Xinje DP3C Series User manual

DP3Cseries closed loop stepping driver
User manual
Wuxi Xinje Electric Co., Ltd.
Data No. D3C06 20201104 1.0

1
Basic description
Thank you for purchasing Xinje DP3C series stepping driver. Please read this product manual carefully
before operating.
The manual mainly provides the user with relevant guidance and instructions for the correct use and
maintenance of the step driver. The manual involves the function, use method, installation and maintenance
of the step driver.
The contents described in the manual are only applicable to Xinje's DP3C series stepping driver products.
Notice to user
This manual is applicable to the following personnel:
The installation personnel of stepper driver
Engineering and technical personnel (electrical engineers, electrical operators, etc.)
The designer
Before operating or debugging the stepper driver, the above personnel should carefully read the safety precautions
section of this manual.
Statement of responsibility
Although the contents of the manual have been carefully checked, errors are inevitable and we can not
guarantee that they are completely consistent.
We will always check the contents of the manual and make corrections in subsequent versions. We welcome
your comments.
The contents described in the manual are subject to change without prior notice.
Contact us
If you have any questions about the use of this product, please contact the agent and office that purchased the
product, or contact Xinje company directly.
Tel: [phone]
Fax: [phone]
Address: 4th Floor, building 7, creative industry park, No. 100 Dicui Road, Wuxi City
Postcode: 214072
Website: www.xinje.com
WUXI XINJE ELECTRIC CO., LTD. Copyright
Without explicit written permission, this information and its contents shall not be copied, transmitted or
used. Violators shall be liable for the losses caused. All rights provided in patent license and registration
including utility module or design are reserved.
December 2020

2
Catalog
1. PRODUCT INTRODUCTION ...........................................................................................................................4
1-1. MODEL NAMING RULE ......................................................................................................................................4
1-2. PERFORMANCE.................................................................................................................................................4
1-3.APPLICATION FIELD ..........................................................................................................................................4
1-4. ELECTRICAL SPECIFICATION .............................................................................................................................5
1-5. SAFETY CAUTION .............................................................................................................................................5
2. INSTALLATION AND WIRING........................................................................................................................6
2-1. INSTALLATION ..................................................................................................................................................6
2-1-1. Dimension................................................................................................................................................6
2-1-2. Installation environment ..........................................................................................................................6
2-2. WIRING ............................................................................................................................................................7
2-2-1. Typical wiring diagram............................................................................................................................7
2-2-2. Wiring caution .........................................................................................................................................7
3. DRIVER INTERFACE ........................................................................................................................................8
3-1. LED DISPLAYAND FAULT SOLUTION.................................................................................................................8
3-2. ETHERCATTERMINAL......................................................................................................................................9
3-3. CONTROL SIGNAL INTERFACE .........................................................................................................................10
3-3-1. Interface functions .................................................................................................................................10
3-4. ENCODER SIGNAL INPUT PORT ........................................................................................................................ 11
3-4-1. Power supply requirements.................................................................................................................... 11
3-5. MOTOR WINDING TERMINAL........................................................................................................................... 11
3-6. POWER SUPPLY TERMINAL..............................................................................................................................12
3-7 UPPER COMPUTER COMMUNICATION PORT ......................................................................................................12
4. PARAMETER AND SETTING.........................................................................................................................13
4-1. PARAMETER LIST ............................................................................................................................................13
Group P0: basic function .................................................................................................................................13
Group P1: gain control ....................................................................................................................................13
Group P2: IO configuration.............................................................................................................................14
Group P3: protection function..........................................................................................................................14
Group P4: motor parameters ...........................................................................................................................14
Group P8: curve collection ..............................................................................................................................15
Group U0..........................................................................................................................................................15
Group U1..........................................................................................................................................................16
Group U2..........................................................................................................................................................17
Group U3..........................................................................................................................................................17
Group F0..........................................................................................................................................................17
5. ETHERCAT COMMUNICATION SPECIFICATION...................................................................................18
6. ETHERCAT OPERATION MODE..................................................................................................................19
6-1. HOMING MODE ..............................................................................................................................................19
6-1-1. Overview................................................................................................................................................19
6-1-2. Operation steps......................................................................................................................................19

