Related Manuals for Rtelligent ECT86
Summarization of Contents
Driver Description
1.1 Product Introduction
Introduces the Rtelligent EC series stepper motor driver and its core functionalities.
1.1.1 Characteristics
Details the key features and capabilities of the EC series stepper motor driver.
1.1.2 Electrical characteristics
Provides a table of electrical specifications for different ECT series product models.
1.3 Digital input and output ports
1.3.1 Digital input port
Describes the configuration and function of the driver's digital input ports.
1.3.2 Digital output port
Details the configuration and function of the driver's digital output ports.
1.4 Connection EtherCAT
1.4.1 EtherCAT status indicator
Explains the meaning of the EtherCAT connection status indicators on the RJ45 ports.
2.1 General parameters
2.1.1 0x1000 Type of device
Defines the device type and profile number according to CiA402 standards.
2.1.2 0x1001 Device name
Displays the model name of the current driver, identifying it as ECT60.
2.1.3 0x1009 Hardware version
Indicates the hardware version of the stepper motor driver.
2.1.4 0x100A Software version
Displays the software version of the stepper motor driver.
2.1.5 Save parameters
Instructions on how to save the current driver parameters.
2.1.6 Restore factory settings
Steps to restore the driver to its default factory settings.
2.2 Manufacturer-specific object
2.2.1 0x2000 Operating current
Sets the peak current for the motor running in open loop mode.
2.2.2 0x2001 Subdivision/resolution
Sets the number of pulses required for one motor revolution in open loop.
2.2.3 0x2002 Standby time
Defines the time to enter standby state after the motor stops in open loop.
2.2.4 0x2003 Percentage of standby current
Sets the standby current percentage relative to the operating current.
2.2.5 0x2005 Output Port Function
Configures the function for the two output ports of the driver.
2.2.6 0x2006 Output port polarity
Sets the normally open/closed characteristics for the output ports.
2.2.7 0x2007 Input port function
Sets the function for the four input ports of the ECT60 driver.
2.2.8 0x2008 Input port polarity
Defines the polarity for each input port of the driver.
2.2.9 0x2009 Filter time
Sets the time for the built-in sliding average filter for motor response.
2.2.10 0x200A Shaft lock time
Sets the ramp time for motor shaft lock during initial positioning.
2.2.11 0x200B Current loop parameters
Configures parameters for the current loop, including auto PI gain calculation.
2.2.12 Motor parameters
Configures motor-specific parameters like type, resistance, and inductance.
2.2.13 0x200D Run reverse
Reverses the motor direction without changing wiring by setting this object.
2.2.14 0x200E Internal alarm code
Displays the current fault code of the driver, with bits corresponding to alarm states.
2.2.15 0x200F Internal status code
Displays the current status code of the driver, with bits corresponding to statuses.
2.2.16 0x2010 Position cleared
Clears the position value (actual value) in 0x6064, used for specific motor movement scenarios.
2.2.17 0x2011 Control mode
Sets the working mode of the stepper motor (open loop, closed loop, FOC).
2.2.18 0x2020 Encoder Resolution
Sets encoder resolution for closed loop mode, affecting motor revolution calculation.
2.2.19 0x2021 Encoder position
Reflects the current position of the motor in a circle, valid for ECT series.
2.2.20 0x2022 Position Excess Alarm Value
Sets the limit for position error that triggers an alarm and disconnects the enable.
2.2.21 0x2023 Servo Mode 1 Control Parameters
Configures proportional and integral gains for servo mode 1 closed-loop control.
2.2.22 0x2024 In Place Signal
Configures in-place signal judgment for closed-loop mode to detect accuracy range.
2.2.23 0x2025 Servo Speed Filter
Sets parameters for speed feedback filters in ECT60 servo mode 2.
2.2.24 0x2026 Servo Mode 2 Control Parameters
Configures control parameters for servo mode 2 with vector control algorithm.
2.2.27 0x2048 Voltage
Displays the bus voltage value, calculated from the object value.
2.2.28 0x2049 Input level
Monitors the physical level of the driver's input ports.
2.2.29 0x204A Output level
Displays the physical level of the driver's output ports.
2.2.30 0x2060 Harmonic amplitude of the first resonance point
Eliminates vibration by adjusting harmonic amplitude at the first resonance point.
2.2.31 0x2061 First resonance point A phase harmonic phase
Adjusts the harmonic phase of the A phase winding to eliminate vibration.
2.2.32 0x2062 First resonance point B phase harmonic phase
Adjusts the harmonic phase of the B phase winding to eliminate vibration.
