL DIGIN_MS_22
0x00800000UL DIGIN_InstructionError
0x01000000UL DIGIN_OverloadError MS_24: Current Overload
0x10000000UL DIGIN_AtMaxVel MS_28: PmdActivityStatus.AtMaxVel
0x20000000UL DIGIN_InMotion MS_29: PmdActivityStatus.InMotion
0x40000000UL DIGIN_MotionComplete MS_30: PmdEventStatus.AtMaxVel
0x80000000UL DIGIN_GeneralFault MS_31: General Fault
Manufacturer Specific
Manufacturer Specific
Manufacturer Specific
Manufacturer Specific
0x02000000UL DIGIN_ParameterError
0x0C000000UL DIGIN_MS_27_26 Manufacturer Specific (free)
Manufacturer Specific
page
13
January 2020 - Rev. 1.2 Order Cod. 1902503003
5.2 “Manufacturer dened”
objects relating to the
individual axes
Among the objects dened by System Spa for axes
ETC840/QUADactuallyimplementsonlythosecontained
inthefollowingtable(relativetoaxis1only);others,
althoughdened,areusedmostlyforproductiontesting
andarenotofinteresttotheuser.
Table 5.2.1
NOTES
(1) See Tables 5.2.2 and 5.2.3.
(2) If the ag ppParmsChangeOnNewSetpoint is
TRUE and the axis is in pp mode, all the kinematic
parameters are actually activated only on the
positive edge of the NewSetpoint ag contained
in the ControlWord (not only the parameter
TargetPosition).
(3) The Titemperatures are not rigidly associated
to the i-th axis; T1 and T2 are two temperatures
read inside the only dissipator associated to axes 1
and 2; T3 and T4 are two temperatures read inside
the only dissipator associated to axes 3 and 4.
(4) These ags allow to thoroughly monitor the
work of the axis power section and identify any
faults more easily.
In particular, the presence and correct wiring of
the motor in the start-up stage is checked, after
motor enabling; if the motor is not connected or
is connected incorrectly, the axis starts to fail. See
Table 5.2.4 for a detailed description.
(5) Bit 15 of this auxiliary ControlWord enables
the interpretation of the three less signicant
bits as follows: bit 0 indicates if the axis is in the
acceleration ramp, bit 1 if it is moving at constant
speed and bit 2 if it is in the deceleration ramp.
This information allows an appropriate setting of
the motor current when the axis is in csv mode;
when the axis is in pp mode (trapezoidal or S-
Curve positioning), the drive shall manage the
current independently in the most appropriate
way.
(6) 0=1/256; 1=1/128; … ; 7=1/2; 8=1/1 (full
step).
Table 5.2.2 Conguration of digital inputs as limit switches
Table 5.2.3 Digital inputs used as limit switches
Table 5.2.4
Index Name Bit
size Type Min Max Default R/W
0x2000 Configuration Miscellanea 6rw
Sub 1: Nominal current [0.1A] 8USINT 1130 30 rw
Sub 2: Reduced current [0.1A] 8USINT 1130 rw
10
Sub 3: Boost current [0.1A]
8
USINT 1130 rw
Sub 4: Voltage Low Threshold [V]
508
USINT 0 180 25 rw
Sub 5: Voltage High Threshold [V] 8USINT 0 180 180 rw
Sub 6: Temperature Threshold [°C] 8USINT 09090rw
0x2003 Positive Limit (1) 3rw
Sub 1: Present 8USINT 0rw
Sub 2: Signal Level 8USINT 0rw
Sub 3: Event action 8USINT 0rw
0x2004 Negative Limit (1) 3rw
Sub 1: Present 8USINT 0rw
Sub 2: Signal Level 8USINT 0rw
Sub 3: Event action 8
USINT 0rw
0x200F Special Setting 1rw
Sub 1: pp Parms change
on NewSetpoint (2) 8
0x2010 Analog Data 3ro
Sub 1: Actual Current [0.1A] USINT
80
ro
Sub 2: Temperature [0.1] (3) 8SINT 0ro
Sub 3: Voltage [V] USINT
80
ro
0x20FD Status Flags (4) 32 UDINT ro
0x20FC Aux Control Word (5) 16 UINT 0rw