3
6-1-3. Related object list...................................................................................................................................19
6-2. CYCLIC SYNCHRONOUS POSITION MODE.........................................................................................................19
6-2-1. Overview................................................................................................................................................19
6-2-2. Operation steps......................................................................................................................................19
6-2-3. Related object list...................................................................................................................................20
6-3. PROFILE POSITION MODE ................................................................................................................................20
6-3-1. Overview................................................................................................................................................20
6-3-2. Operation steps......................................................................................................................................20
6-3-3. Related object list...................................................................................................................................21
6-4. PROFILE VELOCITY MODE...............................................................................................................................21
6-4-1. Overview................................................................................................................................................21
6-4-2. Operation steps......................................................................................................................................21
6-4-3. Related object list...................................................................................................................................21
7. MODE COMMON FUNCTION .......................................................................................................................22
7-1. TOUCH PROBE FUNCTION................................................................................................................................22
7-1-1. Overview................................................................................................................................................22
7-1-2. Operation steps......................................................................................................................................22
7-1-3. Related object list...................................................................................................................................22
8. ETHERCAT PARAMETER LIST (REFER TO XML FILE FOR DETAILS).............................................24
8-1. COEOBJECT WORD.........................................................................................................................................24
8-1-1. Communication Profile area..................................................................................................................24
8-1-2. Driver Profile area.................................................................................................................................24
9. ETHERCAT ALARM INFORMATION ..........................................................................................................26
10. SUITABLE MOTOR AND CABLE................................................................................................................29
10-1. SUITABLE MOTOR .........................................................................................................................................29
10-2. ENCODER CABLE ..........................................................................................................................................29
10-3. POWER CABLE ..............................................................................................................................................29
10-4. ETHERCAT BUS CABLE.................................................................................................................................30
10-5. POWER SUPPLY CABLE..................................................................................................................................30

4
1. Product introduction
1-1. Model naming rule
Take DP3C-705 as an example:
DP3C -70 5
  
①: DP3C series bus stepping driver
②: Driver output maximum peak current 7A
③: The maximum supply voltage of the driver is 50VDC
1-2. Performance
⚫Support COE (CANopen over EtherCAT) protocol, conform to CiA402 standard, support 32-axis,
support master station with standard EtherCAT protocol, and the communication period between master
and slave station can reach 32-axis 1ms.
⚫The network cable replaces the traditional pulse direction signal cable, and also has power cable and
encoder cable, which is simple in wiring. It can reduce the cost of cable, labor and maintenance greatly.
⚫Relying on the low bus load of EtherCAT bus and the point-to-point physical layer, it can greatly
suppress the generation of interference and clutter, and significantly improve the reliability and
anti-interference ability of the system.
⚫EtherCAT bus technology combined with the latest control algorithm has greatly improved the
performance.
⚫7-channel signal input and 7-channel signal output, which can be used for probe input, positive and
negative limit, origin input, alarm output, in place output, holding brake signal output and other
functions to meet the needs of different customers.
⚫Using encoder as position feedback, the position deviation can be compensated in real time, which
fundamentally solves the problem of step loss of traditional stepping motor.
⚫The current can be adjusted in real time according to the load and speed, which makes the operation
more stable and the motor heating lower.
1-3. Application field
DP3C series bus drivers can be used for electronics, laser, and some equipment requiring multi-axis control, such
as manipulator equipment, photovoltaic equipment, etc.

