SHS EtherCAT HT7 User Manual
  1. Manuals
  2. Brands
  3. SHS Manuals
  4. DC Drives
  5. EtherCAT HT7
  6. User manual

SHS EtherCAT HT7 User Manual

Stepper motor drive
Hide thumbs Also See for EtherCAT HT7:
Table of Contents

Advertisement

Quick Links

Download this manual
HT7
Stepper Motor Drive
EtherCAT User Manual
Manual r06
Company Quality Assurance conforming
S.H.S. s.r.l. Via Fratelli Rosselli 29 - 20027 Rescaldina (MI) Italy - Phone +39 0331 466918 - www.shsitalia.it

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the EtherCAT HT7 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for SHS EtherCAT HT7

Summary of Contents for SHS EtherCAT HT7

  • Page 1 Stepper Motor Drive EtherCAT User Manual Manual r06 Company Quality Assurance conforming S.H.S. s.r.l. Via Fratelli Rosselli 29 - 20027 Rescaldina (MI) Italy - Phone +39 0331 466918 - www.shsitalia.it...
  • Page 2 Index Introduction Warnings General Info Configuration File Device Control Drive State Device Control Commands Errors Device Errors Communication Errors System Units Operating Modes Overview Profile position mode (pp) Overview Controlword Profile Position mode-specific bits Statusword Profile Position mode-specific bits Profile velocity mode (pv) Overview Controlword Profile Velocity mode-specific bits Statusword Profile Velocity mode-specific bits...
  • Page 3 Digital inputs Digital outputs Analog input Analog output EtherCAT communication EtherCAT State Machine Object Dictionary Overview Object Dictionary Overview Object Data Types Object Access Types Objects Device type 0x1000 Error Register 0x1001 Manufacturer Device Name 0x1008 Hardware Version Object 0x1009 Software Version Object 0x100A Identity Object 0x1018 Error Settings Object 0x10F1...
  • Page 4 Digital Inputs Configuration Object 0x2070 Digital Inputs Functionalities Object 0x2071 Digital Outputs Configuration Object 0x2078 Digital Outputs Functionalities Object 0x2079 Error Code Object 0x603F Controlword Object 0x6040 Statusword Object 0x6041 Quick Stop Option Code Object 0x605A Shutdown Option Code Object 0x605B Disable Operation Option Code Object 0x605C Modes of Operation Object 0x6060 Modes of Operation Display Object 0x6061...
  • Page 5 Touch Probe Position 1 Negative Value Object 0x60BB Touch Probe 1 Positive Edge Counter Object 0x60D5 Touch Probe 1 Negative Edge Counter Object 0x60D6 Supported Homing Methods Object 0x60E3 Motor Resolution Object 0x60EF Position Demand Internal Value Object 0x60FC Target Velocity Object 0x60FF Supported Drive Modes Object 0x6502 HT7 Ethercat User Guide...

  • Page 6: General Info

    1 Introduction Warnings This document is meant for qualified technical personnel. You must read carefully and understand the manual, then follow the instruction given here before starting any activities. General Info This document provides the necessary information to use the HT7 stepper motor drive by mean of EtherCAT communication.

  • Page 7: Device Control

    2 Device Control The state machine describes the drive states and the possible transition among them. Each state determines a drive behavior and the accepted control commands. The drive state can be read by means of the Statusword, while the transitions can be automatic or acted by the Controlword. Not ready to Switch On state is performed automatically by the driver during startup.

  • Page 8: Device Control Commands

    Drive State The current state of the driver can be read by the following bits of the Statusword. State Statusword (binary) Description Start xxxx xx0x x000 0000 Bootup Not ready to Switch On xxxx xx1x x000 0000 Drive is disabled Drive initialization completed Switch On Disabled xxxx xx1x x100 0000...

  • Page 9: Device Errors

    3 Errors Device Errors When the drive detects an error, it generates an error code. The reaction to an error depends on error type and option code. After execution of the fault reaction, the device changes to fault state and the drive will be disabled.

  • Page 10: System Units

    Abort Code Name Data cannot be transferred or saved in the application due to device 0x 0800 0022 state Dynamic generating of the object directory failed or no object 0x 0800 0023 directory available Table 3-1 Abort Codes Description 4 System Units The drive uses fixed internal drive units to manage the movements, nevertheless user can act on some parameters in order to have convenient physical units, as explained on this section.
  • Page 11 Mode of operation Abbreviation Code Profile velocity mode Homing mode Table 5- 1 Supported operation modes The supported modes are listed in the object Supported drive modes. Profile position mode (pp) 5.2.1 Overview When the drive is in pp mode, the position control loop is closed on the drive side. The control device can manage the positioning by acting on the objects shown in Figure 5-1 below.
  • Page 12 Figure 5- 2 Set-point example 5.2.2 Controlword Profile Position mode-specific bits The profile position mode uses some bits of the Controlword for mode-specific purposes, as highlighted on Table 5-2 explain the usage of these bits. Value Definition 0 → 1 New Setpoint, start move Target position is an absolute value Target position is a relative value Positioning shall be executed or continued...

