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Rtelligent ECT Series User Manual

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ECT Series User Manual
ECT Series
User Manual
Shenzhen Rtelligent Mechanical Electrical Technology Co., Ltd
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  • Page 1 ECT Series User Manual ECT Series User Manual Shenzhen Rtelligent Mechanical Electrical Technology Co., Ltd...
  • Page 2 ECT Series User Manual Revision history V202 1、 Add the phase loss detection function, when 0x2056 bit7 is 1, enable the phase loss detection. 2、 PP, PV mode status flag perfect, homing parameter 0x6099 change to standard 32bit, the previous version is 16bit, non-standard 3、...
  • Page 3 一 Driver Description 1.1 Product Introduction Thank you for choosing the Rtelligent EC series stepper motor driver. EC series is a high performance bus control stepper motor driver, while integrating the functions of intelligent motion controller. EC series EtherCAT drivers can be run as standard EtherCAT slave and support CoE (CANopenover).
  • Page 4 ECT Series User Manual Encoder interface Incremental orthogonal encoder Encoder resolution 1000~65535 pulse/turn Optical isolation input 24 V input for 4 common anodes Optical isolation output 2 channels: alarm, lock, in place and general output Communication Dual RJ45, with communication LED indication interface *Please do not exceed the scope of use specified above.
  • Page 5 ECT Series User Manual 1.3 Digital input and output ports ECT series can no longer be used for other input port functions because IN1 and IN2 are assigned to orthogonal encoder interfaces and will not work for IN1、IN2 function settings.
  • Page 6 外部GND 外部GND 1.3.2 Digital output port ECT series contains two optically isolated output signals. OUT1 output current capacity up to 30 mA. OUT2 output current capacity up to 150 mA. By default, the digital output is all open points, the function of output port can be selected through object dictionary 2005, and object dictionary 2006 is used to set the polarity of output port.
  • Page 7 0 数字IO接线端子示意图 ECT Series User Manual 0x2006 Output port R/W/S UINT Set the normally open polarity and normally closed setting characteristics of the output port 0 - normally closed 1 - normally open 驱动器 OUT1 OUT2 输出电路外接继电器 输出电路外接光耦 Taking OUT1 as an example, the OUT1~OUT2 interface circuit is the same.
  • Page 8 ECT Series User Manual 器 输出电路外接光耦 When the upper device is optocoupler input: 未接入限流电阻 DC12-24V DC12-24V 驱动器 伺服驱动器 伺服驱动器 光耦 光耦 OUT1 OUT1 外部地 外部地 1.4 Connection EtherCAT 续流二极管极性错误 伺服驱动器 DC12-24V Please use CAT5E (or higher level) network cable. 继电器...
  • Page 9 Double flash: bright for 200ms, dark for 200ms, bright for 200ms, dark for 1s. So cycle. 1.5 EtherCAT site address The ECT series supports two methods to set the slave address: object dictionary 0x2150 to set the site alias and ESC to set the site alias, and select through the object dictionary 0x2151.
  • Page 10 ECT Series User Manual 1.7 Mechanical dimensions ECT42、ECT60 Installation size ECT86 Installation size...
  • Page 11 ECT Series User Manual 二 Parameter Description and Settings 2.1 General parameters 2.1.1 0x1000 Type of device Object Type Data Type Access Type PDO Mapping Default Value UNSIGNED32 0x00040192 Bit 0~15: Device profile number 0x0192：CiA402 Bit 16~31: Additional information 0x0004：Stepper Drive 2.1.2 0x1001 Device name...
  • Page 12 ECT Series User Manual 2.1.5 Save parameters Sub-index of object dictionary 0x1010: 01 Write 1 to save current parameters. When saving the parameters, first stop the motor running, then save the parameters. The data structure is as follows: Index Sub-index...
  • Page 13 2.2.5 0x2005 Output Port Function Object Name Property Type Scope Default Unit Dictionary 0x2005:01 Output 1Function R/W/S UINT 0x2005:02 Output 2Function R/W/S UINT ECT series contains two output ports, which are used to set the function corresponding to the output port.

  • Page 14: Table Of Contents

    ECT Series User Manual The port function is defined as follows: Value Function Custom output Alarm output Brake output In place output When set as a custom output, the state of the port can be controlled by the polarity setting of 0x2006.

  • Page 15: 0X2006 Output Port Polarity

    ECT Series User Manual Value Function General input port CW limit input CCW limit input HOME input Fault clearance Emergency stop signal Motor offline Probe 1 Probe 2 The state of the input port can be read through the 0x60FD object.

  • Page 16: Uint 0~8

    ECT Series User Manual 2.2.10 0x200A Shaft lock time Object Name Property Type Scope Default Unit Dictionary 0x2009 Soft lock Time R/W/S UINT 0~65535 1000 50 us When ECR60 is enabled, the stepper motor needs to be locked for initial positioning. In order to reduce the jitter of initial positioning, ECR60 has a built-in ramp-locking function.