0x2402 Microstepping Resolution (6) 16 UINT rw
0x2700 Start Velocity 32 UDINT 0rw
USINT 0rw
0x2001 Motor rated current [0.1A] 8USINT 1 100 100 rw
Subindex Name
01 Present Indicates if the limit switch
is present (=1)
or not present (=0)
02 Signal Level Signal polarity
0=negative, 1=positive
03 Event Action
the actions listed
on the right are
carried out following
the excitement
of limit switches
0 = None
1 = Reserved (do not use)
2 = Abrupt Stop
3 = Smooth Stop
Input 1 Negative Limit Axis1
Input 2 Positive Limit Axis1
Input 5 Negative Limit Axis2
Input 6 Positive Limit Axis2
Input 9 Negative Limit Axis3
Input 10 Positive Limit Axis3
Input 13 Negative Limit Axis4
Input 14 Positive Limit Axis4
Bitmask
position Short name Description
0x0000000FUL STSFLAG_Reserved Reserved
0x00000010UL STSFLAG_DontCare Reserved
0x00000020UL STSFLAG_AtFullStep Indicates whether themotor is in FullStep
(thereforewithaphaseat100% of the
maximumcurrent set and theother one at 0A)
0x00000040UL STSFLAG_AxisActive Indicates whether theaxisisactive and inapair
0x00000080UL STSFLAG_CurrentRegulated
Indicates whether the current set has been
reached. Typically is the motor rotation speed
is not high and the current is low, the flag is
present during all motor motion. If the speed
is too high as well as the set-point current, the
CurrentRegulated signal is hardly ever present,
the form of the supplied current, if measured,
takes on cuspidale forms. There may be
different easons for which the current is not
reaches, for example excessive resistance
in the motor connection
0x00000100UL STSFLAG_Fail_LA Phase A left branch error
0x00000200UL STSFLAG_Fail_RA Phase A right branch error
0x00000400UL STSFLAG_Fail_LB Phase B left branch error
0x00000800UL STSFLAG_Fail_RB Phase B right branch error
0x00001000UL STSFLAG_OverCurrent Overcurrent time-averaged
0x00002000UL STSFLAG_ClockFail
Synchronisation error with the current branch
sensor indicated by STSFLAG_Fail_# #
Typically this error occurs if the motor is
not connected or if a phase is defective
0x00004000UL STSFLAG_FastOvercurrent
Instantaneous overcurrent: the fail may occur
in the event of significant current variations
(even when switching from minimum to
maximum current, depending on the power
supply-cable conditions and inductance of
the motors used)
0x00008000UL STSFLAG_OverVoltage
Overcurrent (for the pair of associated
axes 1-2/3-4)
Axis1and axis 2sharethe same power supply
Axis3and axis 4sharethe same power supply
page
14
January 2020 - Rev. 1.2 Order Cod. 1902503003
5.3 “Manufacturer defined”
objects relating to the entire
drive
AmongtheobjectsdenedbySystemSpaforthedrive
initsentirety,ETC840/QUADactuallyimplementsonly
thosecontainedinthefollowingtable;others,although
dened,areusedmostlyforproductiontestingandare
notofinteresttotheuser.
Almostalloftheseparametersareread-only.
Table 5.3.1
NOTES
(1) 0 = EtherCAT; 1 = CANopen/Ethernet
(2) 0 = 1 Mbps; 1 = 800 Kbps; 2 = 500 Kbps; …;
7 = 10 Kbps;
(3) See Table 5.3.2
(4) See Table 5.3.3
(5) Parameters relating to the microprocessor that
controls the entire drive.
(6) The Ti temperatures are not rigidly associated
to the i-th axis; T1 and T2 are two temperatures
read inside the only dissipator associated to axes 1
and 2; T3 and T4 are two temperatures read inside
the only dissipator associated to axes 3 and 4.
