EtherCAT User`s Manual

EtherCAT User`s Manual

EtherCAT User's Manual

(Version: V1.03)

EtherCAT User's Manual

Content

Chapter 1 Brief introduction of EtherCAT .............................................................. 1

1.1 What is EtherCAT ........................................................................................ 1

1.2 EtherCAT general introduction .................................................................... 1

1.3 Product introduction ..................................................................................... 1

1.4 CoE terms ................................................................................................... 2

1.5 Data type ..................................................................................................... 3

1.6 Communication specifications ..................................................................... 3

1.7 EC-100 module structure ............................................................................. 4

1.8 LED indicators ............................................................................................. 4

Chapter 2 Installation and connection .................................................................... 7

2.1 Installation and connection .......................................................................... 7

2.2 EtherCAT interface specification.................................................................. 7

2.3 Wire specification ........................................................................................ 8

Chapter 3 EtherCAT-EC information ....................................................................... 9

3.1 CANopen over EtherCAT model .................................................................. 9

3.2 EtherCAT slave information ....................................................................... 10

3.3 EtherCAT network state machine .............................................................. 10

3.4 PDO mapping ............................................................................................ 11

3.5 Emergency message ................................................................................. 13

Chapter 4 Network synchronization based on distributed clocks ..................... 14

Chapter 5 CiA402 device protocol ........................................................................ 16

5.1 CANopen over EtherCAT(CoE) state machine .......................................... 16

5.2 Parameters for device control .................................................................... 17

5.2.1 controlword ................................................................................................. 18

5.2.2 statusword .................................................................................................. 19

5.2.3 shutdown_option_code ............................................................................... 20

5.2.4 disable_operation_option_code .................................................................. 21

5.2.5 quick_stop_option_code ............................................................................. 22

5.2.6 halt_option_code ........................................................................................ 22

5.2.7 fault_reaction_option_code ......................................................................... 23

5.3 Control mode ............................................................................................. 23

5.4 Control mode parameters .......................................................................... 23

5.5 Homing mode ............................................................................................ 25

5.5.1 Control word ............................................................................................... 25

5.5.2 State word .................................................................................................. 25

5.5.3 Parameters related to homing mode ........................................................... 26

5.5.4 Homing method .......................................................................................... 29

5.6 Profile velocity mode ................................................................................. 31

5.6.1 Control word ............................................................................................... 31

5.6.2 State word .................................................................................................. 31

5.6.3 Parameters related to velocity mode ........................................................... 31

5.7 Profile position mode ................................................................................. 35

EtherCAT User's Manual

5.7.1 Control word ............................................................................................... 35

5.7.2 State word .................................................................................................. 36

5.7.3 Parameters related to position control ......................................................... 36

5.7.4 Function description .................................................................................... 40

5.8 Interpolation position mode ........................................................................ 42

5.8.1 Control word ............................................................................................... 42

5.8.2 State word .................................................................................................. 42

5.8.3 Parameters related to interpolation position control ..................................... 42

5.9 Cyclic synchronous position mode ............................................................. 45

Chapter 6 EtherCAT communication example ..................................................... 47

Appendix A Object dictionary ............................................................................... 51

Appendix B Parameters ......................................................................................... 68

Appendix C Standard Wiring Examples ............................................................... 93

EtherCAT User's Manual

Chapter 1 Brief introduction of EtherCAT

1.1 What is EtherCAT

EtherCAT is an open network based on Ethernet to achieve real time control. It could support high speed and synchronized control. By using efficient network topology, the network structure with too many concentrator and complicated connections are avoided. It is very suitable to use this protocol in motion control and other factory automation applications.

1.2 EtherCAT general introduction

EtherCAT technology breaks the limits of normal internet solution.

Through this technology, we don’t need to receive Ethernet data, decode the data, and then copy the process data to different devices. EtherCAT slave device could read the data marked with this device’s address information when the frame passes this device. As the same, some data will be written into the frame when it passes the device. In this way, data reading and data writing could be done within several nanoseconds.