  • Page 13: Profile Velocity Mode (Pv)

    Value Definition Target position not reached Target position reached Previous setpoint already processed Previous setpoint still in process, setpoint can be overwritten No following error Following error Table 5-4 Statusword bits 10, 12, 13 in pp mode Profile velocity mode (pv) 5.3.1 Overview When the drive is in pv mode, the position control loop is closed on the drive side.
  • Page 14 5.3.2 Controlword Profile Velocity mode-specific bits The profile velocity mode uses Halt bit 8 of the Controlword for mode-specific purposes, as highlighted on Table 5-5. Bit 5 Definition The motion shall be executed or continued Motor shall be stopped accordingly to halt option code object (0x605D) Table 5- 5 Controlword bit 8 in pv mode 5.3.3 Statusword Profile Velocity mode-specific bits The profile position mode uses some bits of the Statusword for mode-specific purposes, Table 5-6...
  • Page 15 Homing mode (hm) 5.4.1 Overview This operation mode is used to make the drive seek for the zero (homing) position. Figure 5-8 shows the objects involved in this functionality. The home position and the zero position are offset by the home offset. Actually, HT7 drive supports the methods described in the following sections and available on the object Supported homing methods.
  • Page 16 5.4.4 Homing Method 1 (Negative Limit Switch with Encoder Index) After the Homing operation start bit has been set, the drive starts the motor in CCW direction (toward the negative position), until the negative limit switch is reached, then it moves in positive direction to disengage the switch.

  • Page 17: Encoder Feedback

    6 Encoder Feedback A digital encoder sensor can be connected to the drive, both single ended and differential sensors are accepted; wiring instructions are available into the hardware manual. The behavior of the drive when the encoder is used is configured by the Encoder Mode sub-index of the Encoder Configuration Object 0x2032.

  • Page 18: Inputs And Outputs

    7 Inputs and Outputs Digital inputs Digital inputs can be mapped to predefined functions or as general-purpose inputs, by mean of the Digital Inputs Configuration Object 0x2070. By modifying the Digital Inputs Functionalities Object 0x2071, the polarity can be set-up for all the functions, while only the general-purpose inputs can be masked.

  • Page 19: Digital Outputs

    Digital outputs Digital outputs (OUT1, OUT2 and OUT3) can be mapped as general-purpose outputs, by mean of the Digital Outputs Configuration Object 0x2078. The value and the mask can be set modifying the Digital Outputs Functionalities Object 0x2079. Analog input Analog inputs can’t be read or assigned to a function by the control device.

  • Page 20: Ethercat Communication

    8 EtherCAT communication EtherCAT State Machine The EtherCAT State Machine in Figure 8-1 indicates which functionalities are actually available. The functions in the different states are described in Table 8-1below. Transitions among states are described in Table 8-2. Figure 8-1 EtherCAT Slave State Machine State Description INIT...
  • Page 21 Transition Description Start of cyclic communication. P -> S Master configures parameters using mailbox communication. Master requests SafeOp state and waits for confirmation. S -> O Master sends valid Outputs and requests Op state Error Init Incorrect ESC register configuration (DC, FMMU, SyncManager, etc.). Error PreOp The AL Status Code register (register 0x134) indicates error reasons.