(7) Parameters relating to the pulse generating
chip.
Table 5.3.2 Special Digital Inputs
Table 5.3.3 Special Digital Outputs
6. Units of measure
for the kinematic
parameters
Theunitofmeasureofthepositionsisthemicrostep;
those relating to speed, accelerations and jerk refer
to a quantum of time of 256 microseconds, equal to
3906.25cycles/s.
The parameters with one speed dimensions must be
intended as signed 32-bit integers; these integers
(actually xed point numbers in format 16:16) are
obtainedbymultiplyingthenumberofmicrosteps/cycle
by65536(216).
Forexample,ifonewantstoobtainaspeedof10000
microstep/s,onemustcalculatethefollowing:
Theparameterswithoneaccelerationdimensionsmust
be intended as unsigned32-bitintegers;theseintegers
(actually xed point numbers in format 16:16) are
obtainedbymultiplyingby65536(216)thenumberof
microsteps/cycle2.
Index Name Bit
size Type Default R/W
0x4003 MAC Address 32 UDINT ro
0x4004 Ethernet Settings 5ro
Sub 1: IP Address 32 UDINT ro
0xC0A80101
(192.168.1.1)
Sub 2: Sebnetmask 32 UDINT ro
0xFFFFFF00
(255.255.255.0)
Sub 3: Gateway 32 UDINT ro
0x00000000
(0.0.0.0)
Sub 4: Primary DNS 32 UDINT ro
0x00000000
(0.0.0.0)
Sub 5: Secondary DNS 32 UDINT ro
0x00000000
(0.0.0.0)
0x4005 EtherCAT Address (ID) 16 UINT 0ro
0x4006 Comunication Mode (1) 8USINT 0rw
0x4007 CANopen Parameters 4ro
Sub 1: Bit rate (2) 8USINT ro
2
Sub 2: Node Address 8USINT ro
0x01
Sub 3: Termination Resistor 08 USINT ro
Sub 4: Slope Resistor 08 USINT ro
0X4009 Quad Box Info 4ro
Sub 1: Product Code ro
Sub 2: Revision 32 UDINT
32 UDINT 0x08400001
0ro
Sub 3: Serial number 32 UDINT 0ro
Sub 4: Operator/Date 32 UDINT 0ro
0x400A Quad Board Info 4ro
Sub 1: Product Code ro
32 UDINT 0x59075151
Sub 2: Revision 32 UDINT 0ro
Sub 3: Serial number 32 UDINT 0ro
Sub 4: Operator/Date 32 UDINT 0ro
0x400B Fan Temperature Threshold [°C] 16 UINT 40 rw
0x400D Special Digital Inputs (3) 32 UDINT ro
0x400E Special Digital Outputs (4) rw
32 UDINT
0x4010 Firmware Update ro
2
Sub 1: Invalidate Command 0ro
32 UDINT
Sub 2: Reset Command 0ro
32 UDINT
0x4017 Analog Inputs 11 ro
Sub 1: ARM internal Temperature (5) 16 INT ro
Sub 2: ARM internal Vref (5) 16 INT ro
Sub 3: ARM internal Vbat (5) 16 INT ro
Sub 4: sense 160 Vdc 1 16 INT ro
Sub 5: sense 160 Vdc 2 16 INT ro
Sub 6: sense 160 Vdc 3 16 INT ro
Sub 7: sense 160 Vdc 4 16 INT ro
Sub 8: Temperature 1 (6) 16 INT ro
Sub 9: Temperature 2 (6) 16 INT ro
Sub 10: Temperature 3 (6) 16 INT ro
Sub 11:Temperature 4 (6) 16 INT ro
0x4018 Pmd Indentity (7) 7ro
Family ro
16 UINT 5
Motor Type ro
16 UINT 8
Number of Axes ro
16 UINT 4
Chip count ro
16 UINT 2
Custom ro
16 UINT 0
Major SW version 2ro
16 UINT
Minor SW version ro
16 UINT 4
0x40F6 Digital Outputs Control 2ro
Sub 1: Error Mode ro
16 UINT 0xFFFF
Sub 2: Error Value ro
16 UINT 0x0000
0x40FD Digital Inputs IN1 … IN16 ro
16 UINT
0x40FE Digital Outputs OUT1 …OUT16 rw
16 UINT
Bitmask
position Description
0x00000001UL Fan controlled by network master
0x00000002UL Fan must be activated
0x00000004UL Safety output test
0xFFFFFFF8UL Reserved
Bitmask
