1. Manuals
  2. Brands
  3. Fastech Manuals
  4. Industrial Equipment
  5. Ezi-STEPII EtherCAT MINI
  6. User manual

Fastech Ezi-STEPII EtherCAT MINI User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Open Loop Stepping System
EtherCAT Network
User Manual
• Ezi-STEPII EtherCAT MINI
FASTECH Co., Ltd.

Advertisement

Table of Contents
loading

Related Manuals for Fastech Ezi-STEPII EtherCAT MINI

Summary of Contents for Fastech Ezi-STEPII EtherCAT MINI

  • Page 1 Open Loop Stepping System EtherCAT Network User Manual • Ezi-STEPII EtherCAT MINI FASTECH Co., Ltd.

  • Page 2: Table Of Contents

    ........Rev.37 FASTECH Co., Ltd.
  • Page 3 ........Rev.37 FASTECH Co., Ltd.
  • Page 4 ......6.5.34 Object 60D5h: Touch probe 1 positive edge counter ....Rev.37 FASTECH Co., Ltd.
  • Page 5 6.6.20 Object 2040h: Safety Mode ....... Changelog Rev.37 FASTECH Co., Ltd.

  • Page 6: Introduction

    Before Operation • Thank you for your purchasing Ezi-STEPII EtherCAT MINI. • 32 Bit high-performance of ARM Processor on-board Ezi-STEPII EtherCAT MINI is motion con- troller supports Field-network EtherCAT. • This manual describes handling, safety instruction, diagnosis and troubleshooting of Ezi-STEPII EtherCAT MINI.

  • Page 7: Safety Precautions

    • Contents of this manual are subject to change without prior notice for functional improvement, change of specifications or user’s better understanding. • When the manual is damaged or lost, please contact with Fastech’s agents or our company to get a manual again.
  • Page 8 Before connecting cables, please check if input power is OFF. Otherwise, a fire or other kinds of accidents may occur. The case of Ezi-STEPII EtherCAT MINI is insulated from the ground of the internal circuit by the condenser so please ground the product. Otherwise, an electric shock or a fire may occur.
  • Page 9 Do not change cabling while power is being supplied. Otherwise, the user may get injured or the product may get damaged. Do not reconstruct the product. Otherwise, an electric shock may occur or the reconstructed product can not get After Sales Service. Rev.37 FASTECH Co., Ltd.

  • Page 10: Product Specification

    Chapter 1 Product Specification Rev.37 FASTECH Co., Ltd.

  • Page 11: Model Naming

    BK : Brake Reduction Gear Ratio Blank : Without Gear PN03 – 1:3 PN05 – 1:5 PN08 – 1:8 PN10 – 1:10 PN15 – 1:15 PN25 – 1:25 PN40 – 1:40 PN50 – 1:50 Figure 1.1: Model Naming Rev.37 FASTECH Co., Ltd.

  • Page 12: Product Dimension

    CiA402 drive profile (IEC61800-7) Cyclic Synchronous Position Mode Supported Operation Mode Profile Position Mode Homing Mode Free Run, SM Event, DC SYNC Event Synchronization (minimum cycle time: 250us) Processing Data Configurable PDO Mapping Table 1.1: Communication Specification Rev.37 FASTECH Co., Ltd.

  • Page 13: Drive Specification

    Regenerated Voltage Error, Motor Connect Error, ROM Error Functions 3 dedicated input (LIMIT+, LIMIT-, ORIGIN) Input Signals 3 user inputs (Photocoupler Input) I/O Signal Brake Output Signals 2 user outputs (Photocoupler Output Table 1.2: Drive Specification Rev.37 FASTECH Co., Ltd.

  • Page 14: Installation

    Chapter 2 Installation Rev.37 FASTECH Co., Ltd.

  • Page 15: Precautions Of Installation

    3. Do not install this product under direct rays or near magnetic or radioactive objects. 4. If more than 2 drives are installed in a line, keep the interval of 20mm or more vertically and 50mm or more horizontally at least. over 50mm over 20mm Rev.37 FASTECH Co., Ltd.