EtherCAT uses standard Ethernet technology and support almost kinds of topologies, including the line type, tree type, star type and so on. Its physical layer could be 100 BASE-TXI twisted-pair wire, 100BASE-FX fiber or

LVDS (low voltage differential signaling). It could also be done through switch or media converters or in order to achieve the combination of different Ethernet structure.

Relying on the ASICs for EtherCAT in the slave and DMA technology that reads network interface data, the processing of the protocol is done in the hardware. EtherCAT system could update the information for 1000 I/O within 30µs. It could exchange a frame as big as 1486 bytes within 300µs.

This is almost like 12000 digital output or input. Controlling one servo with

100 8-byte I/O data only takes 100µs. Within this period, the system could update the actual positions and status presented by command value and control data. Distributed clock technology could make the cyclic synchronous error lower than 1µs.

1.3 Product introduction

ProNet servo drive achieves EtherCAT communication through EC100 network module. It is a real time Ethernet communication and the application layer applies CANopen Drive Profile (CiA 402).

Besides supporting the PV, PP, IP and other control mode defined in

CANopen DS402, this module also supports CSP control mode. Clients

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EtherCAT User's Manual could switch the control mode by changing correspondent parameters. It is available from simple velocity control to high speed high precision position control.

BRD

BRW

CiA

CoE

DC

ECAT

EEPROM

ESC

ESM

ETG

1.4 CoE terms

The tables below lists the terms used in CANopen and EtherCAT.

Abbreviation

APRD

APWR

APRW

ARMW

Description

Auto Increment Physical Read: a command of EtherCAT Date link layer.

Auto Increment Physical Write: a command of EtherCAT Date link layer.

Auto Increment Physical ReadWrite: a command of EtherCAT Date link layer.

Auto Increment Physical Read Multiple Write: a command of EtherCAT

Date link layer.

Broadcast Read: a command of EtherCAT Date link layer.

Broadcast Write: a command of EtherCAT Date link layer.

CAN in Automation

CANopen over EtherCAT

Distributed Clocks Mechanism to synchronize EtherCAT slaves and master.

EtherCAT

Electrically Erasable Programmable Read Only Memory.

EtherCAT Slave Controller

EtherCAT State Machine

EtherCAT Technology Group(http://www.ethercat.org)

EtherCAT

FMMU

INIT

LRD

LWR

LRW

OP

OD

PDO

PREOP

RXPDO

SAFEOP

SDO

SyncManager

TXPDO

Real-time Standard for Industrial Ethernet Control Automation

Technology(Ethernet for Control Automation Technology)

Filedbus Memory Management Unit

INIT state of EtherCAT state machine

Logical Read: a command of EtherCAT Date link Layer

Logical Write: a command of EtherCAT Date link Layer

Logical ReadWrite: a command of EtherCAT Date link Layer

Operational state of EtherCAT state machine

Object Dictionary

Process Data Object

Pre-Operational state of EtherCAT state machine

Receive PDO, i.e. Process Date that will be received by ESC

Safe-Operational state of EtherCAT state machine

Service Data Object

ESC unit for coordinated data exchange between master and slaver controller

Transmit PDO, i.e. Process Date that will be transmitted by ESC

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EtherCAT User's Manual

UINT8

INT8

UINT16

INT16

UINT32

INT32

STR

1.5 Data type

The table below lists all the data types and their range that will be used in this manual.

Code Data type

Unsigned integer 8

Integer 8

Unsigned integer 16

Integer 16

Unsigned integer 32

Signed integer 32 string

Range

0 to 255

-128 to +127

0 to 65535

-32768 to +32767

0 to 4294967295

–2147483648 to +2147483627

-

1.6 Communication specifications

EtherCAT communication applied communication standard

IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile

Physical layer

Interface

Wiring

SyncManager

FMMU

EtherCAT

Commands

(Data Link

Layer)

100BASE-TX (IEEE802.3)

CN5 (RJ45): EtherCAT Signal IN

CN6 (RJ45): EtherCAT Signal OUT

Level-5 twisted pair wire

SM0: output mailbox, SM1: input mailbox

SM2: input process data, SM3: Output process data

FMMU0: mapped to output area of process data(RXPDO)

FMMU1: mapped to transmit area of process data(TxPDO)

FMMU2: mapped to mailbox status

APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR,

ARMW, FRMW

Note: APRW, FPRW, BRW, LRW Commands are not supported.

