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Hiwin D1NCOE User Manual

With ethercat (coe) interface
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Drive User Guide
Version 1.0
Mar 2014
1
www.servosystem.ru
+7(495) 407-01-02

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Summary of Contents for Hiwin D1NCOE

  • Page 1 Drive User Guide Version 1.0 Mar 2014 www.servosystem.ru +7(495) 407-01-02...

  • Page 2: Table Of Contents

    Drive User Guide Contexts Communication Specification of EtherCAT .................... 4 Physical Dimensions ..........................5 Object Dictionary Table.......................... 8 Data Type ........................... 8 Common Objects ........................8 PDO Mapping Objects ........................ 9 Communication Objects of Sync Manager ................9 CiA 402 Objects of Guide Regulations ..................10 Manufacturer Defined Objects ....................
  • Page 3 Drive User Guide Revision History Release Date Applies to Notice 2014.03.17 D-series CoE Drive First Release www.servosystem.ru +7(495) 407-01-02...

  • Page 4: Communication Specification Of Ethercat

    Drive User Guide 1. Communication Specification of EtherCAT IEC 61158 Type 12 Communication Standards IEC 61800-7 CiA402 Drive Profile Physical Layer 100BASE-TX (IEEE802.3) SM0 – Mailbox output (Master  Slave) SM1 – Mailbox input (Slave  Master) SyncManager EtherCAT SM2 – Process data outputs Communication SM3 –...

  • Page 5: Physical Dimensions

    Drive User Guide 2. Physical Dimensions D1NCOE drive 24.15 ±0.1 ±0.1 ±0.5 181.6 ±0.2 www.servosystem.ru +7(495) 407-01-02...
  • Page 6 Drive User Guide D1COE drive www.servosystem.ru +7(495) 407-01-02...
  • Page 7 Drive User Guide D2COE drive 135.5 ±0.1 46.8 F)-Bx-G www.servosystem.ru +7(495) 407-01-02...

  • Page 8: Object Dictionary Table

    － 0x1001 0x00 Error register UINT8 Identity Object 0x00 Number of entries UINT8 0x01 Vendor ID UINT32 0x0000AAAA 0x02 D1NCOE Product code UINT32 0x00000001 0x1018 D1COE Product code UINT32 0x00000002 D2COE Product code UINT32 0x00000003 0x03 Revision number UINT32 0x00000000...

  • Page 9: Pdo Mapping Objects

    Drive User Guide 3.3 PDO Mapping Objects O：Support,X：Not Support Index Sub-index Name Type Access Value PDO mapping Receive PDO Mapping 0x00 Number of objects UINT8 0x06 0x01 Mapping entry1 UINT32 0x60400010 0x02 Mapping entry2 UINT32 0x607A0020 0x1600 0x03 Mapping entry3 UINT32 ------------- 0x04...

  • Page 10: Cia 402 Objects Of Guide Regulations

    Drive User Guide SYNC Manager PDO Assignment 2 0x1C12 0x00 Number of assigned RxPDOs UINT8 0x01 0x01 Assigned RxPDO mapping object1 UINT16 0x1600 SYNC Manager PDO Assignment 3 0x1C13 0x00 Number of assigned TxPDOs UINT8 0x01 0x01 Assigned TxPDO mapping object1 UINT16 0x1A00 3.5 CiA 402 Objects of Guide Regulations...
  • Page 11 Drive User Guide Index Sub-index Name Type Access Value PDO mapping － 0x6081 0x00 Profile Velocity UINT32 － 0x6083 0x00 Profile Acceleration UINT32 － 0x6084 0x00 Profile Deceleration UINT32 － 0x6085 0x00 Quick Stop Deceleration UINT32 － 0x6087 0x00 Torque Slope UINT32 －...

  • Page 12: Manufacturer Defined Objects

    Drive User Guide 3.6 Manufacturer Defined Objects O：Support, X：Not Support Index Sub-index Name Type Access Default Value PDO mapping － 0x2000 0x00 Motor type UINT16 － 0x2001 0x00 Encoder Resolution of Velocity Loop INT32 － 0x2002 0x00 Encoder Resolution of Position Loop INT32 －...
  • Page 13 Drive User Guide 0x2010 - Input function bit0 - Activate error mapping bit1 - Reset the drive. 0x2020 – Index signal The object is used to home procedures by host controller. 0: No Index. 1: Index is touched. 0x2021 – Latch Index position This object is for user checking the repeatability of home position.
  • Page 14 Drive User Guide Bit 19: Over voltage detected Bit 20: Under voltage detected Bit 21: Motor maybe disconnected Bit 18: Motor short (over current) detected Bit 31: 5V for encoder card fail Others: reserved. 0x2101– Drive Error Events 2 Bit 1: Phase initialization error Bit 5: Hall sensor error Bit 6: Hall phase check error Others: reserved...