  • Page 16: System Configuration

    2. Installation 2.2 System Configuration Figure 2.1: System Configuration Diagram of Ezi-STEPII EtherCAT MINI Rev.37 FASTECH Co., Ltd.

  • Page 17: External Wiring Diagram

    2. Installation 2.3 External Wiring Diagram Figure 2.2: External Wiring Diagram of Ezi-STEPII EtherCAT MINI Rev.37 FASTECH Co., Ltd.

  • Page 18: Appearance And Part Name

    2. Installation 2.4 Appearance and Part Name Figure 2.3: Appearance of Ezi-STEPII EtherCAT MINI Rev.37 FASTECH Co., Ltd.

  • Page 19: Ethercat Status Led

    Non-error status or Power OFF Blinking Extra Error Single Flash Sync Error Double Flash Watch-dog Error Link not established in physical layer LA1/LA2 Green Link established in physical layer Flickering In operation after establishing link Table 2.1: EtherCAT Status LED Rev.37 FASTECH Co., Ltd.

  • Page 20: Ethercat Communication Connection

    F.GND Table 2.2: EtherCAT Connector EtherCAT Communication Cable Recommend to use communication cable Min. CAT5e level above. • CAT5e or above • Shield type : SF/FTP, S/FTP, SF/UTP • Length : Max. 50m (Distance between Nodes) Rev.37 FASTECH Co., Ltd.

  • Page 21: I/O Connector

    Supply voltage and capacity of power for control output connection as below. • Less than 30V of supply voltage • Less than 15mA of current flow Rev.37 FASTECH Co., Ltd.

  • Page 22: Encoder Connection Connector

    A Phase Output B Phase Output /A Phase Output /B Phase Output Table 2.5: Motor Connection Connector of Ezi-STEPII EtherCAT MINI 2.4.6 Power Connector Function 24VDC Input Input Table 2.6: Power Connection Connector of Ezi-STEPII EtherCAT MINI 2.4.7 USB Connector Connect to a PC using USB cable to the USB Connector.

  • Page 23: Appendix

    Connector of Motor Wiring Pin layout Pin number Pin number Pin layout Table 2.8: Wiring Diagram of Ezi-STEPII EtherCAT MINI 2.5.2 Extension Cable for Encoder For cable extension between Encoder and Drive. Connector of Drive Connector of Motor Wiring Pin layout...

  • Page 24: Connector Specifications

    Table 2.10: Connector specification of Ezi-STEPII EtherCAT MINI • These connectors are serviced together with Ezi-STEPII EtherCAT MINI except when purchasing option cables. • Above connector is the most suitable product for Ezi-STEPII EtherCAT MINI. Another equivalent connector can be used. Rev.37...

  • Page 25: Ethercat Communication

    Chapter 3 EtherCAT Communication Rev.37 FASTECH Co., Ltd.

  • Page 26: Can Application Protocol Over Ethercat

    3. EtherCAT Communication 3.1 CAN application protocol over EtherCAT Ezi-STEPII EtherCAT MINI is EtherCAT communication embedded type of controller to support CAN application protocol over EtherCAT (CoE). EtherCAT Slave structure is as below. Figure 3.1: EtherCAT Structure 3.1.1 Object Dictionary Object Dictionary is dictionary of Objects what product has.

  • Page 27: Process Data Communication

    Object ID value, Low level Index value, length of data (bit unit) of data that will be delivered and received are recorded at Mapping Table. Figure 3.3: PDO Mapping 3.2.2 PDO Assign PDO Assign is to set PDO Mapping Object will be assigned at SyncManager. Rev.37 FASTECH Co., Ltd.

  • Page 28: Ethercat State Machine

    Available All of communication is avail- able. Bootstrap Available Non Available Non Available Only mailbox communication is available. Possible to renew F/W of product with using FoE Protocol at this stage. Table 3.1: EtherCAT Operational State Rev.37 FASTECH Co., Ltd.

  • Page 29: Synchronization

    DC is synchronized time shared between Master and Slave. With synchronized clock, interrupt is gen- erated under accurate synchronization and controller executes commands under accurate timing. In this case, each one of controller has few us range of jitter. Rev.37 FASTECH Co., Ltd.