PDO data

Dynamic PDO mapping

Mailbox (CoE)

Emergency Message, SDO Request, SDO Response,

SDO information

Note: Don’t support TXPDO/RxPDO and remote

TxPDO/RxPDO.

3

CiA402 Drive Profile

Distributed data(DC)

SII

LED light

EtherCAT User's Manual

Free-run, DC mode(activated by configuration) supported DC cycle time: 250us

-2ms

256 bytes(read only)

EtherCAT system indicator(SYS)×1

EtherCAT run indicator(RUN)×1

EtherCAT error indicator(ERR)×1

Homing mode

Profile position mode

Profile velocity mode

Cyclic synchronous position mode

1.7 EC-100 module structure

Module structure

1.8 LED indicators

SYS

EC-100 module indicates light, used to show the software status in the module.

LED light(green/yellow)

Introduction

Status Description

Off Continuously off

No power supply or reset status

Flashing( yellow) Boot mode

On (green) Continuously on

Module’s internal program has finished initiation and operates well.

RUN

RUN light is used to indicate the communication status of EtherCAT

4

LED indicator(green)

Status Description

Off Continuously off

EtherCAT User's Manual

Introduction

System initiation

Blinking pre-operation status

Double flashing

On Continuously on safety operation mode

Operation status

ERR

ERR light is used to indicate the error in EtherCAT communication.

LED light(red) Introduction

Status

Off

Blinking

Description

Continuously off

Single flash

Double flash

Flickerin g

No error

Due to register problem or object configuration problem, the status changing required by the master couldn’t be achieved.

Sync error.

Communicatio n data error

Application program supervision overtime.

SyncManager watchdog overtime

Initiating error

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EtherCAT User's Manual

On Continuously on PDI supervision overtime

LINK/ACT (green light on RJ45 COM1/COM2)

LINK/ACT light is used to indicate the physical communication and if there is data exchange.

LED light(green) Introduction

Status

Off

Description

Continuously off

Flickering

Physical level communication has not been started. EtherCAT controller has not been started. slave is exchanging data

On Continuously on There is connection in link layer but there is no date exchange

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EtherCAT User's Manual

Chapter 2 Installation and connection

2.1 Installation and connection

EtherCAT network is normally composed of one master (for example, industrial PC) and some slaves (for example, servo drives, filed bus terminals and so on). Every EtherCAT slave has two standard Ethernet interfaces.

EtherCAT network

2.2 EtherCAT interface specification

EtherCAT interface should be connected by twisted pair wire

Electrical feature: according to IEEE802.3 standard

Interface: RJ45 8 pin modularize connector (According to ISO 8877)

RJ45 connector connector

CN5

RJ45 connector

description

EtherCAT IN port

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EtherCAT User's Manual

CN6

Pin layout

EtherCAT OUT port

Pin No.

1

2

3

4

5

6

7

8

Signal name

Interface grounding grounding

abbreviation signal transmit direction

Data transmit

+ TD+

Data transmit

- TD-

Data receive

+ RD+

Not used

Not used

Data receive

- RD-

Not used

Not used

FG

Output

Output

Input

Input

2.3 Wire specification

Level 5 or above.

Shield

Note: Identify the cable model is suitable for the interface. Identify items are as follows: conductor specification, single cable/pair cable, two pair/ four pair, external diameter etc.

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EtherCAT User's Manual

Chapter 3 EtherCAT-EC information

3.1 CANopen over EtherCAT model

Communication model

EtherCAT (CoE) network model is composed of two parts: data link layer and application layer. Data link layer is mainly in charge of EtherCAT communication protocol. Application layer is mainly oriented to CANOpen drive profiles (DS402) communication protocol. Object dictionary in CoE includes parameters, application data and PDO mapping information.

Process data object (PDO) is composed of objects in the object dictionary that could operate PDO mapping. The content of PDO data is defined by PDO mapping. PDO data’s read and write are periodical without checking OD. However, mail communication (SDO) is not periodic. When they are read or written, it is necessary to check OD.

