Hiwin E Series User Manual
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Hiwin E Series User Manual

Thunder over ethercat
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E Series Servo Drive
Thunder over EtherCAT
User Manual
www.hiwinmikro.tw
MD43UE01-2312_V1.0

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Summary of Contents for Hiwin E Series

  • Page 1 E Series Servo Drive Thunder over EtherCAT User Manual www.hiwinmikro.tw MD43UE01-2312_V1.0...
  • Page 2 Revision History The version of the manual is also indicated on the bottom of the front cover. MD43UE01-2312_V1.0 Version Release Date Release Date Version Applicable Product Revision Contents E series EtherCAT Dec. 15 , 2023 First edition. servo drive...
  • Page 3 Related Documents Through related documents, users can quickly understand the positioning of this manual and the correlation between manuals and products. Go to HIWIN MIKROSYSTEM’s official website → Download → Manual Overview for details (https://www.hiwinmikro.tw/Downloads/ManualOverview_EN.htm).
  • Page 4 Preface Through the network protocol of Ethernet over EtherCAT, E series EtherCAT servo drive can do Thunder connection via EtherCAT network architecture. This manual aims to assist users to do the related setup of Ethernet over EtherCAT. In addition to connecting servo drive via USB, users can also choose to do Thunder connection via Ethernet over EtherCAT communication to set parameters, perform motor tuning and do troubleshooting.
  • Page 5 A string of numbers used in Internet Protocol to transmit identifications or receive IP address datagrams. The states of ‘Pre-Operational’, ‘Safe-Operational’ and ‘Operational’ in EtherCAT PreOp, SafeOp, Op State Machine. Refer to section 2.4 in “E Series Servo Drive EtherCAT Communication Command Manual” for detailed descriptions.

  • Page 6: Table Of Contents

    Table of Contents Environment configuration ..........................1-1 Software and hardware requirements .................... 1-2 Update EEPROM ..........................1-2 1.2.1 Connect the equipment ......................1-3 1.2.2 Open EEPROM burner ......................1-3 1.2.3 Check the equipment’s EEPROM ..................1-4 1.2.4 Burn EEPROM ........................1-5 EoE wiring setup ..........................

  • Page 7: Environment Configuration

    Software and hardware requirements .................... 1-2 Update EEPROM ..........................1-2 1.2.1 Connect the equipment ......................1-3 1.2.2 Open EEPROM burner ......................1-3 1.2.3 Check the equipment’s EEPROM ..................1-4 1.2.4 Burn EEPROM ........................1-5 EoE wiring setup ..........................1-7 HIWIN MIKROSYSTEM CORP.

  • Page 8: Software And Hardware Requirements

    MD43UE01-2312 Environment configuration E Series Servo Drive Thunder over EtherCAT User Manual 1.1 Software and hardware requirements Before executing EoE function, check if the specifications of software and hardware support EoE. E1 series servo drive  Table 1.1.1 Specifications of E1 series servo drive supporting EoE Model ED1F-E□...

  • Page 9: Connect The Equipment

    Open “EtherCAT Configuration Tool for HIWIN.exe” in “C:\Thunder\dce\toolswin\winkmi\EtherCAT Configuration Tool for HIWIN”. After entering the screen of the program, select the network card of the equipment connected to the computer and click Scan. After the scan is done, all the scanned equipment will be listed on the left.

  • Page 10: Check The Equipment's Eeprom

    MD43UE01-2312 Environment configuration E Series Servo Drive Thunder over EtherCAT User Manual 1.2.3 Check the equipment’s EEPROM Double-click the equipment to view the key information contained in its EEPROM. Figure 1.2.3.1 Check the equipment’s Product Code and Revision Number. Product Code corresponds to the model of servo drive, while Revision Number corresponds to the version supporting EoE.

  • Page 11: Burn Eeprom

    2. Select the equipment to be burned and search for the EEPROM file (.bin) to be burned. The EEPROM file is included in Thunder’s path “C:\Thunder\dce\toolswin\winkmi\EtherCAT Configuration Tool for HIWIN\Bin Library”. The corresponding content of the file is shown in Table 1.2.4.1. Figure 1.2.4.2...
  • Page 12 3. Click Write to burn EEPROM. When the progress bar below is completed and Success is displayed, EEPROM updating is done. Figure 1.2.4.3 EEPROM burner only supports the burning of HIWIN series. Do not perform the  related operations on other servo drives.

  • Page 13: Eoe Wiring Setup

    MD43UE01-2312 E Series Servo Drive Thunder over EtherCAT User Manual Environment configuration 1.3 EoE wiring setup The main characteristic of EoE is that the controller can be used as a gateway to convert Ethernet packets into EoE packets and transmit them to slave. Therefore, if it complies with the network segment protocol and confirms that Ethernet packets can reach the terminal through IP protocol (such as executing Ping test), Thunder connection can be made through EoE.
  • Page 14 MD43UE01-2312 Environment configuration E Series Servo Drive Thunder over EtherCAT User Manual 2. The industrial computer in Example 3 must support EtherCAT’s transmission. HIWIN MIKROSYSTEM CORP.