  • Page 30: Ethercat Slave Information

    XML format based on EtherCAT specifications. With recording of XML file into EtherCAT Master Equipment through EtherCAT setting equipment, easily implement PDO and SDO setting of Slave device. Information XML file can be downloaded from product website of archives. Rev.37 FASTECH Co., Ltd.

  • Page 31: Cia402 Drive Profile

    Chapter 4 CiA402 Drive Profile Rev.37 FASTECH Co., Ltd.

  • Page 32: Drive Status Control

    Status of product moves as follows. Status movement is executed by status of controller and Control word (6040h) and current status can be checked by Status word (6041h). Figure 4.1: Drive State Machine Status movement and meaning of each status is as follows. Rev.37 FASTECH Co., Ltd.
  • Page 33 Each status of functions supported by controller as follows. Status Brake Function Motor Power Control Command Not ready to switch on Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active Fault reaction active Fault Table 4.2: Function per Status Rev.37 FASTECH Co., Ltd.

  • Page 34: Control Word

    Table 4.6: Status word oms : it’s an abbreviation for Operation mode specific. Functions vary depending on the Operation Mode. Please refer to the Control word description for each Operation Mode. Rev.37 FASTECH Co., Ltd.
  • Page 35 The Safety function was activated and stopped. Please refer to 4.9 Safety Function Safety function. Table 4.8: Bit description of Status word Safety Activated is a function on Ezi-STEPII EtherCAT MINI that is not specified in CiA402 Drive Profile. Rev.37 FASTECH Co., Ltd.

  • Page 36: Error Code

    The value displayed in the Object 2021h: Error code history. The ’Abnormal Safety Input State’ alarm can be clear by recycling the power of the controller. It can not clear by ’Fault Reset’ command of Control word. Rev.37 FASTECH Co., Ltd.

  • Page 37: Mode Of Operation

    Mode of operation display (6061h). Operation modes supported by current controller are as follows. Mode of operation Description Abbreviation Profile Position Mode Homing Mode Cyclic Synchronous Position Mode Table 4.10: Supported Operation Modes Rev.37 FASTECH Co., Ltd.

  • Page 38: Cyclic Synchronous Position Mode

    Bit 1 Bit 0 Switch Quick stop Voltage en- Fault Operation Switched on Ready disabled abled enabled switch on Table 4.12: Status word under CSP Mode Please refer to drive status control for the rest of bits. Rev.37 FASTECH Co., Ltd.
  • Page 39 4. CiA402 Drive Profile Value Description Target position value ignored. Target position value executed. Following Error has occurred. Table 4.13: Bit description of Status word under CSP Mode For other bits, please refer to 4.6 Status word. Rev.37 FASTECH Co., Ltd.

  • Page 40: Profile Position Mode

    Set- Enable Op- Quick Stop Enable Volt- Switch On Immedi- Point eration ately Table 4.14: Control word under Profile Position Mode Please refer to 4.4 Set Control word for status movement for the rest of bits. Rev.37 FASTECH Co., Ltd.

  • Page 41: Position Movement Method

    Status word (Bit 12) is going to be SET and position movement command executed. Target position refers to Target position (607Ah) and Position value can be absolute coordinates or relative coordinates by Control word of Relative (Bit 6). Rev.37 FASTECH Co., Ltd.
  • Page 42 Target position override In case of using Control word of Change Set Immediately (Bit 5) under SET status during position move- ment command, able to cancel currently operating position movement command and immediately move to new target position. Rev.37 FASTECH Co., Ltd.
  • Page 43 If there is no previous position movement command or already completed, command under Change Set Immediately (Bit 5) under SET status is same as general position movement command. Rev.37 FASTECH Co., Ltd.

  • Page 44: Homing Mode

    Bit 1 Bit 0 Fault Reset Homing Enable Op- Quick Stop Enable Volt- Switch On Operation eration Start Table 4.18: Control word under Homing Mode The functions of bits added in Homing Mode are as follows. Rev.37 FASTECH Co., Ltd.

