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JKON-TEK
Shenzhen ECON Technology Co.Ltd
EST-6A
User Manual
© 2022 shenzhen ECON Technology Co.,Ltd. Version 1.0
Add: Room A202,C area of 1 Hall ,China Asia Center,Gangtou Road,Shajing Street,Bao'an Area,Shenzhen,China
Tel: +86 136 2096 1024
E-mail:enquiry@hybridservo.com
technical01@hybridservo.com
All rights reserved
[Please read this manual carefully before use to avoid damage the drive]
第 1 页 共 32

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  • Page 1 JKON-TEK Shenzhen ECON Technology Co.Ltd EST-6A User Manual © 2022 shenzhen ECON Technology Co.,Ltd. Version 1.0 Add: Room A202,C area of 1 Hall ,China Asia Center,Gangtou Road,Shajing Street,Bao’an Area,Shenzhen,China Tel: +86 136 2096 1024 E-mail:enquiry@hybridservo.com technical01@hybridservo.com All rights reserved [Please read this manual carefully before use to avoid damage the drive]...
  • Page 2: Table Of Contents

    JKON-TEK Shenzhen ECON Technology Co.Ltd Content Foreword ......................................3 1 Overview ....................................... 4 1.Product Introduction ................................4 1.2 Characteristics ................................... 4 1.3 Application areas ................................4 2 Performance Index ..................................4 2.1 Electrical characteristics ..............................4 2.2 Use environment ................................5 3 Installation ....................................
  • Page 3: Foreword

    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.
  • Page 4: Overview

    JKON-TEK Shenzhen ECON Technology Co.Ltd 1 Overview 1.Product Introduction The EST-6A is a new open-loop step-by-step driver for LCD panel display based on Ether CAT bus, which has been introduced by our company for more than 10 years. It adopts the latest floating-point 32-bit MCU digital processing technology.
  • Page 5: Use Environment

    JKON-TEK Shenzhen ECON Technology Co.Ltd Minimum Value Typical Value Maximal Value Unit Continuous output current Power Supply Voltage (DC) 24/36/48 Control signal input current Control signal interface level OC output pull-up voltage Ether-CAT frequency Insulation Resistance MΩ 2.2 Use environment...
  • Page 6: Installation

    JKON-TEK Shenzhen ECON Technology Co.Ltd 3 Installation 3.1 Mounting dimensions 3.2 Installation method The reliable operating temperature of the driver is usually within 60℃,and the motor operating temperature is within 80℃。 It is recommended to use the automatic semi-flow mode when using the motor. When the motor stops, the current is automatically reduced by half to reduce the heat of the motor and the drive。...
  • Page 7: Schematic Diagram Of Wiring

    JKON-TEK Shenzhen ECON Technology Co.Ltd 4.1 Schematic diagram of wiring 4.2 Port Definition 4.2.1 LCD Display and status indication When the driver is connected to the power, the LCD screen display will display the company's relevant information, and then jump to the normal interface, the normal interface will normally default four lines of...
  • Page 8 JKON-TEK Shenzhen ECON Technology Co.Ltd 4.2.2 Control Signal Input Port Control Signal interface Name Function High speed signal: Pulse Rising Edge Effective; I 1 high level 4.5 -24 VDC, Low Level 0 ~ 0.5 v. In order to respond reliably to the pulse signal, the pulse width should be greater than 1.5 s.
  • Page 9 JKON-TEK Shenzhen ECON Technology Co.Ltd M1 emitter output, the largest voltage 24 VDC, 2 k Ω pull-up resistors, maximum output current 100 ma Io input/output configuration, can define 0-5V analog voltage input, need to contact the manufacturer O input/output configuration, can define 0-5V analog voltage input, contact the...
  • Page 10 JKON-TEK Shenzhen ECON Technology Co.Ltd 4.2.4 Strong-current interface Interface name Features DC power source DC power positive, supply voltage range: DC 20-50VDC, recommended 24VDC, 36VDC, +VDC 48VDC work. The A+ phase winding interface of stepper motor, open-loop stepping and hybrid servo are used, but the DC servo interface can not.
  • Page 11: Dial Definition

    JKON-TEK Shenzhen ECON Technology Co.Ltd 4.2.6 USB Serial Port RS232-TTL (3.3V) level communication interface Interface name Account for Function 5V power supply positive pole Near Dial Pin RS232-TTL (3.3 v) sender RS232-TTL (3.3 v) receiver 5V ground The power supply voltage can work normally between the specified ranges. The driver is preferably powered by an unregulated DC power supply, or a transformer buck + bridge rectifier + capacitor filter.
  • Page 12: Static Current Setting

    JKON-TEK Shenzhen ECON Technology Co.Ltd When SW1, SW2, SW3 are set on on, the required current can be set by software, the maximum value is 6.0A, the resolution is 0.1A. Default current is 1.0A if not set. 5.2 Static current setting...
  • Page 13 JKON-TEK Shenzhen ECON Technology Co.Ltd Reserved …… …… …… …… …… …… …… …… Note: The calculation formula of the ID is as follows: ID = 1 * S1 + 2 * S2 + 4 * S3 + 8 * S4 + 16 * S5 + 32 * S6 + 64 *7.
  • Page 14: Communication Protocol Specification

    JKON-TEK Shenzhen ECON Technology Co.Ltd 6 Communication Protocol Specification 1. Introduction EST-6A is a new released EtherCAT stepper drive with LCD display , 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 15 JKON-TEK Shenzhen ECON Technology Co.Ltd disable) 2000h Revolution per round User pulse self-defined 6041h Status word Read only 6064h Actually position Feedback Read only Unit 606Ch Actual velocity feedback Read only Unit/s TXPDO 603Fh Error code Read only 6061h Operation mode display Read only 2.1.2 Control word and Status word...
  • Page 16: Profile Velocity Mode(Pv )