  • Page 22: Object Dictionary

    9 Object Dictionary Overview 9.1.1 Object Dictionary Overview Index Name Data type Access 0x1000 Device Type UINT32 0x1001 Error Register UINT8 0x1008 Manufacturer Device Name STRING 0x1009 Hardware Version STRING 0x100A Software Version STRING 0x1018 Identity Object RECORD 0x10F1 Error Setting RECORD 0x1600 Receive PDO 1 Mapping...
  • Page 23 Index Name Data type Access 0x6061 Modes of operation display INT8 0x6062 Position Demand Value INT32 0x6063 Position actual internal value INT32 0x6064 Position actual value INT32 0x606B Velocity Demand Value INT32 0x606C Velocity Actual Value INT32 0x606D Velocity window UINT16 0x606E Velocity window time...
  • Page 24 Type Description Size [bits] Range INTEGER16 Signed integer -32768 … 32767 INTEGER32 Signed integer -2147483648 … 2147483647 UNSIGNED8 Unsigned integer 0 … 255 UNSIGNED16 Unsigned integer 0 … 65535 UNSIGNED32 Unsigned integer 0 … 4294967265 UNSIGNED64 Unsigned integer 0 … 18446744073709551615 VISIBLE_STRING Array of n char n * 8...
  • Page 25 Attribute Value Name Error Register Index 0x1001 Subindex 0x00 Type UNSIGNED8 Access Default Value Value range Table 9- 5 Object 0x1001 Error Register Description Motion Error Reserved Profile specific Communication Error Overtemperature Error Voltage Error Current Error Generic Error Table 9-6 Error Register Bits 9.2.3 Manufacturer Device Name 0x1008 Product name: “HT7x0_ECAT”...
  • Page 26 VISIBLE_STRING Access Default Value Value range Table 9-9 Object 0x100A Software Version 9.2.6 Identity Object 0x1018 This object contains SHS vendor identification number, assigned by ETG, the product code, HW version and SW version. Attribute Value Name Identity Object Index...
  • Page 27 Attribute Value Subindex 0x02 Type UNSIGNED32 Access Default Value Value range Table 9-12 Object 0x1018 sub2 Product Code The high word contains the software version. The low word contains the application version of the version array. Attribute Value Name Revision Number Index 0x1018 Subindex...
  • Page 28 Attribute Value Access Default Value Value range Table 9-15 Object 0x10F1 sub1 Local Error Reacrion Attribute Value Name Sync Error Counter Limit Index 0x10F1 Subindex 0x02 Type UNSIGNED16 Access Default Value Value range Table 9-16 Object 0x10F1 sub2 Sync Error Counter Limit 9.2.8 Receive PDO 1 Mapping Object 0x1600 PDO mapping can be changed.
  • Page 29 Attribute Value Type UNSIGNED8 Access Default Value Value range Sub-index Access Default value Mapped Object 0x01 0x60400010 Controlword 0x02 0x607A0020 Target position 0x03 0x60FF0020 Target Velocity 0x04 0x60830020 Profile acceleration 0x05 0x60810020 Profile velocity 0x06 0x60980008 Homing Method 0x07 0x60600008 Modes of operation 0x08 0x20790110...
  • Page 30 Attribute Value Name Transmit PDO 256 Mapping Index 0x1B00 Subindex 0x00 Type UNSIGNED8 Access Default Value Value range Sub-index Access Default value Mapped Object 0x01 0x60410010 Statusword 0x02 0x60640020 Position actual value 0x03 0x606C0020 Velocity Actual Value 0x04 0x60610008 Modes of operation display 0x05 0x20710110 Digital Inputs Functionalities State...
  • Page 31 Attribute Value Subindex 0x01 Type UNSIGNED8 Access Default Value 1: Mailbox Receive (Master -> Slave) Table 9-27 Communication Type Sync Channel 0 Attribute Value Name Communication Type Sync Channel 1 Index 0x1C00 Subindex 0x02 Type UNSIGNED8 Access Default Value 2: Mailbox Transmit (Master <- Slave) Table 9-28 Communication Type Sync Channel 1 Attribute Value...
  • Page 32 Attribute Value Name Number of assigned PDOs Index 0x1C12 Subindex 0x00 Type UNSIGNED8 Access Default Value Value range Table 9-32 Number of assigned PDOs Attribute Value Name PDO Mapping Object Number of assigned RxPDO Index 0x1C12 Subindex 0x01 Type UNSIGNED16 Access Default Value 0x1600...
  • Page 33 Attribute Value Subindex 0x01 Type UNSIGNED16 Access Default Value 0x1A00 Value range 0x1A00 0x1A03 Table 9-36 PDO Mapping Object Number of assigned TxPDO 9.2.15 Phase Current Object 0x2010 The object set up the desired motor phase current, maximum value depends on the drive hardware version.
  • Page 34 Register Value Reduction value 0x03 50% reduction Table 9-39 Current Reduction Values 9.2.17 Phase Current Reduction Time Object 0x2012 The object set up the time interval between the motor stop and the current reduction activation. Attribute Value Name Phase Current Reduction Time Index 0x2012 Subindex...
  • Page 35 Attribute Value Subindex 0x00 Type UNSIGNED16 Access Default Value 0x0001 Value range 0x0001 0x2710 (10,000) Units Table 9-42 Min Frequency 9.2.20 Drive Temperature Object 0x2020 Drive internal temperature value. Attribute Value Name Drive Temperature Index 0x2020 Subindex 0x00 Type INTEGER16 Access Default Value Value range...
  • Page 36 9.2.22 Encoder Configuration Object 0x2032 The object configures the encoder mode and the resolution (counts per revolution). The encoder modalities are explained on Table 9-47 Encoder modes. Attribute Value Name Encoder Configuration Index 0x2032 Subindex 0x00 Type RECORD Access Default Value 0x02 Table 9-45 Encoder Configuration Attribute...
  • Page 37 Attribute Value Name Encoder Fault Steps Index 0x2034 Subindex 0x00 Type UNSIGNED16 Access Default Value 0xFFFF Value range 0xFFFF Units Table 9-49 Encoder Fault Steps 9.2.24 Digital Inputs Configuration Object 0x2070 The object assigns the functionality for each configurable input. The configurable inputs are IN1, IN2 and IN3, so the number of subindex is 3 and the “n”...
  • Page 38 Value Functionality Description 0x0040 Direction Direction signal input (N.A.) 0x0080 Current Reduction Current reduction enabled signal input (N.A.) 0x0100 Quick Stop Quick stop signal input (N.A.) 0x0200 General purpose input 1 State can be read 0x0400 General purpose input 2 State can be read 0x0800 General purpose input 3 State can be read 0x1000 General purpose input 4 State can be read 0x2000 Trigger start...
  • Page 39 Attribute Value Value range 0x0000 0xFFFF Table 9-55 Digital Inputs Functionalities Mask Attribute Value Name Digital Inputs Functionalities Polarity Index 0x2071 Subindex 0x03 Type UNSIGNED16 Access Default Value 0x0000 Value range 0x0000 0xFFFF Table 9-56 Digital Inputs Functionalities Polarity 9.2.26 Digital Outputs Configuration Object 0x2078 The object assigns the functionality for each configurable output.
  • Page 40 Attribute Value Value range 0x0000 0xFFFF Table 9-59 Function of Digital Output 2 Attribute Value Name Function of Digital Output 3 Index 0x2078 Subindex 0x03 Type UNSIGNED16 Access Default Value 0x0000 Value range 0x0000 0xFFFF Table 9-60 Function of Digital Output 3 Value Description Enable mode (bits [1..15])
  • Page 41 Attribute Value Name Digital Outputs Functionalities Mask Index 0x2079 Subindex 0x02 Type UNSIGNED16 Access Default Value 0x0000 Value range 0x0000 0xFFFF Table 9-64 Digital Outputs Functionalities Mask • OUT1 -> bit 9 (to set 1 and enable write 0x0200) • OUT2 ->...