5
1-4. Electrical specification
1-5. Safety caution
(1) The driver must be installed and operated by professional technicians!
(2) The input voltage of the driver must meet the technical requirements!
(3) It is strictly forbidden to plug and unplug the power terminal of the driver with electricity. When the motor
stops, there is still a large current flowing through the coil. Pulling and unplugging the power terminal will
produce a huge instantaneous induction, and the electric potential will burn out the driver!
(4) Before power on, please ensure the connection correctness and firmness of power cable, motor cable and
signal cable!
(5) Avoid electromagnetic interference!
Driver model
DP3C-305
DP3C-705
DP3C-808
Input power supply voltage (VDC)
20-50
20-50
20-80
Output peak current (A)
1-3
1-7
1-8
Matched motor (base)
42
57/60
86
Input signal
Probe input, origin input, positive and negative limit,
emergency stop, user-defined input
Output signal
Alarm output, in place output, holding brake signal output,
custom output
Alarm function
Overcurrent, overvoltage, out of tolerance, abnormal
communication, etc
Debugging software
Xinje stepper driver software
Using
environment
Application area
Try to avoid dust, oil mist and corrosive gas, places with
high humidity and strong vibration, and combustible gas and
conductive dust are prohibited
Environment
temperature
0℃~50℃
Max working
temperature
60℃
Humidity
40%~90% RH (No condensation or water droplets)
Vibration
5.9m/s2 Max
Storage
temperature
-20℃～65℃

6
2. Installation and wiring
2-1. Installation
2-1-1. Dimension
⚫DP3C-305, DP3C-705, DP3C-808 Unit: mm
∅4.3
∅4.3
25.3
5.0
137.9 3.8
145.0
97.2
35.5
2-1-2. Installation environment
The reliable working temperature of the driver is usually within 60℃, and the working temperature of the motor is
within 80℃. To ensure that the driver works within the reliable working temperature range, the driver shall be
installed in an electric cabinet with good ventilation and proper protection. If necessary, a fan shall be installed
near the driver to dissipate heat forcibly, so as to avoid using in the occasions of dust, oil mist, corrosive gas, too
high humidity and strong vibration.

7
2-2. Wiring
2-2-1. Typical wiring diagram
2-2-2. Wiring caution
(1) Please wiring according to the terminal voltage and polarity to prevent equipment damage and personal injury.
The DC driver power supply cannot be reversed
(2) If one power supply supplies multiple drives, parallel connection shall be adopted at the power supply side,
and chain connection from one to another is not allowed.
(3) It is strictly forbidden to connect the conductor head with tin to the wiring terminal, otherwise the terminal
may be overheated and damaged due to the increase of contact resistance.
(4) The terminal head shall not be exposed outside the terminal to prevent accidental short circuit from damaging
the driver.

8
3. Driver interface
3-1. LED display and fault solution
Digit 1 Digit 2
Enable
indicator
DP3C series displays running speed, state machine/operation mode, node address, alarm fault and other
information through two-digit LED display.
Stage
Information
Power on
After the driver is powered on, digit 1 and 2 are on for 0.5s, the LED
displays the actual node address of the current drive in hexadecimal. During
this period, the LED node address flashes at an interval of 1s (0.5s on and
0.5s off). The time is 5s in total. After that, it enters the normal operation
stage
Operation
Speed (r/s)
Operation mode, state machine: display in hex format (default)
Node address: always ON display
Note: during initialization and normal operation, if the node address is changed, the LED display flashes at an
interval of 1s (0.5s on, 0.5s off), and continues to return to the original display state after 5s.
The specific display definition of operation mode and state machine is as follows:
LED display digit 1
Operation mode
1
Position mode (PP)
3
Speed mode (PV)
6
Return to origin mode (HM)
8
Cyclic synchronous position mode (CSP)
LED display digit 2
State machine
1
Initialization
2
Pre-operation
4
Safe operation
8
Operation

