ICP DAS USA ECAT-2094P User Manual
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ICP DAS USA ECAT-2094P User Manual

Ethercat 4-axis pulse output module
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ECAT-2094P
EtherCAT
4-Axis Pulse Output Module
User Manual
(Version 1.0)

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Summary of Contents for ICP DAS USA ECAT-2094P

  • Page 1 ECAT-2094P EtherCAT 4-Axis Pulse Output Module User Manual (Version 1.0)
  • Page 2 WARRANTY All products manufactured by ICP DAS are warranted against defective materials for a period of one year from the date of delivery to the original purchaser. WARNING ICP DAS assumes no liability for damages consequent to the use of this product. ICP DAS reserves the right to change this manual at any time without notice.

  • Page 3: Table Of Contents

    Contents Product overview ....................5 Introduction ....................5 Technical Data .................... 6 Hardware Specification ................7 Wiring ........................8 LED Definition .................... 8 Alias Rotary Swtich ................... 10 Connection Interfaces ................11 Digital Input Wiring .................. 14 Stepper Motor Wiring ................15 Encoder Connection .................
  • Page 4 6.6.2 Profile Position Mode(pp mode)............51 6.6.3 Cyclic Synchronous Position Mode(csp mode) ........54 6.6.4 Homing Mode( hm mode) ..............56 Velocity Control Function ................. 72 6.7.1 Cyclic Synchronous Velocity Mode(csv mode) ........72 Alarm List ......................74...

  • Page 5: Product Overview

    The ECAT-2094P simultaneously controls up to four pulse type motor drivers. Pulse type motor drivers can be directly connected to the ECAT-2094P device. The device is designed to operate a pulse-type drive with pulse output. Configuration has to be done by the EtherCAT master and the application program.

  • Page 6: Technical Data

    1.2 Technical Data  4 x Encoder interfaces (A, B, Z), differential  Maximum pulse frequency up to 4 MHz  12 x Digital input. Three DI channels for each axis: hardware limit input, home switch input  Optically isolated I/O ...

  • Page 7: Hardware Specification

    1.3 Hardware Specification Motors Maximum step frequency 4 MHz Encoder inputs Number of encoder inputs 4x encoder counter (A, B, Z), differential Maximum encoder pulse frequency 1 MHz Digital Inputs Number of digital inputs 12 (3 inputs for each motor) ...

  • Page 8: Wiring

    Wiring 2.1 LED Definition The ECAT-2094P provides on the frontside of the connection cap several diagnostic LEDs. Furthermore there are three LEDs to indicate the network status for EtherCAT. The exact meaning of the LED indication is specified in the following tables:...
  • Page 9 0 1 2 3 4 5 6 7 - LED 1: AXIS X - Positive direction hardware limit input - LED 2: AXIS X - Negative direction hardware limit input - LED 3: AXIS X - Driving - LED 4: AXIS X - Alarm Code Bit0 - LED 5: AXIS X - Alarm Code Bit1 - LED 6: AXIS X - Alarm Code Bit2 - LED 7: AXIS X - Alarm...

  • Page 10: Alias Rotary Swtich

    2.2 Alias Rotary Swtich The Alias range is 0x00~0xFF...

  • Page 11: Connection Interfaces

    2.3 Connection Interfaces Name Signal Description Frame ground Power supply: Ground 0V (from negative power contact) ECAT-2094P power Power supply: +24 V (from positive power contact) EtherCAT signal input Incoming EtherCAT cable EtherCAT signal output Outgoing EtherCAT cable Name Signal...
  • Page 12 X_P+ Output Pulse Signal(+) / CW Signal(+) X_P- Output Pulse Signal(-) / CW Signal(-) Pulse X X_N+ Output Dir. Signal(+) / CCW Signal(+) X_N- Output Dir. Signal(-) / CCW Signal(-) X_A+ Input Encoder X input A+ X_A- Input Encoder X input A- X_B+ Input Encoder X input B+...
  • Page 13 Z_A- Input Encoder Z input A- Z_B+ Input Encoder Z input B+ Z_B- Input Encoder Z input B- Z_C+ Input Encoder Z input C+ Z_C- Input Encoder Z input C- Input Negative direction hardware limit limit switch and home switch Z_LL switch for motor Z for motor Z...

  • Page 14: Digital Input Wiring

    2.4 Digital Input Wiring Digital Input Digital input channels 12 (3 switches for each motor) Input type ON voltage level +10 to 24 V Wet contact OFF voltage level +4 V Photo-isolation 3750 V The diagram for Positive (RL) and Negative (LL) direction hardware limit switches and home switch (ORG) wiring for axis X, Y, Z, and U is shown below.

