Unimotion STDF EC Series User manual

Manual
Closed Loop Stepping System Manual
STDF EC EtherCAT

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TABLE OF CONTENTS
1Product specification 11
1.1 Model naming....................................................................................................... 11
1.2 Product dimension................................................................................................ 11
1.3 EtherCAT specifications........................................................................................ 12
1.4 Drive specification ................................................................................................ 13
2Installation 14
2.1 Precautions of installation .................................................................................... 14
2.2 System configuration (only for motor sizes 42 and 56).......................................... 15
2.3 External wiring diagram ........................................................................................ 16
2.4 Appearance and part name.................................................................................... 17
2.4.1 EtherCAT ID ............................................................................................................... 17
2.4.2 EtherCAT status LED................................................................................................. 18
2.4.3 EtherCAT communication connection (CN5, CN6)................................................... 20
2.4.4 I/O Connector (CN1).................................................................................................. 21
2.4.5 Encoder connector (CN2).......................................................................................... 22
2.4.6 Motor connector (CN3) ............................................................................................. 22
2.4.7 Power connector (CN4)............................................................................................. 23
3EtherCAT Communication 24
3.1 CAN application protocol over EtherCAT................................................................ 24
3.1.1 Object dictionary ....................................................................................................... 24
3.1.2 Mailbox communication ........................................................................................... 24
3.1.3 Process data communication................................................................................... 25
3.2 PDO Mapping ....................................................................................................... 25
3.2.1 PDO Mapping............................................................................................................. 25
3.2.2 PDO Assign................................................................................................................ 26
3.3 EtherCAT State Machine ....................................................................................... 26
3.4 Synchronization.................................................................................................... 27
3.4.1 Free Run .................................................................................................................... 28
3.4.2 SM Event.................................................................................................................... 28
3.4.3 DC Sync Event ........................................................................................................... 28
3.5 EtherCAT Slave Information .................................................................................. 28
4CiA 402 Drive Profile 29
4.1 Drive Status Control.............................................................................................. 29
4.2 Error Code ............................................................................................................ 32
4.3 Mode of operation ................................................................................................ 34
4.4 Cyclic synchronous position mode ........................................................................ 34
4.4.1 Definition ................................................................................................................... 34
4.4.2 Related objects.......................................................................................................... 35

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4.4.3 Control word and Status word .................................................................................. 35
4.5 Profile position mode............................................................................................ 36
4.5.1 Definition ................................................................................................................... 36
4.5.2 Related objects.......................................................................................................... 37
4.5.3 Control word and Status word .................................................................................. 38
4.5.4 Position movement method...................................................................................... 40
4.6 Homing Mode ....................................................................................................... 45
4.6.1 Definition ................................................................................................................... 45
4.6.2 Relative objects......................................................................................................... 45
4.6.3 Control word and status word .................................................................................. 46
4.6.4 Origin Search Method ............................................................................................... 47
4.7 Touch probe ......................................................................................................... 54
4.7.1 Definition ................................................................................................................... 54
4.7.2 Related objects.......................................................................................................... 54
4.7.3 Touch Probe Status and Control .............................................................................. 54
4.8 Digital Input and Output ........................................................................................ 56
4.8.1 Definition ................................................................................................................... 56
4.8.2 Related Objects ......................................................................................................... 56
4.8.3 User I/O...................................................................................................................... 56
4.8.4 ORIGIN and LIMIT Input ............................................................................................ 57
4.8.5 BRAKE Output ........................................................................................................... 57
5Operation 58
5.1 Operation sequence .............................................................................................. 58
5.2 Setting ................................................................................................................. 58
5.2.1 Installation................................................................................................................. 58
5.2.2 Wiring......................................................................................................................... 58
5.2.3 Input power................................................................................................................ 58
5.2.4 PDO Mapping............................................................................................................. 59
5.2.5 Set Communication Status....................................................................................... 59
5.3 Operation ............................................................................................................. 59
5.3.1 Drive Status Control .................................................................................................. 59
5.3.2 Set Mode ................................................................................................................... 59
5.3.3 Set Operation............................................................................................................. 59
5.3.4 Movement Command................................................................................................ 60
5.3.5 Check Status ............................................................................................................. 60
5.4 Drive Setting Adjustment ...................................................................................... 60
5.4.1 Change Rotation Direction........................................................................................ 60
5.4.2 Change I/O Signal Level............................................................................................ 60
6EtherCAT Object Dictionary 62
6.1 Indication Type of Objects..................................................................................... 62
6.1.1 Index and Sub-Index.................................................................................................. 62
6.1.2 Name ......................................................................................................................... 62