  • Page 42 Controlwords consists of bits related to:  Device Control Commands (bits 0 to 3 and 7)  Operating modes specific bits (bits 4, 5, 6, 8), as summarized in Table 9-68 o Controlword Profile Position mode-specific bits o Controlword Profile Velocity mode-specific bits o Controlword Homing mode mode-specific bits Attribute Value...
  • Page 43 Attribute Value Name Statusword Index 0x6041 Subindex 0x00 Type UNSIGNED16 Access Default Value Value range Table 9-69 Statusword Description 15-14 reserved Maximum slippage Operating mode specific Following Error Homing error reached Operating mode specific Setpoint ack Speed Homing attained Internal limit active Operating mode specific Target reached Target reached...
  • Page 44 Value Description Disable Drive Table 9-72 Quick Stop Option Code functions 9.2.32 Shutdown Option Code Object 0x605B The value describes the behavior of the drive when a transition from Operation Enabled state to Ready to Switch On state is performed. Table 9-74 lists the available functions. Attribute Value Name...
  • Page 45 Value Description Disable drive function (switch-off the drive power stage) Table 9-76 Disable Operation Option Code functions 9.2.34 Modes of Operation Object 0x6060 The parameter is used to switch between the available operating modes. Control device can check the active operating modes with Modes of Operation Display Object 0x6061. Attribute Value Name...
  • Page 46 9.2.36 Position Demand Value Object 0x6062 The value represents the demanded position value in user defined position units. Attribute Value Name Position Demand Value Index 0x6062 Subindex 0x00 Type INTEGER32 Access Default Value Value range Table 9-80 Position Demand Value 9.2.37 Position Actual Internal Value Object 0x6063 The value represents the actual position in internal units.
  • Page 47 9.2.39 Velocity Demand Value Object 0x606B The object represents the velocity setpoint in user units. Attribute Value Name Velocity Demand Value Index 0x606B Subindex 0x00 Type INTEGER32 Access Default Value Value range Table 9-81 Velocity Demand Value 9.2.40 Velocity Actual Value Object 0x606C The value represents the actual velocity in user-defined units.
  • Page 48 9.2.42 Velocity Window Time Object 0x606E The value unit is millisecond Attribute Value Name Velocity Window time Index 0x606E Subindex 0x00 Type UNSIGNED16 Access Default Value Value range 65535 Table 9-84 Velocity WindowTime 9.2.43 DC Link Circuit Voltage Object 0x6079 The value represents the actual voltage of the DC bus.
  • Page 49 Attribute Value Type INTEGER32 Access Default Value Unit Value range Table 9-86 Target Position 9.2.45 Home Offset Object 0x607C The value indicates the difference between the zero and the home position. When the homing method is Homing Method 37 (Homing on current position), the Actual Position after the homing will be as follow: P o s i t i o n  ...
  • Page 50 Attribute Value Name Min Position Limit Index 0x607D Subindex 0x01 Type INTEGER32 Access Default Value Value range Table 9-89 Min Position Limit Attribute Value Name Max Position Limit Index 0x607D Subindex 0x02 Type INTEGER32 Access Default Value Value range Table 9-90 Max Position Limit 9.2.47 Polarity Object 0x607E The Polarity byte is composed as shown on Table 9-92 and the polarity bits meaning is shown in...
  • Page 51 Value Description Multiply by 1 Multiply by -1 Table 9-93 Polarity bits description 9.2.48 Max Profile Velocity Object 0x607F The value sets the maximum value of the Profile Acceleration Object 0x6083. Attribute Value Name Max Profile Velocity Index 0x607F Subindex 0x00 Type UNSIGNED32...
  • Page 52 The value sets the acceleration of the motor when Profile position mode (pp) or Profile velocity mode (pv) are active. Attribute Value Name Profile Acceleration Index 0x6083 Subindex 0x00 Type UNSIGNED32 Access Default Value 0x0010 (16) Value range 0x00FF (255) Table 9-95 Profile Acceleration 9.2.51 Gear Ratio Object 0x6091...
  • Page 53 Attribute Value Access Default Value 0x0001 Value range 0x0001 0xFFFF Table 9-98 Shaft Revolutions 9.2.52 Feed Constant Object 0x6092 The object indicates the feed constant, that is the measured distance per one output shaft revolution. Feed constant is calculated as below. f e e d F e e d  ...
  • Page 54 9.2.53 Homing Method Object 0x6098 The object defines the homing method to be used, among the supported ones, as stated in Supported Homing Methods Object 0x60E3. Attribute Value Name Homing Method Index 0x6098 Subindex 0x00 Type INTEGER8 Access Default Value 0x00 Value range 0x00...
  • Page 55 Attribute Value Access Default Value 0x0050 Table 9-105 Speed during search for zero 9.2.55 Homing Acceleration Object 0x609A Attribute Value Name Homing Acceleration Index 0x609A Subindex 0x00 Type UNSIGNED32 Access Default Value 0x0100 Value range 0x0001 0x00FF Table 9-106 Homing Acceleration 9.2.56 Touch Probe Function Object 0x60B8 The object configures the behavior of the touch probe.
  • Page 56 Value Description Enable sampling at falling edge of touch probe 1 6, 7 Reserved 8…15 - Not used Table 9-108 Touch Probe configuration bits 9.2.57 Touch Probe Status Object 0x60B9 The object indicates the status of the touch probe. User shall check this object before reading the touch probe values.
  • Page 57 Attribute Value Subindex 0x00 Type INTEGER32 Access Default Value 0x0000 Value range Table 9-112 Touch Probe Position 1 Positive Value 9.2.59 Touch Probe Position 1 Negative Value Object 0x60BB The object provides the position value of the touch probe 1 when the falling edge has been detected. Attribute Value Name...
  • Page 58 If the touch probe is enabled, this object provides a counter of the detected falling edges of the touch probe 1. The counter is cleared when the Touch Probe Function Object 0x60B8 disables the probe. Attribute Value Name Touch Probe 1 Negative Edge Counter Index 0x60D6 Subindex...
  • Page 59 Attribute Value Name Supported Homing Method 3 Index 0x60E3 Subindex 0x03 Type INTEGER8 Access Default Value 0x25 (37) Table 9-119 Supported Homing Method 3 9.2.63 Motor Resolution Object 0x60EF This object sets the motor resolution. The value represents the number of step needed to complete a motor revolution with a 200step/rev motor.
  • Page 60 9.2.64 Position Demand Internal Value Object 0x60FC The object provides the set-point in internal units. Attribute Value Name Position Demand Internal Value Index 0x60FC Subindex 0x00 Type INTEGER32 Access Default Value Value range Table 122 Position Demand Internal Value 9.2.65 Target Velocity Object 0x60FF The object indicates the target velocity in user-defined units.
  • Page 61 Value Description 31…10 0 Reserved Cyclic synchronous torque mode (cst) (N.A.) Cyclic synchronous Velocity mode (csv) (N.A.) Cyclic synchronous position mode (csp) (N.A.) Interpolated position mode (ip) (N.A.) Homing mode (hm) Reserved Torque mode (N.A.) Profile velocity mode (pv) Velocity mode (N.A.) Profile position mode (pp) Table 9-125 Supported drive modes HT7 Ethercat User Guide...
  • Page 62 User Guide STEPPING MOTOR DRIVE Series Models ETHERNET/IP HT7_ETHERNET/IP_rev6_eng Tel. +39 0331 466918 Fax. +39 0331 466147 www.shsitalia.it S.H.S. s.r.l. Via F.lli Rosselli, 29 20027 Rescaldina (MI) – ITALY...