  • Page 15: Stepper Motor Wiring

    2.5 Stepper Motor Wiring...

  • Page 16: Encoder Connection

    2.1 Encoder Connection Differential encoder: The ECAT-2094P supports differential encoder by default. Figure 1: Encoder connection Open collector type encoder: For single-ended encoder connection refers to the Figure 2 which lists the possible power supply values with the corresponding resistor sizes.
  • Page 17 Figure 2: Open collector wiring diagram...

  • Page 18: Basics Communication

    Basics Communication 3.1 EtherCAT Cabling The cable length between two EtherCAT devices must not exceed 100 m. Cables and connectors For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used.
  • Page 19 Figure 3: EtherCAT state machine Init After switch-on the EtherCAT slave is in the initial state. Only ESC register communication is possible, but no mailbox or process data communication. The slave initializes the service object data with default value or with values previously stored to the local memory.

  • Page 20: Synchronization Modes

    Master sends cyclic output data and read input data. This module supports two types of Op modes: Free Run mode and Distributed Clock (DC) mode. 3.3 Synchronization Modes ECAT-2094P devices support two different modes  Free Run: The master cycle time and slave cycle time is independent and not synchronized.

  • Page 21: Distributed Clocks (Dc Mode)

    The following diagram shows the process timing of the slave in Free Run mode in detail: Figure 5: Slave processing sequence in Free-run mode The slave firmware checks in each cycle time the memory of the EtherCAT slave chip (ESC) whether new output data has been received from the master. Newly received data will be processed and the motion path will be calculated.
  • Page 22 For system synchronization all slaves are synchronized to one reference clock. Normally the first EtherCAT slave closest to the master with Distributed Clocks capability becomes the clock base for the master as well as for other DC slaves. The EtherCAT slave is synchronized with the SYNC0 or SYNC1 event of the distributed clock system.
  • Page 23 triggered which causes the firmware to read the data from the ESC memory. The ESC interrupts the firmware at fixed time interval to process the data received from the master and write the status data to the ESC memory. Every time when the master fails to sent process data within the DC cycle time the internal sync error counter is being increase by three counts.
  • Page 24 is the total execution time of all slave application related operations.

  • Page 25: Coe Communication Area (1000H ~ 1Fffh)

    CoE Communication Area (1000h ~ 1FFFh) 4.1 Device information Index sub- Name Range Data Access EEPROM default index Type 1000h 00h Device type U32 ro 20192h 4294967295 Device type of the EtherCAT slave 1001h 00h Error register 0 - 255 1008h 00h Manufacturer device name...
  • Page 26 Sync error counter U16 rw 0004h 0 - 65535 limit For DC mode only: The Sync Error Counter is incremented with every missing Sync Management Event by three and decremented by one if an event is received. If the Sync Error Counter exceeds this limit the system changes into the SAFEOP state with the “Synchronization Lost”...

  • Page 27: Pdo(Process Data Object)Mapping

    4.2 PDO(Process Data Object)Mapping 4.2.1 PDO Assign Object(1C12h ~ 1C13h) Index sub- Name Range Data Access EEPROM default index Type 1C12h -- Sync manager channel 2 Number of assigned 0 -4 PDOs PDO mapping object U16 rw 1600h 1600h – of assigned RxPDO 1 1630h PDO mapping object...
  • Page 28 Number of 0 - 16 entries 1st receive 60400010h PDO mapped 4294967295 2nd receive 60600008h PDO mapped 4294967295 3rd receive 607A0020h PDO mapped 4294967295 4th receive 600FF0020h PDO mapped 4294967295 5th receive 00000000h PDO mapped 4294967295 15th receive 00000000h PDO mapped 4294967295 1610h -- Receive PDO...
  • Page 29 5th transmit 606c0020h PDO mapped 4294967295 6th transmit 60FD0020h PDO mapped 4294967295 7th transmit 00000018h PDO mapped 4294967295 8th transmit 00000000h PDO mapped 4294967295 15th 00000000h transmit 4294967295 PDO mapped 1A10h Subindex 規 01h – 680410000h – 格同 1A00h 68FD0020h 4294967295 1A20h Subindex 規...

