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SHENZHEN ECON TECHNOLOGY CO.,LTD
User Manual For EHS-580 EtherCAT Hybrid Servo Drive
EHS-580
EtherCAT Hybrid Servo Drive
© 2017 shenzhen ECON Technology Co.,Ltd. Version 2.0
Add:2F,BuildingB,Jintai,Industrial,Park,HangchengAvenue,GushuVillage,XixiangStreet,Bao'anArea,ShenzhenCity,
GuangdongProvince,China
Tel: +86 136 2096 1024
E-mail:enquiry@hybridservo.com
technical01@hybridservo.com
All rights reserved
[Please read this manual carefully before use to avoid damage the drive]
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Table of Contents
Summary of Contents for Econ EtherCAT EHS-580
- Page 1 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive EHS-580 EtherCAT Hybrid Servo Drive © 2017 shenzhen ECON Technology Co.,Ltd. Version 2.0 Add:2F,BuildingB,Jintai,Industrial,Park,HangchengAvenue,GushuVillage,XixiangStreet,Bao'anArea,ShenzhenCity, GuangdongProvince,China Tel: +86 136 2096 1024 E-mail:enquiry@hybridservo.com technical01@hybridservo.com All rights reserved [Please read this manual carefully before use to avoid damage the drive]...
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Page 2: Table Of Contents
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Contents Part 1: EHS-580 ................................5 Hardware Manual ................................ 5 1 Descriptions ................................5 2 Features ..................................5 3 Applications ................................5 4 Specifications ................................6 4.1 Electrical Specifications ..........................6 4.2 Operating Environment .......................... - Page 3 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Input configuration ..........................22 Output configuration ..........................23 Related node ID ............................. 24 Motor rotation direction setting ......................24 Pulse/Revolution setting ........................24 Parameters ................................. 25 Parameter saving ........................... 25 Parameter reset ............................
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Page 4: Part 1: Ehs-580
Strictly adhere to the technical information regarding installation requirements. This manual is not for use or disclosure outside of ECON technology except under permission. All rights are reserved. No part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without approval from ECON technology. -
Page 5: Hardware Manual
Hardware Manual 1 Descriptions EHS-580 is Econ technology's new EtherCAT hybrid servo driver, which adopt the latest floating-point 64-bit MCU digital processing technology, the advanced vector control technology drive the motor with low heating ,low noise and extra smoothly. The user can set any ID address within 1-255 and any current value under the rated current, it can be matched with different of size motors(from Nema17--Nema24) to applied for variable applications. -
Page 6: Specifications
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 4 Specifications 4.1 Electrical Specifications EHS-580 Description Typical Unit Output Current(peak) Input Voltage（DC） 24/36/48 Control Signal Input Current Control Signal Interface Electricity OC output Pull-Up voltage Ether-CAT communication frequency MΩ... -
Page 7: Connectors And Pin Assignment
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive ※Recommend side installation, better cooling effect, when design installation dimension, consider the terminal size and wiring! Enhance Cooling method A:The driver's reliable operating temperature is usually within 60 ℃, the motor operating temperature is within 80 ℃;... -
Page 8: Encoder Feedback And Hall Signal Connector
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive ot1emitter output， the Max pull-up voltage 24Vdc， the pull-up resistance 2KΩ， the Max output current 100mA ot2 emitter output， the Max pull-up voltage 24Vdc， the pull-up resistance 2KΩ， the Max output current 100mA ot3 emitter output，... -
Page 9: Ethercat Communication Port
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive GND and back-EMF. Power supply voltage between the provisions of the normal work, EHS-580 driver is best to use non-regulated DC power supply,can also use the transformer step-down + bridge rectifier + capacitor filter. However, take care that the peak value of the rectified voltage ripple does not exceed its maximum specified voltage. -
Page 10: Dip Switch Settings
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Ether CAT data receiving negative port Disconnect Disconnect Ether CAT data sending positive Ether CAT data sending negative EtherCAT OUT（ECAT Ether CAT data receiving positive OUT） No connected... -
Page 11: Hybrid Servo Motors
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 8 Hybrid servo Motors EHS-580 can work with the following ECON technology’s hybrid servo motors: 8.1 Nema17 TC42-03 TC42-04 TC42-06 TC42-08 Step Angle (Degree) Holding Torque (N.m) Phase Current (A) 1.68... -
Page 12: Wiring Diagrams
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Weight (Kg) Encoder (lines / Rev.) 1000 1000 1000 8.4 Nema34 hybrid servo motor TC86-45 TC86-85 TC86-120 Step Angle (Degree) Holding Torque (N.m) Phase Current (A) Phase Resistance (Ohm) 0.325... -
Page 13: Diagram
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 9.2 Diagram 10 Protection Indications The green indicator turns on when power-up. When drive protection is activated, the red LED blinks periodicity to indicate the error type. Flashes Times... -
Page 14: Problem Symptoms And Possible Causes
Motor torque is too small Select big torque motor speed increase Voltage is low or current is Suitable increase voltage and current small 12 Warranty Shenzhen ECON Technology Co., Ltd. warrants its products against defects in materials and workmanship for a... -
Page 15: Exclusions
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive period of 12 months from shipment out of factory. During the warranty period, ECON technology will either, at its option, repair or replace products which proved to be defective. -
Page 16: Part 2 : Ehs-580 Ethercat Communication Protocol Specification
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Part :EHS-580 EtherCAT Communication Protocol Specification 1. Introduction EHS-580 is a new released EtherCAT hybrid servo drive , which support CANopen over EtherCAT (CoE) control and CiA 402 operating modes ,including Profile Position (PP), Profile Velocity (PV), Homing (HM) and Cyclic Synchronous Position (CSP). -
Page 17: Related Objects
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 2.1.1 Related objects Data write/read Object Description Value Unit 6060h Operation Mode 6040h Control word User self-defined 607Ah Target Position User self-defined Unit 6081h Maximum speed User self-defined... -
Page 18: The Bit 8,10.12-15 Of Status Word
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Forward movement updated target position with Acc/constant speed Forward movement updated target position with Dec Backward movement to updated target position A:Command change time of master B:Arrived time to the target position(before updated) C:Arrived time to the target position(after updated) 2.1.4 The bit 8,10.12-15 of status word... -
Page 19: Profile Velocity Mode(Pv )
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive (6040h) is invalid triggered (for example 6040h = 0x2F/4F), it can be interrupted C: The logic of bit 5 and bit 12 is always reverse in PP mode. -
Page 20: Homing Mode(Hm)
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 6040h Control word User self-defined 607Ah Target Position User self-defined Unit RXPDO 60B0h Maximum speed User self-defined Unit/s 2000h Revolution per round User self-defined pulse 6041h Status word... - Page 21 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Value Description 0 —> 1 4(new position) The motor run with the max speed(6081h) and Acc(6083h )/Dec(6084h) to latest target position(607Ah) Trigger the new movement after the current movement is...