  • Page 63: Safety Notes

    The technicians must be able to recognize possible dangers that may result from programming, by changing parameter values and generally by the mechanical, electrical and electronic. SHS s.r.l. recommends to always follow basic safety rules. Failure to heed them can result in injury to persons and / or property.
  • Page 64 Index ETHERNET/IP Data Communication Control Bits ZSW bits positioning Parameters www.shsitalia.it info:shsbox@shsitalia.it...

  • Page 65: Data Communication

    1. ETHERNET/IP Use the device master file “EDS-SHS-HT7-yyyymmdd.EDS” to configure your communication software on the master. To set the Drive IP address use the “Ipconfig” utility, downlodable from HMS website. 1.1 DATA COMMUNICATION The data format used is Motorola (“Big Endian”).
  • Page 66 User data structure from SLAVE (HT7 drive) to MASTER (PLC): REMAP AREA INPUT SLOT1 IN SLOT2 IN SLOT3 IN SLOT4 IN PKW: Parameter identifier value PZD: Process data PKE: Parameter idetifier PWE: Parameter value STW: Status word U16: Word unsigned, MSB first (H-L) S32: Double Word Signed, MSB first (HH-HL-LH-LL) Parameter Identifier (PKE):...

  • Page 67: Control Bits

    1.2 CONTROL BITS BITS ZSW – MASTER  SLAVE VALUE FUNCTION REMARKS 1 - ON ON - Start RELATIVE positioning This bit is ignored when absolute 0 - OFF OFF - Stop RELATIVE positioning positioning or JOG function is active 1 - ON ON - Start ABSOLUTE positioning This bit is ignored when relative...
  • Page 68  BITS STW – SLAVE MASTER VALUE FUNCTION REMARKS 1 - ON ON - Drive ready 0 - OFF OFF - Drive fault or disable 1 - ON ON - Motor running 0 - OFF OFF - Motor stop 1 - ON ON - Drive disable 0 - OFF OFF - Drive enable...

  • Page 69: Absolute Positioning

    TA = time to START motor: maximum 20 ms TB = time between falling edge and rising edge of start signal: minimum 40 ms COMMAND SEQUENCE TO EXECUTE A POSITIONING: RELATIVE POSITIONING: - Enable driver (ZSW BIT 3) - Set target quote (PNU 7) - Set start relative positioning bit (ZSW BIT 0) to 1 - Wait Target Reached front 0-1 bit (STW BIT 11) - Reset start relative positioning bit (ZSW BIT 0) to 0...
  • Page 70 REMAP OUTPUT VARIABLE EXAMPLE: Remap Target Position - Set REMAP SLOT1 OUT (PNU 40) to 7 (Target Quote) - Set SLOT1 OUT with new position - Wait at least 10ms before change Control Word - To switch OFF remap set 255 to REMAP SLOT REMAP INPUT VARIABLE EXAMPLE: Remap Actual Position - Set REMAP SLOT1 IN (PNU 43) to 10 (Actual Position)
  • Page 71 1.4 PARAMETERS FUNCTION PARAMETER REMAP Setting of minimum frequency From 1 to 10000 Hz RD/WR Motor rotation start frequency Setting of maximum frequency From 1 to 20000 Hz RD/WR Motor rotation working frequency Setting of ramp inclination From 1 to 255 expressed in ms * 10 If motor is running, this parameter will be acquired to the next motion command.
  • Page 72 FUNCTION PARAMETER REMAP Unused Setting of home position From -2147483647 to 2147483647 RD/WR Drive associates the entered value to home position of the motor Present position From -2147483647 to 2147483647 Position register, you can read or write this value. (expressed in 1/128 RD/WR step) Present frequency...
  • Page 73 FUNCTION PARAMETER REMAP Trigger zerofly (logic AND) Use only less significant byte: It defines the input or the inputs and the respective levels, which The 4 less significant bits indicate the must be enabled for carrying out zeroing of the value in the input or the inputs, which must be enabled present motor position, when this condition occurs, and the value for ZERO AT FLIGHT...
  • Page 74 FUNCTION PARAMETER REMAP Protection active If the sent  0x00 drive ready  Bit0=1 disable hardware  Bit1=1 short circuit  Bit2=1 thermal protection  Bit3=1 power supply undervoltage  Bit4=1 power supply overvoltage  Bit5=1 open motor phaseA  Bit6=1 open motor phaseB ...
  • Page 75 FUNCTION PARAMETER REMAP Encoder position From -2147483647 to 2147483647 Encoder position register, you can read or write this value. RD/WR (expressed in encoder steps) This value counts all fronts of two encoder phases Encoder mode  If Write 0 no encoder feedback. You can read encoder but the drive don’t Set encoder mode...
  • Page 76 www.shsitalia.it info:shsbox@shsitalia.it...
  • Page 77 Tel. +39 0331 466918 Fax. +39 0331 466147 www.shsitalia.it S.H.S. s.r.l. Via F.lli Rosselli, 29 20027 Rescaldina (MI) – ITALY...
  • Page 78 User Guide STEPPING MOTOR DRIVE Series HW MANUAL HT7_HW_MANUAL_rev9_eng Tel. +39 0331 466918 Fax. +39 0331 466147 www.shsitalia.it S.H.S. s.r.l. Via F.lli Rosselli, 29 20027 Rescaldina (MI) – ITALY...

