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Unimotion STDF EC Series Manual

Closed loop stepping system
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Closed Loop Stepping System Manual
STDF EC EtherCAT

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Summary of Contents for Unimotion STDF EC Series

  • Page 1 Manual Closed Loop Stepping System Manual STDF EC EtherCAT...

  • Page 3: Table Of Contents

    TABLE OF CONTENTS Product specification Model naming ....................... 11 Product dimension ....................11 EtherCAT specifications ..................12 Drive specification ....................13 Installation Precautions of installation ..................14 System configuration (only for motor sizes 42 and 56) .......... 15 External wiring diagram ..................16 Appearance and part name ..................
  • Page 4 4.4.3 Control word and Status word .................. 35 Profile position mode .................... 36 4.5.1 Definition ........................36 4.5.2 Related objects......................37 4.5.3 Control word and Status word .................. 38 4.5.4 Position movement method..................40 Homing Mode ....................... 45 4.6.1 Definition ........................45 4.6.2 Relative objects ......................
  • Page 5 6.1.3 Data Type ........................63 6.1.4 Access ........................63 6.1.5 SAVE .......................... 63 6.1.6 PDO Mapping......................63 6.1.7 Constant Value ......................63 6.1.8 Value Range ......................63 6.1.9 Default Value ......................64 Communication Object..................64 6.2.1 Object 1000h: Device type ..................64 6.2.2 Object 1001h: Error register ..................
  • Page 6 6.5.16 Object 606Ch: Velocity actual value ................. 80 6.5.17 Object 607Ah: Target position .................. 80 6.5.18 Object 607Ch: Home offset ..................80 6.5.19 Object 607Dh: Software position limit ..............81 6.5.20 Object 607Eh: Polarity ....................82 6.5.21 Object 607Fh: Max profile velocity ................82 6.5.22 Object 6081h: Profile velocity ...................
  • Page 7 6.6.15 Object 2011h: Digital input levels ................99 6.6.16 Object 2012h: Digital output levels ................99 6.6.17 Object 2014h: Homing Torque Ratio ..............100 6.6.18 Object 201Ah: Push Mode ..................100 6.6.19 Object 2018h: Internal Current Value ..............101 6.6.20 Object 201Bh: Limit Deceleration ................
  • Page 8 Warning If the user does not properly handle the product, the user may get seriously or slightly injured and damage may occur to the machine. Danger If the user does not properly handle the product, a dangerous situation (such as an electric shock) may occur resulting in death or serious injuries.
  • Page 9 Check the product Warning Check the product for damaged or missing components. If this is the case, the machine may get damaged or the user may get injured. Installation Warning Handle with caution, damage to the product or injury to the handler may occur if dropped. Use non-flammable materials (such as metal) where the product is to be installed, to reduce any fire hazards.
  • Page 10 Check and repair Stop the power supply to the main circuit and wait for a while before checking or repairing the STDF EC drive. Electricity remaining in the capacitor may cause electric shock. Do not change cabling while the power is supplied, otherwise, the user may get injured or the product may get damaged.

  • Page 11: Product Specification

    PRODUCT SPECIFICATION Model naming Figure 1-1: Model naming. Product dimension Figure 1-2: Dimensions of the STDF A EC drive. 11/108...

  • Page 12: Ethercat Specifications

    EtherCAT specifications Table 1-1: Communication specifications. Communication type EtherCAT RJ45 (shielded) Physical layer ECAT IN: EtherCAT Input ECAT OUT: EtherCAT Output Set configured station alias by ECAT ID switch: 0 ∼ 99 ECAT device ID Set physical address at master: 1 ∼ 65535 Line (structured by products only) Topology Tree, star (when using a switch hub)

  • Page 13: Drive Specification

    Drive specification Table 1-2: Drive specifications. Model STDF A EC Input voltage 24 VDC ± 10 % Control method Closed loop control with 32 bit MCU Current consumption Max. 500 mA (except motor current) Ambient In use: 0 ∼ 50 °C temperature In storage: 20 ∼...

  • Page 14: Installation

    INSTALLATION Precautions of installation 1. This product is designed for indoor usage with an ambient temperature of 0 ∼ 55 °C. 2. If the temperature of the case reaches 50 °C, ventilate the outside of the case to cool down. 3.

