Fastech Ezi-SERVOII EtherCAT TO Router Manuals

Manuals and User Guides for Fastech Ezi-SERVOII EtherCAT TO Router. We have 1 Fastech Ezi-SERVOII EtherCAT TO Router manual available for free PDF download: User Manual

Fastech Ezi-SERVOII EtherCAT TO User Manual (108 pages)

EtherCAT Network

Brand: Fastech | Category: Network Router | Size: 2 MB

Table of Contents
2
Contents
2
Introduction
6
Before Operation
6
Safety Precautions
7
Product Specification
10
Model Naming
11
Product Dimension
12
Ethercat Specifications
13
Drive Specification
14
Installation
15
Precautions of Installation
16
System Configuration
17
External Wiring Diagram
18
Appearance and Part Name
19
Ethercat ID
19
Ethercat Status LED
20
Ethercat Communication Connection
21
I/O Connector
22
Encoder Connection Connector
23
Motor Connection Connector
23
Power Connection Connector
24
TQOFF Connector
25
USB Connector
26
Appendix
27
Extension Cable for Motor
27
Extension Cable for Encoder
27
Connector Specifications
28
Ethercat Communication
29
CAN Application Protocol over Ethercat
30
Object Dictionary
30
Mailbox Communication
30
Process Data Communication
31
PDO Mapping
31
PDO Assign
31
Ethercat State Machine
32
Synchronization
33
Free Run
33
SM Event
33
DC Sync Event
33
Ethercat Slave Information
34
Cia402 Drive Profile
35
Drive Status Control
36
Control Word
38
Status Word
38
Error Code
40
Mode of Operation
42
Cyclic Synchronous Position Mode
43
Definition
43
Related Objects
43
Control Word and Status Word
43
Profile Position Mode
45
Definition
45
Related Objects
45
Control Word and Status Word
45
Position Movement Method
47
Homing Mode
52
Definition
52
Relative Objects
52
Control Word and Status Word
52
Origin Search Method
53
Touch Probe
60
Definition
60
Related Objects
60
Touch Probe Status and Control
60
Digital Input and Output
62
Definition
62
Related Objects
62
User I/O
62
ORIGIN and LIMIT Input
62
BRAKE Output
63
Safety Function
64
Operation of Safety Function
64
Operation
67
Operation Sequence
68
Setting
68
Installation
68
Wiring
68
Input Power
68
PDO Mapping
68
Set Communication Status
69
Operation
69
Drive Status Control
69
Set Mode
69
Set Operation
69
Movement Command
69
Check Statues
69
Drive Setting Adjustment
70
Change Rotation Direction
70
Change I/O Signal Level
70
Ethercat Object Dictionary
71
Index and Sub-Index
72
Name
72
Data Type
72
Access
73
Save
73
PDO Mapping
73
Constant Value
73
Value Range
73
Default Value
73
Communication Object
74
Object 1000H: Device Type
74
Object 1001H: Error Register
74
Object 1008H: Device Name
74
Object 1009H: Hardware Version
74
Object 100Ah: Software Version
74
Object 1010H: Store Parameters
75
Object 1011H: Restore Default Parameters
75
Object 1018H: Identity
76
Object 10F1H: Error Settings
76
Object 10F3H: Diagnosis History
77
PDO Mapping Object
79
Object 1600H: Rxpdo-Map
79
Object 1601H: Rxpdo-Map 1
79
Object 1A00H: Txpdo-Map
79
Object 1A01H: Txpdo-Map 1
80
Object 1C12H: Rxpdo Assign
80
Object 1C13H: Txpdo Assign
80
Sync Manager Object
81
Object 1C00H: Sync Manager Type
81
Object 1C32H: SM Output Parameter
81
Object 1C33H: SM Input Parameter
81
Drive Profile Object
82
Object 603Fh: Error Code
82
Object 6040H: Control Word
82
Object 6041H: Status Word
82
Object 605Ah: Quick Stop Option Code
82
Object 605Bh: Shutdown Option Code
83
Object 605Ch: Disable Operation Option Code
83
Object 605Dh: Halt Option Code
83
Object 605Eh: Fault Reaction Option Code
84
Object 6060H: Mode of Operation
84
Object 6061H: Mode of Operation Display
84
Object 6062H: Position Demand Value
84
Object 6064H: Position Actual Value
84
Object 6065H: Following Error Window
85
Object 6067H: Position Window
85
Object 606Bh: Velocity Demand Value
85
Object 606Ch: Velocity Actual Value
85
Object 607Ah: Target Position
85
Object 607Ch: Home Offset
86
Object 607Dh: Software Position Limit
86
Object 607Eh: Polarity
86
Object 607Fh: Max Profile Velocity
87
Object 6081H: Profile Velocity
87
Object 6083H: Profile Acceleration
87
Object 6084H: Profile Deceleration
87
Object 6098H: Homing Method
87
Object 6099H: Homing Speeds
88
Object 609Ah: Homing Acceleration
88
Object 60B8H: Touch Probe Function
88
Object 60B9H: Touch Probe Status
89
Object 60Bah: Touch Probe 1 Positive Value
90
Object 60Bbh: Touch Probe 1 Negative Value
90
Object 60Bch: Touch Probe 2 Positive Value
90
Object 60Bdh: Touch Probe 2 Negative Value
90
Object 60C2H: Interpolation Time Period
91
Object 60D0H: Touch Probe Source
91
Object 60D5H: Touch Probe 1 Positive Edge Counter
91
Object 60D6H: Touch Probe 1 Negative Edge Counter
91
Object 60D7H: Touch Probe 2 Positive Edge Counter
92
Object 60D8H: Touch Probe 2 Negative Edge Counter
92
Object 60E3H: Supported Homing Methods
92
Object 60F4H: Following Error Actual Value
92
Object 60Fdh: Digital Inputs
93
Object 60Feh: Digital Outputs
93
Object 6502H: Supported Drive Modes
94
Manufacture Specific Object
95
Object 2001H: Sensors Logics
95
Object 2002H: Reverse Limit Direction
95
Object 2003H: Limit Stop Method
96
Object 2005H: Encoder Resolution
96
Object 2006H: Start Speed
96
Object 2007H: Run Current
96
Object 2008H: Boost Current
97
Object 2009H: Stop Current
98
Object 200Ah: Motor Number
98
Object 200Ch: Reference Resolution
98
Object 200Dh: Position Control Gain
99
Object 200Eh: In-Position Mode
100
Object 200Fh: Encoder Filter Time
100
Object 2010H: Brake Delay
101
Object 2011H: Digital Input Levels
101
Object 2012H: Digital Output Levels
101
Object 2014H: Homing Torque Ratio
101
Object 2018H: Internal Current Value
102
Object 201Ah: Push Mode
102
Object 201Bh: Limit Deceleration
102
Object 2020H: Error Code History Setting
102
Object 2021H: Error Code History
103
Object 2025H: Lifetime Record
104
Object 2030H: Advanced Settings
105
Object 2031H: Encoder Count Error
106
Changelog
107

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Fastech Ezi-SERVOII EtherCAT TO User Manual (108 pages)

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