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. Technicalspecications...................................................3
3. Displayandkeyboard.....................................................6
4. Axes management Firmware update.................................10
5. Standarddriveprole...................................................12
6. Unitsofmeasureforthekinematicparameters...............14
7. WEBinterface.............................................................15
8. CANopeninterface.......................................................15
9. Installation.................................................................16
10. Powersupplysizing...................................................17
11. Connection...............................................................18
12. Availableaccessories.................................................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.
viaGhiarolaVecchia,73
41042Fiorano(MO)-Italy
tel.0536/836111-fax0536/830901
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 reservestherighttomake
changesofanykind to the technical specications at
anytimewithoutpriornotice.Theinformationcontained
inthisdocumentisbelievedtobecorrectandreliable.
Thereproduction,evenpartial,ofthecontentsofthis
catalogue,isallowedonlywithpermissionfromSYSTEM
CERAMICS SPA.
1902503002 ETC-QUADMICROSTEPMOTORDRIVER160V10AIO_REMOTIUL
1902503003 ETC-QUADMICROSTEPMOTORDRIVER160V10AMORSETTIUL
2E000002 ETCQUADTERMINALDISTRIBUTIONBOARD

page 3
January 2020 - Rev. 1.2 Order Cod. 1902503003
1. General characteristics
The Quad Microstep driveunitisdesignedtocontrol
and monitor up to four two-phase stepper motors,
operatinginbipolarchoppermode.
Thedriveisequippedwithahighperformancetrajectory
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 congurable remotely, as well as all the operating
parametersthatcanbevariedviatheeldbusinuse
(the use of conguration jumpers or the like is not
required).
The drive is always equipped with a master board
containingtheglobalcontrolelectronicsandthepower
sectionfortwomotors;anexpansion boardisconnected
tothemasterboardandallowstocontroltwoadditional
motors.The expansion board also provides 16 digital
24Visolatedoutputsand16digitalinputs.
A front display and keyboard allow to rapidly view
the main conguration parameters and status of the
drive.
Thegeneralcharacteristicsofthesystemare:
• Opentype
• Limiteddimensions:375×190×80
• HighperformancethankstotheuseofMosfetin
thepowerstage
• Silentduetoanoperatingfrequencyequalto
25KHz
• Completeworkparametersettingfromremote
• Frontdisplayandkeyboardtoverifysome
operatingparameters
• Managementofstepfractionationupto1/256
stepsperstep(forexample,withmotorsoperating
at200steps/revolutiononecanachievepositioning
resolutionsupto51200microsteps/revolution).
Theuseofmicrosteppingalsoallowstoobtainless
motorheatingandincreasedsilentnessinrotation.
Themaximumgeneratedfrequencyisinanycase
equalto622500microstep/s
• Optimalintegrationbetweenthecontrolstage,
powerstageandinputs-outputs:infactthe
MicrostepunitfeaturesaPMDindexerintegrated
on-board,capableofhandling4independentaxes
withtrapezoidal,velocityandS-curveproles
• 16digital24Visolatedinputsand16outputs
• Controlofsteppermotorsat25V-160Vmax and 1A
-13A
• Guards:
• Protectionagainstshort-circuitbetweenthemotor
phases
• Protection against incorrect wiring (phases not
connected)
• Protectionagainstovertemperature
• Protectionagainstshort-circuitbetweenaphase
andthedrivepowersupply
• Faultmanagementandreport
• Remotereadingofthepowerstagetemperature
• Remotereadingofthemotorsupplyvoltage
• Reportoffailuretoreachthecurrentset-point
whileinmotion.
• ULcertied
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
Powersupplyseparatedandisolatedfromthecontrol
powersupplyandI/O
• Motorpowersupplymin25Vmax180V.Separate
motorpowersupplyforpairsofmotors1-2and3-
4:while maintaining the same mass,itispossible
topowermotorswithdierentvoltagesorpartly
disable them
• Thepowersupplyofthepairofmotors1-2shares
thesameGNDofthepairofmotors3-4.TheGND
canbeconnectedtothePEdependingonthe
application
• Powersectionoperatingtemperaturemax90°C
• Minimumoperatingtemperature0°C
• Readingviaeldbusofthepowerstagedissipators
temperatureofeachpairofmotors
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)
• Programmablesettingofthedissipator
overtemperaturethreshold(<90°C)
• Remotereadingofthemotorsupplyvoltage
• Protectionofeverysinglemotorwithfuseonthe
removablefrontterminalboard.Fuseinstalled:
10AF250V(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

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January 2020 - Rev. 1.2 Order Cod. 1902503003
• Operatingcurrentforeachmotormax10A
continuous(max13Aboost)
• Programmablesettingoftheovervoltageand
undervoltagethresholdtogenerateafault
• Coolingfanoperatedautomaticallybythedrive
• Managementandresetoffaultsdueto:
• Overcurrentbetweenphasesofthesamemotor
• Overcurrentbetweenphasesofdierentmotors
• Short-circuitbetweenphaseandpowersupply
• Short-circuitbetweenphaseandGND
• 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-useapplicationwithinnalenclosuretomaintaina
pollutiondegree2orequivalentenvironment.