Note: To decode SDO data and PDO data on EtherCAT data link layer correctly, we need to configure FMMU and Sync Manager as below

Sync Manager Configuration

Sync Manager Assignment(Fixed) Size Start Address(Fixed)

Sync Manager 0 Assigned to Receive Mailbox 128byte(Fixed) 0x1000

Sync Manager 1 Assigned to Transmit Mailbox 128byte(Fixed) 0x1080

Sync Manager 2 Assigned to Receive PDO

Sync Manager 3 Assigned to Transmit PDO

0 to 200byte

0 to 200byte

0x1100

0x1358

9

FMMU Settings

EtherCAT User's Manual

FMMU Settings

FMMU 0 Mapped to Receive PDO

FMMU 1 Mapped to Transmit PDO

FMMU 2 Mapped to Fill Status of Transmit Mailbox

3.2 EtherCAT slave information

EtherCAT slave information (XML document) could be read by the master to build the master-slave configuration. ESTUN ProNet servo drive offers document as below

ESTUN_ProNet_CoE.xml

3.3 EtherCAT network state machine

EtherCAT state machine is used to describe the states that one slave applies and the state change. State change request is normally launched by the master and answered by the slave.

The graph below describes the slave’s state machine.

Power ON

Init

(PI) (IP)

Pre-Op

(SI)

(PS) (SP)

(OI)

(OP)

(SO)

Operational

Safe-Op

(OS)

Status

Init

Description

No mailbox communication

No process data communication

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EtherCAT User's Manual

Status Description

Init to Pre-Op

Pre-Operation

(Pre-Op)

Pre-Op to Safe-Op

Safe-Op to Op

Master configures data link layer address and initiate mailbox communication

Master initializes DC clock synchronization.

Master requests to change into Pre-op status.

Master sets AL control register.

Slave checks if mailbox initialization is good.

Mailbox communication is activated.

Process data communication is not available.

Master configures SyncManager channels and FMMU channels for process data.

Master configures PDO mapping and the sync manager

PDO assignment parameters via SDO.

Master requests ‘Safe-Operational’ state.

Slave checks whether the sync manager channels for process data communication and, if required, the distributed clocks settings are correct.

Safe-Operation(Safe-Op) Slave’s program will transmit actual input data and will not execute output. Output is set as safety status.

Master transmits effective output data.

Master asks to change into OP status.

Operational(Op) Process data communication is available now.

3.4 PDO mapping

Process data of EtherCAT slaves is composed by SyncMangaer channels.

Each SyncMangaer channel describes the consistent area of process data.

EtherCAT slaves with application control function should support PDO mapping and SM-PDO-Assign object reading.

PDO mapping

PDO mapping is related to the mapping from object dictionary to PDO’s application objects (real time process data).

The index 0x1600 and 0x1A00 in object dictionary are separately reserved for the mapping tables of RXPDO and TxPDOs. The graph as below is one example.

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EtherCAT User's Manual

PDO mapping example

PDO configuration

Sync manager object (SMCO) is composed of multiple PDOs.

SM-PDO-Assign object (0x1C12 and 0x1C13) describes the relationship between PDOs and Sync Manager as below

PDO configuration example

Note: The PDO mapping objects (index 1600h to 1603h, 1A00h to 1A03h) and the Sync

Manager PDO assign objects (Index 1C12h and 1C13h) can be written only in

Pre-Operation state.

PDO mapping process

Stop PDO allocating function (set the sub-index 0 of 0x1c12 and 0x1c13 into 0).

Stop PDO mapping function (set sub-index 0 of 0x1600

~0x1603 and 0x1A00~

0x1A03 into 0).

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EtherCAT User's Manual

Set the number of mapping entries in PDO mapping objects (Set sub-index 0 of object 0x1600h to 0x1603h/0x1A00h to 0x1A03h).

Set the assignment of the Sync manager and PDO (Set sub index 1 of object

0x1C12h and 0x1C13h)

Enable the assignment of the Sync manager and PDO (Set sub index 0 of object

0x1C12h and 0x1C13h to 1).