  • Page 15: System Configuration (Only For Motor Sizes 42 And 56)

    System configuration (only for motor sizes 42 and 56) Figure 2-2: System configuration diagram of the STDF EC. * 15/108...

  • Page 16: External Wiring Diagram

    External wiring diagram Figure 2-3: External wiring diagram of the STDF A EC drive. 16/108...

  • Page 17: Appearance And Part Name

    Appearance and part name Figure 2-4: Appearance of the STDF A EC drive. 2.4.1 EtherCAT ID Figure 2-5: EtherCAT ID. 2.4.1.1 ID Setting Change EtherCAT ID (configured alias ID) value by the rotary switch setting. The right switch indicates tens and the left switch indicates units. The setting range is 0 ∼...

  • Page 18: Ethercat Status Led

    2.4.1.2 ID Indication The 7-segment display indicates physical address or EtherCAT ID (EtherCAT configured alias) value. Conditions for value indication as below. • When the rotary switch is set to all ‘0’, 7-segment indicates EtherCAT physical address value. Physical address assigned due to no connection between controller and master, it indicates 0.
  • Page 19 This LED informs EtherCAT communication status. RUN LED, ERROR LED positions at the front side of the product and, Link/Activity LED individually positions at the top of the right corner of EtherCAT ports. Table 2-1: EtherCAT status LED. Indication Color Status Description INIT Status or Power OFF...

  • Page 20: Ethercat Communication Connection (Cn5, Cn6)

    2.4.3 EtherCAT communication connection (CN5, CN6) Connect communication cable from Master into communication connector ECAT IN. If there is another controller, connect the communication cable from ECAT OUT to the ECAT IN of the next controller. Table 2-2: EtherCAT connector. Function Connection hood F.

  • Page 21: I/O Connector (Cn1)

    2.4.4 I/O Connector (CN1) Input and output signals of the drive are all photocoupler protected. The signal status of internal photocouplers [ON: conduction], [OFF: Non-conduction], are not displaying the voltage levels of the signal. Table 2-3: I/O Connector. Function LIMIT+ Input LIMIT- Input...

  • Page 22: Encoder Connector (Cn2)

    2.4.4.3 Input signal Please individually prepare power for input circuit as DC 24 V ± 10 % (current consumption is around 5 mA/Circuit) 2.4.4.4 Output signal Please individually prepare Power Supply for Output circuit. It is possible to share with power supply for input circuit and in this case, please add capacity of power supply for output into capacity of power supply for input.

  • Page 23: Power Connector (Cn4)

    Type of Connector: Molex 556904A2 2.4.7 Power connector (CN4) Table 2-6: Power connector. Function 24 VDC Input Input Type of Connector: Molex 556902A2 23/108...

  • Page 24: Ethercat Communication

    ETHERCAT COMMUNICATION CAN application protocol over EtherCAT STDF EC is an 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 a dictionary of objects of the product. 3.1.2 Mailbox communication Master and Slave commands receive service data object (SDO) at mailbox communication (SDO communication).

  • Page 25: Process Data Communication

    3.1.3 Process data communication Process data communication (PDO communication) commands and receives Process Data Objects (PDO) with master periodically. Data that will be delivered and received is already defined at the initial stage of communication by PDO Mapping. PDO communication is categorized as transmission PDO (following Tx PDO) delivers controller status information and receipt PDO (following Rx PDO) delivers command from the master.

  • Page 26: Pdo Assign

    3.2.2 PDO Assign PDO Assign is to set PDO Mapping Object will be assigned at SyncManager. Figure 3-4: PDO Assign. 1C12h is object to assign Rx PDO and can assign one object among Rx PDO Object 1600h or 1601h. 1C13h is object to assign Tx PDO and can assign one object among Tx PDO Object 1A00h or 1A01h.

  • Page 27: Synchronization

    EtherCAT controller of status motion is controlled by EtherCAT Master. Table 3-1: EtherCAT Operational state. Status Rx PDO Tx PDO Description EtherCAT communication is to reset. Status of INIT Non Available Non Available Non Available communication is not available at this stage. After initialization of communication, enters into this stage.

  • Page 28: Free Run

    3.4.1 Free Run The controller runs under non-synchronization with Master. Under Free Run mode, Master and Controller have an individual independent cycle. 3.4.2 SM Event The controller runs under synchronization with SM event of EtherCAT communication. SM event is generated once the controller receives EtherCAT frame. Once synchronization by SM event, each one of the controllers has a little bit of jitter.