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Page 22: Input And Output
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 3. Input and output Output connector Input connector 3.1 Input configuration The IN1~IN3 are single end input ports(The power supply from host Controller/PLC/motion Control card should be 12-24VDC, current ≥ 100mA), pl+,pl-,dr+,dr- are high speed differential pulse input ports. -
Page 23: Output Configuration
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 0：Positive logic 1：negative logic 2154+00 Logic configuration for R/W/S inputs bit0: input1 polarity setting bit1: input2 polarity setting bit2: input3 polarity setting bit3: input4 polarity setting bit4: input5 polarity setting 0：Low level... -
Page 24: Related Node Id
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 0：Low level 1：High level 2008+00 Output level R/W/S bit0 :out1 bit1: out2 3.3 Related node ID The master can scan the node address automatically ,and it also can be set by manual 3.3.1 DIP switch setting... -
Page 25: Parameters
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 4. Parameters 4.1 Parameter saving The master save the parameters to EEPROM via 0x1010-04 written. When the drive detect the value of 0x1010-04 from master is 0x65766173, the drive will save parameters to EEPROM. - Page 26 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Auto tuning the Current loop 2013+00 Current loop KP,KI R/W/S KP,KI when power up auto tuning 0：disable 1：enable enable/disable 200— 2015+00 Current Kp R/W/S 1000 When the 2013+00 is 1(enable),...
- Page 27 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Fault detecting 0—0xffff 2056+00 R/W/S 0xc3 selection 0：Disable 2057+00 Fault clear R/W/S 1：Enable enable/disable For reducing the vibration when 2058+00 Current soft-start time R/W/S 0—10000 power up or motor shaft enable for shaft enable Unit：50us...
- Page 28 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 0：Positive logic 1：negative logic 2154+00 Logic configuration for R/W/S inputs bit0:input1 polarity setting bit1: input2 polarity setting bit2: input3 0：Low level polarity setting bit3: 1：High level 2155+00 Level configuration for...
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Page 29: Basic Information Of Ethercat
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 6082+00 Start-stop speed The start and stop speed at PP mode 6083+00 Trapezoidal Acc Trapezoidal Acc 6084+00 Trapezoidal Dec Trapezoidal Dec 6085+00 Dec for E-stop Dec for E-stop，it is enabled or disabled depend on the value of... -
Page 30: Ethercat State Machine
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive the same time ,it wait the Synchronous signal to trigger the processing data and effect to drive The processing data must reach drive earlier than SYNC0 T1,and the drive must compete all Analysis of data and related control algorithm. -
Page 31: Service Data Object (Sdo)
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Items DS301 Fieldbus EtherCAT Message structure Standard Ethernet CAN 2.0Astandard SDO data collection SM mailbox data area CAN message PDO data collection SM processing data area CAN message... -
Page 32: Suspend Sdo Transmission
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Data area Bytes Definition Description n≥0x0A,COE command and length of SDO data Length n Address Data resource address Mail header Channel Reserved Priority grade 0: lowest priority 3: highest priority... - Page 33 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Reserved PDO code 9~11 Reserved command 12~15 Service type 2: SDO request Quantity mark 1(control Transmission 0:conventional/segment byte) type transmission; 1: fast transmission Byte transmission Reserved SDO data...
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Page 34: Processing Data Object
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive 5.4 processing data object PDO generally used for real time data updating :it includes RXPDO and TXPDO.RXPDO is that master send the data to slave station , and TXPDO is reversed 5.4.1 PDO mapping... -
Page 35: Pdo Dynamical Mapping
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Control word 60400010h 6040h 10h (16bits) RXPDO4 60980008h 6098h 08h (8bits) Homing mode (1603h) 60990120h 6099h 20h (32bits) Homing speed (fast) Homing speed(slow) 60990220h 6099h 20h (32bits) Homing... -
Page 36: Contact Us
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive Communication ability The Maxis 64 bytes General 4 bytes (fast transmission) Efficiency high Priority level high Real-time performance Real-time(synchronous mode) Non-real-time Transmission initiative Active transmission Passive transmission Object dictionary visit...