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SHENZHEN ECON TECHNOLOGY CO.,LTD
User Manual For EST-556 EtherCAT Stepper Drive
EST-556
EtherCAT Stepper Drive
© 2018 shenzhen ECON Technology Co.,Ltd. Version 1.0
Add:2F,BuildingB,Jintai,Industrial,Park,HangchengAvenue,GushuVillage,XixiangStreet,Bao'anArea,ShenzhenCity,
GuangdongProvince,China
E-mail:enquiry@hybridservo.com
technical01@hybridservo.com
All rights reserved
[Please read this manual carefully before use to avoid damage the drive]
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Related Manuals for Econ EtherCAT EST-556
Summary of Contents for Econ EtherCAT EST-556
- Page 1 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive EST-556 EtherCAT Stepper Drive © 2018 shenzhen ECON Technology Co.,Ltd. Version 1.0 Add:2F,BuildingB,Jintai,Industrial,Park,HangchengAvenue,GushuVillage,XixiangStreet,Bao'anArea,ShenzhenCity, GuangdongProvince,China E-mail:enquiry@hybridservo.com technical01@hybridservo.com All rights reserved [Please read this manual carefully before use to avoid damage the drive]...
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Page 2: Table Of Contents
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Contents Part 1:EST-556 Hardware Manual ..........................5 1 Descriptions ................................5 2 Features ..................................5 3 Applications ................................5 4.1 Electrical Specifications ..........................5 4.2 Operating Environment ..........................6 5 Mechanical Specifications ............................ - Page 3 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Input configuration ..........................21 Output configuration ..........................22 Related node ID ............................. 23 Motor rotation direction setting ......................23 Pulse/Revolution setting ........................23 Parameters ................................. 24 Parameter saving ........................... 24 Parameter reset ............................
- Page 4 Strictly adhere to the technical information regarding installation requirements. This manual is not for use or disclosure outside of ECON technology except under permission. All rights are reserved. No part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without approval from ECON technology.
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Page 5: Part 1:Est-556 Hardware Manual
Hardware Manual 1 Descriptions EST-556 is Econ technology's new EtherCAT hybrid servo driver ,which adopt the latest floating-point 32-bit MCU digital processing technology ,the advanced vector control technology drive the motor with low heating ,low noise and extra smoothness. The user can set any ID address within 1-255 and any current value under the rated current, it can be matched with different of size motors(from Nema23/Nema24) to applied for variable applications. -
Page 6: Operating Environment
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Control Signal Input Current Control Signal Interface Electricity OC output Pull-Up voltage Ether-CAT communication frequency MΩ Insulation Resistance 4.2 Operating Environment Cooling Natural Cooling or Forced cooling Far away from other heating device, Avoid dust, oil fog... -
Page 7: Connectors And Pin Assignment
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 80 ℃; B: It is recommended to use the automatic half-flow mode, the current will be automatically reduced by half whenthe motor stops, so as to reduce the heating of the motor and the drive;... -
Page 8: Power And Motor
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive RS232-TX RS232-RX 5V+,current 50mA 6.2 Power and Motor Definition I/O Description Motor Phase A+ Motor Phase A- Motor Phase B+ Motor Phase B- 15-50VDC,24V/36DC is recommended, leaving rooms for voltage +VDC fluctuation and back-EMF. -
Page 9: Ethercat Communication Port
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 6.3 EtherCAT Communication Port ECAT IN ECAT OUT Two RJ45 terminals Signal Function Description Ether CAT data sending positive port Ether CAT data sending negative port Ether CAT data receiving positive port EtherCAT IN（ECAT IN）... -
Page 10: Current Table(Dynamic Current)
Filter Sel The more higher value for Default【0ms】 smoothing filter time setting, the more better 12ms performance for the Acc and Dec,but worse 25ms performance for the interpolation 8 Stepper Motors EST-556 can work with the following ECON technology’s stepper motors:... -
Page 11: Nema23 Stepper Motor
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 8.1 Nema23 stepper motor ECN57-10 ECN57-20 ECN57-20BK ECN57-25 (with brake) Step Angle (Degree) Holding Torque (N.m) Phase Current (A) Phase Resistance (Ohm) 0.71 Phase Inductance (mH) 2.37 Inertia (g.cm2) Weight (Kg) 0.72... -
Page 12: Diagram
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 9.2 Diagram 10 Protection Indications The green indicator turns on when power-up. When drive protection is activated, the red LED blinks periodicity to indicate the error type. Flashes Times... -
Page 13: Frequently Asked Questions
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive B: Over-voltage protection When input voltage is higher than 55V, the driver RED Led flashes twice, and flashes repeatedly within 3 seconds. At this point must discharge fault, re-power and reset. -
Page 14: Warranty
Shenzhen ECON Technology Co., Ltd. warrants its products against defects in materials and workmanship for a period of 12 months from shipment out of factory. During the warranty period, ECON technology will either, at its option, repair or replace products which proved to be defective. -
Page 15: Part 2 :Est-556Ethercatcommunication Protocol Specification
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Part 2 :EST-556EtherCATCommunication Protocol Specification 1. Introduction EST-556 is a new released EtherCAT hybrid servo drive , which support CANopen over EtherCAT (CoE) control and CiA 402 operating modes ,including Profile Position (PP), Profile Velocity (PV), Homing (HM) and Cyclic Synchronous Position (CSP). -
Page 16: Related Objects
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 2.1.1 Related objects Data write/read Object Description Value Unit 6060h Operation Mode 6040h Control word User self-defined 607Ah Target Position User self-defined Unit 6081h Maximum speed User self-defined Unit/s... -
Page 17: The Bit 8,10.12-15 Of Status Word
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Forward movement updated target position with Acc/constant speed Forward movement updated target position with Dec Backward movement to updated target position A:Command change time of master B:Arrived time to the target position(before updated) C:Arrived time to the target position(after updated) 2.1.4 The bit 8,10.12-15 of status word... -
Page 18: Profile Velocity Mode(Pv )
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive (6040h) is invalid triggered (for example 6040h = 0x2F/4F), it can be interrupted C: The logic of bit 5 and bit 12 is always reverse in PP mode. 2.2 Profile velocity mode(PV ) -
Page 19: Homing Mode(Hm)
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 6040h Control word User self-defined 607Ah Target Position User self-defined Unit RXPDO 60B0h Maximum speed User self-defined Unit/s 2000h Revolution per round User self-defined pulse 6041h Status word Read only... - Page 20 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Value Description 0 —> 1 4(new position) The motor run with the max speed(6081h) and Acc(6083h )/Dec(6084h) to latest target position(607Ah) Trigger the new movement after the current movement is...