  • Page 15: Communication Architecture Of Ethercat Drive

    Drive User Guide 4. Communication Architecture of EtherCAT Drive The figure shown below indicates the architecture of CoE(CANopen over EtherCAT) drive network module. It can be separated to data link layer and application layer. Data link layer is used to manage the transmission interface of data between the master and salve station.
  • Page 16 The drive supporting EtherCAT shall provide the files used by the master station to plan the layout and communication between the master and slave stations. It is called ESI (EtherCAT Slave Information) and the format is xml files. The following three different files are the ESI of HIWIN CoE drive: ...

  • Page 17: State Machine Of Ethercat

    Drive User Guide 5. State Machine of EtherCAT EtherCAT state machine (ESM) is used to coordinate the state of application layer from starting to normal operation between the master and slave stations. The switch of state normally is initiated by the master station.
  • Page 18 Drive User Guide State Description Wait for the response from AL Status register. Pre-Operational Able to use mailbox communication. No process data communication. Transit from Pre-Operational to Master station uses the mailbox communication to Safe-Operational, PS set up the contents of PDO Mapping. Master station set up the relevant SyncManager of process data communication.

  • Page 19: State Machine Of Cia402

    Drive User Guide 6. State Machine of CiA402 Servo drive uses CANopen finite state machine (FSM) to define its state and the corresponding servo control function. Master station uses ControlWord object (0x6040) to control the switch of drive state and the drive uses StatusWord object (0x6041) to respond the current state of drive to the master station.
  • Page 20 Drive User Guide this state, the drive has de-magnetized the motor. The chart below is the command of switching state using ControlWord (0x6040) by the master station: Transition Bit7 Bit3 Bit2 Bit1 Bit0 Command Event 2, 6, 8 Shutdown Switch On Enable Operation Disable Operation Disable Voltage...

  • Page 21: Pdo Mapping

    Drive User Guide 7. PDO Mapping User is able to change the data transmitted through the process data communication between the master and slave stations based on the requirements. Receiving the process data communication is able to implement through set up the receiving objects separately from RxPDO mapping objects 0x1600 to 0x1602.
  • Page 22 Drive User Guide Allocate Mapping Object to PDO Layout Object of Sync Manage For example, allocate RxPDO mapping object 0x1600 to the content of the first sub-index of 0x1C1. Designate TxPDO mapping object 0x1A01 to 0x1C13. Set up Numbers of Mapping Object as Designated to PDO of Sync Manager Set up the zero sub-index of 0x1C12 and 0x1C13 to 1 to enable the transmission of PDO.

  • Page 23: Synchronization Mode

    Drive User Guide 8. Synchronization Mode Drive provides two types of operational modes: Free-run mode and DC mode. Master station may select the operational mode through set up 0x098 of ESC register. For example: Free-run mode: Set up the register 0x0980 to 0x0000. DC mode: Set up the register 0x0980 to 0x0300.

  • Page 24: Drive's Mode Of Operation

    Drive User Guide 9. Drive’s Mode of Operation Drive will operate based on the operational mode set up by the upper controller. Supportable modes are listed as follows: Profile Position mode Homing mode Profile Velocity mode Profile Torque mode Cyclic Synchronization Position mode Cyclic Synchronization Velocity mode Cyclic Synchronization Torque mode The list below shown the objects relevant to the operational mode:...
  • Page 25 Drive User Guide to drive the motor to complete the positioning purpose. The profile position mode is shown as the block diagram below. There are two motion modes under the profile position mode: Single set-point move mode and set of set-point move mode. Through set up ControlWord(0x6040), the master station initiates the movement of target position and read the content of StatusWord(0x6041) to know the movement status of motor.
  • Page 26 Drive User Guide ﹣Complete the stop motion and the motor has been stopped. Motor has not triggered the limit. Bit11 Internal limit active Motor has triggered the limit (limit of hardware or software) No new receiving target position available. Confirm new set up Bit12 New target position has been received and point...
  • Page 27 Drive User Guide (4) Master station sets the next target position (0x607A). It is an absolute coordinate and the unit is count. (5) Master station sets the bit4 of ControlWord(0x6040) to 1 and initiates the movement of target position. (6) Drive will set the bit12 of StatusWord(0x6041) to 1 and clear bit10 to 0. Inform master station that the new target position has been received and starts to move the motor.