9
Alarm and solution:
Alarm code
Fault
Solution
E.001
Over current
Check whether the power cable is short circuited
E.002
Over voltage
Check whether the power supply voltage is too high
E.003
Under voltage
Check whether the power supply voltage is too low
E.004
Motor phase
loss
Check whether the power cable is installed well or broken
E.005
Overproof
Check whether the encoder cable is broken, whether the motor is
blocked, and please extend the acceleration time
E.8xx
Bus error
Check the wiring or master station
Note: please refer to Chapter 9 for specific alarm information.
3-2. EtherCAT terminal
Graphic
Pin
Name
Explanation
1
8
9
16
LED1
LED2
LED3
LED4
1, 9
E_TX+
EtherCAT data send +
2, 10
E_TX-
EtherCAT data send -
3, 11
E_RX+
EtherCAT data receive +
4, 12
/
/
5, 13
/
/
6, 14
E_RX-
EtherCAT data receive -
7, 15
/
/
8, 16
/
/
Note: LED1 and LED3 are "RUN" status lights. The yellow light is on during normal
connection, but it is not on after connection failure;
LED2 is the "L/A OUT" status light;
LED4 is the "L/A IN" status light.
Note: the cable length between EtherCAT bus nodes is recommended to be no more than 50m. It is recommended
to use CAT5E Ethernet cable with double-layer shielding or better.
Ethernet port light definition
Name
Color
Status
Description
RUN
Yellow
light
ON
Connection normal
OFF
Connection abnormal
L/A OUT
Green
light
ON
Physical layer link establishment
OFF
Physical layer link not established
Flash
Interactive data after link establishment
L/A IN
Green
light
ON
Physical layer link establishment
OFF
Physical layer link not established
Flash
Interactive data after link establishment

10
3-3. Control signal interface
3-3-1. Interface functions
Graphic
Pin
Name
I/O
Explanation
1
3
5
7
9
11
13
15
17
19
21
2
4
6
8
10
12
14
16
20
22
18
1
SI1+
Input
Differential input signal SI1, 24V effective, maximum input
frequency 200kHz, default probe input signal 1
2
SI1-
3
SI2+
Input
Differential input signal SI2, 24V effective, maximum input
frequency 200kHz, default probe input signal 2
4
SI2-
5
SI3
Input
Single ended input signals SI3~SI7, 12~24V valid,
maximum input frequency 10kHz, signal definition is
configurable. I3 default is origin, I4 and I5 default is
positive and negative limit, I6 and I7 default is in common
use. COMI is the common end of single ended input signal,
with common positive or negative
6
SI6
Input
7
SI4
Input
8
SI7
Input
9
SI5
Input
10
COMI
Input
11
SO1+
Output
Differential output signal OUT1, maximum output current
100mA, withstand voltage 30VDC, default alarm output
12
SO1-
13
SO2+
Output
Differential output signal OUT2, maximum output current
100mA, withstand voltage 30VDC, default in place signal
14
SO2-
15
SO3
Output
Single ended output, common cathode, maximum current
100mA, withstand voltage 30VDC
16
SO6
Output
Single ended output, common cathode, maximum current
100mA, withstand voltage 30VDC
17
SO4
Output
Single ended output, common cathode, maximum current
100mA, withstand voltage 30VDC
18
24V
Output
Used together with brake output
19
SO5
Output
Single ended output, common cathode, maximum current
100mA, withstand voltage 30VDC
20
BRK+
Output
Brake positive output, maximum 500mA, is displayed as
SO7 in upper computer
21
COM0
Output
Output common cathode common terminal
22
BRK-
Output
Brake negative output, maximum 500mA, is displayed as
SO7 in upper computer
DP3C series driver has a brake output and integrated freewheeling diode. The driving current is up to 500mA. It
can directly drive the brake without relay. The circuit diagram of holding brake is as follows:
brake
24VB
24VDC
BR+
BR-
DP3C
+
-