  • Page 17: Uint 0~8

    ECT Series User Manual 2.2.12 0x200C Motor parameters Object Name Property Type Scope Default Remarks Dictionary 0—— Two-phase stepper motor 0x200C:01 Motor type R/W/S UINT 1—— Three-phase stepper motor When automatic PI is turned on, the motor 100~ 0x200C:02 Resistance Auto...
  • Page 18 ECT Series User Manual FOC control. The weak magnetic control parameters are estimated from the motor's resistance, inductance and back EMF coefficient. Usually the automatically estimated resistance and inductance can meet the demand, and the user can also set the resistance and inductance by themselves according to the motor parameters of the motor manufacturer.
  • Page 19 ECT Series User Manual 2.2.15 0x200F Internal status code Object Name Property Type Default Dictionary 0x200F Status Code UINT This object displays the current status code of the driver, and each bit of the object corresponds to a status. Status code...

  • Page 20: Uint 0~8

    Unit Dictionary 0x2021 Encoder Counter in UINT 1000~65535 Pulse/rev one rev This object reflects the current position of the motor in a circle. Only ECT series products are valid. 2.2.20 0x2022 Position Excess Alarm Value Object Name Property Type Scope...
  • Page 21 ECT Series User Manual error when the motor is stationary. 0x2023：03 PosLoop_Kd R/W/S UINT 10000 0x2023：04 PosLoop_Kvff R/W/S UINT 0~100 Speed compensation Used to eliminate low-speed resonance 0x2023：05 PosLoop_Kdi R/W/S UINT 0~500 Usually this gain cannot be greater than This object only takes effect when ECT60 adopts servo mode 1 for closed-loop control. The gain is usually the default.
  • Page 22 ECT Series User Manual bandwidth of the speed loop feedback parameter FV1_HZ is used to set the bandwidth of the primary low-pass filter for speed feedback filter. FV2_HZ is used to set the bandwidth of the secondary low-pass filter for speed feedback filter.

  • Page 23: Bit15~Bit2

    ECT Series User Manual ECT60 returns the actual speed, and the value returned by ECR60 = given speed. 2.2.27 0x2048 Voltage Object Name Property Type Scope Default Unit Dictionary 0x2048 Bus Voltage UINT 10 mV bus voltage value (V)= object value/100;...
  • Page 24 ECT Series User Manual method offsets resonance by adding a certain harmonic to the set current. The amplitude and phase of the harmonics need to be adjusted to eliminate vibration. 2.2.31 0x2061 First resonance point A phase harmonic phase Object...
  • Page 25 ECT Series User Manual 2.3.2 0x6040 Control words This object is used to control the state of the drive and movement. Can enable/disable the drive; start and stop the motor; clear faults, etc. Object Name Property Type Scope Default Dictionary...
  • Page 26 ECT Series User Manual Definition of Bit4、5、6、8、9 in related modes PP mode Name Value Description A new target location 0->1 Change from 0 to 1, set a new target location Reserved Absolute/relative Absolute position mode Relative position mode Pause The motor is waiting to be positioned.
  • Page 27 ECT Series User Manual 2.3.3 0x6041 Status word This object sets the probe function. Object Type Data Type Access Type PDO Mapping Default Value UNSIGNED16 The register bits are defined as follows: Description Ready To Switch ON Switch ON Operation Enabled...
  • Page 28 ECT Series User Manual 2.3.5 0x6061 Operation mode display Display the current operating mode, the definition is the same as 0x6060. Object Name Property Type Scope Default Dictionary 0x6061 Mode of Operation Display INTEGER8 2.3.6 0x6064 Actual position Display the actual position of the current motor, the unit is Pulse.
  • Page 29 ECT Series User Manual Object Name Property Type Scope Default Dictionary 0x6081 Profile Velocity INTEGER 32 10000 2.3.11 0x6083 Track acceleration This object is used to set the acceleration of the trapezoidal acceleration/deceleration command in PP mode and PV mode, the unit is Pulse/s^2.