position Description
0x000000FFUL Reserved
0x00000100UL Fail on Digital Outputs 1..8
0x00000200UL Fail on Digital Outputs 9..16
0x00000400UL Fan active
0x00000800UL Temperature of µP too high
0x00001000UL Temperature T1 or T2 too high
0x00002000UL Temperature T3 or T4 too high
0x00004000UL 24Vdc too low
0x00008000UL Safety alarm
0xFFFF0000UL Reserved
V = 10000 microstep/s
10000 * 65536
3906.25 = 167772 (format 16:16)
page
15
January 2020 - Rev. 1.2 Order Cod. 1902503003
Forexample,ifonewantstoobtainaspeedof50000
microstep/s2,onemustcalculatethefollowing:
Theparameterswithonejerkdimensions(rstderivative
of acceleration) must be intended as unsigned 32-bit
integers;theseintegers(actuallyxedpointnumbers
informat0:32)areobtainedbymultiplyingby232)the
numberofmicrosteps/cycle3.
For example, if one wants to obtain a jerk of 500
microstep/s3,onemustcalculatethefollowing:
7. WEB interface
Theaxesmanagementrmwarecontainsawebserver
thatallowstointerfacethedrivewithanybrowser.
Figure 7.1
From the Home Page one can access three dierent
pages:
1. “Firmwareinvalidation”and“drivereset”page.
Thispageisveryusefulifonewantstoupdatethe
axesmanagementrmwareviathebrowser.
2. Managementpage(partial)ofthedriveautomaton
state.
3. Webcontrolledmovementsmanagementpage.
NOTE:
The use of the last two pages listed requires the
drive being set (via the front keypad) in CANopen
communication mode (actually, CANopen/
Ethernet) and is strongly unadvised. Ethernet/
HTTP communication, in fact, is not real-time
and is not recommended for controlling motors;
it is only envisaged as an internal tool for System
Spa developers.
NOTE:
Do not connect the Ethernet cable during normal
operation of the drive and replace the connector
protection cap at the end of the operation.
8. CANopen interface
ThedriveisequippedwithaCANcommunicationport
andisdesignedtooperateasaCANopennodeandit
is actually allowed to set (via the front keypad) the
CANopencommunicationmode,aswellastheCANopen
node address, the bit rate (between 10 kbps and 1
Mbps), the insertion of the termination resistor and
theslopecontrol(intheeventthetransmissionrateis
particularlyhigh,i.e.above500kbps).
At present, however, there is NO CANopen object
implemented that allows the use of the drive for axes
management.
Defaultconguration:
• Transmissionspeed500Kbit
• TerminationNOTinserted
• Slopeinserted
For settings refer to paragraphs 3.2.5, 3.2.6 and
3.2.7.
Connection to the CAN network
The physical medium used for the connection is a
shieldedtwo-wirecable.Thearrangementofthenodes
mustbesuchthattheterminationresistorsareplaced
atthetwoendsofthenetwork;itisalsoadvisableto
maketheconnectionsavoidingTconnections.
Figure 8.1
120 ohm
120 ohm
Acceleration = 50000 microstep/s²
50000 * 65536
3906.25²= 214 (format 16:16)
Jerk = 500 microstep/s²
500 * 2³²
3906.25³= 36 (format 0:32)
page
16
January 2020 - Rev. 1.2 Order Cod. 1902503003
9. Installation
9.1 Inspection
Uponreceiptofthegoods,checkthatthepackagingand
thecontentsarenotvisiblydamaged.Otherwisecontact
SystemElectronics.