  • Page 28: Cyclic Synchronization Position Mode

    Drive User Guide Master station sets the moving velocity (0x6081), unit is count/s. Master station sets the acceleration velocity (0x6083) and deceleration (0x6084), unit is count/s Master station sets the next target position (0x607A). It is an absolute coordinate and the unit is count.
  • Page 29 Drive User Guide The following description describes the use of ControlWord(0x6040) and StatusWord(0x6041) by the controller of master station under the cyclic synchronization position mode: 0x6040 Definition Value Description Not stop the movement of motor. Bit8 Halt Stop the movement of motor. 0x6041 Definition Value...

  • Page 30: Velocity Control Mode

    Drive User Guide I. Using cyclic synchronization position mode under Free-run mode: (1) Confirm the target position (0x607A) has been mapping to RxPDO and actual position (0x606C) mapping to TxPDO. Please refer to Chapter 7, the setting method of PDO mapping.
  • Page 31 Drive User Guide of drive. Under this control mode, the target velocity command will be limited by the protecting set up value of velocity and acceleration/deceleration. The following description describes the use of ControlWord(0x6040) and StatusWord(0x6041) by the controller of master station under the cyclic synchronization position mode: 0x6040 Definition Value...

  • Page 32: Torque Control Mode

    Drive User Guide mode has been switched to profile velocity mode. B. Confirm the content of 0x6061 object has been set to 9. It indicates that the operational mode has been switched to the cyclic synchronization velocity mode. (4) Set up the maximum limit value of moving velocity (0x607F), the maximum limited value of acceleration/deceleration (0x6083、0x6084) and the deceleration value of emergency stop (0x6085).

  • Page 33: Homing Mode

    Drive User Guide  Actual current value (0x6077): The actual current output to motor which is based on the permillage form of motor continuous current. The unit is 0.1%. Index Sub-index Name Type Access Value PDO mapping ﹣[0.1%] 0x6078 0x00 Actual Current Value UINT16 ...
  • Page 34 Drive User Guide The following listed objects are special used under homing mode: (1) Homing method (0x6098): Drive supports 8 kinds of CiA402 homing methods. Index Sub-index Name Type Access Value PDO mapping 0x6098 0x00 Homing Method UINT16 (2) Faster homing speed (0x6099:01): Drive will use this speed to move motor to search the positive/negative limit or homing switch.
  • Page 35 Drive User Guide Negative limit switch and index signal homing mode: In this mode, the motor will move to the negative direction until the negative limit switch is triggered. Then the motor will move to the positive direction. After the light of negative limit switch turns off, the location of the first triggered index signal is seen as homing position.
  • Page 36 Drive User Guide Positive-direction homing switch and index signal homing mode: In this mode, the motor will move to the positive direction until the homing switch is triggered. Then the motor will continuously move to the positive direction. After the light of homing switch turns off, the location of the first triggered index signal is seen as homing position.
  • Page 37 Drive User Guide Negative-direction homing switch and index signal homing mode: In this mode, the motor will move to the negative direction until the homing switch is triggered. Then the motor will continuously move to the negative direction. After the light of homing switch turns off, the location of the first triggered index signal is seen as homing position.
  • Page 38 EtherCAT input function (0x2020) to achieve this requirement. The steps are shown as follows: Use the human machine interface of HIWIN drive, called Lightening program. Fill the applicable content into compensation table at the Error Map page of application center window as shown in the figure below.
  • Page 39 Drive User Guide Save the accuracy compensation table into flash as shown in the figure below. III. Enable the function of accuracy compensation as shown in the figure below. IV. Save the new parameter settings into the flash of drive as shown in the figure below. www.servosystem.ru +7(495) 407-01-02...
  • Page 40 Drive User Guide The host uses the above homing steps to start homing procedures. VI. When the host reads the Bit10 and Bit12 of StatusWord(0x6041) being set to 1, this indicates that the homing of drive has been completed. The host sets up the Bit0 of EtherCAT input function object (0x2020) to 1, and thus informs drive to trigger the accuracy compensation function.