Over again open PDO assignment function (set the sub-index 0 of 0x1c12 and

0x1c13 into 1)

3.5 Emergency message

When the servo drive generates an alarm, Coe will activate an emergency message and inform consumers the current servo drive model number and error code.

Emergency message structure:

Mailbox Header CoE Header ErrorCode Error Register Data

Standard data frame head

6 bytes 2 bytes 2 bytes 1 byte 5 bytes 1…n bytes

Data1

Standard CANopen urgent event message

Optional

Byte

Data

0 1

Emergency

Error Code

2

Error

Register

(Object

1001h)

3

Reserved

4 5 6

Manufacturer Specific Error Field

ProNet Reserved

Alarm/Warning

Code*2

7

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EtherCAT User's Manual

Chapter 4 Network synchronization based on distributed clocks

Any slave in the EtherCAT network can be used as reference clock for the whole network. It provides system time. And the distribute clock in slave device synchronizes with the reference clock. It enables slave’s local application to synchronize with reference clock events.

EC-netX50 model achieves the synchronous mode as following.

Switching synchronous mode can be controlled by synchronous control register (ESC 0x980 and 0x981).

Free-Run mode (ESC register: 0x980 = 0x0000)

In this mode, local application cycle, communication cycle and master cycle is independent.

DC mode (ESC register: 0x980 = 0x0300))

In this mode, local application is synchronous with Sync0.

Index Sub Name Access

PDO

Mapping

Type Value

0x1C32

Sync Manager channel 2 (process data output) Synchronization

1

2

Synchronization type

Cycle time

RO

RO

No

No

UINT

UINT

Current status of DC mode

0: Free-run

2: DC Mode

(Synchronous with Sync0)

Sync0 event cycle

[ns]

(The value is set by master via ESC register.) range: 125000*n (n

= 2–16) [ns]

Sync Manager channel 3 (process data input) Synchronization

3 Shift time RO No

0x1C33

Calc and copy

6 RO No time

Time schedule figure in DC mode is as follows:

UINT

UINT

14

Master

Master application task

Network

Frame U

Slave

Master application task

EtherCAT User's Manual

Master application task

Frame U Frame U

U

Sync0

Event

Cycle time (1C32:02)

Calc + Copy time

(1C33:06)

U

Sync0

Event

Delay Time

(1C32:09)

Cycle time (1C32:02) output valid

U

Sync0

Event

Cycle time (1C32:02)

Shift time (1C32:03)

Delay Time

(1C32:09)

Input latch

Time schedule figure in DC mode

U

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EtherCAT User's Manual

Chapter 5 CiA402 device protocol

ProNet’s device control is used mainly to achieve the motion control in different control modes. The master controls the servo drive through control word and knows the status of the servo drive by reading the servo drive’s status word.

5.1 CANopen over EtherCAT(CoE) state machine

Power

Disabled

Fault

Start

0

Not Ready to

Switch On

13

Power

Enabled

9

8

1

Switch On

Disabled

2

7

Ready to

Switch On

3 6

Switched

On

4 5

Operation

Enable

10

15

Fault

Reaction

Active

14

Fault

12

11

16

Quick Stop

Active

CANopen state machine

As above, the state machines could be divided into 3 parts: “power disabled”, “power enabled” and “fault”. All the states will be into “Fault” status after alarm. After power enabled, servo drive will finish initiating and then enter SWITECH_ON_DISA status. Now we could configure the servo drive, for example, set the working mode of the servo drive as profile position mode.

At this time, the main power supply is still shut down and the servo

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EtherCAT User's Manual motor is now excitated. After the state transition 2, 3 and 4, the servo drive will be in OPERATION ENABLE mode. At this time, the main power will be switched on and servo drive starts to control the servo motor according to the configured working mode. So, before this state, we must ensure the servo drive’s parameters are correct. State Transition 9 will be used to shut down the main power supply. Once alarm happens to the servo drive, the servo drive’s state will be in FAULT state.

States

Not Ready to Switch On

Switch On Disabled

Ready to Switch On

Switched On

Operation Enable

Quick Stop Active

Fault Reaction Active

Fault

Description

Servo drive is initiating.

Initiation completed.