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6.1.3 Data Type................................................................................................................... 63
6.1.4 Access ....................................................................................................................... 63
6.1.5 SAVE .......................................................................................................................... 63
6.1.6 PDO Mapping............................................................................................................. 63
6.1.7 Constant Value.......................................................................................................... 63
6.1.8 Value Range .............................................................................................................. 63
6.1.9 Default Value ............................................................................................................. 64
6.2 Communication Object.......................................................................................... 64
6.2.1 Object 1000h: Device type ........................................................................................ 64
6.2.2 Object 1001h: Error register...................................................................................... 64
6.2.3 Object 1008h: Device name ...................................................................................... 65
6.2.4 Object 1009h: Hardware version............................................................................... 65
6.2.5 Object 100Ah: Software version ............................................................................... 65
6.2.6 Object 1010h: Store parameters............................................................................... 65
6.2.7 Object 1011h: Restore default parameters .............................................................. 66
6.2.8 Object 1018h: Identity............................................................................................... 66
6.2.9 Object 10F1h: Error settings ..................................................................................... 67
6.3 PDO Mapping Object............................................................................................. 67
6.3.1 Object 1600h: RxPDO-Map 0..................................................................................... 67
6.3.2 Object 1601h: RxPDO-Map 1..................................................................................... 68
6.3.3 Object 1A00h: TxPDO-Map 0..................................................................................... 69
6.3.4 Object 1A01h: TxPDO-Map 1..................................................................................... 70
6.3.5 Object 1C12h: RxPDO assign.................................................................................... 71
6.3.6 Object 1C13h: TxPDO assign .................................................................................... 71
6.4 Sync Manager Object............................................................................................ 71
6.4.1 Object 1C00h: Sync manager type ........................................................................... 71
6.4.2 Object 1C32h: SM output parameter ........................................................................ 72
6.4.3 Object 1C33h: SM input parameter .......................................................................... 73
6.5 Drive Profile Object............................................................................................... 73
6.5.1 Object 603Fh: Error code .......................................................................................... 73
6.5.2 Object 6040h: Control word ...................................................................................... 74
6.5.3 Object 6041h: Status word ....................................................................................... 74
6.5.4 Object 605Ah: Quick stop option code ..................................................................... 76
6.5.5 Object 605Bh: Shutdown option code...................................................................... 76
6.5.6 Object 605Ch: Disable operation option code.......................................................... 76
6.5.7 Object 605Dh: Halt option code................................................................................ 77
6.5.8 Object 605Eh: Fault reaction option code ................................................................ 77
6.5.9 Object 6060h: Mode of operation ............................................................................. 78
6.5.10 Object 6061h: Mode of operation display ................................................................ 78
6.5.11 Object 6062h: Position demand value...................................................................... 78
6.5.12 Object 6064h: Position actual value......................................................................... 79
6.5.13 Object 6065h: Following error window ..................................................................... 79
6.5.14 Object 6067h: Position window ................................................................................ 79
6.5.15 Object 606Bh: Velocity demand value...................................................................... 80