2.3 Overvoltage Protection
Thesedevicesareintendeduseconnectedtoa“Circuit
OvervoltageCategoryIII”.
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
TheShortCircuitCurrentisreferredtothemaximum
DrivePower.TheStepperMotorDCDriverseriesQuad
Remote Microstep Driver is rated for Standard Fault
CurrentvaluesinaccordancewithUL508C,Table45.1,
andbasedonanInternalSolidStateShortCircuitpro-
tectionwhoseoperationcomplieswithSection45.1.3
andwhosemanufacturingprocesscomplieswithSection
64.1,64.2and64.3.
Table 2.4.1
ShortCircuitProtectionisperformedbothbyInternal
Solid State Short Circuit Protection and by External
RecognizedSpecial-purposeFuses(recommended)Pro-
tection.ThefusehasbeenevaluatedduringtheShort
CircuitTestalsoforBranchCircuitProtection.
INTERNALSOLIDSTATESHORTCIRCUITPROTECTION
-TheDriveisequippedwithSolidStateShortCircuit
Protection.
EXTERNAL(RECOMMENDED)PROTECTIONFUSES–R/C
Special-purpose Fuses (JFHR2/JFHR8), manufactured
by COOPER BUSSMANN LLC (E91958), model FWP-
40B,seriesFWP,Fusesforprotectionofsemiconductor
devices.
Table 2.4.2
Alternative-AnyListedCartridgeFuses,Nonrenewable
(JDDZ/JDDZ7) or R/C Special-purpose Fuses (JFHR2/
JFHR8)withthesameratingsoftheabovefuse,inpar-
ticularwithI2tandIpeakequalorlower.
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
TheequipmentincorporatesinternalSolidStateMotor
Overloadprotectionforthemotorloadandspeedsensi-
tiveoverloadprotectionwiththermalmemoryretention
(incomplywithpar.43.1,43.3,43.4and43.5,UL508C),
thereforedoesnotrequiretobeusedwithexternalor
remoteoverloadprotection.
OVERLOAD IMPLEMENTATION: BY THE USER
The drive implements an algorithm for protection
againstmotor current overload;the user is responsi-
bleforsettingthepropervalueofMotorratedcurrent
parameter.
SetthevariableMotorratedcurrent foreachaxis
withtheratedcurrentofthemotoryouhave.(Nominal
Currentofthemotorfromitsdatasheet)
Themotorcanruncontinuouslyforcurrentvaluesbelow
the"ratedcurrent”setbytheuser.
Forcurrentrangesfrom100%to200%oftherarted
currenttherewillbeanoverloadifthemotorwillwork
for8minuteswithoutstopping.Themotorhastorunat
lowercurrentsatleastforthesametimeinordertocool
downproperlybeforemovingagainatcurrentshigher
thantheratedone.
Forcurrentvaluesgreaterthan200%theoverloaderror
occurswithin20seconds.Forcurrentvaluesgreaterthan
600%theoverloaderroroccursimmediately.
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

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January 2020 - Rev. 1.2 Order Cod. 1902503003
2.6 Internal Fuse Protection
(FU1-FU4)-R/CFuses,Supplemental(JDYX2,JDYX8),
manufacturedbyHOLLYLANDCOLTD(E156471),model
50CF-100H,lled-tube,rated10A,250Vac:Interrupting
Rating=1500A, 250Vdc: Interrupting Rating=1000A,
Size5x20mm.