11
3-4. Encoder signal input port
Diagram
No.
Symbol
Name
1
PE
Shielding ground
2
NC
Reserved signal
3
NC
Reserved signal
4
NC
Reserved signal
5
VCC
5V power output, provided by the driver, is
only used for encoder power supply
6
GND
7
EZ+
Encoder phase Z signal +
8
EZ-
Encoder phase Z signal -
9
EB+
Encoder phase B signal +
10
EB-
Encoder phase B signal -
11
EA+
Encoder phaseA signal +
12
EA-
Encoder phaseA signal -
Note: the standard configuration is without Z signal. If Z-phase zeroing is required, the motor and encoder cable
supporting Z signal shall be selected.
3-4-1. Power supply requirements
The power supply voltage can work normally between the calibration range. It is best to use non-regulated DC
power supply for the driver, or transformer step-down + bridge rectifier + capacitor filter. For DP3C-305 and
DP3C-705, it is recommended to use 24V~48V DC power supply, and for DP3C-808, it is recommended to use
48V~72V DC power supply to avoid grid fluctuation exceeding the working range of driver voltage. If the
regulated switching power supply is used, it shall be noted that the output current range of the switching power
supply shall be set to the maximum.
Note:
(1) Do not reverse the power supply voltage!
(2) Do not exceed the working range of the power supply to ensure the normal operation of the drive.
(3) The power supply should be non-regulated DC power supply, and the power output capacity should be greater
than 60% of the set current of the driver.
(4) If the regulated switching power supply is used for power supply, the output current range of the power supply
shall be greater than the working current of the motor.
(5) In order to reduce the cost, two or three drives can share one power supply, but the power supply power should
be large enough.
3-5. Motor winding terminal
Diagram
Pin
Name
Explanation
1
A+
Motor winding phase A +
2
B+
Motor winding phase B +
3
A-
Motor winding phase A -
4
B-
Motor winding phase B -
Note: the power cable diameter of Xinje standard is 0.75mm2.

12
3-6. Power supply terminal
Diagram
Pin
Name
Explanation
1
GND
Power supply ground
2
VDC
Power supply positive input
Note: the power cable diameter of Xinje standard is 0.75mm2.
DP3C-305 range 20~50VDC: recommended value is 24~36VDC.
DP3C-705 range 20~50VDC: 57 motor recommended value is 24~36VDC, 86 motor or high-speed application
recommended value is 48V.
DP3C-808 range 20~80VDC: recommended value is above 48V.
3-7 Upper computer communication port
The definition of RS232 interface pin arrangement is shown in the following table:
Diagram
Pin
Function
Notes
1
TXD
RS232 send
2
RXD
RS232 receive
3
GND
RS232 ground
Note: please use the cable supplied by Xinje company.
RS232 default communication parameters: baud rate 115200bps, 8 data bits, 1 stop bit, even parity, station no.1.

13
4. Parameter and setting
4-1. Parameter list
Group P0: basic function
Parameter
Address
Meaning
Range
Default
Note
P0-01
0x0001
Subdivision
200~51200
10000
Effective after restart
P0-02
0x0002
Filter time
0~50
0
Effective after restart, shut down the
filter when setting to zero
P0-03
0x0003
Closed loop
current
percentage
1~100
100
Max closed loop current =
closed loop current %×peak current
P0-04
0x0004
-
0~5
0
P0-05
0x0005
Open loop
current
percentage
1~100
50
Max open loop current =
open loop current %×peak current
P0-06
0x0006
Open/closed
loop mode
0~1
1
0: open loop mode 1: closed loop
mode
P0-07
0x0007
-
0~1
0
P0-08
0x0008
-
0~1
1
P0-09
0x0009
Closed loop
holding current
percentage
1~100
30
Closed loop holding current =
closed loop holding current %×closed
loop mode max current
P0-10
0x000A
Operation
direction
0~1
1
P0-11
0x000B
Operate panel
display mode
0~2
0
0: mode 1: address 2: speed per
second
Group P1: gain control
Parameter
Address
Meaning
Range
Default
Note
P1-00
0x0100
Auto tuning
0~1
1
0: OFF 1: ON
P1-01
0x0101
Current Kp
1~65535
1500
P1-02
0x0102
Current Ki
1~65535
800
P1-03
0x0103
Current kd
0~65535
0
P1-04
0x0104
Current Kc
0~65535
0
P1-05
0x0105
Speed Kp
1~65535
60
P1-06
0x0106
Speed Ki
0~65535
0
P1-07
0x0107
Position Kp
1~65535
2600
P1-08
0x0108
Position Ki
0~65535
500
P1-09
0x0109
Back EMF
1~300
55
P1-10
0x010A
Weak magnetic
coefficient
1~100
20
P1-11
0x010B
Inductance
1~10000
1000
P1-12
0x010C
Start delay
0~10
0
P1-13
0x010D
In place delay
0~100
3
P1-14
0x010E
In place error
0~100
4