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6.5.16 Object 606Ch: Velocity actual value ......................................................................... 80
6.5.17 Object 607Ah: Target position .................................................................................. 80
6.5.18 Object 607Ch: Home offset....................................................................................... 80
6.5.19 Object 607Dh: Software position limit...................................................................... 81
6.5.20 Object 607Eh: Polarity............................................................................................... 82
6.5.21 Object 607Fh: Max profile velocity ........................................................................... 82
6.5.22 Object 6081h: Profile velocity................................................................................... 82
6.5.23 Object 6083h: Profile acceleration ........................................................................... 82
6.5.24 Object 6084h: Profile deceleration ........................................................................... 83
6.5.25 Object 6098h: Homing method................................................................................. 83
6.5.26 Object 6099h: Homing speeds.................................................................................. 84
6.5.27 Object 609Ah: Homing acceleration......................................................................... 84
6.5.28 Object 60B8h: Touch probe function........................................................................ 84
6.5.29 Object 60B9h: Touch probe status ........................................................................... 85
6.5.30 Object 60BAh: Touch probe 1 positive value............................................................ 86
6.5.31 Object 60BBh: Touch probe 1 negative value .......................................................... 86
6.5.32 Object 60BCh: Touch probe 2 positive value............................................................ 86
6.5.33 Object 60BDh: Touch probe 2 negative value .......................................................... 87
6.5.34 Object 60C2h: Interpolation time period................................................................... 87
6.5.35 Object 60D0h: Touch probe source .......................................................................... 87
6.5.36 Object 60D5h: Touch probe 1 positive edge counter............................................... 88
6.5.37 Object 60D6h: Touch probe 1 negative edge counter.............................................. 88
6.5.38 Object 60D7h: Touch probe 2 positive edge counter............................................... 88
6.5.39 Object 60D8h: Touch probe 2 negative edge counter.............................................. 89
6.5.40 Object 60E3h: Supported homing methods ............................................................. 89
6.5.41 Object 60F4h: Following error actual value.............................................................. 90
6.5.42 Object 60FDh: Digital inputs ..................................................................................... 90
6.5.43 Object 60FEh: Digital outputs ................................................................................... 91
6.5.44 Object 6502h: Supported drive modes ..................................................................... 92
6.6 Manufacture specific Object ................................................................................. 92
6.6.1 Object 2001h: Sensors logics ................................................................................... 92
6.6.2 Object 2002h: Reverse limit direction....................................................................... 93
6.6.3 Object 2003h: Limit stop method ............................................................................. 93
6.6.4 Object 2005h: Encoder resolution ............................................................................ 94
6.6.5 Object 2006h: Start speed ........................................................................................ 94
6.6.6 Object 2007h: Run current ........................................................................................ 94
6.6.7 Object 2008h: Boost current..................................................................................... 95
6.6.8 Object 2009h: Stop current....................................................................................... 95
6.6.9 Object 200Ah: Motor number.................................................................................... 96
6.6.10 Object 200Ch: Reference resolution......................................................................... 96
6.6.11 Object 200Dh: Position control gain......................................................................... 96
6.6.12 Object 200Eh: In-position mode................................................................................ 98
6.6.13 Object 200Fh: Encoder filter time ............................................................................. 98
6.6.14 Object 2010h: Brake delay ........................................................................................ 99

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6.6.15 Object 2011h: Digital input levels ............................................................................. 99
6.6.16 Object 2012h: Digital output levels........................................................................... 99
6.6.17 Object 2014h: Homing Torque Ratio ......................................................................100
6.6.18 Object 201Ah: Push Mode ...................................................................................... 100
6.6.19 Object 2018h: Internal Current Value ..................................................................... 101
6.6.20 Object 201Bh: Limit Deceleration ........................................................................... 101
6.6.21 Object 2020h: Error code history setting................................................................101
6.6.22 Object 2021h: Error code history ............................................................................ 102
6.6.23 Object 2025h: Lifetime Record ............................................................................... 103
6.6.24 Object 2030h: Advanced settings........................................................................... 105
6.6.25 Object 2031h: Encoder count error.........................................................................106

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Warning
If the user does not properly handle the product, the user may get seriously or slightly
injured and damage may occur to the machine.
Danger
If the user does not properly handle the product, a dangerous situation (such as an electric
shock) may occur resulting in death or serious injuries.
Information
Necessary information and/or extra attention required for operation.
Precaution is advised when operating and handling the equipment. Serious consequences
may occur, depending on the situation.