Block diagram of internal operation
Figure 2.6.1
2.7 Control and processing
section
• Powersupply24V0.5ADC(isolatedfromthe
powerstage)
• Workenvironmenttemperature0…40°C
• Watch-Dog
• Communicationvia:
• EtherCAT(DeviceProle:MultidriveDSP-402)
• CAN/CANopen (Device Prole: Multidrive DSP-
402)
• Ethernet
• Firmwareupdatingviaeldbus(Ethernet/HTTP,
Ethernet/TFTP,EtherCAT/FoE)
• Possibilitytosetthemovementsseparatelyfor
eachaxisintermsofoperatingandstart-upspeed,
accelerationanddeceleration,positiontarget
• Possibilitytosetthecurrentstobeusedseparately
foreachaxis(nominal,boostandreduced)
• Stepfractionationsettingfrom½stepto1/256
stepindependentlyforeachmotor(fullstep
optional)
• Firmware(non-modiable)forupdate
management;thermwareiscalled"Monitor"
• Firmware(updatable)forthemanagementofthe
axesaccordingtotheprotocolCiADSP-402.
2.8 I/O section
• 16digitalinputsisolatedfromthepowerstage
and24Vpowersupplyforthelogic,16PNP24Vdc
0.5Ageneralpurposedigitaloutputswhichcanbe
managedasremoteI/O
• Theoutputsareopticallyisolated,thermally
protectedandprotectedagainstshort-circuits
• Diagnosticsofintervenedprotectionasaresult
ofshort-circuits.Outputspowersupplyseparated
fromthatoftheinputsandcontrolsection.The
digitaloutputsandinputscanbeconguredto
performspecicfunctionssuchaslimitswitch,
home,positioncapture,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
withfourbuttonsfordisplayingandeditingsomeofthe
operatingparameters.
Thedisplayisorganizedasasetofcircularsequences
ofpagesthatcanbebrowsedusingthebuttonsonthe
keyboard;theseare:
Toscrollasequenceofpagesinthedesired
directionortoincrease/decreasethevalue
ofaparameterbeingedited.
Togobacktoasequenceofpagesonan
upper level or to the default page or to
cancel parameter editing operations in
progress.
To switch to a sequence of pages on a
lowerlevel,toaccesstheeditingmodefor
aparameterthatisbeingdisplayedandto
conrmitsnewvalue.
Figure 3.1
The main menu (the sequence of pages at the
highest level) allows to view the following read-only
parameters:
• Axesstatus(default page)
• Digital inputs status
• Digitaloutputsstatus
• Motorsupplyvoltage
• Motordissipatortemperature
• Controllertemperatureandsupplyvoltages
• StatusofjumpersJ2..J5(for testing only during
drive production).
PressingtheEnterkeywhileviewingthedefaultpage
makesanewsequenceofpagesappear(sub-menu):
• Axesmanagementrmwarerelease
• Monitorrmwarerelease
• Communicationmode  (modiable)
• EtherCATnodeaddress  (modiable)
• CANnetworkbitrate  (modiable)
• CANnetworkterminationandsloperesistors
     (modiable)
• CANopennodeaddress  (modiable)
• EthernetMACaddress
• EthernetIPaddress   (modiable)
• EthernetIPsubnetmask  (modiable)
3.1 Display
WhentheETCQUADdriveisswitchedonsomemessages
appearonthedisplay,showingtheoperationsperformed
during the initialization of the axes management
rmware.
Ifnoproblemshaveoccurred,afterafewsecondsthe
displayshowsamessagesimilartothefollowing:
3.1.1 Axes status page
(default page)
E:00001:012:01
Init3:014:01
The beginning of the upper line shows the type of
communicationset(E=EtherCAT/C=CANopen)and
thenodeaddress(inhexadecimalformat).
TheEtherCATnode addressis setat 0000to request
dynamicassignmentoftheaddressitself.Otherwisethe
driveusestheaddresssetashot-plugaddressofthe
EtherCATnode.
The beginning of the lower line displays (with four
characters)theEtherCATorCANopenstatus:
[“Init”/”PrOp”/”SfOp”/”Op“/“ERR”/“Boot”].
ThestatusaccordingtostandardproleDSP402isthen
displayedforeachaxis1..4(inhexadecimalformat):
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

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January 2020 - Rev. 1.2 Order Cod. 1902503003
3.1.2 Digital Inputs
status display page
Digital Inputs
0000000000000000
Displaystheinstantaneousstatusofthe16digitalinputs
(fromIN_16toIN_1readingfromlefttoright)
1: active input
0: inactive input
3.1.3 Digital Outputs
status display page
DigitalOutputs
0000000000000000
Displays the instantaneous status of the 16 digital
outputs(from OUT_16 to OUT_1 reading from left to
right)
1: activeoutput
0: inactiveoutput
3.1.4 Power voltages display page
V1:000VV2:000V
 V3:000VV4:000V
Displays the power voltage applied to the various
axes.