  • Page 30: Sync Manager 2/3 Sychronization(1C32H、1C33H)

    4.3 Sync manager 2/3 sychronization(1C32h、1C33h) Index sub- Name Range Data Access EEPROM default index Type 1C32h -- Sync manager 2 synchronization Number of 0 - 255 sub-objects Synchronization 0000h 0 - 65535 Type Cycle Time 0000h 4294967295 Synchronization 001Fh 0 – 65535 Types supported Minimum Cycle 0007A120h...
  • Page 31 4294967295 Synchronization 001Fh 0 – 65535 Types supported Minimum Cycle 0007A120h Time 4294967295 Calc and Copy 00009C40h Time 4294967295 Get Cycle Time 0000h 0 - 65535 Delay time 00002710h 4294967295 Sync0 Cycle Time 00000000h 4294967295 SM-Event Missed 0000h 0 - 65535 Cycle Time Too 0000h 0 - 65535...

  • Page 32: Drive Parameter Area (2000H ~ 5Fffh)

    Drive parameter Area (2000h ~ 5FFFh) Index sub- Name Range Data Acces EEPRO default index Type 0x2001 -- ORG Active Level Highest sub-index supported ORG0 Active 0 - 1 Level ORG1 Active 0 - 1 Level ORG2 Active 0 - 1 Level ORG3 Active 0 - 1...
  • Page 33 POT1 Active 0 - 1 Level POT2 Active 0 - 1 Level POT3 Active 0 - 1 Level 0x3003 -- Axes Encoder pulse per revolution of the encoder Highest sub-index supported Axis0 Encoder 00000000h 4294967295 Axis1 Encoder 00000000h 4294967295 Axis2 Encoder 00000000h 4294967295 Axis3 Encoder...
  • Page 34 PULSE_MODE (R/W): Direction 0: Pulse/ 1: CW/CCW 2: 1 x AB phase, the minimum pulse width is 80ns 3: 2 x AB phase, the minimum pulse width is 80ns 4: 4 x AB phase, the minimum pulse width is 160ns EA_INV: Write ‘1’...
  • Page 35 Interface P_INV N_INV FRMTx Function FRMTx (R/W): Pulse output format “00”: Pulse/Direction (Default) “01”: CW/CCW “10”: EA/EB P_INV (R/W): Write ‘1’ to invert P+ P- signal (default: ‘0’) N_INV (R/W): Write ‘1’ to invert N+ N- signal (default: ‘0’) SWP (R/W): Write ‘1’...
  • Page 36 0: interpolation mode 1: high speed mode(It is suitable for high-speed and short-distance commands, and the command execution time should be less than 500ms) 0x5000 -- Store parameters Number of entries Save all 00000000h Parameters 4294967295 Load Factory 00000001h 0 - 1 Save counter 00000000h 4294967295...

  • Page 37: Drive Profile Area (6000H ~ 6Fffh)

    Drive Profile Area (6000h ~ 6FFFh) 6.1 Object List 0x6000~0x67FF are the Objects of the first axis 0x6800~0x6FFF are the Objects of the second axis 0x7000~0x77FF are the Objects of the third axis 0x7800~0x7FFF are the Objects of the fourth axis Object Index + 0x800 * (n-1) is the object of the nth axis For example: 0x603F is the Object of the first axis...
  • Page 38 2147483647 0x606C Velocity Actual 00000000h -2147483648 Value 2147483647 0x607A Target Position 00000000h -2147483648 2147483647 0x607C Home Offset 00000000h -2147483648 2147483647 0x607D Software Position Limit Number of entries Min position limit 00000000h -2147483648 2147483647 Max position limit 00000000h -2147483648 2147483647 0x607E Polarity 0、224 0x607F...
  • Page 39 search for zero 4294967295 0x609A Homing U32 rw 0000C350h acceleration 4294967295 0x60C5 Max Acceleration U32 rw 7FFFFFFFh 4294967295 0x60C6 Max Deceleration U32 rw 7FFFFFFFh 4294967295 0x60FD Digital Inputs U32 ro 00000000h 4294967295 0x60FF Target Velocity 00000000h -2147483648 2147483647...

  • Page 40: Pds State Machine

    6.2 PDS State Machine According to the user command or abnormal detection, etc., the PDS state machine transition of the drive is defined as shown in the figure below PDS Transition Event(s) Action(s) Auto skip 0 Automatically changes after The drive functions are control power-on or after self-diagnosed and resetting application...
  • Page 41 received Shutdown The Shutdown command is The drive functions are received disabled Disable voltage The Disable voltage The drive functions are command is received disabled Disable voltage The Disable voltage command is received The Quick stop command is received Quick stop The Quick stop command is The Quick stop function received...