  • Page 29: Cia 402 Drive Profile

    CIA 402 DRIVE PROFILE Drive Status Control Status of product moves as follows. Status movement is executed by the 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.
  • Page 30 Table 4-1: State transition. Transition Event Action Automatic transition after power- Drive self-test and/or self initialization on or reset application. shall be performed. Automatic transition. Communication shall be activated. Automatic transition Shutdown command from control device. Switch On command from control device.
  • Page 31 Table 4-2: Function per Status. 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 Able to control the status of controller by 0 ∼ 3, 7 bits of Control word and bits per target status are as follows.

  • Page 32: Error Code

    Error Code Once an Error generates, the Controller (Sense Fault signal), changes to Fault reaction active status. Under ‘Fault’/‘Fault reaction active’ status, types of error can be checked by Error code (603Fh). Table 4-5: Error codes. Error code External Status Description indication Hex/Dec...
  • Page 33 Internal Communication error from 0xFF35/65333 E-053 communication error internal components of drive of drive generated (Command Failed). Torque enable Torque Enable command of drive 0xFF3C/65340 E-060 Failure failed. Push command 0xFF3D/65341 E-061 Push command of drive failed. Failure In-position signal is unstable or Torque enable 0xFF41/65345 E-065...

  • Page 34: Mode Of Operation

    The 'Abnormal Safety Input State' alarm can be clear by recycling the power of the controller. It cannot clear by 'Fault Reset' command of Control word. The voltage limits of Back-EMF according to the motor model of the product are as follows. Table 4-6: Voltage Limit of Back-EMF.

  • Page 35: Related Objects

    4.4.2 Related objects Figure 4-2: CSP Mode Objects. 4.4.3 Control word and Status word Control word under CSP Mode are as follows. Table 4-8: Control word of CSP Mode. Name Description Switch On Enable Voltage Quick Stop Enable Operation 4 ∼ 15 Reserved Please refer to 4.1 Drive Status Control for the rest of bits.

  • Page 36: Profile Position Mode

    Following Error Following Error Reserved Safety Activated Please refer to drive status control for the rest of bits. Table 4-10: Status word of Bit 12. Value Description Target position value ignored. Target position value executed. Table 4-11: Status word of Bit 13. Value Description Following Error generated.

  • Page 37: Related Objects

    4.5.2 Related objects Figure 4-3: Profile position mode. 37/108...

  • Page 38: Control Word And Status Word

    4.5.3 Control word and Status word Control word under position control mode are as follows. Table 4-13: Profile position mode of control word. Name Description Switch On Enable Voltage Quick Stop Enable Operation New Set-Point Position movement command Change Set Immediately position change set Relative Absolute/Relative position...
  • Page 39 Push Motion is executed when the Position movement command is executed. Motor stops when a force is detected. Motor push again if the force has disappeared. The Push Motion is finished when the stop command is given. Status word (6041h) under position control mode is as follows. Table 4-18: Profile position mode of status word.

  • Page 40: Position Movement Method

    Table 4-22: Status word of Bit 15. Value Description Safety Function was activated and the motor is disabled. Table 4-23: Status word of Bit 8. Value Description Push Motion is activated. Table 4-24: Status word of Bit 14. Value Description A force detected.
  • Page 41 • Stops during movement due to limit switch of operation direction goes to ON. • Current position during movement goes out of Software Position Limit (607Dh). 4.5.4.2 Input next target position Once commands to move to new target position during previous position movement still operates, executes new target position movement command after completion of previous position movement.
  • Page 42 4.5.4.3 Target position override In case of using Control word of Change Set Immediately (Bit 5) under SET status during position movement command, able to cancel currently operating position movement command and immediately move to a new target position. Figure 4-6: Change set immediately. 1.
  • Page 43 Figure 4-7: Push Motion (Stop Mode). 1. A work was detected before reaching the target position. The detection status can be judged by Push Detected (Bit 14) of Status word. Controller does quick-stop when work is detected. 2. The target position has been reached without detecting a work. Information If the motor speed is fast or the value of the Push ratio is low, it may be determined that work is detected even if a work is not detected actually.
  • Page 44 8) of Status word become SET and the Push Motion is executed. Target position refers to the Target position (607Ah) and Position value can be absolute coordinates or relative coordinates by Control word of Relative (Bit 6). In the Push Motion (Non-stop Mode), the Push Motion is not finished even if a work is detected or the target position is reached.