14
Group P2: IO configuration
Parameter
Address
Meaning
Range
Default
Note
P2-00
0x0200
-
0~65535
0
P2-01
0x0201
Z phase output
0~65535
3
Bit0~3 output terminal
Bit4 effective voltage
P2-02
0x0202
Alarm output
0~65535
1
Bit0~3 output terminal
Bit4 effective voltage
P2-03
0x0203
Brake output
0~65535
7
Bit0~3 output terminal
Bit4 effective voltage
P2-04
0x0204
In place output
0~65535
2
Bit0~3 output terminal
Bit4 effective voltage
P2-05
0x0205
Alarm clear
0~65535
6
Bit0~3 output terminal
Bit4 effective voltage
P2-06
0x0206
POT
0~65535
3
Bit0~3 output terminal
Bit4 effective voltage
P2-07
0x0207
NOT
0~65535
4
Bit0~3 output terminal
Bit4 effective voltage
P2-08
0x0208
Return to zero
0~65535
5
Bit0~3 output terminal
Bit4 effective voltage
P2-09
0x0209
Probe 1
0~65535
1
Bit0~3 output terminal
Bit4 effective voltage
P2-10
0x020A
Probe 2
0~65535
2
Bit0~3 output terminal
Bit4 effective voltage
Group P3: protection function
Parameter
Address
Meaning
Range
Default
Note
P3-00
0x0300
Tracking error
limit
1~65535
4000
For the current 1000ppr encoder,
the default is 4000 = 1 turn
P3-01
0x0301
Fault detection
selection
0~255
255
P3-02
0x0302
Under voltage
alarm
threshold
0~20
0
Shield the alarm when it is 0 in
default
Group P4: motor parameters
Parameter
Address
Meaning
Range
Default
Note
P4-00
0x0400
Peak current
305: 1~40
705: 1~70
808: 1~84
305: 25
705: 60
808: 70
Motor peak current (100mA)
P4-01
0x0401
Encoder
resolution
200~20000
4000
Quadruple frequency,
modification is not supported
P4-02
0x0402
-
0~1
0
Group 5 to group 7 are reserved.

15
Group P8: curve collection
Parameter
Address
Meaning
Range
Default
Note
P8-00
0x0800
Sampling channel 1
0~65535
8001
P8-01
0x0801
Sampling channel 2
0~65535
8003
P8-02
0x0802
Sampling channel 3
0~65535
0
P8-03
0x0803
Sampling channel 4
0~65535
0
P8-04
0x0804
Sampling channel 5
0~65535
8002
P8-05
0x0805
Sampling channel 6
0~65535
8004
P8-06
0x0806
Sampling channel 7
0~65535
0
P8-07
0x0807
Sampling channel 8
0~65535
0
P8-08
0x0808
Sampling channel 9
0~65535
1008
P8-09
0x0809
Sampling channel 10
0~65535
1009
P8-10
0x080A
Sampling channel 11
0~65535
0
P8-11
0x080B
Sampling channel 12
0~65535
0
P8-12
0x080C
Sampling channel 13
0~65535
0
P8-13
0x080D
Sampling channel 14
0~65535
0
P8-14
0x080E
Sampling channel 15
0~65535
0
P8-15
0x080F
Sampling channel 16
0~65535
0
P8-16
0x0810
Sampling mode
0~8
1
P8-17
0x0811
Sampling interval
1~65535
36
P8-18
0x0812
Sampling time
0~65535
1024
P8-19
0x0813
Trigger channel
0~65535
0
P8-20
0x0814
Trigger threshold low bit
0~65535
0
P8-21
0x0815
Trigger threshold high bit
0~65535
0
P8-22
0x0816
Trigger slope
0~65535
0
P8-23
0x0817
Sampling proportion
0~100
100
P8-24
0x0818
-
0~1
0
P8-25
0x0819
-
0~1
0
P8-26
0x081A
-
0~1
0
Group U0
Parameter
Address
Contents
Note
U0-00
0x1000
Feedback speed
rpm
U0-01
0x1001
Setting speed
rpm
U0-02
0x1002
Encoder numbers
0~15
Encoder pulse
U0-03
0x1003
16~31
U0-04
0x1004
32~47
U0-05
0x1005
48~62; 63: direction bit
U0-06
0x1006
Feedback pulse
numbers
0~15
Command pulse
U0-07
0x1007
16~31
U0-08
0x1008
32~47
U0-09
0x1009
48~62: 63: direction bit
U0-10
0x100A
Pulse quantity
0~15
Command pulse
U0-11
0x100B
16~31
U0-12
0x100C
32~47