Servo drive enters Switch On state. The servo motor is not servo-on yet.

Servo drive ready and main power is on

Servo on and control the servo motor according to the control mode.

Servo drive stops in pre-defined method

Servo drive detects alarm and stop according to pre-defined method. Servo motor is still on.

Servo off

Index

6040 h

6041 h

605A h

605B h

605C h

605D h

605E h

5.2 Parameters for device control

Object

VAR

VAR

VAR

VAR

VAR

VAR

VAR

Name

Controlword

Statusword

Quick stop option code

Shutdown option code

Disabled operation option code

Halt option code

Fault reaction option code

Type

UINT16

UINT16

INT16

INT16

INT16

INT16

INT16

Attr.

RW

RO

RW

RW

RW

RW

RW

17

5.2.1 controlword

Index

Name

6040 h

Control word

VAR

Object Code

Data Type

Access

UINT16

RW

PDO Mapping

YES

Units

--

Value Range

--

Default Value

0

Control word bit description:

EtherCAT User's Manual

Bit0 ~ 3 and Bit7:

The transmission of state machine will be triggered by the command composed by these 5 bits.

Device control command list

Command Bit of the controlword

Fault reset

Enable operation

Quick stop

Enable voltage

Switch on

Transitions

Shutdown 0

Switch on 0

Switch on 0

Disable 0 voltage

Quick stop 0

Disable operation

0

×

0

1

×

×

0

1

1

1

×

0

1

1

1

1

0

1

1

0

1

1

×

×

1

2,6,8

3*

3**

7,9,10,12

7,9,10,11

5

Enable operation

0 1 1 1 1 4,16

Fault reset × ×

Note: X means this bit could be ignored.

× × 15

Bit4, 5, 6, 8:

In different control mode, these 4 bits’ definition will be different.

18

Control mode

4

5

6

8

Bit profile position mode

New set point

Change set immediately abs/rel

Halt

The other bits: All reserved.

5.2.2 statusword profile velocity mode

reserved reserved reserved

Halt

Index

Name

Object Code

6041 h statusword

Data Type

Access

VAR

UINT16

RO

PDO Mapping

YES

Units

--

Value Range

--

Default Value

--

Statusword bit introduction is as below

bit introduction

0

1

2

3

4

5

6

7

9~8

Ready to switch on

Switched on

Operation enabled

Fault

Voltage enabled

Quick stop

Switch on disabled

Warning reserved

10

11

Target reached

Internal limit active

13~12 Operation mode specific

15~14 reserved

Bit0 ~ 3 , Bit5 and Bit6:

19

EtherCAT User's Manual

homing mode

Start homing operation reserved reserved

Halt

EtherCAT User's Manual

The combination of these bits represents the status of the servo drive

Value(binary) State

xxxx xxxx x0xx 0000 xxxx xxxx x1xx 0000 xxxx xxxx x01x 0001 xxxx xxxx x01x 0011 xxxx xxxx x01x 0111 xxxx xxxx x00x 0111 xxxx xxxx x0xx 1111

Not ready to switch on

Switch on disabled

Ready to switch on

Switched on

Operation enabled

Quick stop active

Fault reaction active xxxx xxxx x0xx 1000 Fault

Bit4: Voltage enabled

When this bit is 1, it means the main power is on.

Bit5: Quick stop

When this bit is 0, it means the servo drive will stop the servo motor according to the configuration(605A h

: quick_stop_option_code)

Bit7: Warning

When the bit is 1, it means the servo drive detects alarm.

Bit10: Target reached

In different control mode, this bit has different meanings.

In Profile Position Mode, when the set position is reached, this bit will be set as 1. When Halt is activated and speed decreases to zero, this bit will be set as 1. When a new position is set, this bit will be cleared.

In Profile Velocity Mode, when the speed reaches the required speed, this bit will be set as 1. When Halt is activated, the speed will decrease to zero and this bit will be set as 1.

Bit11: Internal limit active

When this bit is 1, it means that the internal torque has surpassed the set value.

Bit12, 13:

These two bits in different control mode have different meaning.