9.2 Fixing the units
Theunitisdesignedforeasymountingonaspecialrear
base(optionalforxingscopeonly),whichcanbexed
to any vertical surface by means of a pair of screws
(Figure9.2.1).
Figure 9.2.1 Mounting base and dimensions
Theunitiscoupledtothebasebymeansofaseriesof
trapezoidalteethplacedattheupperandlowerends.
Theteetharecoupledviatheslotsonthebase.
The upper slots of the base are located in mobile
elements held in place by springs.
The mounting base must be xed rst. The unit is
insertedbyplacingtheupperteethonthemobileslots,
exertingenoughpressuretoloadthespringsandallow
theinsertion of the lower teeth in their seats (Figure
9.2.2).
Disassemblytakesplaceinasimilarway:onepresses
upwardsfreeingthelowerteeth(Figure9.2.3).
Toensureanecientowofairinside,itisadvisable
tomounttheunitverticallyandprovidesucientspace
forventilationfromthelowerside.
The panel in which the Quad EtherCAT Microstepping
Drive is installed must be protected from dust and
liquids.
Figure 9.2.2 Unit insertion
Figure 9.2.3 Unit removal
80
202
20.5
34.5
288
362
39.5
330
1
2
1
2
page
17
January 2020 - Rev. 1.2 Order Cod. 1902503003
9.3 Terminal board removal
ThefrontpaneloftheMicrostep unitisttedwiththe
I/Oterminalboard.The panelandthus allthewiring
is easily removable from the unit by simultaneously
leveragingonthetwotabsattheendsofthecontainer.
Themaneuverinvolvestheejectionofthefront.
The front is closed by placing the same in its seat
(keepingthetabsopen)andthenclosingthetabsuntil
itclicksintoplace(Figure9.3.1).
Figure 9.3.1 Terminal board removal
9.4 EtherCAT bus wiring
TheEtherCATwiringenablesreal-timecommunication
withthesupervisorandtheadjacentEtherCATnodes.
Use shielded cables that meet the minimum requirements
forcategory5,classDofstandardIEC11801.
ItisrecommendedtouseCat5categoryandshielded
4-wirecables.
TheEtherCATcableshieldallowstoattenuateelectrical
interferences in an industrial environment that might
corruptcommunication.
Donotinstallthecommunicationcablewiththemotor
powercablesorinparallelwiththem,butputthemin
separate cable ducts.
Donotextendthecommunicationcableswithadapters
or extension cables, but use a cable of appropriate
length.Onrequestshieldedcablesandadapterstobe
installedintheeldcanbesupplied.
The EtherCAT cable is connected to the earth of the
ETC-QUADdrivethroughdecouplingcapacitors,asper
EtherCATspecications,toavoidacompensatingcurrent
owingontheshieldoftheconnectingcable.
10. Power supply
sizing
Inorder to sizethe power supplyproperly, one must
carefully assess several factors, such as: the motor
used,thenumberofsimultaneousaxesonewantsto
movesimultaneously,themotorspeedandcurrent,the
brakingtorqueandthemomentoftheload.
Thesectionoftheconductorsandthedistancefromthe
powersourceaectinturnthepowersizing.
Thesupply voltageaects the maximumacceleration
atwhichitispossibletomovethemotor:accordingto
theinductanceofthemotorwinding,infact,thecurrent
takestimeto reachsteady stateconditions, givenby
the formula V = L dI/dt . (where I is the maximum
current applied, typically the boost current starting
fromstandstill).
Onemustmaintainasafetymargintopreventexceeding
180Vinanyoperatingcondition.Itisrecommendednot
toexceed150Vdcofnominalpower.
Itisrecommendedtouseapowersupplythatprovides
arectiedvoltagewitharipplebelow1Vpp:thepower
supplyripplehasanegativeimpactonthetorque.