  • Page 45: Origin Search Method

    Set the current position origin and reset current position Table 4.22: Homing Method List Supported origin searching method lists can be also checked from Supported homing methods (60E3h). In the description below, ’Index pulse’ refers to the Z-Phase singal of the encoder. Rev.37 FASTECH Co., Ltd.
  • Page 46 (6099h, Sub-Index 2) in the negative direction and moves in the opposite direction to detect the Limit Switch again. Then, it moves in the negative direction until Index Pulse is detected, and sets that position as sensor origin position. Rev.37 FASTECH Co., Ltd.
  • Page 47 When a Origin Switch is detected, it moves out of the Origin Switch at the speed of Speed during search for zero (6099h, Sub-Index 2) in the positive direction and moves in the opposite direction to detect the Origin Switch again, and sets that position as sensor origin position. Rev.37 FASTECH Co., Ltd.
  • Page 48 Method 37: Set the current position origin and reset current position This origin search method is to set current position as sensor origin position. If set value of Home offset (607Ch) is not 0, initialize current position as Home offset value. Rev.37 FASTECH Co., Ltd.

  • Page 49: Touch Probe

    Able to check whether input signal acknowledged through Touch probe status of bit number 1 ∼ 2, 9 ∼ 10 (Detected). Acknowledged position value, please check Touch probe 1 positive value, Touch probe 2 positive value, Touch probe 1 negative value, Touch probe 2 negative value. Rev.37 FASTECH Co., Ltd.
  • Page 50 (Range of this value is 0 ∼ 3.) For the frequency of input signal acknowledgement, please check Touch probe 1 positive edge counter, Touch probe 2 positive edge counter, Touch probe 1 negative edge counter, Touch probe 2 negative edge counter. Rev.37 FASTECH Co., Ltd.

  • Page 51: Digital Input And Output

    4. CiA402 Drive Profile 4.8 Digital Input and Output 4.8.1 Definition Ezi-STEPII EtherCAT MINI provides 3 default input (ORIGIN, LIMIT+, LIMIT-) and 3 user inputs and also 1 default output (BRAKE) and 2 user outputs. 4.8.2 Related Objects Object Access...

  • Page 52: Brake Output

    Safety Function are available by using Object 2040h: Safety Mode. For the detail, please refer to 6.6.20 Object 2040h: Safety Mode. Information Safety Function feature is supported on devices with Software version (100Ah) 02.02.31 or higher. Rev.37 FASTECH Co., Ltd.

  • Page 53: Operation Of Safety Function

    Under control Disable motor control Under control Figure 4.17: TQOFF Input (Normal Operation 1) If the Safety Function is activated while the motor is moving, the power of motor is cut off and stopped by inertia. Rev.37 FASTECH Co., Ltd.
  • Page 54 When the Safety Fnction is deactivated, bit 15 of Status word - Safety Activated is turned off and the motor can be powered on again. Refer to 4.1 Drive Status Control for information how to power on or what Drive State Machine is. Please refer to 4.2 Error Code for alarm occurrence and confirmation. Rev.37 FASTECH Co., Ltd.

  • Page 55: Operation

    Chapter 5 Operation Rev.37 FASTECH Co., Ltd.

  • Page 56: Operation Sequence

    Set Module and PDO Mapping by setting function of Master. Information Trial operation explains operation by Profile Position Mode. Select the Module: ‘Axis (Normal) : dynamic select operation mode’. Name of Module can be differentiated by each Master. Rev.37 FASTECH Co., Ltd.

  • Page 57: Set Communication Status

    • Check noise or abnormal vibration from motor during operation. • After completion of motor operation, check Status word whether ‘Target Reached’ shown as 1. • Check Status word whether ‘Fault’ shown as 1. If so, check Error code and execute appropriate action. Rev.37 FASTECH Co., Ltd.

  • Page 58: Drive Setting Adjustment

    Able to set Active Level of Origin signal by Sensors logics. User I/O Active Level of User I/O, User Input 1 ∼ 3 and User Output 1 ∼ 2 can be changing by Digital input levels (2011h) and Digital output levels (2012h). Rev.37 FASTECH Co., Ltd.