2.3 CIA402 Object dictionary
2.3.1 0x603F Fault code
Defines error codes for communication failures and internal voltage errors.
2.3.2 0x6040 Control words
Controls drive state, enabling/disabling, start/stop motor, and clearing faults.
2.3.3 0x6041 Status word
Indicates the driver's readiness, operation status, warnings, and remote control state.
2.3.4 0x6060 Operation mode
Sets the operating mode of the driver, such as PP, PV, HM, CSP.
2.3.5 0x6061 Operation mode display
Displays the currently active operating mode of the driver.
2.3.6 0x6064 Actual position
Shows the actual current position of the motor in units of Pulse.
2.3.7 0x606C Actual speed
Displays the actual current speed of the motor in RPM.
2.3.8 0x607A Target location
Sets the target position for PP and CSP modes, in units of Pulse.
2.3.9 0x607C Home offset
Sets the offset for the home sensor and position 0, in units of Pulse.
2.3.10 0x6081 Track speed
Sets the maximum speed for trapezoidal acceleration/deceleration in PP mode.
2.3.11 0x6083 Track acceleration
Sets the acceleration for trapezoidal acceleration/deceleration in PP and PV modes.
2.3.12 0x6084 Track deceleration
Sets the deceleration for trapezoidal acceleration/deceleration in PP and PV modes.
2.3.13 0x6085 Quickstop declaration
Sets the motor deceleration when hitting limits, home, or other sensors.
2.3.14 0x6098 Homing method
Selects the homing method for the motor from a predefined list.
2.3.15 0x6099 Homing speed
Sets the motor speed during the homing process.
2.3.16 0x609A Homing acceleration
Sets acceleration/deceleration for the position curve during homing mode.
2.3.17 0x60B8 Probe function setting
Configures the probe function, including edge latching and enabling.
2.3.18 0x60B9 Probe status
Defines the status bits for the probe function, indicating probe state and latching.
2.3.19 0x60BA Probe 1 positive latch value
Holds the position latched by the rising edge of probe 1.
2.3.20 0x60BB Probe 1 negative latch value
Holds the position latched by the falling edge of probe 1.
2.3.21 0x60BC Probe 2 positive latch value
Holds the position latched by the rising edge of probe 2.
2.3.22 0x60BD Probe 2 negative latch value
Holds the position latched by the falling edge of probe 2.
2.3.23 0x60FD Digital Inputs
Monitors the physical state of the driver's input ports.
2.3.24 0x60FF PV mode speed setting
Sets the target speed for Profile Velocity (PV) mode, in Pulse/s.
2.3.25 0x6502 Operation mode supported
Indicates which drive operation modes are supported by the driver.
2.4 CIA402 Motion control
2.4.1 Operation mode
Lists the operation modes supported by the EC series EtherCAT stepper driver.
2.4.2 PP Profile Position Mode
Describes the Profile Position (PP) mode for point-to-point operation.
2.4.3 PV Profile Velocity Mode
Describes the Profile Velocity (PV) mode for speed-based operation.
2.4.4 CSP Cyclic Sync Position Mode
Describes the Cyclic Synchronous Position (CSP) mode for trajectory control.
2.4.5 Probe function
Explains the probe function for latching motor position via digital input.
2.4.6 Homing mode
Details the setup and parameters for various homing modes.
2.4.6.1 Homing method
Describes the various homing methods supported by the ECR60 driver.
2.4.6.2 Method 17
Details the operation sequence for Homing Method 17.
2.4.6.3 Method 18
Details the operation sequence for Homing Method 18.
2.4.6.4 Method 19
Details the operation sequence for Homing Method 19.
2.4.6.5 Method 20
Details the operation sequence for Homing Method 20.
2.4.6.6 Method 21
Details the operation sequence for Homing Method 21.
2.4.6.7 Method 22
Details the operation sequence for Homing Method 22.
2.4.6.8 Method 23
Details the operation sequence for Homing Method 23.
2.4.6.9 Method 24
Details the operation sequence for Homing Method 24.
2.4.6.10 Method 25
Details the operation sequence for Homing Method 25.
2.4.6.11 Method 26
Details the operation sequence for Homing Method 26.
2.4.6.12 Method 27
Details the operation sequence for Homing Method 27.
2.4.6.13 Method 28
Details the operation sequence for Homing Method 28.
2.4.6.14 Method 29
Details the operation sequence for Homing Method 29.
2.4.6.15 Method 30
Details the operation sequence for Homing Method 30.
2.4.6.16 Method 35
Details the operation sequence for Homing Method 35.
2.4.6.17 Method 36 & 37
Describes torque homing methods 36 and 37 for detecting mechanical limits.
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