  • Page 79: Safety Notes

    The technicians must be able to recognize possible dangers that may result from programming, by changing parameter values and generally by the mechanical, electrical and electronic. SHS s.r.l. recommends to always follow basic safety rules. Failure to heed them can result in injury to persons and / or property.
  • Page 80 Index TECHNICAL DATA Power supply / Motor Connector FIELDBUS Connector Input/Output Connectors DIP-SWITCH and Ethernet Connectors Status LEDS Protection / Display messages Parameters setting Mechanical dimension CONNECTION Installation note AC Power Supply DC Power Supply Input / Outputs Digital Inputs Digital Outputs Encoder Inputs Analog Inputs/ Outputs...

  • Page 81: Technical Data

    1. TECHNICAL DATA 1.1 Power supply / Motor connector J1A ( Left ) SIGNAL FUNCTION Phase B2 of the motor Phase B1 of the motor Phase A2 of the motor Phase A1 of the motor Power supply input DC (connect to HV0 or use as input DC power) 0V power supply J1B ( Right ) SIGNAL...

  • Page 82: Input/Output Connectors

    1.3 Input / Output Connectors J2A (Left) SIGNAL FUNCTION ENC_AH Encoder A+ ENC_AL Encoder A- ENC_BH Encoder B+ ENC_BL Encoder B- ENC_ZH Encoder Z+ ENC_ZL Encoder Z- Encoder common (don't use in differential ENC_COM mode) ENA/DIS Input ENABLE/DISABLE Input IN3 – (CURRENT REDUCTION) Input IN2 - (DIRECTION) Input IN1 –...

  • Page 83: Dip Switch

    1.4 DIP SWITCH DIP1 Insert termination CAN Not used Insert termination RS485 Not used Not used Not used Input function En / Dis = ENABLE Input function En / Dis = DISABLE Only HT7xx PN, EC, EI model is supplied of double RJ45 interface ( upper pictures ). The RJ45 connections can be used interchangeably in PN and EI model, in the EC model RJ45s have IN and OUT Phisical...
  • Page 84 1.6 Protection / Display messages DISPLAY DESCRIPTION Drive OK at STOP motor Motor in movement Drive DISABLE fieldbus HdIS Drive DISABLE Hardware (1) (2) ocur Overcurrent Error tenP Overtemperature Error uuoL Undervoltage Error ouoL Overvoltage Error Reset phase 0net Fieldbus not connected Encoder Fault Drive is provided with protections against overtemperature, overvoltage, undervoltage, short-circuits among outputs and among outputs and the positive power pole, no-phase motor connection.

  • Page 85: Parameters Setting

    Enable refresh for the last polled parameter PN, EC, EI, MT p015 FieldBus Type and Firmware Release WS, MB, CO, PN, EC, EI, MT WS = RS485 SHS Protocol MB = Modbus CO = CanOpen PB = Profibus PN = ProfiNet...

  • Page 86: Mechanical Dimension

    1.8 Mechanical dimension MODEL HT7 xx- WEIGHT [ gr ] WS-MB-CO-PB PN-EC-EI www.shsitalia.it info:shsbox@shsitalia.it...

  • Page 87: Installation Notes

    2. CONNECTIONS 2.1 INSTALLATION NOTES ATTENTION DANGER OF ELECTRICAL SHOCK ONLY QUALIFIED PERSONNEL SHOULD WORK ON THIS EQUIPMENT. DISCONNECT ALL POWER BEFORE WORKING ON EQUIPMENT. DANGEROUS VOLTAGES MAY EXIST AFTER POWER IS REMOVED! BEFORE WORKING ON EQUIPMENT CHECK DC BUS VOLTAGE OF DRIVES EACH TIME POWER IS REMOVED.

  • Page 88: Wiring Diagram

    WIRING DIAGRAM: In AC power mode do not connect GND signals between two or more HT7 drives: www.shsitalia.it info:shsbox@shsitalia.it...

  • Page 89: Dc Power Supply

    2.3 DC POWER SUPPLY Unit HT71H HT72H HT73H HT74H Vdc nom From 24 to 90 From 24 to 90 From 24 to 90 From 24 to 140 Vdc max Vdc min I max I min Operation [°C] 0 - 45 0 - 45 0 - 45 0 - 45...
  • Page 90 2.4 Inputs / Outputs Digital inputs and outputs pins are isolated from power. Single Ended inputs are NPN/PNP type selectable through COM-IN pin. ● Differential input are TTL compatible, and can be 24V compatible PNP through COM-ENC pin. ● Outputs are NPN/PNP type selectable through COM-OUT (10mA max for OUT1, 100mA max for OUT2 and ●...
  • Page 91 2.5 Digital Inputs 2.6 Digital Outputs www.shsitalia.it info:shsbox@shsitalia.it...