Thepowersupplymustbecapableofdeliveringpowerto
themotorsthataregoingtooperatesimultaneously:the
RMScurrentat150Vdcpersingleaxiscanbeestimated
approximatelyequalto3Awithtypicalmotorsandspeed
prolesforsteppermotors.
Whenamotorisdecelerated,inthepresenceofaload
withahighmomentofinertia,thekineticenergyofthe
system is converted to electrical drive power, raising
thesupplyvoltage.Thepowersupplymustensurethat
themaximumvoltagedoesnotreachdangerouslevels,
consideringallthemotors thatcould moveovertime
andthatcouldbestoppedatthesametime:onemust
in fact also consider the possible emergency stops in
whichseveralaxesmustbestoppedassoonaspossible.
Theenergythatcannotbeusedbyothermotorsthat
moveisstoredinthecapacitors,ifproperlysizedeven
followingbrakingtests.
If the capacitors are not sufficient to accumulate
the energy input to the power bus, there should be
an active or passive circuit for limiting the transient
overvoltage.
Testsandyearsofexperienceintheuseofsteppermotors
recommendusingatleast2'500uFcapacitors(min250V)
pereachaxiswhichmaymovesimultaneously,uptoa
maximumof25'000uFpermachine,tolimitthestart-up
currentandthestressonthepowerdiodes.
E.g.:foramachineinwhichonecanmoveupto4axes
simultaneously,includea250V10'000uFcapacitor.
The power Bus remains at a dangerous voltage
after switching the machine o. Wait for the
power bus to reach a voltage below 40V before
intervening or remove the terminal board.
Attention!
Risk of Electric Shock, wait 1 minute before operating.
Attention!
Risque de choc électrique, attendez 1 minute avant
d'utiliser.
It is recommended to include a power bus discharge
system.
1
1
2
2
!
!
page
18
January 2020 - Rev. 1.2 Order Cod. 1902503003
Suggested connection diagram
11. Connections
11.1 UPPER SIDE TERMINALS
connection
Figure 11.1.1
XP10 POWER 24Vdc - Control board
24Vpowerconnector
1 +24Vdc
2 REF 24
3
4 GND
Maxcurrent0.5A
GND:Connecttothe
Ethernet ETH1 RJ45 (normally NOT used)
Thisconnectorfeaturesadust-proofcap.
• 1 TX+
• 2 TX-
• 3 RX+
• 4
• 5
• 6 RX-
• 7
• 8
87654321
L/A
LD4
RUN LD3
ETC0
IN
L/A
LD5
ETC1
OUT
CAN
XP9
ACT
LD7
ETH1
LINK
LD6
XP10
GNDREF24
+24V
]
]
page
19
January 2020 - Rev. 1.2 Order Cod. 1902503003
EtherCAT IN (ETC0)
• 1 TX+
• 2 TX-
• 3 RX+
• 4
• 5
• 6 RX-
• 7
• 8
EtherCAT OUT (ETC1)
• 1 TX+
• 2 TX-
• 3 RX+
• 4
• 5
• 6 RX-
• 7
• 8
LEDs and serigraphs layout on the upper
terminals
Figure 11.1.3
LedLink/ActivityEtherCAT:green
LedRunEtherCAT:green
LedLinkEthernet:green
LedActivityEthernet:yellow
CANbus XP9 connector
• 1 CANH
• 2 CANL
• 3 CAN_GND(donotconnect)
11.2 Front removable Terminal
Board connection
PowerSection:(numberingstartingfromthebottom)
Table 11.2.1
The"spring"typeterminalsallowtoconnectcableswith
upto4mm2section.
Topower2motorsonemustconnect2cablesforthe
160Vand2cablesfortheGND.
-V12and-V34areinternallyconnected.
The160Vconnectedtoterminals+V12iscommonfor
motors1-2.
The160Vconnectedtoterminals+V34iscommonfor
motors3-4.
Fuses: FU1-FU4 (see par. 2.6 for fuses
specications).
Replace only with the following fuse available from
SystemSPA:
Code70000650FUSERAP10A5X20250VDC
50CF-100HHOLLYLAND(E156471)
ConnectallPEterminalstotheprotectiveearthofthe
main circuit.