  • Page 59: Ethercat Object Dictionary

    Chapter 6 EtherCAT Object Dictionary Rev.37 FASTECH Co., Ltd.

  • Page 60: Indication Type Of Objects

    Objects that sets EtherCAT communication related settings or diplay status or information. 2000h ∼ 5FFFh Manufacture specific area FASTECH only Objects. 6000h ∼ 9FFFh Standardized Device Profile Area Objects defined in the CiA402 Drive Profile. Table 6.1: Index Table of Objects If various parameter combined at the one object, able to access through Sub-Index.

  • Page 61: Access

    6.1.9 Default Value Indicates basic value of correspondent object. Can be initialized as a correspondent value when returns back to initial value through Restore default parameters (1011h). Rev.37 FASTECH Co., Ltd.

  • Page 62: Communication Object

    This object indicates version of product hardware. Indicated value can be different by version of product. 6.2.5 Object 100Ah: Software version Index index Name Type Access Constant Value 100Ah Software version STR(8) 01.00.00 This object indicates version of software. Indicated value can be different by version of product. Rev.37 FASTECH Co., Ltd.

  • Page 63: Object 1010H: Store Parameters

    ‘Abort SDO Transfer (abort code: 0800002xh)’. Information the objects’ value will be set to default after power cycle. In case of reading Sub-Index 01h, following values will be returned. Rev.37 FASTECH Co., Ltd.

  • Page 64: Object 1018H: Identity

    SM Event occur Counter (changes) 0 (-1) 3 (+3) 2 (-1) 5 (+3) 4 (-1) 3 (-1) 6 (+3) 9 (+3) 12 (+3) / Communication error Table 6.11: Example of the Internal SM Event Missed Counter Rev.37 FASTECH Co., Ltd.

  • Page 65: Object 10F3H: Diagnosis History

    Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Overwrite / Operation Disable Er- Disable Disable Info Discard Mode ror Message Warning Message Message Table 6.12: Definition of Flags Rev.37 FASTECH Co., Ltd.
  • Page 66 INT16, 4: INT32, 5: UINT8, 6: UINT16, 7: UINT32) n bytes Parameter 1 1st argument. 18 + n 2 bytes Flags 2 Type and size of Parameter 2. 20 + n n bytes Parameter 2 2nd argument. Table 6.13: The structure of Diagnosis Message Rev.37 FASTECH Co., Ltd.

  • Page 67: Pdo Mapping Object

    10th PDO object 0000 0000h This object points TxPDO 0 information among TxPDO setting. Following objects are already mapping: Status word (6041h), Position actual value (6064h) TxPDO-Map 0 is configurable. Please refer to 3.2 PDO Mapping. Rev.37 FASTECH Co., Ltd.

  • Page 68: Object 1A01H: Txpdo-Map 1

    Type Access SAVE Mapping Range Value 1C12h Number of entries RxPDO assign 1600h 6.3.6 Object 1C13h: TxPDO assign Value Default Index index Name Type Access SAVE Mapping Range Value 1C13h Number of entries TxPDO assign 1A00h Rev.37 FASTECH Co., Ltd.

  • Page 69: Sync Manager Object

    Minimum cycle time 250000 Calc and copy time 10000 Get cycle time 0000h Delay time 0000 0000h Sync0 cycle time 0000 0000h SM-Event missed 0000h Cycle time too small 0000h 0 ∼ 1 Sync error BOOL Rev.37 FASTECH Co., Ltd.

  • Page 70: Drive Profile Object

    6.5.4 Object 605Ah: Quick stop option code Value Default Index index Name Type Access SAVE Mapping Range Value 0 ∼ 2, 5, 6 605Ah Quick stop option code This object sets motion of immediate stop once controller status is Quick Stop. Rev.37 FASTECH Co., Ltd.

  • Page 71: Object 605Bh: Shutdown Option Code

    Halt option code This object, Control word - bit 8: Set motion through Halt once stops command. Value Description After decelerated stops, maintains Operation Enabled status. After quick stops, maintain Operation Enabled status. Table 6.20: Halt Option Code Rev.37 FASTECH Co., Ltd.