Control mode

Bit profile position mode profile velocity mode homing mode

12 Set-point acknowledge

13 Following error

The other bits: All reserved

Speed

Max slippage error

Homing attained

Homing error

5.2.3 shutdown_option_code

When Operation Enable mode is transit to Ready to Switch On status,

Shutdown_option_code will be used to define how to stop the servo motor.

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EtherCAT User's Manual

Index

Name

Object Code

Data Type

Access

PDO Mapping

605B h

Shutdown option code

VAR

INT16

RW

NO

Units

Value Range

--

0,1

Default Value

0

value

0

1

Introduction

Shutdown servo excitation signal. Servo motor will stop freely.

After the servo motor decelerates and stops, the servo excitation signal will be shut down.

5.2.4 disable_operation_option_code

When the status of Operation Enable transits to Switched On status,

disable_operation_option_code will decide how to halt.

Index

605C h

Name

Disable operation option code

Object Code

VAR

Data Type

Access

PDO Mapping

Units

Value Range

Default Value

INT16

RW

NO

--

0,1

0

Value

0

1

Introduction

Shutdown servo excitation signal. Servo motor will stop freely.

After the servo motor decelerates and stops, the servo excitation signal will be shut down.

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EtherCAT User's Manual

5.2.5 quick_stop_option_code

When the Operation Enable status transits to Quick Reaction Active status, quick_stop_option_code will define how to stop.

Index

605A h

Name

quick_stop_option_code

Object Code

Data Type

VAR

INT16

Access

PDO Mapping

Units

Value Range

RW

NO

--

0,1,2,5,6

2

5

6

Default Value

Value Introduction

0

1

0

Shutdown servo excitation signal. Servo motor will stop freely.

After the servo motor decelerates and stops, the servo excitation signal will be shut down.

After servo motor stops urgently, the servo excitation signal will be shut down.

After the servo motor decelerates to zero, it will still stay in QuickStop status.

After the servo motor stops urgently, it will still stay in QuickStop status.

5.2.6 halt_option_code

When bit8 of Controlword is 1, halt option code will define how to halt. .

Index

605D h

Name

halt_option_code

Object Code

Data Type

Access

PDO Mapping

Units

Value Range

Default Value

VAR

INT16

RW

NO

--

1,2

0

22

EtherCAT User's Manual

Value Introduction

1

2

Servo motor will decelerate gradually to zero

Servo motor will decelerate urgently and then stop.

5.2.7 fault_reaction_option_code

When it alarms, fault_reaction_option_code will decide how to halt. .

Index

605D h fault_reaction_option_code

Name

Object Code

Data Type

VAR

INT16

Access

RW

PDO Mapping

NO

Units

--

Value Range

0

Default Value

0

Value

0

Introduction

The servo excitation signal will be shut down and servo motor will stop freely.

5.3 Control mode

Now, ProNet servo drive supports 5 control modes:

HOMING MODE

PROFILE VELOCITY MODE

PROFILE POSITION MODE

CYCLIC SYNCHRONIZATION POSITION MODE

INTERPOLATION POSITION MODE

This chapter will mainly describe these 5 control methods as above.

5.4 Control mode parameters

Index Object Name Type Attr.

6060 h

6061 h

VAR

VAR modes_of_operation modes_of_operation_display

INT8

INT8

modes_of_operation

Servo drive’s control mode is defined by modes_of_operation.

RW

RO

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EtherCAT User's Manual

Index

Name

Object Code

Data Type

Access

PDO Mapping

6060 h modes_of_operation

VAR

INT8

RW

YES

Units

Value Range

VAR

--

1,3,6

Value

Default Value

Introduction

0

0

1

3

6

8

Not any control mode

PROFILE POSITION MODE

PROFILE VELOCITY MODE

HOMING MODE

CYCLIC SYNCHRONIZATION POSITION

modes_of_operation_display

Servo drive’s current control mode could be read from the modes_of_operation_display.

Index

6061 h modes_of_operation_display

Name

Object Code

Data Type

Access

INT8

RO

PDO Mapping

Units

YES

--

Value Range

1,3,6,7,8

Default Value

0

Note:

Only through the parameters of modes_of_operation_display, we could get the control mode of the servo drive.

