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.