  • Page 92: Encoder Inputs

    2.7 Encoder Inputs www.shsitalia.it info:shsbox@shsitalia.it...

  • Page 93: Analog Inputs / Outputs

    Note: we suggest to use isolated inputs scheme, no electrical connections between control and drives. 3. OPERATING MODE The driver can be operated in one of the follwing modes: SHS RS485 PROTOCOL (WS) ● MODBUS RTU (MB) ● CAN OPEN (CO) ●...
  • Page 94 SPECIAL VERSION: Dzz = Dedicate Software Szz = Modify Hardware (*) OPTION: View the following table FIELDBUS: WS = RS485 SHS Protocol MB = Modbus CO = CanOpen PB = Profibus PN = ProfiNet EC = EtherCat EI = Ethernet/IP...
  • Page 95 www.shsitalia.it info:shsbox@shsitalia.it...
  • Page 96 Tel. +39 0331 466918 Fax. +39 0331 466147 www.shsitalia.it S.H.S. s.r.l. Via F.lli Rosselli, 29 20027 Rescaldina (MI) – ITALY...
  • Page 97 User Guide STEPPING MOTOR DRIVE Series Models PROFINET HT7_PROFINET_rev8_eng Tel. +39 0331 466918 Fax. +39 0331 466147 www.shsitalia.it S.H.S. s.r.l. Via F.lli Rosselli, 29 20027 Rescaldina (MI) – ITALY...
  • Page 98 The technicians must be able to recognize possible dangers that may result from programming, by changing parameter values and generally by the mechanical, electrical and electronic. SHS s.r.l. recommends to always follow basic safety rules. Failure to heed them can result in injury to persons and / or property.
  • Page 99 Index TECHNICAL DATA Power supply / Motor Connector FIELDBUS Connector Input/Output Connectors DIP-SWITCH and Ethernet Connectors Status LEDS Protection / Display messages Parameters setting Mechanical dimension CONNECTION Installation note AC Power Supply DC Power Supply Input / Outputs Digital Inputs Digital Outputs Encoder Inputs Analog Inputs/ Outputs...
  • Page 100 1. TECHNICAL DATA 1.1 Power supply / Motor connector J1A ( Left ) SIGNAL FUNCTION Phase B2 of the motor Phase B1 of the motor Phase A2 of the motor Phase A1 of the motor Power supply input DC (connect to HV0 or use as input DC power) 0V power supply J1B ( Right ) SIGNAL...
  • Page 101 1.3 Input / Output Connectors J2A (Left) SIGNAL FUNCTION ENC_AH Encoder A+ ENC_AL Encoder A- ENC_BH Encoder B+ ENC_BL Encoder B- ENC_ZH Encoder Z+ ENC_ZL Encoder Z- Encoder common (don't se in differential ENC_COM mode) ENA/DIS Input ENABLE/DISABLE Input IN3 – (CURRENT REDUCTION) Input IN2 - (DIRECTION) Input IN1 –...
  • Page 102 1.4 DIP SWITCH DIP1 Insert termination CAN Not used Insert termination RS485 Not used Not used Not used Input function En / Dis = ENABLE Input function En / Dis = DISABLE Only HT7xx PN, EC, EI model is supplied of double RJ45 interface ( upper pictures ). The RJ45 connections can be used interchangeably in PN and EI model.
  • Page 103 1.6 Protection / Display messages DISPLAY DESCRIPTION Drive OK at STOP motor Motor in movement Drive DISABLE ocur Overcurrent Error tenP Overtemperature Error uuoL Undervoltage Error ouoL Overvoltage Error Reset phase 0net No connected Drive is provided with protections against overtemperature, overvoltage, undervoltage, short-circuits among outputs and among outputs and the positive power pole, no-phase motor connection.
  • Page 104 1.7 Parameters setting By using the buttons below the display (hereinafter referred to as [\/] , [<>], [/\] ) you can parameterize the drive: menu p001 To access to main menù, press [\/] + [<>] , it will visualized “ ”...
  • Page 105 1.8 Mechanical dimension MODEL HT7 xx- WEIGHT [ gr ] WS-MB-CO-PB PN-EC-EI www.shsitalia.it info:shsbox@shsitalia.it...
  • Page 106 2. CONNECTIONS 2.1 INSTALLATION NOTES ATTENTION DANGER OF ELECTRICAL SHOCK ONLY QUALIFIED PERSONNEL SHOULD WORK ON THIS EQUIPMENT. DISCONNECT ALL POWER BEFORE WORKING ON EQUIPMENT. DANGEROUS VOLTAGES MAY EXIST AFTER POWER IS REMOVED! BEFORE WORKING ON EQUIPMENT CHECK DC BUS VOLTAGE OF DRIVES EACH TIME POWER IS REMOVED.