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Page 21: Input And Output
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 3. Input and output Output connector Input connector 3.1 Input configuration The IN1~IN3 are single end input ports(The power supply from host Controller/PLC/motion Control card should be 12-24VDC, current ≥ 100mA), pl+,pl-,dr+,dr- are high speed differential pulse input ports. -
Page 22: Output Configuration
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 0：Positive logic 1：negative logic 2154+00 Logic configuration for R/W/S inputs bit0: input1 polarity setting bit1: input2 polarity setting bit2: input3 polarity setting bit3: input4 polarity setting bit4: input5 polarity setting 0：Low level... -
Page 23: Related Node Id
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 0：Low level 1：High level 2008+00 Output level R/W/S bit0 :out1 bit1: out2 3.3 Related node ID The master can scan the node address automatically ,and it also can be set by manual 3.3.1 DIP switch setting... -
Page 24: Parameters
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 4. Parameters 4.1 Parameter saving The master save the parameters to EEPROM via 0x1010-04 written. When the drive detect the value of 0x1010-04 from master is 0x65766173, the drive will save parameters to EEPROM. - Page 25 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Auto tuning the Current loop 2013+00 Current loop KP,KI R/W/S KP,KI when power up auto tuning 0：disable 1：enable enable/disable 200— 2015+00 Current Kp R/W/S 1000 When the 2013+00 is 1(enable),...
- Page 26 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Fault detecting 0—0xffff 2056+00 R/W/S 0xc3 selection 0：Disable 2057+00 Fault clear R/W/S 1：Enable enable/disable For reducing the vibration when 2058+00 Current soft-start time R/W/S 0—10000 power up or motor shaft enable for shaft enable Unit：50us...
- Page 27 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 0：Positive logic 1：negative logic 2154+00 Logic configuration for R/W/S inputs bit0:input1 polarity setting bit1: input2 polarity setting bit2: input3 0：Low level polarity setting bit3: 1：High level 2155+00 Level configuration for...
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Page 28: Basic Information Of Ethercat
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 6082+00 Start-stop speed The start and stop speed at PP mode 6083+00 Trapezoidal Acc Trapezoidal Acc 6084+00 Trapezoidal Dec Trapezoidal Dec 6085+00 Dec for E-stop Dec for E-stop，it is enabled or disabled depend on the value of... -
Page 29: Distributed Clock Synchronization Mode
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 5.2.2 Distributed clock synchronization mode After the master sending the processing data , the slave station receive and read the processing data immediately, at the same time ,it wait the Synchronous signal to trigger the processing data and effect to drive The processing data must reach drive earlier than SYNC0 T1,and the drive must compete all Analysis of data and related control algorithm. -
Page 30: Coe
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 5.3 COE COE is similar as CANopen DS301,but basic on CANopen DS301 , the COE has some changes and extension, the main difference as below chart Items DS301 Fieldbus... - Page 31 SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive The details table for transmission requested service data of SDO downloading Data area Bytes Definition Description n≥0x0A,COE command and length of SDO data Length n Address Data resource address...
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Page 32: 3Suspendsdo Transmission
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Data Fast transmission: specified object dictionary data Conventional transmission: total bytes of object dictionary n-10 Extended data Conventional transmission for extended data 5.3.3SuspendSDO transmission If it occurs error for data analysis during SDO transmission, the request for suspending SDO transmission can be... -
Page 33: Processing Data Object
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 0x06010000 An attempt to manipulate objects that do not support access 0x06010001 An object that attempts to write only properties 0x06010002 An object that attempts to write a read-only property... -
Page 34: Pdo Dynamicalmapping
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive 607A0020h 607Ah 20h (32bits) Target position RXPDO1 (1600h) 60B00020h 60B0h 20h (32bits) Position offset 60B80010h 60B8h 10h (16bits) Probe function Control word 60400010h 6040h 10h (16bits) RXPDO2 607A0020h 607Ah... -
Page 35: 3The Difference Of Pdo And Sdo
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EST-556 EtherCAT Stepper Drive Index Sub-index Range Data type Access property U8*1) RXPDO Specified 1600h~1603h object (1C12h) TXPDO Specified 1A00h~1A01h object (1C13h) 5.4.3The difference of PDO and SDO Contrast terms Communication ability The Maxis 64 bytes...
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