Description Label
PE - Slave Board Grounding GR
Phase A Motor 4 AN4
Phase AN Motor 4 A4
Phase B Motor 4 BN4
Phase BN Motor 4 B4
Phase A Motor 3 AN3
Phase AN Motor
3A
3
Phase B Motor 3 BN3
Phase BN Motor
3B
3
REFERENCE POWER SUPPLY -V34
REFERENCE POWER SUPPLY -V34
160V power supply - Motor 3 and 4 +V34
160V power supply - Motor 3 and 4 +V34
160V power supply - Motor 1 and 2 +V12
160V power supply - Motor 1 and 2 +V12
REFERENCE POWER SUPPLY -V12
REFERENCE POWER SUPPLY -V12
Phase BN Motor 2 B2
Phase B Motor 2 BN2
Phase AN Motor 2 A2
Phase A Motor 2 AN2
Phase BN Motor 1 B1
Phase B Motor 1 BN1
Phase AN Motor 1 A1
Phase A Motor 1 AN1
PE - Master Board Grounding GR
]
]
Num
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
XT2
XT1
GR=
|
_
_
_
_
87654321
]
]
87654321
]
]
LINK
ETHERNET
ACTIVITY
ETHERNET
LINK/ACTIVITY
ETHERCAT OUT
ETHERCAT
RUN
LINK/ACTIVITY
ETHERCATIN
page
20
January 2020 - Rev. 1.2 Order Cod. 1902503003
11.3 Earth connection
One must connect all the required terminals to the
protectiveearth(PE):bothGRofthefrontremovable
terminalboardandtheGNDterminalofthe24Vpower
supplyconnectorXP10.
11.4 Front terminal board
1902503002
I/O Connection
Table 11.4.1
XP5:powersupply24VforI/O
Maxwiresize2.5mm2
XP4:Maxwiresize1.5mm2
Theinputsandoutputs,andthepowersupplyforthe
I/O,areisolatedfromthepowersupplyofthemotors
andfromthelogicboard.
11.5 Front terminal board
1902503003
I/O Connection
Table 11.5.1
Num Description
40 REF I/O
39 +24 I/O
38 REF I/O
37 +24 I/O
36 REF I/O
35 +24 I/O
34 REF I/O
33 +24 I/O
32 OUT16
31 OUT15
30 OUT14
29 OUT13
28 OUT12
27 OUT11
26 OUT10
25 OUT9
24 OUT8
23 OUT7
22 OUT6
21 OUT5
20 OUT4
19 OUT3
18 OUT2
17 OUT1
16 IN16
15 IN15
14 IN14
13 IN13
12 IN12
11 IN11
10 IN10
9 IN9
8 IN8
7IN7
6 IN6
5IN5
4 IN4
3 IN3
2 IN2
1 IN1
Num Description
34 +24V
33 REF
32 OUT16
31 OUT15
30 OUT14
29 OUT13
28 OUT12
27 OUT11
26 OUT10
25 OUT9
24 OUT8
23 OUT7
22 OUT6
21 OUT5
20 OUT4
19 OUT3
18 OUT2
17 OUT1
16 IN16
15 IN15
14 IN14
13 IN13
12 IN12
11 IN11
10 IN10
9 IN9
8 IN8
7IN7
6 IN6
5IN5
4 IN4
3 IN3
2 IN2
1 IN1
]
]
]
XP5
XP4
This manual suits for next models
1
Table of contents
Popular DC Drive manuals by other brands
Allen-Bradley
Allen-Bradley PowerFlex 70 installation instructions
LOVATO ELECTRIC
LOVATO ELECTRIC VLB3 Series quick guide
Reliance electric
Reliance electric FlexPak 3000 instruction manual
Inovance
Inovance MD800 Series Function guide
GFA
GFA ELEKTROMAT SI 45.15-40,00 GA45/15GD installation instructions
Siro
Siro ERB35LE manual