  • Page 107: Wiring Diagram

    WIRING DIAGRAM: In AC power mode do not connect GND signals between two or more HT7 drives: www.shsitalia.it info:shsbox@shsitalia.it...
  • Page 108 2.3 DC POWER SUPPLY Unit HT710 HT720 HT730 HT740 From 24 to Vac nom From 24 to 90 From 24 to 90 From 24 to 90 Vac max Vac min I max I min Operation [°C] 0 - 45 0 - 45 0 - 45 0 - 45 Temperature...
  • Page 109 2.4 Inputs / Outputs Digital inputs and outputs pins are isolated from power. Single Ended inputs are NPN/PNP type selectable through COM-IN pin. ● Differential input are TTL compatible, and can be 24V compatible PNP through COM-ENC pin. ● Outputs are NPN/PNP type selectable through COM-OUT (10mA max for OUT1, 100mA max for OUT2 and ●...
  • Page 110 2.5 Digital Inputs 2.6 Digital Outputs www.shsitalia.it info:shsbox@shsitalia.it...
  • Page 111 2.7 Encoder Inputs www.shsitalia.it info:shsbox@shsitalia.it...
  • Page 112 2.8 Analog Inputs / Outputs Note: we suggest to use isolated inputs scheme, no electrical connections between control and drives. 3. OPERATING MODE The driver can be operated in the follwing modes: PROFINET ● www.shsitalia.it info:shsbox@shsitalia.it...
  • Page 113 3.1 SETTING ON THE PROFINET MASTER Use the device master file “GSDML-v2,31-SHS-HT7-20160125.xml” to configure your communication software on the master. 3.2 DATA COMMUNICATION VIA PROFINET The data format used is Motorola (“Big Endian”). PROFINET structure: Protocol frame User data Protocol frame (Header) Parameter (PKW) –...
  • Page 114 User data structure from SLAVE (HT7 drive) to MASTER: word word word (H) word (L) word word PKW: Parameter identifier value PZD: Process data PKE: Parameter idetifier IND: Index (not used) PWE: Parameter value STW: Status word 1 (see pag.16) HIW: Main actual value (not used) Parameter Identifier (PKE) (1st Word): The parameter identifier (PKE) is always a 16-bit value.
  • Page 115 3.3 PROFINET CONTROL BITS BITS ZSW – MASTER  SLAVE VALUE FUNCTION REMARKS 1 – ON ON - Start RELATIVE positioning This bit is ignored when absolute 0 - OFF OFF - Stop RELATIVE positioning positioning or JOG function is active 1 –...
  • Page 116  BITS STW – SLAVE MASTER VALUE FUNCTION REMARKS 1 - ON ON - Drive ready 0 - OFF OFF - Drive fault or disable 1 - ON ON - Motor running 0 - OFF OFF - Motor stop 1 - ON ON - Drive disable 0 - OFF OFF - Drive enable...

  • Page 117: Relative Positioning

    TA = time to START motor: maximum 30 ms TB = time between falling edge and rising edge of start signal: minimum 50 ms COMMAND SEQUENCE TO EXECUTE A POSITIONING: RELATIVE POSITIONING: - Enable driver (ZSW BIT 3) - Set relative quote (PNU 7) - Set start relative positioning bit (ZSW BIT 0) to 1 - Wait TA time to START motor (minimum 30ms) or front 0-1 of motor running bit (STW BIT 1) - Wait end of positioning (front 1-0) or zero level of motor running bit (STW BIT 1)
  • Page 118 HOMING: - Connect switch or proximity sensor (NO or NC) to IN1 - Enable driver (ZSW BIT 3) - Set maximum frequency - PNU 1 (in homing function it represents home search speed) - Set minimum frequency - PNU 0 (in homing function it represents sensor disengage speed) - Start homing (PNU 18) with a parameter 0x01 (HEX) for NC sensor or 0x11 (HEX) for NO sensor on IN1 Sensor not engaged: When you write PNU 18 the motor starts immediately in CCW direction with maximum speed, then it stops on sensor and starts in CW...
  • Page 119 3.5 PARAMETERS FUNCTION PARAMETER Setting of minimum frequency From 1 to 10000 Hz Motor rotation start frequency Setting of maximum frequency From 1 to 20000 Hz Motor rotation working frequency Setting of ramp inclination From 1 to 255 expressed in ms * 10 If motor is running, this parameter will be acquired to the next motion command.
  • Page 120 FUNCTION PARAMETER Setting of absolute quote From -2147483647 to 2147483647 Indicate the absolute positioning with respect to home position to be carried out at the next START (with control bit) or TRIGGER START expressed in 1/128 step Setting of home position From -2147483647 to 2147483647 Drive associates the entered value to home position of the motor Present position...
  • Page 121 FUNCTION PARAMETER Trigger zerofly (logic AND) Use only less significant byte: It defines the input or the inputs and the respective levels, which must be enabled The 4 less significant bits indicate the input for carrying out zeroing of the value in the present motor position, when this or the inputs, which must be enabled for condition occurs, and the value to be done on occasion of this condition.
  • Page 122 FUNCTION PARAMETER Protection active / reset If read  = 0x00 drive ready  = 0x02 short circuit  = 0x04 thermal protection  = 0x08 power supply undervoltage  = 0x10 power supply overvoltage (in previous profibus versions in case of protection this value is set to 1) If write 0 reset permanent protection (short circuit or phase disconnected) the other...
  • Page 123 SPECIAL VERSION: Dzz = Dedicate Software Szz = Modify Hardware (*) OPTION: View the following table FIELDBUS: WS = RS485 SHS Protocol MB = Modbus CO = CanOpen PB = Profibus PN = ProfiNet EC = EtherCat EI = Ethernet/IP...
  • Page 124 www.shsitalia.it info:shsbox@shsitalia.it...
  • Page 125 Tel. +39 0331 466918 Fax. +39 0331 466147 www.shsitalia.it S.H.S. s.r.l. Via F.lli Rosselli, 29 20027 Rescaldina (MI) – ITALY...

Table of Contents