  • Page 45: Homing Mode

    Information If the motor speed is fast or the value of Push ratio is low, it may be determined that a work is detected even if a work is not detected actually. In this case, lower the motor speed or increase the Push ratio.

  • Page 46: Control Word And Status Word

    Offset (607Ch). Once the position of mechanical origin is set to Home Offset, Status word - bit 12: Home Attained is going to be ON and position objects will be initialized. When Limit Switch is ON during Homing operation, it stops to change the direction. How to stop after detection of Limit Switch follows Object 2003h: Limit stop method setting.

  • Page 47: Origin Search Method

    Target Reached Origin search status Internal Limit Active Homing attained Origin search completed Homing Error Origin search failed Reserved Safety Activated Please refer to drive status control for the rest of bits. Table 4-28: Status word of bit 13, 12, 10. Bit 13 Bit 12 Bit 10 Description Origin search operation is on-going.
  • Page 48 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 signal of the encoder. 4.6.4.1 Method 1: Homing on Negative Limit Switch and Index Pulse Figure 4-10: Homing method 1. This origin method is to start toward Negative Direction and movement velocity is the value of Speed during the search for the switch (6099h, index 01h).
  • Page 49 4.6.4.3 Method 7: Homing on Origin Switch (Positive Direction, Negative Edge) and Index Pulse Figure 4-12: Homing method 7. This origin method is to start toward Positive Direction and movement velocity is the value of Speed during the search for a switch (6099h, index 01h). Positive Limit Switch goes ON, it goes to opposite direction and moves to the opposite direction.
  • Page 50 The initial movement direction of this origin search method is Negative Direction and movement velocity is the value of Speed during the search for a switch (6099h, index 01h). Negative Limit Switch goes ON, it goes to opposite direction. If Origin Switch goes ON, it goes to the opposite direction and moves by velocity of Speed during the search for zero (6099h, index 02h).
  • Page 51 4.6.4.7 Method 24: Homing on Origin Switch (Positive Direction, Negative Edge) Figure 4-16: Homing method 24. The initial movement direction of this origin search method is Positive Direction and movement velocity is the value of Speed during the search for a switch (6099h, index 01h). Positive Limit Switch goes ON, it goes to the opposite direction by velocity of Speed during the search for zero (6099h, index 02h) and gets out of Origin Switch.
  • Page 52 The initial movement direction of this origin search method is Negative Direction and movement velocity is the value of Speed during the search for a switch (6099h, index 01h). Negative Limit Switch goes ON, it goes in the opposite direction. If Origin Switch goes ON, it goes out of Origin Switch toward the opposite direction by velocity of Speed during the search for zero (6099h, index 02h).
  • Page 53 4.6.4.12 Method -4: Homing on Positive Limit touch This origin search method is to start toward Positive Direction and movement velocity is the value of Speed during the search for zero (6099h, index 02h). If it senses a certain Load then stops and sets the correspondent position as sensor origin position.

  • Page 54: Touch Probe

    Touch probe 4.7.1 Definition Touch probe function is to record the current position with sensing inputs from an external signal. 4.7.2 Related objects Table 4-31: Touch Probe related objects. Object Access Description Touch probe function Control Touch Probe 1/2. Touch probe status Indicate status of Touch Probe 1/2.
  • Page 55 Figure 4-19: Touch Probe Operation (Bit 1/Bit 9 = 0). 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.

  • Page 56: Digital Input And Output

    Digital Input and Output 4.8.1 Definition STDF EC provides 3 default inputs (ORIGIN, LIMIT+, LIMIT-) and 7 user inputs and also 1 default output (BRAKE) and 6 user outputs. 4.8.2 Related Objects Table 4-32: I/O related Objects. Object Access Description Object 60FDh: Digital inputs Indicates input signals.

  • Page 57: Origin And Limit Input

    4.8.4 ORIGIN and LIMIT Input Active Level of ORIGIN and LIMIT input signal can be changed through Sensors logics (2001h) of Bit 0 (please refer to Sensors logics). LIMIT+ and LIMIT- input signals can be exchanged through Reverse limit direction (2002h). Interrelation between Reverse limit direction (2002h) and LIMIT+, LIMIT- is as follows.

