Unimotion STDF-42-A-EC Manuals

Manuals and User Guides for Unimotion STDF-42-A-EC. We have 1 Unimotion STDF-42-A-EC manual available for free PDF download: Manual

Unimotion STDF-42-A-EC Manual (108 pages)

Closed Loop Stepping System

Brand: Unimotion | Category: Network Hardware | Size: 2.61 MB

Table of Contents
3
Product Specification
11
Model Naming
11
Product Dimension
11
Ethercat Specifications
12
Drive Specification
13
Installation
14
Precautions of Installation
14
System Configuration (Only for Motor Sizes 42 and 56)
15
External Wiring Diagram
16
Appearance and Part Name
17
Ethercat ID
17
Ethercat Status LED
18
Ethercat Communication Connection (CN5, CN6)
20
I/O Connector (CN1)
21
Encoder Connector (CN2)
22
Motor Connector (CN3)
22
Power Connector (CN4)
23
Ethercat Communication
24
CAN Application Protocol over Ethercat
24
Object Dictionary
24
Mailbox Communication
24
Process Data Communication
25
PDO Mapping
25
PDO Assign
26
Ethercat State Machine
26
Synchronization
27
Free Run
28
SM Event
28
DC Sync Event
28
Ethercat Slave Information
28
Cia 402 Drive Profile
29
Drive Status Control
29
Error Code
32
Mode of Operation
34
Cyclic Synchronous Position Mode
34
Definition
34
Related Objects
35
Control Word and Status Word
35
Profile Position Mode
36
Definition
36
Related Objects
37
Control Word and Status Word
38
Position Movement Method
40
Homing Mode
45
Definition
45
Relative Objects
45
Control Word and Status Word
46
Origin Search Method
47
Touch Probe
54
Definition
54
Related Objects
54
Touch Probe Status and Control
54
Digital Input and Output
56
Definition
56
Related Objects
56
User I/O
56
ORIGIN and LIMIT Input
57
BRAKE Output
57
Operation
58
Operation Sequence
58
Setting
58
Installation
58
Wiring
58
Input Power
58
PDO Mapping
59
Set Communication Status
59
Operation
59
Drive Status Control
59
Set Mode
59
Set Operation
59
Movement Command
60
Check Status
60
Drive Setting Adjustment
60
Change Rotation Direction
60
Change I/O Signal Level
60
Ethercat Object Dictionary
62
Indication Type of Objects
62
Index and Sub-Index
62
Name
62
Data Type
63
Access
63
Save
63
PDO Mapping
63
Constant Value
63
Value Range
63
Default Value
64
Communication Object
64
Object 1000H: Device Type
64
Object 1001H: Error Register
64
Object 1008H: Device Name
65
Object 1009H: Hardware Version
65
Object 100Ah: Software Version
65
Object 1010H: Store Parameters
65
Object 1011H: Restore Default Parameters
66
Object 1018H: Identity
66
Object 10F1H: Error Settings
67
PDO Mapping Object
67
Object 1600H: Rxpdo-Map 0
67
Object 1601H: Rxpdo-Map 1
68
Object 1A00H: Txpdo-Map 0
69
Object 1A01H: Txpdo-Map 1
70
Object 1C12H: Rxpdo Assign
71
Object 1C13H: Txpdo Assign
71
Sync Manager Object
71
Object 1C00H: Sync Manager Type
71
Object 1C32H: SM Output Parameter
72
Object 1C33H: SM Input Parameter
73
Drive Profile Object
73
Object 603Fh: Error Code
73
Object 6040H: Control Word
74
Object 6041H: Status Word
74
Object 605Ah: Quick Stop Option Code
76
Object 605Bh: Shutdown Option Code
76
Object 605Ch: Disable Operation Option Code
76
Object 605Dh: Halt Option Code
77
Object 605Eh: Fault Reaction Option Code
77
Object 6060H: Mode of Operation
78
Object 6061H: Mode of Operation Display
78
Object 6062H: Position Demand Value
78
Object 6064H: Position Actual Value
79
Object 6065H: Following Error Window
79
Object 6067H: Position Window
79
Object 606Bh: Velocity Demand Value
80
Object 606Ch: Velocity Actual Value
80
Object 607Ah: Target Position
80
Object 607Ch: Home Offset
80
Object 607Dh: Software Position Limit
81
Object 607Eh: Polarity
82
Object 607Fh: Max Profile Velocity
82
Object 6081H: Profile Velocity
82
Object 6083H: Profile Acceleration
82
Object 6084H: Profile Deceleration
83
Object 6098H: Homing Method
83
Object 6099H: Homing Speeds
84
Object 609Ah: Homing Acceleration
84
Object 60B8H: Touch Probe Function
84
Object 60B9H: Touch Probe Status
85
Object 60Bah: Touch Probe 1 Positive Value
86
Object 60Bbh: Touch Probe 1 Negative Value
86
Object 60Bch: Touch Probe 2 Positive Value
86
Object 60Bdh: Touch Probe 2 Negative Value
87
Object 60C2H: Interpolation Time Period
87
Object 60D0H: Touch Probe Source
87
Object 60D5H: Touch Probe 1 Positive Edge Counter
88
Object 60D6H: Touch Probe 1 Negative Edge Counter
88
Object 60D7H: Touch Probe 2 Positive Edge Counter
88
Object 60D8H: Touch Probe 2 Negative Edge Counter
89
Object 60E3H: Supported Homing Methods
89
Object 60F4H: Following Error Actual Value
90
Object 60Fdh: Digital Inputs
90
Object 60Feh: Digital Outputs
91
Object 6502H: Supported Drive Modes
92
Manufacture Specific Object
92
Object 2001H: Sensors Logics
92
Object 2002H: Reverse Limit Direction
93
Object 2003H: Limit Stop Method
93
Object 2005H: Encoder Resolution
94
Object 2006H: Start Speed
94
Object 2007H: Run Current
94
Object 2008H: Boost Current
95
Object 2009H: Stop Current
95
Object 200Ah: Motor Number
96
Object 200Ch: Reference Resolution
96
Object 200Dh: Position Control Gain
96
Object 200Eh: In-Position Mode
98
Object 200Fh: Encoder Filter Time
98
Object 2010H: Brake Delay
99
Object 2011H: Digital Input Levels
99
Object 2012H: Digital Output Levels
99
Object 2014H: Homing Torque Ratio
100
Object 201Ah: Push Mode
100
Object 2018H: Internal Current Value
101
Object 201Bh: Limit Deceleration
101
Object 2020H: Error Code History Setting
101
Object 2021H: Error Code History
102
Object 2025H: Lifetime Record
103
Object 2030H: Advanced Settings
105
Object 2031H: Encoder Count Error
106

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