  • Page 72: Object 605Eh: Fault Reaction Option Code

    This position value indicates the value of Position demand value, not the Encoder value. It can be set to display the position of the external encoder using Object 2004h: External Encoder. Please refer to the corresponiding object. Rev.37 FASTECH Co., Ltd.

  • Page 73: Object 606Bh: Velocity Demand Value

    Software Position Limit is based on Sensor origin. If Home Offset has set by not 0 but other value, Actual Software Position Limit needs to be used after adjustment by Home Offset. Rev.37 FASTECH Co., Ltd.

  • Page 74: Object 607Eh: Polarity

    Whatever it receives value of velocity, controller does not move faster than Max Profile Velocity. 6.5.20 Object 6081h: Profile velocity Value Default Index index Name Type Access SAVE Mapping Range Value 1 ∼ 2500000 6081h Profile velocity RxPDO 10000 This object sets movement velocity under Profile Position Mode. Rev.37 FASTECH Co., Ltd.

  • Page 75: Object 6083H: Profile Acceleration

    Speed during search for switch (Sub-Index 1) is the velocity is used for correspondent Switch. Please set appropriate velocity to sense correspondent Switch. Speed during search for zero (Sub-Index 2) is the velocity is used for searching sensor origin after searching correspondent Switch. Rev.37 FASTECH Co., Ltd.

  • Page 76: Object 609Ah: Homing Acceleration

    Sense falling edge of 1 signal. 14 ∼ 15 6.5.27 Object 60B9h: Touch probe status Value Default Index index Name Type Access SAVE Mapping Range Value 60B9h Touch probe status TxPDO 0000h This object indicates status of Touch Probe 1/2. Rev.37 FASTECH Co., Ltd.

  • Page 77: Object 60Bah: Touch Probe 1 Positive Value

    6.5.31 Object 60BDh: Touch probe 2 negative value Value Default Index index Name Type Access SAVE Mapping Range Value 60BDh Touch probe 2 negative value TxPDO This object indicates encoder position value sensed by Touch Probe 2 at falling edge. Rev.37 FASTECH Co., Ltd.

  • Page 78: Object 60C2H: Interpolation Time Period

    6.5.36 Object 60D7h: Touch probe 2 positive edge counter Value Default Index index Name Type Access SAVE Mapping Range Value 60D7h Touch probe 2 positive edge TxPDO counter This object displays the number of times the rising edge of Touch Probe 2 is detected. Rev.37 FASTECH Co., Ltd.

  • Page 79: Object 60D8H: Touch Probe 2 Negative Edge Counter

    If the value of position deviation goes far from Following error window (6065h), Following Error will be generated. 6.5.40 Object 60FDh: Digital inputs Value Default Index index Name Type Access SAVE Mapping Range Value 60FDh Digital inputs TxPDO 0000 0000h Rev.37 FASTECH Co., Ltd.

  • Page 80: Object 60Feh: Digital Outputs

    Bit 0: Set Brake controls Brake output signal. Able to manually control Brake as set the value of Bit mask as 1. Value Bit mask Physical outputs Brake Release (ON) Brake Manual Control Brake Engage (OFF) Table 6.31: Set Brake Rev.37 FASTECH Co., Ltd.

  • Page 81: Object 6502H: Supported Drive Modes

    Torque Pro- Profile Velocity Profile Posi- chronous Position Mode file Mode locity Mode Mode tion Mode Position Mode Mode Table 6.33: Supported Drive Modes Drive supports Profile Position Mode, Homing Mode and Cyclic Synchronous Position Mode. Rev.37 FASTECH Co., Ltd.

  • Page 82: Manufacture Specific Object

    It sets 1, IN/OUT connection of LIMIT+ and LIMIT- inputs will be exchanged. Information Please use for exchanging of LIMIT+ and LIMIT- input from IN/OUT connection when it is unable to change current wiring due to incorrect wiring of LIMIT+ and LIMIT- input signal, Rev.37 FASTECH Co., Ltd.