  • Page 58: Operation

    OPERATION Operation sequence Sequence of controller operation is as follow. Exampled operation sequence of Profile Position Mode listed at the table as below. Step Name Action Install motor/controller according to Installation conditions of installation. Check power cable, motor/encoder cable, Wiring I/O cable, EtherCAT communication Setting cables are properly connected.

  • Page 59: Pdo Mapping

    5.2.4 PDO Mapping 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’. The name of the Module can be differentiated by each Master. 5.2.5 Set Communication Status Change EtherCAT State Machine as ‘OP’...

  • Page 60: Movement Command

    5.3.4 Movement Command Once setting of Motion related Object has completed, execute the movement command by setting the Control word. Information Trial operation explains operation by Profile Position Mode. Input 005Fh at Control word. This command is to rotate the motor by setting value (distance) at the Target position.
  • Page 61 5.4.2.2 User I/O Active Level of User I/O, User Input 1 ∼ 7, and User Output 1 ∼ 6 can be changing by Digital input levels (2011h) and Digital output levels (2012h). 61/108...

  • Page 62: Ethercat Object Dictionary

    ETHERCAT OBJECT DICTIONARY Indication Type of Objects Following table explains the indication type of information for each object. Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 60C2h 0 entries Interpolation time 0 ∼ period value 65535 Interpolation time -4 ∼...

  • Page 63: Data Type

    6.1.3 Data Type Parameter type of object is as follows. Table 6-2: Data type. Data Type Length Range 1 byte 0 ∼ 255 2 byte 0 ∼ 65535 4 byte 0 ∼ 4294967295 1 byte -128 ∼ 127 2 byte -32768 ∼...

  • Page 64: Default Value

    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). Communication Object 6.2.1 Object 1000h: Device type Index Sub Index Name Type Access Constant Value 1000h Device...

  • Page 65: Object 1008H: Device Name

    6.2.3 Object 1008h: Device name Index Sub Index Name Type Access Constant Value 1008h Device name STR (18) RO STDF EC This object indicates the name of the device. Information The value of the Device name can be differentially indicated by the product model. 6.2.4 Object 1009h: Hardware version Index Sub Index...

  • Page 66: Object 1011H: Restore Default Parameters

    Table 6-8: Save Parameters State. Value Description Support save Parameter. 1 ∼ 31 Reserved Check ‘SAVE’ part for each object. 6.2.7 Object 1011h: Restore default parameters Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 1011h 0 entries Restore default...

  • Page 67: Object 10F1H: Error Settings

    Information Value for each item of Identity can be differentially indicated by product model and version. 6.2.9 Object 10F1h: Error settings Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 10F1h 0 entries Local error 0000 0000h reaction Sync error counter...

  • Page 68: Object 1601H: Rxpdo-Map 1

    6.3.2 Object 1601h: RxPDO-Map 1 Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 1601h 0 0 ∼ 10 entries 1st PDO 6040 0010h object 2nd PDO 607A 0020h object 3rd PDO 6081 0020h object 4th PDO 6060 0008h object 5th PDO...

  • Page 69: Object 1A00H: Txpdo-Map 0

    6.3.3 Object 1A00h: TxPDO-Map 0 Value Default Index Name Type Access SAVE Index Mapping Range Value Number 1A00h 0 0 ∼ 10 of entries 1st PDO 6041 0010h object 2nd PDO 6064 0020h object 3rd PDO 0000 0000h object 4th PDO 0000 0000h object 5th PDO...

  • Page 70: Object 1A01H: Txpdo-Map 1

    6.3.4 Object 1A01h: TxPDO-Map 1 Index Name Type Access SAVE Value Default Value index Mapping Range 1A01h Number of 0 ∼ 10 entries 6041 0010h object 6064 0020h object 606C 0020h object 6061 0008h object 0000 0000h object 0000 0000h object 0000 0000h object...

  • Page 71: Object 1C12H: Rxpdo Assign

    6.3.5 Object 1C12h: RxPDO assign Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 1C12h 0 entries RxPDO 1600h assign 6.3.6 Object 1C13h: TxPDO assign Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 1C13h 0 entries...

  • Page 72: Object 1C32H: Sm Output Parameter

    6.4.2 Object 1C32h: SM output parameter Range Default Index Name Type Access SAVE Index Mapping Value Value Number of 1C32h 0 entries Synchronization 0100h type 0000 Cycle time 0000h Synchronization 0780h type supported Minimum cycle 0000 time 0000h Calc and copy 0000 time 0000h...