  • Page 15: Connecting Methods

    2. Connecting methods Connecting methods ............................2-1 Controller’s connection setup ......................2-2 2.1.1 Network configuration ......................2-2 2.1.2 EoE setup ..........................2-4 Drive’s connection setup ......................... 2-5 2.2.1 Add the route .......................... 2-5 2.2.2 Thunder connection ....................... 2-6 HIWIN MIKROSYSTEM CORP.

  • Page 16: Controller's Connection Setup

    MD43UE01-2312 Connecting methods E Series Servo Drive Thunder over EtherCAT User Manual 2.1 Controller’s connection setup This section outlines the required setup on the controller side. For the actual operations, refer to the relevant operating instructions of the controller. 2.1.1 Network configuration Connect the computer and the controller, set the IP of each network port, and configure the network segmentation.
  • Page 17 MD43UE01-2312 E Series Servo Drive Thunder over EtherCAT User Manual Connecting methods The following are the setting examples of mesh and network segmentation: Example 1  Port A Port B Port C IP address: 192.168.2.129 IP address: 192.168.2.128 IP address: 192.168.1.128 Subnet mask: 255.255.255.0...

  • Page 18: Eoe Setup

    MD43UE01-2312 Connecting methods E Series Servo Drive Thunder over EtherCAT User Manual Figure 2.1.1.2 Since EoE’s data exchange is implemented through Ethernet packets, if there is a network topology between HMI (Thunder) and the controller (as Figure 2.1.1.2 Important shows), check if the Ethernet packets can be transmitted and received between HMI Reminder and the controller first, or EoE function cannot be applied.

  • Page 19: Drive's Connection Setup

    MD43UE01-2312 E Series Servo Drive Thunder over EtherCAT User Manual Connecting methods 2.2 Drive’s connection setup 2.2.1 Add the route If the EoE wiring setup that the HMI is connected to the servo drive via the controller is adopted, it indicates that the controller is used as a gateway.

  • Page 20: Thunder Connection

    MD43UE01-2312 Connecting methods E Series Servo Drive Thunder over EtherCAT User Manual 2.2.2 Thunder connection Open Thunder, select Fieldbus in Drive type. Figure 2.2.2.1 Select Network (Ethernet over EtherCAT) in Config. interface. Figure 2.2.2.2 Set the IP address of servo drive connected to the controller (that is, the virtual IP of servo drive set in section 2.1.2).
  • Page 21 MD43UE01-2312 E Series Servo Drive Thunder over EtherCAT User Manual Connecting methods Figure 2.2.2.4 Click Connect. Figure 2.2.2.5 HIWIN MIKROSYSTEM CORP.
  • Page 22 MD43UE01-2312 Connecting methods E Series Servo Drive Thunder over EtherCAT User Manual (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.

  • Page 23: Precautions

    3. Precautions Precautions ..............................3-1 Supported functions ........................3-2 Mastership setup ..........................3-3 HIWIN MIKROSYSTEM CORP.

  • Page 24: Supported Functions

    Precautions E Series Servo Drive Thunder over EtherCAT User Manual 3.1 Supported functions The following table shows the functions supported by Thunder through EoE connection. Refer to “E Series Servo Drive Thunder Software Operation Manual” for the applications: Table 3.1.1...

  • Page 25: Mastership Setup

    Thunder controller cannot be executed. The motion mastership is controller command, so the motion commands of Thunder cannot be executed. Refer to section 3.2 in “E Series Servo Controller Drive EtherCAT Communication Command Manual” for the motion commands of controller.
  • Page 26 MD43UE01-2312 Precautions E Series Servo Drive Thunder over EtherCAT User Manual (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.

  • Page 27: Appendix

    4. Appendix Appendix ................................4-1 Troubleshooting ..........................4-2 EoE setup example - TwinCAT 3 ....................4-3 HIWIN MIKROSYSTEM CORP.
  • Page 28 MD43UE01-2312 Appendix E Series Servo Drive Thunder over EtherCAT User Manual 4.1 Troubleshooting If users cannot successfully perform EoE connection, follow the flowchart below to check if any part has not been completed: Figure 4.1.1 HIWIN MIKROSYSTEM CORP.
  • Page 29 MD43UE01-2312 E Series Servo Drive Thunder over EtherCAT User Manual Appendix 4.2 EoE setup example - TwinCAT 3 The following are the connection setup steps for Beckhoff controller: Step 1: Complete network configuration. Figure 4.2.1 Step 2: Complete EtherCAT connection and scan the equipment.
  • Page 30 MD43UE01-2312 Appendix E Series Servo Drive Thunder over EtherCAT User Manual Step 3: Ensure the controller’s IP can be pinged. Figure 4.2.3 Step 4: Configure master’s EoE setting. Figure 4.2.4 HIWIN MIKROSYSTEM CORP.
  • Page 31 MD43UE01-2312 E Series Servo Drive Thunder over EtherCAT User Manual Appendix Step 5: Configure slave’s EoE setting. Figure 4.2.5 Step 6: Activate the settings and ensure EtherCAT has entered PreOp, SafeOp or Op. Figure 4.2.6 HIWIN MIKROSYSTEM CORP.

This manual is also suitable for:

Ed1f-e seriesEd2f-e series

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