  • Page 30: Type Scope Default

    ECT Series User Manual 2.3.16 0x609A Homing acceleration This object is used to set the acceleration and deceleration of the position curve when in homing mode. The unit is Pulse/s^2. Object Name Property Type Scope Default Dictionary 0x609A Homing Acceleration...
  • Page 31 ECT Series User Manual Reserved The positive position is latched at the rising edge, and the negative position is latched at the falling edge. 2.3.18 0x60B9 Probe status This object defines the status of the probe function. Object Type Data Type...
  • Page 32 ECT Series User Manual 2.3.22 0x60BD Probe 2 negative latch value This object holds the position latched by the falling edge of probe 2. Object Type Data Type Access Type PDO Mapping Default Value UNSIGNED 32 2.3.23 0x60FD Digital Inputs This object monitors the input port of the driver.
  • Page 33 Bit value = 1: Support EC series stepper drivers support PP, PV, HM, CSP modes. 2.4 CIA402 Motion control 2.4.1 Operation mode ECT series EtherCAT stepper driver supports the following operation modes (0x6060): Profile Position (PP) Profile Velocity (PV) Cyclic Synchronous Position (CSP)
  • Page 34 ECT Series User Manual 2.4.2 PP Profile Position Mode Profile position mode description: Standard position mode is a point-to-point operation mode that uses a set point composed of speed, acceleration, deceleration and target position. Once all these parameters are set, the driver will buffer these commands and start executing the set point.
  • Page 35 ECT Series User Manual the last set speed, then switch to the new speed and run to the new set point. Setpoint takes effect immediately (bit 5) - If this bit is high, the new setpoint takes effect immediately and the motor will run to the new position at the speed of the new setpoint.
  • Page 36 ECT Series User Manual The above figure shows the corresponding relationship between the motor running status, actual speed, target speed and control word. Target speed 6040h stop bit Bit4 Motor movement status Start Motor stop 1->0 Motor accelerates to V1 0->1...
  • Page 37 ECT Series User Manual will be maintained on the motor. If you want the axis to move freely, the driver must be placed in the driver disabled (disabled) status. Enable PV mode To enable the profile velocity mode, the value of object dictionary 6060h (operation mode) must be set to 0003h.
  • Page 38 ECT Series User Manual 2.4.4 CSP Cyclic Sync Position Mode Cyclic sync position mode description In this mode, the main controller generates a position trajectory and sends the target position (0x607A) to the driver in each PDO update cycle. The driver feedbacks the actual motor position and optional actual motor speed and torque.
  • Page 39 ECT Series User Manual 2.4.5 Probe function The probe function latches the motor position information through the digital input port. ECR60's digital input port function and polarity can be defined by 0x2007, 0x2008. The relevant object dictionary of the probe function is as follows:...
  • Page 40 ECT Series User Manual Probe timing diagram...
  • Page 41 ECT Series User Manual Serial Change of registers Probe action 60B8 Bit 0 = 1 Enable probe 1 60B8 Bit 1,4,5 Configure the rising edge and falling edge of the enable probe -> 60B9 Bit 0 = 1 The state "probe 1 enabled" is set External probe signal rising edge ->...
  • Page 42 ECT Series User Manual 2.4.6 Homing mode Set homing parameters Set the homing speed, acceleration, home offset and related sensor input signals。 The relevant object dictionary is as follows: Object dictionary Description 0x607C Home offset 0x6098 Homing method setting 0x6099...
  • Page 43 ECT Series User Manual word 6040h, the rising edge from 0 to 1, can stop the function of homing. The status of homing is queried through the 6041 status word. 2.4.6.1 Homing method The ECR60 driver supports 17~34,35 homing methods. The specific definition and the process of homing are described as follows.
  • Page 44 ECT Series User Manual 2.4.6.4 Method 19: 2.4.6.5 Method 20: 2.4.6.6 Method 21:...
  • Page 45 ECT Series User Manual 2.4.6.7 Method 22: 2.4.6.8 Method 23:...
  • Page 46 ECT Series User Manual 2.4.6.9 Method 24: 2.4.6.10 Method 25:...
  • Page 47 ECT Series User Manual 2.4.6.11 Method 26: 2.4.6.12 Method 27:...
  • Page 48 ECT Series User Manual 2.4.6.13 Method 28: 2.4.6.14 Method 29:...
  • Page 49 ECT Series User Manual 2.4.6.15 Method 30: 2.4.6.16 Method 35:...
  • Page 50 ECT Series User Manual 2.4.6.17 Method 36 & 37 The homing modes 36 and 37 are torque homing modes, which do not require external limit signals, and rely on detecting the internal torque output of the motor to determine whether the mechanical hard limit has been reached.
  • Page 51 ECT Series User Manual Method 36: The motor returns to zero at high speed in the direction of CCW, and when it meets the limit stop, the zero return is completed.
  • Page 52 ECT Series User Manual Method 37: The motor returns to zero at high speed in the direction of CCW, and when it meets the limit stop, the zero return is completed.
  • Page 53 ECT Series User Manual CONTACT RTELLIGENT Rtelligent Head Office Add: 3rd floor, Building B, Zhuangbian Industrial Park Nanchang Road, Gushu, Baoan District, Shenzhen, China Zip code: 201107 Tel: +86 (0)755 29503086 Fax: +86 (0)755 23327086 Email: sales@szruitech.com Office in East China Add: Room 328, No.

This manual is also suitable for:

Ect42Ect60Ect86

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