16
Parameter
Address
Contents
Note
U0-13
0x100D
48~62; 63: direction bit
U0-14
0x100E
Position offset
0~15
Command pulse
U0-15
0x100F
16~31
U0-16
0x1010
Single turn
encoder counting
0~15
Encoder pulse
U0-17
0x1011
16~31
U0-18
0x1012
Single turn pulse
counting
0~15
Command pulse
U0-19
0x1013
16~31
U0-20
0x1014
Pulse turns
0~15
U0-21
0x1015
16~31
U0-22
0x1016
Encoder turns
0~15
U0-23
0x1017
16~31
U0-24
0x1018
Feedback electric angle
U0-25
0x1019
Setting electric angle
U0-26
0x101A
Phase A feedback current
mA
U0-27
0x101B
Phase B feedback current
mA
U0-28
0x101C
Reference feedback current
mA
U0-29
0x101D
Phase A setting current
mA
U0-30
0x101E
Phase B setting current
mA
U0-31
0x101F
Reference setting current
mA
U0-32
0x1020
Bus voltage
V
Group U1
Parameter
Address
Contents
Note
U1-00
0x1100
Current alarm code
U1-01
0x1101
Phase A current when alarm occurs
U1-02
0x1102
Phase B current when alarm occurs
U1-03
0x1103
Reference current when alarm occurs
U1-04
0x1104
Bus voltage when alarm occurs
U1-05
0x1105
Position offset when alarm occurs
U1-06
0x1106
Speed value when alarm occurs
U1-07
0x1107
The time when alarm occurs
U1-08
0x1108
The time when alarm occurs
U1-09
0x1109
This time operation error code quantity
U1-10
0x110A
Last second alarm code
U1-11
0x110B
Last third alarm code
U1-12
0x110C
Last fourth alarm code
U1-13
0x110D
Last fifth alarm code
U1-14
0x110E
Last sixth alarm code
U1-15
0x110F
Reserved
U1-16
0x1110
Reserved
U1-17
0x1111
Reserved
U1-18
0x1112
Reserved
U1-19
0x1113
Reserved
U1-20
0x1114
Reserved
U1-21
0x1115
Reserved

17
Group U2
Parameter
Address
Contents
Note
U2-00
0x1200
Power on times
U2-01
0x1201
Machine type
U2-02
0x1202
Series
U2-03
0x1203
Model
U2-04
0x1204
Date of production
Year
U2-05
0x1205
Date of production
Month
U2-06
0x1206
Date of production
Day
U2-07
0x1207
Software version
U2-08
0x1208
Hardware version
U2-09
0x1209
Power on operation time
Hour
U2-10
0x120A
Power on operation time
Minute
U2-11
0x120B
Power on operation time
Second
U2-12
0x120C
Device serial no.
Low 16-bit
U2-13
0x120D
Device serial no.
High 16-bit
U2-14
0x120E
Firmware generation date: year
U2-15
0x120F
Firmware generation date: month/day
U2-16
0x1210
Firmware generation date: hour/minute
Group U3
Parameter
Address
Contents
Note
U3-00
0x1300
PDI period
U3-01
0x1301
PDI time
U3-02
0x1302
PDI period max time
U3-03
0x1303
PDI period min time
U3-04
0x1304
Sync0 period
U3-05
0x1305
Sync0 time
U3-06
0x1306
Sync0 period max time
U3-07
0x1307
Sync0 period min time
U3-08
0x1308
ECAT timer period
U3-09
0x1309
PID2Sync0 time difference
U3-10
0x130A
PID2Sync0 max time difference
U3-11
0x130B
PID2Sync0 min time difference
Group F0
Parameter
Address
Contents
Note
F0-00
0x2000
Clear the alarm
F0-01
0x2001
Restore factory settings
F0-02
0x2002
Save the parameters