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Check the product
Warning
Check the product for damaged or missing components. If this is the case, the machine
may get damaged or the user may get injured.
Installation
Warning
Handle with caution, damage to the product or injury to the handler may occur if dropped.
Use non-flammable materials (such as metal) where the product is to be installed, to
reduce any fire hazards.
When installing several units of STDF EC drives in a sealed place, install a cooling fan to
keep the ambient temperature below 50 °C. Fire or other kinds of heat-related accidents
may occur due to overheating.
Danger
The process of installation, connection, operation, checking and repairing should be done
by a qualified person.
Connecting cables
Warning
Keep within the rated input voltage of the drive. If exceeded, fire or other kinds of accidents
may occur.
Please follow the wiring diagram for the cable connection. Disregard, and fire or other kinds
of accidents may occur.
Danger
Before connecting the cables, please check that the input power is OFF. Otherwise, a fire
or other kind of accidents may occur.
The case of STDF EC drive is insulated from the ground of the internal circuit with a
condenser so please ground the product, otherwise, an electric shock or fire may occur.
Operation and setting
Warning
If a protection function (alarm) occurs, firstly remove its cause and then release (alarm
reset) the protection function. If you continue the operation without removing the root of
the cause, the machine may get damaged or the user injured.
Switch all input signals to OFF before supplying the input voltage to the drive. Fail to do so
and the motor will keep running causing damage to the machine or injury to the user.
All parameter values of the STDF EC drive are set by default factory setting value. Change
this value after reading this manual thoroughly. Otherwise, the machine may get damaged
or other kinds of accidents may occur.

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Check and repair
Stop the power supply to the main circuit and wait for a while before checking or repairing
the STDF EC drive. Electricity remaining in the capacitor may cause electric shock. Do not
change cabling while the power is supplied, otherwise, the user may get injured or the
product may get damaged.
Do not take apart the product. Electric shock may occur. After-sales service does not apply
to any product that has been taken apart.

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1 PRODUCT SPECIFICATION
1.1 Model naming
Figure 1-1: Model naming.
1.2 Product dimension
Figure 1-2: Dimensions of the STDF A EC drive.

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1.3 EtherCAT specifications
Table 1-1: Communication specifications.
Communication type
EtherCAT
Physical layer
RJ45 (shielded)
ECAT IN: EtherCAT Input
ECAT OUT: EtherCAT Output
ECAT device ID
Set configured station alias by ECAT ID switch: 0 ∼99
Set physical address at master: 1 ∼65535
Topology
Line (structured by products only)
Tree, star (when using a switch hub)
Support protocol
CoE (CANopen application protocol over EtherCAT)
FoE (File access over EtherCAT)
Control profile
CiA 402 drive profile (IEC618007)
Supported operation mode
Cyclic synchronous position mode
Profile position mode
Homing mode
Distributed clock
Free run, SM event, DC SYNC event
(minimum cycle time: 250 µs)
Processing data
Configurable PDO mapping

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1.4 Drive specification
Table 1-2: Drive specifications.
Model
STDF A EC
Input voltage
24 VDC ± 10 %
Control method
Closed loop control with 32 bit MCU
Current consumption
Max. 500 mA (except motor current)
Operating
conditions
Ambient
temperature
In use: 0 ∼50 °C
In storage: 20 ∼70 °C
Humidity
In use: 35 ∼85 % RH (non-condensing)
In storage: 10 ∼90 % RH (non-condensing)
Vib. Resist.
0.5 G
Function
Rotation speed
0 ∼ 3000 rpm
Resolution [ppr]
500 ∼ 100000 (selectable by parameter)
Protection
functions
Over Current Error, Over Speed Error, Position Tracking
Error, Over Load Error, Over Temperature Error, Over
Regenerated Voltage Error, Motor Connect Error, Encoder
Connect Error, In-Position Error, ROM Error, Position
Overflow Error
LED Display
Power status, In-Position status, Servo-On status, Alarm
status
I/O Signal
Input signals
3 dedicated input (LIMIT+, LIMIT-, ORIGIN)
7 user inputs (Photocoupler Input)
Output signals
Brake
6 user outputs (Photocoupler Output

