Fastech Ezi-STEPII EtherCAT MINI Manuals

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

Fastech Ezi-STEPII EtherCAT MINI User Manual (95 pages)

Brand: Fastech | Category: Industrial Equipment | Size: 3.47 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
12
Drive Specification
13
Installation
14
Precautions of Installation
15
System Configuration
16
External Wiring Diagram
17
Appearance and Part Name
18
Ethercat Status LED
19
Ethercat Communication Connection
20
I/O Connector
21
Encoder Connection Connector
22
Motor Connection Connector
22
Power Connector
22
USB Connector
22
Appendix
23
Extension Cable for Motor
23
Extension Cable for Encoder
23
Connector Specifications
24
Ethercat Communication
25
CAN Application Protocol over Ethercat
26
Object Dictionary
26
Mailbox Communication
26
Process Data Communication
27
PDO Mapping
27
PDO Assign
27
Ethercat State Machine
28
Synchronization
29
Free Run
29
SM Event
29
DC Sync Event
29
Ethercat Slave Information
30
Cia402 Drive Profile
31
Drive Status Control
32
Control Word
34
Status Word
34
Error Code
36
Mode of Operation
37
Cyclic Synchronous Position Mode
38
Definition
38
Related Objects
38
Control Word and Status Word
38
Profile Position Mode
40
Definition
40
Related Objects
40
Control Word and Status Word
40
Position Movement Method
41
Homing Mode
44
Definition
44
Relative Objects
44
Control Word and Status Word
44
Origin Search Method
45
Touch Probe
49
Definition
49
Related Objects
49
Touch Probe Status and Control
49
Digital Input and Output
51
Definition
51
Related Objects
51
User I/O
51
ORIGIN and LIMIT Input
51
BRAKE Output
52
Safety Function
52
Operation of Safety Function
53
Operation
55
Operation Sequence
56
Setting
56
Installation
56
Wiring
56
Input Power
56
PDO Mapping
56
Set Communication Status
57
Operation
57
Drive Status Control
57
Set Mode
57
Set Operation
57
Movement Command
57
Check Statues
57
Drive Setting Adjustment
58
Change Rotation Direction
58
Change I/O Signal Level
58
Ethercat Object Dictionary
59
Indication Type of Objects
60
Index and Sub-Index
60
Name
60
Data Type
60
Access
61
Save
61
PDO Mapping
61
Constant Value
61
Value Range
61
Default Value
61
Communication Object
62
Object 1000H: Device Type
62
Object 1001H: Error Register
62
Object 1008H: Device Name
62
Object 1009H: Hardware Version
62
Object 100Ah: Software Version
62
Object 1010H: Store Parameters
63
Object 1011H: Restore Default Parameters
63
Object 1018H: Identity
64
Object 10F1H: Error Settings
64
Object 10F3H: Diagnosis History
65
PDO Mapping Object
67
Object 1600H: Rxpdo-Map
67
Object 1601H: Rxpdo-Map 1
67
Object 1A00H: Txpdo-Map
67
Object 1A01H: Txpdo-Map 1
68
Object 1C12H: Rxpdo Assign
68
Object 1C13H: Txpdo Assign
68
Sync Manager Object
69
Object 1C00H: Sync Manager Type
69
Object 1C32H: SM Output Parameter
69
Object 1C33H: SM Input Parameter
69
Drive Profile Object
70
Object 603Fh: Error Code
70
Object 6040H: Control Word
70
Object 6041H: Status Word
70
Object 605Ah: Quick Stop Option Code
70
Object 605Bh: Shutdown Option Code
71
Object 605Ch: Disable Operation Option Code
71
Object 605Dh: Halt Option Code
71
Object 605Eh: Fault Reaction Option Code
72
Object 6060H: Mode of Operation
72
Object 6061H: Mode of Operation Display
72
Object 6062H: Position Demand Value
72
Object 6064H: Position Actual Value
72
Object 606Bh: Velocity Demand Value
73
Object 606Ch: Velocity Actual Value
73
Object 607Ah: Target Position
73
Object 607Ch: Home Offset
73
Object 607Dh: Software Position Limit
73
Object 607Eh: Polarity
74
Object 607Fh: Max Profile Velocity
74
Object 6081H: Profile Velocity
74
Object 6083H: Profile Acceleration
75
Object 6084H: Profile Deceleration
75
Object 6098H: Homing Method
75
Object 6099H: Homing Speeds
75
Object 609Ah: Homing Acceleration
76
Object 60B8H: Touch Probe Function
76
Object 60B9H: Touch Probe Status
76
Object 60Bah: Touch Probe 1 Positive Value
77
Object 60Bbh: Touch Probe 1 Negative Value
77
Object 60Bch: Touch Probe 2 Positive Value
77
Object 60Bdh: Touch Probe 2 Negative Value
77
Object 60C2H: Interpolation Time Period
78
Object 60D0H: Touch Probe Source
78
Object 60D5H: Touch Probe 1 Positive Edge Counter
78
Object 60D6H: Touch Probe 1 Negative Edge Counter
78
Object 60D7H: Touch Probe 2 Positive Edge Counter
78
Object 60D8H: Touch Probe 2 Negative Edge Counter
79
Object 60E3H: Supported Homing Methods
79
Object 60F4H: Following Error Actual Value
79
Object 60Fdh: Digital Inputs
79
Object 60Feh: Digital Outputs
80
Object 6502H: Supported Drive Modes
81
Manufacture Specific Object
82
Object 2001H: Sensors Logics
82
Object 2002H: Reverse Limit Direction
82
Object 2003H: Limit Stop Method
83
Object 2004H: External Encoder
83
Object 2006H: Start Speed
84
Object 2007H: Run Current
84
Object 2008H: Boost Current
85
Object 2009H: Stop Current
85
Object 200Ah: Motor Number
86
Object 200Ch: Reference Resolution
86
Object 200Fh: Encoder Filter Time
86
Object 2010H: Brake Delay
87
Object 2011H: Digital Input Levels
87
Object 2012H: Digital Output Levels
87
Object 201Bh: Limit Deceleration
87
Object 2020H: Error Code History Setting
87
Object 2021H: Error Code History
88
Object 2025H: Lifetime Record
89
Object 2030H: Advanced Settings
90
Object 2040H: Safety Mode
91
Changelog
94

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Fastech Ezi-STEPII EtherCAT MINI User Manual (95 pages)

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