The voltage is measured in volts with an accuracy of
±3V.
Ifthepowersupplyterminalsarenotconnectedorthe
endsarenotconnectedtothedischargeresistors,itis
typicaltodisplayavoltageofabout10Vduetointernal
pull-ups.
VoltageV1andV2comefromterminals+V12ofthe
terminalboard;voltageV3andV4comefromterminals
+ V34 of the front terminal board: if the voltages
betweenthepairsV1-V2andV3-V4diersignicantly
checktheterminalboardfuses.
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:27CT2:28C
 T3:27CT4:24C
Displays(indegreesCelsius)theinternaltemperature
ofthepowerdissipatorswithanaccuracyof±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=OFFJ3=OFF
 J4=OFFJ5=OFF
ThispageallowstoknowwhetherjumpersJ2..J5are
inserted(ON)ornot(OFF).
Atthemoment,thepositionofthesejumpersDOESNOT
aectthebehavioroftheaxesmanagementrmware
and this page is only required for tests during drive
production.
3.2 Conguration sub-menu
Asalreadymentionedpreviously,bypressingthe8key
ontheaxesstatuspageonecanaccessadisplay/editing
sub-menu.
Ifoneisonapagethatdisplaysamodiableparameter
andonepressesthe8key,itswitchestoedit mode;
asmentioned,onecanusethearrowstoeditthevalue
oftheparameterandconrmthevaluebypressingthe
8key;whilepressingtheESCkeycancelstheediting
inprogress.
Pressing either the 8keyortheESCkeyexitsthe
parametereditingmode;if,however,theparameterin
questionisactuallypartofacomplexparameter(i.e.,
theIPaddressorsubnetmask)pressingthe8key
switchestothenextportionoftheparameter,untilthe
entirecomplexparameterhasbeencompleted(orone
hasnotpressedESCthuscancellingtheeditingof
theentireparameter).
!
!

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January 2020 - Rev. 1.2 Order Cod. 1902503003
3.2.1 Firmware revision display
F/W5907995102
  Vx.xx
Displays the current revision of the programmed
Firmware.
3.2.2 Monitor revision display
MON5907995101
  Vx.xx
DisplaysthecurrentrevisionoftheMonitor.
3.2.3 Communication Type Display /
Setting
COMM.MODE
ETHERCAT
Displaysthetypeofcommunicationsetandallowsto
modifyit.
The admitted values are: [CAN] or [ETHERCAT].
Defaultvalue:[ETHERCAT].
3.2.4 EtherCAT Address Display /
Setting
ECAT Address
0
Displays the EtherCAT node number used and allows
tomodifyit.
Typically theEtherCATnodeisacquired automatically
accordingtothepositionofthenodesintheEtherCAT
network. If the number of the node is [0] the Quad
addresswill be automatic; onecanforce the address
by changing it manually.
Defaultvalue:[0]
3.2.5 CAN communication Speed
Display / Setting
CANOpenBitrate
500 Kbps
DisplaystheCANcommunicationspeedandallowsto
modifyit.
Theadmittedvaluesare:
[10Kbps]
[20Kbps]
 [50Kbps]
 [125Kbps]
 [250Kbps]
 [500Kbps](<-default)
 [800Kbps]
 [1000Kbps]
3.2.6 CAN Slope and terminations
Display / Setting
 CANResistors
 Slope:YTerm:N
DisplaysthestateoftheterminationsandSLOPEofthe
CANnetworkandallowstomodifythem.
Typically in a CAN network one must only set the
terminationofthelastnodeofthenetwork.
WiththeSlopeonecanchoosebetweenalowemission
communicationmodeandmorereactivecommunication
mode,butpotentiallydisturbing.
SLOPE:Y forfastcommunicationmode
  (800Kbpsor1Mbps)
SLOPE:N forlowdisturbancemodes
The type of slope setting must be identical in all nodes
of the CAN network to avoid errors when receiving
messages.
Defaultvalue:Slope:YTerm:N

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January 2020 - Rev. 1.2 Order Cod. 1902503003
3.2.7 EtherCAT Address Display /
Setting
CANOpenNodeId
1
Displays the EtherCAT node number used and allows
tomodifyit.
A CANopen network must not feature two dierent
devices connected together with the same node
number.
The node number must be above zero (1..127).
Defaultvalue:[1]
3.2.8 MAC Address Display
MAC Address
  001163-xxxxxx
DisplaysthenumberoftheMACaddressoftheEthernet
port.