  • Page 73: Object 1C33H: Sm Input Parameter

    6.4.3 Object 1C33h: SM input parameter Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 1C33h 0 entries Synchronization 2200h type 0000 Cycle time 0000h Synchronization 0780h type supported Minimum cycle 0000 time 0000h Calc and copy 0000 time 0000h...

  • Page 74: Object 6040H: Control Word

    6.5.2 Object 6040h: Control word Value Default Index Name Type Access SAVE Index Mapping Range Value 6040h 0 Control word Rx PDO This object controls device status. Each bit of this object has a meaning as follows. Table 6-12: Definition of Control word. Name Description Switch On...
  • Page 75 Each bit of this object has a meaning as follows. Table 6-13: Definition of Status word. Name Description Ready to switch on Switched on Operation enabled Bits to indicate current status of controller. Please Fault refer to 4.1 Drive Status Control. Voltage enabled Quick stop Switch on disabled...

  • Page 76: Object 605Ah: Quick Stop Option Code

    • Bit 11 Internal Limit Active goes to SET once the current position value is out of Object 607Dh: Software position limit. If Object 2030h: Advanced settings Sub-Index 3 Config Internal Limit Active bit is set, Internal Limit Active will SET even if H/W Limit switch is detected.

  • Page 77: Object 605Dh: Halt Option Code

    Table 6-17: Disable Operation Option Code. Value Description Torque-Disable. Motor Free After decelerated stop, disable Motor. 6.5.7 Object 605Dh: Halt option code Value Default Index Name Type Access SAVE Index Mapping Range Value Halt 605Dh option code This object, Control word - bit 8: Set motion through Halt once stops command. Table 6-18: Halt Option Code.

  • Page 78: Object 6060H: Mode Of Operation

    6.5.9 Object 6060h: Mode of operation Value Default Index Name Type Access SAVE Index Mapping Range Value Mode of 6060h Rx PDO operation This object is to set operation mode. Table 6-20: Mode of operation value. Value Description -128 ∼ -1 Reserved Operation mode has not set.

  • Page 79: Object 6064H: Position Actual Value

    6.5.12 Object 6064h: Position actual value Value Default Index Name Type Access SAVE Index Mapping Range Value Position 6064h demand Tx PDO value This object indicates current position. This position value indicates Encoder value connected to controller. 6.5.13 Object 6065h: Following error window Value Default Index...

  • Page 80: Object 606Bh: Velocity Demand Value

    6.5.15 Object 606Bh: Velocity demand value Value Default Index Name Type Access SAVE Index Mapping Range Value Velocity 606Bh demand Tx PDO value This object indicates internal command velocity. The velocity value is a positive value when the motor rotates in the positive direction, and a negative value when the motor rotates in the negative direction.

  • Page 81: Object 607Dh: Software Position Limit

    6.5.19 Object 607Dh: Software position limit Default Index Name Type Access SAVE Value Range index Mapping Value Number 607Dh 0 entries position 2147483648 range 2147483648 ∼ 2147483647 limit position 2147483648 2147483647 range ∼ 2147483647 limit Absolute position range where position objects can be positioned. The controller is unable to get out of this range.

  • Page 82: Object 607Eh: Polarity

    6.5.20 Object 607Eh: Polarity Value Default Index Name Type Access SAVE Index Mapping Range Value 607Eh Polarity This object sets rotation direction of motor. Table 6-21: Polarity. Description Reserved Reserved Reserved Reserved Reserved Reserved Reserved Position Polarity Position related Objects will be multiplied by -1 when Position Polarity is 1. 6.5.21 Object 607Fh: Max profile velocity Default Index...

  • Page 83: Object 6084H: Profile Deceleration

    6.5.24 Object 6084h: Profile deceleration Value Default Index Name Type Access SAVE Index Mapping Range Value Profile 1000 ∼ 6084h 0 Rx PDO 10e5 deceleration 10e8 This object sets deceleration under Profile Position Mode. Unit is speed of increasing per second [pulse/s 6.5.25 Object 6098h: Homing method Default Index...