    JKON-TEK Shenzhen ECON Technology Co.Ltd 2.1.4 The bit 8,10.12-15 of status word Valu Description Normal movement 8 (abnormal stop) Trigger by abnormal stop, motor will stop Movement is continue 10 (position reached) target position reached When current movement is completed or interruptable, can update...
  • Page 17: Cyclic Synchronous Position Modemode(Csp)

    JKON-TEK Shenzhen ECON Technology Co.Ltd 2.2.1Controlword and Status word In PV Mode, bits 4~6of Control word (6040h) are not effective, the movement will be active by setting some movement parameters,including target velocity (60FFh), acceleration/deceleration (6083h/6084h). Value Description Quickly stop is disabled...
  • Page 18 JKON-TEK Shenzhen ECON Technology Co.Ltd 6040h Control word User self-defined 607Ah Target Position User Unit self-defined 6081h Maximum speed User Unit/s RXPDO self-defined 6082h Start /Stop speed User self-defined Unit/S^2 6083h Profile Acceleration User self-defined Unit/S^2 6084h Profile Deceleration User self-defined...
  • Page 19: Input And Output

    JKON-TEK Shenzhen ECON Technology Co.Ltd 12 (new position When current motion uncompleted/uninterruptable, it can not update new target response) position 14(parameters value Parameters for movement are effective, and all necessary parameters are not 0 for movement are 0) One of parameters( max speed-6081h, acceleration-6083h) and deceleration...
  • Page 20: Output Configuration

    JKON-TEK Shenzhen ECON Technology Co.Ltd 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 1:High level 2155+00...
  • Page 21: Related Node Id

    JKON-TEK Shenzhen ECON Technology Co.Ltd 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 When the 2151h value is 0,the user can set the slave address by DIP switch(it is effective only after restarting drive) 3.3.2Reading the ID alias of ESC...
  • Page 22: Parameters List

    JKON-TEK Shenzhen ECON Technology Co.Ltd 4.3 Parameters list 4.3.1 General parameter list Address Definition Default Range Description value 1 to the max 2000+00 Peak current R/W/S 3200 Output current(mA)。 current 2001+00 Pulse/revolution R/W/S 200—51200 Pulse for per revolution (pulse) 50000 100—10000...
  • Page 23 JKON-TEK Shenzhen ECON Technology Co.Ltd 2026+00 Current for shaft R/W/S 0—100 Unit:%,Effective at open loop mode locking only 200—60000 2029+00 Encoder resolution R/W/S 1000 2030+00 Position following R/W/S 1000 1—60000 pulse error Pulse amount H 2039+00 0~65535 The received pulse amount H (16bit)
  • Page 24 JKON-TEK Shenzhen ECON Technology Co.Ltd 1:homing 2152+03 Input 3 R/W/S 0—32768 2:limit- 4:limit+ 1:homing 2152+04 Input 4 R/W/S 0—32768 2:limit- 4:limit+ 1:homing 2152+05 Input 5 R/W/S 0—32768 2:limit- 4:limit+ 2153+01 Filter time for Input1 R/W/S 1—60000 Unit:50us 2153+02 Filter time for Input2 R/W/S 1—60000...
  • Page 25: Basic Information Of Ethercat

    JKON-TEK Shenzhen ECON Technology Co.Ltd 6064+00 Actual position Display the motor actual position 606B+00 Command speed Display motor command speed 606C+00 Actual speed Display the motor actual speed Unit:RPM 607A+00 Target position The target position at PP mode,if the control word setting for...
  • Page 26: Coe

    JKON-TEK Shenzhen ECON Technology Co.Ltd operation mode only,such as HM mode, PP mode. 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 27 JKON-TEK Shenzhen ECON Technology Co.Ltd Items DS301 Fieldbus EtherCAT Message structure Standard Ethernet CAN 2.0Astandard SDO data collection SM mailbox data area CAN message PDO data collection SM processing data area CAN message The length for Each PDO mapping Maximum 32 bytes...
  • Page 28 JKON-TEK Shenzhen ECON Technology Co.Ltd Type 3: COE Reserved PDO code 9~11 Reserved command 12~15 Service type 2: SDO request 0: Not set; Quantity mark 1: Set byte of transmission 1(control byte) Transmission 0:conventional/segment type transmission; 1: fast transmission Byte 0:conventional/segment transmission invalid;...
  • Page 29: Processing Data Object

    JKON-TEK Shenzhen ECON Technology Co.Ltd SDO data Command code 4:Terminate SDO transmission request Index Object dictionary index Sub-index Object dictionary sub-index suspend code Details refer to the suspend code chart Suspend code chart Termination code Meanings 0x05040000 SDO transmission timeout...
  • Page 30 JKON-TEK Shenzhen ECON Technology Co.Ltd Example 6040h 10h (length:16bits) The default PDO mapping(same as XML file) Mapping content details PDO mapping PDO object Mapping Mapping content object index sub-index content Index Sub-index Bitlength definition 60400010h 6040h 10h (16bits) Control word...
  • Page 31: Exclusions

    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 32: Obtaining Warranty Service

    To obtain warranty service, a returned material authorization number (RMA) must be obtained from customer service at e-mail: technical01@hybridservo.com before returning product for service. Customer shall prepay shipping charges for products returned to ECON technology for warranty service, and ECON technology shall pay for return of products to customer.

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