TheMACaddressisuniqueanddierentforeachQuad
andcanonlybedisplayed.
3.2.9 Ethernet IP Address Display /
Setting
IPADDRESS:
 192.168.1.1
DisplaystheIPaddressnumberoftheEthernetportand
allowstomodifyitin4subsequentsteps.
Defaultvalue:[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
allowstomodifyit.
Defaultvalue:[255.255.255.0]
3.3 Saving the parameters
If one has edited the parameters and one presses
ESCtogoupalevelandgobacktothemainmenu,one
ispromptedwhethertosavethedatapermanently.
Save Parameters?
NO
Usingthearrowsáand âonecanchoosebetween
thefollowingsavingoptions:
[NO] Themodiedparametersarekept,butonly
untiltherestart.TheyarethereforeNOTsavedin
thenon-volatilememoryofthedrive.
[SAVE]Themodiedparametersaresavedinthe
non-volatilememoryofthedrive,butwillonlybe
usedstartingfromthenextrestart.
[RESTORE]The changes made are cancelled and
theparametersarerecoveredfromthenon-volatile
memoryofthedrive;ingeneral,theseparameters
willonlybeusedstartingfromthenextrestart.
Ifonehasselected[SAVE]andonepressesEnter,the
followingmessagewillbedisplayed:
Parameters saved
 fornextpowerup
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 species
theerrormoreindetail.
ETHERCATERROR
WATCH-DOGEXPIRED
Indicatesnocommunicationonthenetwork
EtherCAT.
***ALARM!***
*SAFETYSTATE*
Indicates that the axes safety protection has been
activated,oranovertemperatureerroroccurred.This
situationrequiresboardreset.

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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
recommendedtocontactSYSTEMElectronics.
HARDWAREERROR
SLAVEHWMISSING
HARDWAREERROR
SLAVEHWPRESENT
CONFIGERROR
ProdCodenotset
3.6 Indicator LEDS
CAN communicationviaCANbuseldbus
ETC RUN EtherCATcommunicationstatusaccording
tostandard:
Table 3.6.1
4. Axes management
Firmware update
Asalreadymentioned,theaxesmanagementrmware
canbeupdatedontheeldthankstothepresenceof
another rmware (xed) on the drive called Monitor
whoseexecutionmust,obviously,beforced.
TherearetwowaystoforceMonitorexecution:
• PressandholdtheESCkeywhileswitchingthe
driveon;
• Invalidatetheaxesmanagementrmware(via
therelevantcommandsentvianetworktothe
rmware)andrequiredrivereset(stillusingthe
relevantcommandsentvianetwork).
Whiletherstmethodrequiresamanualintervention
(butdoesnotinvalidatethemanagementrmware),the
secondoneallowstoruntheupdateremotelywithout
anyneedtoswitchoorevenopenthedrive.
OncetheMonitorexecutionhasbeenforced,thenew
axes management rmware can be downloaded onto
the drive using either EtherCAT or Ethernet network;
viathesamecommunicationchannelonecanthensend
commands that validate the previously downloaded
rmwareandforcethedrivereset;theupdatedrmware
willberunuponrestart.
The various stages of the updating procedure are
accompaniedbyrelevantmessagesonthedisplay.
Thisprocesscan,obviously,be automatedso thatall
drivespresentonanetworkareupdatedinparallel.
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.
It is in fact essential to update the rmware after
havingdisconnectedthemotorpowersupply,toprevent
uncontrolledmovementsduringtheprogramupdate.
4.1 Update via EtherCAT/FoE
Invalidationofthecurrentrmwareandresetofthedrive
viaEtherCATrequirewriting “make”in twovariables,
each4characterslong,locatedrespectivelyintheObject
Dictionaryataddresses0x4010sub1and0x4010sub2
(seeTable5.3.1)
TheObjectDictionaryisaccessibleusingtheEtherCAT/
CoEprotocol.
Downloading new rmware requires the use of the
EtherCAT/FoEprotocol.
Validation of the new rmware is automatic and is
performedattheendofasuccessfuldownload.
4.2 Update via Ethernet/HTTP
One can perform the invalidation, downloading,
validation and reset operations by connecting to the
Ethernetportofthedriveandusingabrowser(Internet
Explorer,Chromeetc.).
BydefaulttheIPaddressofthedriveis192.168.1.1;
asmentionedpreviously,itcanbechangedviathefront
keypad(orvianetwork).
1 - Viathebrowser,entertheaddressofthedevice
tobeupdatedintheaddressbarandclickonthe
"InvalidateApplication"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