  • Page 83: Object 2003H: Limit Stop Method

    0 ∼ 1 Encoder Direction This Objects set Ezi-STEPII EtherCAT MINI to support an external encoder. Use Encoder This object sets whether Ezi-STEPII EtherCAT MINI reads the position of the external encoder or not. Value Definition Description Ignore external encoder The value of Position actual value is the same as Position demand value.

  • Page 84: Object 2006H: Start Speed

    • Run current is set automatically as load. Therefore use only when torque value during running is insufficient. Information This object can NOT be set while it’s ’Operation Enabled’ state. Please set after ’Operation Disable’. Please refer to 4.1 Drive Status Control. Rev.37 FASTECH Co., Ltd.

  • Page 85: Object 2008H: Boost Current

    The drive adjusts the motor’s drive current from Stop current to Run current according to the size of the load. This setting is used to reduce heat generation when the motor is stationary or when the load is light. Rev.37 FASTECH Co., Ltd.

  • Page 86: Object 200Ah: Motor Number

    Definition Default value Apply 500 ns Filter Table 6.40: Encoder Filter Time Information This object can NOT be set while it’s ’Operation Enabled’ state. Please set after ’Operation Disable’. Please refer to 4.1 Drive Status Control. Rev.37 FASTECH Co., Ltd.

  • Page 87: Object 2010H: Brake Delay

    This object can delete the record of Error code history or adjust the recording time. Function The Function can delete the record of Error code history. If you enter ’00726C63h’ value in the Function, all the history in the list is initialized. Rev.37 FASTECH Co., Ltd.

  • Page 88: Object 2021H: Error Code History

    The list of Error code stored in Error code history will not be erased even if the controller is powered off. Please refer to the function of Error code history setting to initialize the list of Error code history. Rev.37 FASTECH Co., Ltd.

  • Page 89: Object 2025H: Lifetime Record

    It displays the total number of revolutions the motor has rotated through the command for a lifetime (Since the product was shipped). The unit is [rev] and the number of revolutions below the decimal point is discarded when the controller is power off. Rev.37 FASTECH Co., Ltd.

  • Page 90: Object 2030H: Advanced Settings

    Disable Automatic transition 2 This object can set whether ’Transition 2’ of Drive State Machine occurs automatically or not. If the value is set to 1, Transition 2 will not occur automatically, but rather through the ’Shutdown’ command. Rev.37 FASTECH Co., Ltd.

  • Page 91: Object 2040H: Safety Mode

    ON when TQOFF Inputs are OFF after Safety Function is activated. It can be removed by sending the Shutdown command in Control word. Bit 4 - TQOFF1: The input assigned as TQOFF1 is OFF. Bit 5 - TQOFF2: The input assigned as TQOFF2 is OFF. Rev.37 FASTECH Co., Ltd.
  • Page 92 Safety Input is [OFF : Non-conduction], it recognized as OFF and the Safety Function is activated. when the value is 1, if the photocoupler of the assigned inputs as Safety Input is [ON : Conduction], it recognized as OFF and the Safety Function is activated. Rev.37 FASTECH Co., Ltd.
  • Page 93 1, if Safety Output is ON, the photocoupler of the assigned output as Safety Output is [OFF : Non-conduction]. Value Definition Output status Photocoupler status ON : Conduction Low active OFF : Non-conduction ON : Conduction High active OFF : Non-conduction Table 6.47: Safety Output Logic Rev.37 FASTECH Co., Ltd.

  • Page 94: Changelog

    Update the descriptions of Object 2007h: Run current, Object 2009h: Stop current, Object 2008h: Boost current. Update the description of Object 60F4h: Following error actual value. Update the description of Object 200Fh: Encoder filter time. Update the description of Object 6040h: Control word. Rev.37 FASTECH Co., Ltd.
  • Page 95 • It is prohibited to copyright or replication of the part or whole of user manual without permission. • When user manual is needed due to damage or loss, please contact Head Quarter of Fastech or our distributors. • The user manual can be changed without pre-notification in order to reflect improvement or change of the product specifications and for the improvement of user manual.

Table of Contents