  • Page 84: Object 6099H: Homing Speeds

    6.5.26 Object 6099h: Homing speeds Value Default Index Name Type Access SAVE Index Mapping Range Value Number 6099h entries Speed during search Rx PDO 5000 ∼ 2500000 switch Speed during Rx PDO 1000 ∼ search 500000 for zero This object sets values of velocity under homing speed during search for switch (index 01h) is the velocity that is used for correspondent Switch.

  • Page 85: Object 60B9H: Touch Probe Status

    Table 6-23: Touch Probe function bits. Value Description Turn off Touch probe 1 function. Turn on Touch probe 1 function. Sense 1st signal only. Sense signal continuously. Sense origin signal. Sense Z-Phase signal. 2 ∼ 3 Sense signal set at 60D0h. Reserved Sense rising edge of 1 signal.

  • Page 86: Object 60Bah: Touch Probe 1 Positive Value

    Table 6-23: Definition of Touch probe status. Value Description Halt status of Touch probe 1 function. Touch probe 1 function already turn on. Rising edge of set signal has not sensed. Rising edge of set signal has sensed. Falling edge of set signal has not sensed. Falling edge of set signal has sensed 3 ∼...

  • Page 87: Object 60Bdh: Touch Probe 2 Negative Value

    This object indicates encoder position value sensed by Touch Probe 2 at rising edge. 6.5.33 Object 60BDh: Touch probe 2 negative value Value Default Index Name Type Access SAVE Index Mapping Range Value Touch probe 2 60BDh Tx PDO negative value This object indicates encoder position value sensed by Touch Probe 2 at falling edge.

  • Page 88: Object 60D5H: Touch Probe 1 Positive Edge Counter

    Table 6-24: Touch probe 1 source. Value Input Source Origin Switch User Input 1 User Input 2 Z-Phase Table 6-25: Touch probe 2 source. Value Input Source Origin Switch User Input 3 User Input 4 Z-Phase 6.5.36 Object 60D5h: Touch probe 1 positive edge counter Value Default Index...

  • Page 89: Object 60D8H: Touch Probe 2 Negative Edge Counter

    6.5.39 Object 60D8h: Touch probe 2 negative edge counter Value Default Index Name Type Access SAVE Index Mapping Range Value Touch probe 2 60D8h negative edge Tx PDO counter This object indicates frequency for acknowledgement of Touch Probe 2 falling edge. 6.5.40 Object 60E3h: Supported homing methods Constant Index...

  • Page 90: Object 60F4H: Following Error Actual Value

    6.5.41 Object 60F4h: Following error actual value Value Default Index Name Type Access SAVE Index Mapping Range Value Following error 60F4h Tx PDO actual value This Object indicates value of position deviation. Value of position deviation = Position Demand Value (6062h) Position Actual Value (6064h) If the value of position deviation goes far from Following Error Window (6065h) during certain timing, Following Error will be generated.

  • Page 91: Object 60Feh: Digital Outputs

    Table 6-27: Definition of Input Value. Value Definition Input goes OFF Input goes ON 6.5.43 Object 60FEh: Digital outputs Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 60FEh 0 entries Physical Rx PDO 0000 0000h outputs Bit mask 003F 0000h...

  • Page 92: Object 6502H: Supported Drive Modes

    6.5.43.2 User Outputs Bit 16 ∼ 21: Controls User outputs output signal. The value of Output is ‘Bit mask’ AND ‘Physical output’. Table 6-29: User Outputs. Value Bit mask Physical outputs Non-use output Output OFF Use output Output ON 6.5.44 Object 6502h: Supported drive modes Value Default Index...

  • Page 93: Object 2002H: Reverse Limit Direction

    Table 6-32: Definition of Logic Value. Value Definition Low active High active 6.6.2 Object 2002h: Reverse limit direction Value Default Index Name Type Access SAVE Index Mapping Range Value Reverse 2002h limit 0 ∼ 1 direction This Object can set direction of Hardware Limit Switch. If 1 is set, IN/OUT connection of LIMIT+ and LIMIT- inputs will be exchanged.

  • Page 94: Object 2005H: Encoder Resolution

    6.6.4 Object 2005h: Encoder resolution Value Default Index Name Type Access SAVE Index Mapping Range Value Encoder 2005h resolution This Object indicates Resolution of Encoder currently installed. Information Number of pulse to rotate 1 motor revolution follows the value of Reference resolution (200Ch).