  • Page 41: Touch Probe Function

    Drive User Guide 10. Touch Probe Function The feedback position can be latched with the encoder zero signal (Z-phase). There is only one touch probe function can be used in drive which named Touch Probe Function 1. Touch Probe Function 1: Latch Control Object: 0x60B8 (Bit 0 to 7) ...
  • Page 42 Drive User Guide  Continuous Trigger Mode (0x60B8 bit 1 =1) 0x60B8 Bit 0 0x60B8 Bit 4 0x60B9 Bit 0 0x60B9 Bit 1 0x60BA 0x60B9 Bit 7 encoder zero signal www.servosystem.ru +7(495) 407-01-02...

  • Page 43: How To Use Twincat Making Connection With Drive

    Drive User Guide A. How to use TwinCAT making connection with drive Step 1. Place ESI file such as D2COE.xml file of D2 EtherCAT drive in the folder of C:\TwinCAT\Io\EtherCAT. Step 2. Open TwinCAT System Manager as shown in the figure below. Step 3.
  • Page 44 Drive User Guide Step 4. When popout the window of ”HINT: Not all types of devices can be found automatically”, please click OK as shown in the figure below. Step 5. Select the network card supporting EtherCAT and click OK as shown in the figure below. www.servosystem.ru +7(495) 407-01-02...
  • Page 45 Drive User Guide Step 6. When popout the window of ”Scan for boxes”, please click YES as shown in the figure below. Step 7. At this time, the operational interface of TwinCAT shown “D2 CoE Drivers”. www.servosystem.ru +7(495) 407-01-02...

  • Page 46: How To Use Twincat Operating Drive In Position Mode

    Drive User Guide B. How to use TwinCAT operating drive in position mode Step 1. Click Axis 1_Enc under the tree diagram of Axis 1 and set up the Scaling Factor of Encoder in Parameter in the right side window. The unit of Scaling Factor is mm/INC. Calculation example of AC servo: If the encoder of AC servo motor is 17 bits, screw pitch is 5mm.
  • Page 47 Drive User Guide Step 3. On the DC page of Drive 1 (D2 CoE Drives), set up TwinCAT operating in DC- Synchorn synchronization mode as shown in the figure below. (Note: The default synchronization cycle time of TwinCAT is 2 ms) Step 4.
  • Page 48 Drive User Guide www.servosystem.ru +7(495) 407-01-02...
  • Page 49 Drive User Guide Step 5. On the page of Drive 1 (D2 CoE Drives)->RxPDO 1 ->Mode of Operation->Online, click Force button and input value 8. Force to set up the operational mode to the Cyclic Position Mode. Step 6. On the page of Drive 1->CoE Online, search 0x607D:01(Min Software Position Limit) and 02(Max Software Position Limit).
  • Page 50 Drive User Guide Step 7. At the right side of Online page of Axis 1, press Set button in Enabling block. Press All button at the right corner of popout window (Set Enabling) to magnetize motor. Step 8. On the page of Online, click the four buttons in the red box area or press F1~F4 on the keyboard to process the Jog movement of motor.
  • Page 51 Drive User Guide Step 9. At the right side of Online page of Axis 1, press Set button in Enabling block. Check cancel of Controller, Feed Fw and Feed Bw from the popout window and press OK button to de-magnetize motor.

  • Page 52: How To Use Twincat To Process Dynamic Pdo Mapping

    Drive User Guide C. How to use TwinCAT to process dynamic PDO Mapping Step 1. On the page of Drive 1->Process Data, click 0x1A00(TxPDO) in PDO List. Then modify or add PDO Context(0x1A00) located below with the Mapping object to be add, delete or modify This text adds ”Mode of Operation Display”...

  • Page 53: How To Setup The Operational Mode For Ethercat

    Drive User Guide D. How to setup the Operational Mode for EtherCAT If Lightening connects to D1COE/D2COE/D1NCOE drive, then the options of Position Mode, Velocity Mode and Force/Torque Mode shown in the Mode page of Configuration center will be invalid and unable to click.
  • Page 54 Drive User Guide  When Lightening connects to EtherCAT drive and access in Performance center, the Home and Set button are deactivated as shown in the figure below because homing mode is already defined in CiA402 standard and the built-in homing procedures are not available to use. www.servosystem.ru +7(495) 407-01-02...

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