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2 INSTALLATION
2.1 Precautions of installation
1. This product is designed for indoor usage with an ambient temperature of 0 ∼55 °C.
2. If the temperature of the case reaches 50 °C, ventilate the outside of the case to cool down.
3. Do not install this product in direct sunlight, near magnetic or radioactive objects.
4. If more than 2 drives are installed next to each other, maintain at least 50 mm of vertical
and 20 mm of horizontal distance between two drives.
Figure 2-1: Vertical/parallel mounting of the drives.

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2.2 System configuration (only for motor sizes 42 and 56)
Figure 2-2: System configuration diagram of the STDF EC. *

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2.3 External wiring diagram
Figure 2-3: External wiring diagram of the STDF A EC drive.

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2.4 Appearance and part name
Figure 2-4: Appearance of the STDF A EC drive.
2.4.1 EtherCAT ID
Figure 2-5: EtherCAT ID.
2.4.1.1 ID Setting
Change EtherCAT ID (configured alias ID) value by the rotary switch setting. The right switch
indicates tens and the left switch indicates units.
The setting range is 0 ∼99.
Information
ID value (configured alias ID) set by the rotary switch applies when the power of the
controller turns on.

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2.4.1.2 ID Indication
The 7-segment display indicates physical address or EtherCAT ID (EtherCAT configured alias)
value. Conditions for value indication as below.
•When the rotary switch is set to all ‘0’, 7-segment indicates EtherCAT physical address
value. Physical address assigned due to no connection between controller and master, it
indicates 0. Once master assigns a physical address to each controller, it indicates
relevant value.
•If the rotary switch is set to other than ‘0’, 7-segment indicates the relevant set value
(EtherCAT configured alias).
•If 7-segment of ID blinks, it indicates that the ID value is not applied yet. It can be applied
once power turns on again.
2.4.1.3 Error value indication
If an error is generated from the controller (Fault status), 7-segment indicates Error value
instead of EtherCAT ID value.
The error value is ‘E000’ type then 2 digits will be indicated at 7-segment at a time, see
example below.
Figure 2-6: Error value indication (ex: E015).
Please refer to 4.2 Error Code regarding indication value
2.4.2 EtherCAT status LED
Figure 2-7: EtherCAT status LED.

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This LED informs EtherCAT communication status. RUN LED, ERROR LED positions at the
front side of the product and, Link/Activity LED individually positions at the top of the right
corner of EtherCAT ports.
Table 2-1: EtherCAT status LED.
Indication
Color
Status
Description
RUN
Green
OFF
INIT Status or Power OFF
Blinking
PRE-OPERATIONAL Status
Single Flash
SAFE-OPERATIONAL Status
ON
OPERATIONAL Status
Flickering
BOOTSTRAP Status
ERR
Red
OFF
Non-error status or Power OFF
Blinking
Extra Error
Single Flash
Sync Error
Double Flash
Watch-dog Error
Link/
Activity
Green
OFF
Link not established in the physical layer
ON
Link established in the physical layer
Flickering
In operation after establishing the link
2.4.2.1 Type of status indication
Visual EtherCAT LED status indication is shown in the picture below.
Figure 2-8: EtherCAT LED.

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2.4.3 EtherCAT communication connection (CN5, CN6)
Connect communication cable from Master into communication connector ECAT IN. If there
is another controller, connect the communication cable from ECAT OUT to the ECAT IN of the
next controller.
Table 2-2: EtherCAT connector.
2.4.3.1 EtherCAT communication cable
Recommended communication cable should be:
•CAT5e or above
•Shield type: SF/FTP, S/FTP, SF/UTP
•Length: Max. 50 m (Distance between the nodes)
No.
Function
1
2
3
4
5
6
7
8
Connection hood
TD+
RD-
RD+
-
-
RD-
-
-
F. GND