  • Page 95: Object 2008H: Boost Current

    Information This object can NOT be set while it is in ’Operation Enabled’ state. Please set after ’Operation Disable’. Please refer to 4.1 Drive Status Control. 6.6.7 Object 2008h: Boost current Value Default Index Name Type Access SAVE Index Mapping Range Value Boost...

  • Page 96: Object 200Ah: Motor Number

    6.6.9 Object 200Ah: Motor number Value Default Index Name Type Access SAVE Index Mapping Range Value Motor 200Ah number This Object indicates number of motors currently set. 6.6.10 Object 200Ch: Reference resolution Value Default Index Name Type Access SAVE Index Mapping Range Value...
  • Page 97 Position control gain is determined by a combination of bandwidth and gain. Position control gain = Bandwidth Setting × 8 + Gain Setting Table 6-34: Position control gain. Band- Band- Band- Band- Gain Gain Gain Gain Valu with Valu with Valu with Valu...

  • Page 98: Object 200Eh: In-Position Mode

    6.6.12 Object 200Eh: In-position mode Value Default Index Name Type Access SAVE Index Mapping Range Value 200Eh position 0 ∼ 1 mode This Object sets operation mode of In-position. In Profile Position Mode, if the position deviation from the target position is within the set value (Position Window) after the position command pulse is completed, it is judged that the positioning is completed (Target Reached).

  • Page 99: Object 2010H: Brake Delay

    Table 6-35: Encoder Filter Time. Value Definition Default value Apply 500 ns Filter Apply 1000 ns Filter Apply 2000 ns Filter Information This object can NOT be set while it is in ’Operation Enabled’ state. Please set after ’Operation Disable’. Please refer to 4.1 Drive Status Control.

  • Page 100: Object 2014H: Homing Torque Ratio

    This Object sets Level of Digital outputs of User output. Description Set Level of User Output 1. Set Level of User Output 2. Set Level of User Output 3. Set Level of User Output 4. Set Level of User Output 5. Set Level of User Output 6.

  • Page 101: Object 2018H: Internal Current Value

    6.6.18.2 Pull back distance The motor can be pulled back a certain distance when the Push Motion is finished. The position where the motor pulls back is the position added from Position actual value by Pull back distance (in the opposite direction to the Push Motion). The unit is pulse. 6.6.19 Object 2018h: Internal Current Value Value Default...

  • Page 102: Object 2021H: Error Code History

    6.6.21.1 Function The Function can delete the record of Error code history. If you enter ’0x00726C63’ value in the Function, all the history in the list is initialized. 6.6.21.2 Interval for same Error Code If the same kind of Error code occurs again within the set time, the corresponding Error code is not recorded.

  • Page 103: Object 2025H: Lifetime Record

    6.6.23 Object 2025h: Lifetime Record Index Name Type Access SAVE Value Default Index Mapping Range Value 2025h Number of entries Operating Time Enable Time Rotating Count Operating Enable Time Rotating Count This Object shows the time the controller has operated and the distance traveled. For example, if the controller operates as follows, each value is as follows: Table 6-37: Lifetime Record.
  • Page 104 LTR Operating Time It displays the total time it has been powered on and operated for a lifetime (Since the product was shipped). The unit is [s]. Times below the decimal point are discarded when the controller is powered off. LTR Enable Time It displays the total time it has been powered on and the drive is the Operation enabled state for a lifetime (Since the product was shipped).

  • Page 105: Object 2030H: Advanced Settings

    6.6.24 Object 2030h: Advanced settings Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 2030h entries Automatic recovery from 0 ∼ 1 communication error Disable Automatic 0 ∼ 1 transition 2 Config Internal 0 ∼ 1 Limit Active bit 6.6.24.1 Automatic Recovery from Communication Error This object can set ’EtherCAT communication error (0x7500)’...

  • Page 106: Object 2031H: Encoder Count Error

    6.6.25 Object 2031h: Encoder count error Value Default Index Name Type Access SAVE Index Mapping Range Value Number of 2031h entries Enable encoder 0 ∼ 1 count error Acceptable encoder 0 ∼ count limit 2147483647 value Encoder 500 ∼ count error 1000 10000 time out...
  • Page 108 G ERM A NY NO RT H A M ER IC A Unimotion GmbH Unimotion North America, Inc. Waldstrasse 20 3952 Ben Hur Ave, Unit 5 D - 78736 Epfendorf Willoughby, OH 44094...

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