  • Page 42: Controlword(6040H)

    6.3 Controlword(6040h) Index sub- Name Range Data Access EEPROM index Type 6040h controlword 0-65535 Set a command to a servo driver including the PDS state transition. 15 ~ 10 6 ~ 4 r = reserve eo = Enable operation oms = operation mode specific qs = quick stop (Different definitions according to ev = enable voltage...
  • Page 43 The following shows the definition of oms bit under each control mode (modes of operation) -: reserve Op-mode bit 9 bit 6 bit 5 bit 4 start homing absolute/ change set new set-point relative immediately...

  • Page 44: Statuslword(6041H)

    6.4 Statuslword(6041h) Index sub- Name Range Data Access EEPROM default index Type 6041h Statusword U16 ro 0-65535 Displays the servo driver state rtso r = reserve w = warning oms = operation mode specific sod = switch on disabled (Different definitions according to qs = quick stop modes of operation) ve = voltage enabled...
  • Page 45 Bit 13, 12, and 10(operation mode specific): Below table shows the behavior of the operation mode (Op-mode) specific bits. Op-mode bit 13 bit 12 bit 10 drive follows command value drive follows command value homing error homing attained target reached set-point acknowledge target reached...

  • Page 46: Operation Mode Setting

    6.5 Operation mode Setting 6.5.1 Supported drive modes(6502h) This driver can confirm the supported control modes (Modes of operation) according to 6502h. Index sub- Name Range Data Access EEPROM default index Type 6502h 00h Supported drive modes U32 ro 0x1A1 4294967295 Modes of operation Profile position mode...

  • Page 47: Modes Of Operation (6060H)

    6.5.2 Modes of operation (6060h) The operation mode is set by 6060h (Modes of operation) Index sub- Name Range Data Access EEPROM default index Type 6060h Modes of operation 0x00 -128 - Modes of operation Profile position mode Homing mode Cyclic synchronous position mode Cyclic synchronous velocity mode Because 6060h (Modes of operation) is default=0 (No mode change/no mode assigned),...

  • Page 48: Modes Of Operation Display (6061H)

    6.5.3 Modes of operation display (6061h) The 6061h (Modes of operation display) enables to confirm the internal operation mode of this servo driver. After setting 6060h (Modes of operation), monitor this object to confirm that the system operation is set as expected Index sub- Name...

  • Page 49: Caution For Changing Operation Mode

    6.5.4 Caution for Changing Operation mode The operation mode can be switched by changing the value of 6060h (Modes of  operation). The 6061h (Modes of operation display) enables to confirm the operation mode of the  servo driver at present. About 2 ms is required from the time when the operation mode is changed until the ...

  • Page 50: Position Control Function

    6.6 Position Control Function 6.6.1 Software position limit (Software position limit:607Dh) Index sub- Name Range Data Access EEPROM default index Type 0x607D Software Position Limit Number of entries Min position limit 00000000h -2147483648 2147483647 Max position limit 00000000h -2147483648 2147483647 The following conditions are invalidation of the software limit function 607Dh-01h >= 607Dh-02h Example) 607Dh-01h = 0...

  • Page 51: Profile Position Mode(Pp Mode)

    6.6.2 Profile Position Mode(pp mode) In this mode, specify the target position, target speed, acceleration and deceleration, etc., and the driver will drive the motor to move after generating instructions internally in accordance with the motion parameters. Steps 1. Set the operation mode (Mode of operation: 6060h) to Profile position mode (pp mode) Value = 0x01, and confirm (Mode of operations Display: 6061h) = 0x01.
  • Page 52 Control word: 6040h (under pp mode) 15 ~ 10 6 ~ 4 r = reserve eo = Enable operation fr = fault reset qs = quick stop h = halt ev = enable voltage so = switch on bit Name Value Definition new set-point...
  • Page 53 r = reserve w = warning ila = internal limit active sod = switch on disabled rm = remote qs = quick stop ve = voltage enabled f = fault oe = operation enabled so = switched on rtso = ready to switch on bit Name Value Definition...

  • Page 54: Cyclic Synchronous Position Mode(Csp Mode)

    6.6.3 Cyclic Synchronous Position Mode(csp mode) It is a position control mode to operate by creating a command position in the host controller (master) and updating (transmitting) the command position in an interpolation cycle. Step 1: Read (Position Actual Value: 6064h) and write to (Target position: 607Ah). Step 2: Set (Mode of operation: 6060h) to Cyclic synchronous position mode (csp mode) value = 0x08, and check (Mode of operations Display: 6061h) = 0x08.
  • Page 55 Control word: 6040h (under csp mode) 15 ~ 10 6 ~ 4 r = reserve eo = Enable operation fr = fault reset qs = quick stop h = halt ev = enable voltage so = switch on Status word: 6041h (under csp mode) Bit 15~13 12 driver follows rtso...