18
5. EtherCAT communication specification
Physical layer
100BASE-TX
Communication interface
RJ45 ×2 (CN1 port)
Network architecture
Serial connection
Transmission speed
2 x 100 Mbps (full duplex)
Data frame length
Max 1484 bytes
SyncManager
SM0: Mailbox output
SM1: Mailbox input
SM2: Periodic data output
SM3: Periodic data input
FMMU
(Bus memory management
unit)
FMMU0: periodic data output area
FMMU1: periodic data output area
FMMU2: Mailbox status
Application layer protocol
CoE: CANopen over EtherCAT
Synchronous mode
DC synchronous mode (SYNC0)
Communication object
SDO: aperiodic data object
PDO: periodic data object
LED light
(on the RJ45 port)
EtherCAT ERR(ER) ×1
EtherCAT Link / Activity(L / A) ×2
EtherCAT RUN(RN) ×1
Application layer
specification
IEC61800-7 CiA402 Drive Profile
Support CIA402 operation
mode
Homing Mode(HM): return to origin mode
Cycle Synchronized Position Mode(CSP): periodic synchronous
position control mode
Profile Position Mode (PP): profile position control mode
Profile Velocity Mode (PV): profile speed control mode

19
6. EtherCAT operation mode
6-1. Homing Mode
6-1-1. Overview
The user can use this mode to let the driver search the origin position, and set the way to return to the origin, the
speed and acceleration of return.
6-1-2. Operation steps
P2-06 corresponds to POT, P2-17 corresponds to NOT, and P2-08 corresponds to origin
1. set [control mode: 6060h] to homing mode (0x06).
2. set [homing mode: 6098h], setting range is 1~14, 17~30, 33, 34, 35, 37.
3. set [homing speed 6099h Sub-1], define the speed to find the origin switch (unit: command unit/s).
4. set [homing speed: 6099h Sub-2], define the speed to find the origin (unit: command unit/s).
5. set [homing acceleration: 609Ah], define the homing acceleration (unit: command unit/s2).
6. set [control word: 6040h] to (0x06 > 0x07 > 0x0F), enable the driver and make the motor to run.
7. set [control word: 6040h] to (0x0F > 0x1F), find the Home Switch and do the homing operation.
8. read [status word: 6041h] to know the driver status.
6-1-3. Related object list
Index
Name
Unit
Read/write
6040h
Controlword
-
RW
6041h
Statusword
-
RO
6060h
Modes of operation
-
RW
6061h
Modes of operation display
-
RO
6098h
Homing method
-
RW
6099h
Homing speed
command unit/s
RW
609A
Homing acceleration
command unit/s2
RW
6-2. Cyclic synchronous position mode
6-2-1. Overview
The upper computer plans the path in CSP mode and sends PDO according to the specified cycle. When
transmitting each PDO, the data of target position and control word will be transmitted to the driver at the same
time.
6-2-2. Operation steps
1. set [control mode: 6060h】to cyclic synchronous position mode (0x08).
2. set [interpolation time period: 60C2h], the set value must be the same as SYNC0 cycle.
60C2h Sub-1 can be set Interpolation time units, the range is 1ms~20ms.
60C2h Sub-2 can be set Interpolation time index. The value is fixed at -3 which means the time is 10-3 second.
3. Drive PDO Rx:
607Ah can set the Target Pos Cmd (32-bit).
6040h Sub-0 can set the controlword.