  • Page 56: Homing Mode( Hm Mode)

    6.6.4 Homing Mode( hm mode) Specify the action speed, acceleration and homing method, the drive generates a position command and executes homing. Step 1: Set (Mode of operation: 6060h) to the Homing mode (hm mode) Value = 0x06, and check (Mode of operations Display: 6061h) = 0x06 Step 2: Set (Home offset: 607Ch), the default is 0 Step 3:...
  • Page 57 Control word: 6040h (under hm mode) 15 ~ 10 6 ~ 5 start homing r = reserve eo = Enable operation fr = fault reset qs = quick stop h = halt ev = enable voltage so = switch on bit Name Value Definition...
  • Page 58 Status word: 6041h (under hm mode) Bit 15~14 13 11 10 homing homing target rtso error attained reached r = reserve w = warning ila = internal limit active sod = switch on disabled rm = remote qs = quick stop ve = voltage enabled f = fault oe = operation enabled...
  • Page 59 Method 1  If LL switch is not activated at the beginning of the action, the initial action  direction is the negative direction. If the LL switch has been activated at the beginning of the action, the initial  action direction is the positive direction.
  • Page 60 Method 2  If RL switch is not activated at the beginning of the action, the initial action  direction is the positive direction. If the RL switch has been activated at the beginning of the action, the initial  action direction is the negative direction.
  • Page 61 Method 3、4  If Home switch is not activated at the beginning of the action, the initial  action direction is the positive direction. If the Home switch has been activated at the beginning of the action, the  initial action direction is the negative direction. The home detection position is the first Index pulse detection position in ...
  • Page 62 Method 5、6  If Home switch is not activated at the beginning of the action, the initial  action direction is the negative direction. If the Home switch has been activated at the beginning of the action, the  initial action direction is the positive direction. The home detection position is the first Index pulse detection position in ...
  • Page 63 Method7、8、9、10  If Home switch of Method 7 and 8 is activated at the beginning of the  action, the initial action direction is the negative direction. If Home switch of Method 9 and 10 is activated at the beginning of the ...
  • Page 64 Method11、12、13、14  If Home switch of Method 13 and 14 is activated at the beginning of the  action, the initial action direction is the negative direction. If Home switch of Method 11 and 12 is activated at the beginning of the ...
  • Page 65 Method 17  If LL switch is not activated at the beginning of the action, the initial action  direction is the negative direction. If the LL switch has been activated at the beginning of the action, the initial  action direction is the positive direction.
  • Page 66 Method 18  If RL switch is not activated at the beginning of the action, the initial action  direction is the positive direction. If the RL switch has been activated at the beginning of the action, the initial  action direction is the negative direction.
  • Page 67 Method 19、20  If Home switch is not activated at the beginning of the action, the initial  action direction is the positive direction. If the Home switch has been activated at the beginning of the action, the  initial action direction is the negative direction. The home detection position is the position when the status of ORG ...
  • Page 68 Method 21、22  If Home switch is not activated at the beginning of the action, the initial  action direction is the negative direction. If the Home switch has been activated at the beginning of the action, the  initial action direction is the positive direction. The home detection position is the position when the status of ORG ...
  • Page 69 Method23、24、25、26  If Home switch of Method 23 and 24 is activated at the beginning of the  action, the initial action direction is the negative direction. If Home switch of Method 25 and 26 is activated at the beginning of the ...
  • Page 70 Method27、28、29、30  If Home switch of Method 29 and30 is activated at the beginning of the  action, the initial action direction is the negative direction. If Home switch of Method 27 and 28 is activated at the beginning of the ...
  • Page 71 Method35、37  The home detection position is the current position. ...

  • Page 72: Velocity Control Function

    6.7 Velocity Control Function 6.7.1 Cyclic Synchronous Velocity Mode(csv mode) It is a velocity control mode to operate by creating a command velocity in the host controller (master) and updating (transmitting) the command velocity in an interpolation cycle. Step 1: Set (Target velocity: 60FFh) to 0.
  • Page 73 Control word: 6040h (under csv mode) 15 ~ 10 6 ~ 4 r = reserve eo = Enable operation fr = fault reset qs = quick stop h = halt ev = enable voltage so = switch on Status word: 6041h (under csv mode) Bit 15~13 12 driver follows rtso...

  • Page 74: Alarm List

    Alarm List Alarm Alarm Code Description 0x7500 EtherCAT Communication error 0xFF02 DI Alarm 0xFF03 Changing (mode of operation: 6060h) during the running of the motor 0xFF04 EEPROM failed...

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