Only in Target Reached status, servo drive’s control mode can be transit to configured control mode. And then modes_of_operation_display could be the same as modes_of_operation.

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EtherCAT User's Manual

5.5 Homing mode

PRONET servo drive now supports multiple homing methods. Clients could choose the homing method that suits the motor type and application.

For example, if the servo drive uses incremental encoder, we could choose

C pulse to do the homing. If the servo drive is using serial encoder or resolver, we couldn’t use C pulse as the homing method.

Clients can set homing method, homing speed and acceleration. After the servo drive finds the reference point, we could also set the distance between homing position and reference point as much as the value defined by home_offset (607C h

).

5.5.1 Control word

15 ~ 9

*

8 7 ~ 5

Halt *

*: please referred to previous chapters

Name

Homing operation start

Halt

4

home_start_operation

Value Description

0 Homing mode inactive

0 → 1 Start homing mode

1 Homing mode active

1 → 0 Interrupt homing mode

0 Execute the instruction of bit 4

1 Stop axle with homing acceleration

3 ~ 0

*

5.5.2 State word

15 ~ 14 13 12 11 10 9 ~ 0

* homing_error homing_attained *

*: Please refer to the previous chapters

Name Value Description

Target reached

Homing attained

Homing error

0

1

0

1

0

1 target_reached *

Halt = 0: Home position not reached

Halt = 1: Axle decelerates

Halt = 0: Home position reached

Halt = 1: Axle has velocity 0

Homing mode not yet completed

Homing mode carried out successfully

No homing error

Homing error occurred;

Homing mode carried out not successfully;

The error cause is found by reading the error code

25

5.5.3 Parameters related to homing mode

EtherCAT User's Manual

Index Object Name Type Attr.

607C h

VAR

6098 h

VAR home_offset homing_method

INT32

INT8

RW

RW

6099 h

ARRAY homing_speeds

609A h

VAR

UINT32 homing_acceleration INT32

RW

RW

home_offset

Home_offset defines the distance between reference position and homing position.

Homing mode

Index

Name

607C h home_offset

VAR

Object Code

Data Type

Access

INT32

RW

PDO Mapping

YES

Units

position units

Value Range

--

Default Value

0

homing_method

There are 4 signals as homing signals: positive limit switch, negative limit switch, reference position switch and C pulse.

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EtherCAT User's Manual

Index

Name

Object Code

Data Type

Access

PDO Mapping

Units

Value Range

6098 h homing_method

VAR

INT8

RW

YES

--

1,2,3,4,17,18,19,20

Default Value

Homing method table

1

Method Direction Target position Reference Position DS402

1

2

3

4

17

18

19

20 negative NOT positive POT

C pulse

C pulse negative reference position switch C pulse positive Reference position switch C pulse negative NOT positive POT

NOT

POT negative reference position switch reference position switch 19 positive reference position switch reference position switch 20

1

2

3

4

17

18

35 -- currently position currently position 35

homing_speeds

Two kinds of speed are used in finding the reference position: The speed to find reference position and the speed to find zero position.

Index

6099 h

Name

homing_speeds

Object Code

ARRAY

No. of Elements

2

Data Type

INT32

27

EtherCAT User's Manual

Sub-Index

Name

Object Code

Data Type

Access

PDO Mapping

Units

Value Range

Default Value

01 h speed_during_search_for_switch

VAR

INT32

RW

YES speed units

--

0

Sub-Index

Name

Object Code

Data Type

Access

02 h speed_during_search_for_zero

VAR

INT32

RW

PDO Mapping

Units

YES speed units

Value Range

--

Default Value

0

homing_acceleration

Acceleration and deceleration in homing are all defined by homing_acceleration.

Index

609A h

Name

homing_acceleration

Object Code

Data Type

VAR

INT32

RW

Access

PDO Mapping

YES

Units

acceleration units

Value Range

--

Default Value

0

28

5.5.4 Homing method

EtherCAT User's Manual

Homing method 1: Use C pulse and negative limit switch

Servo drive needs to move at first toward negative direction fast till reaching the negative limit switch and then decelerate till stop. And then, servo motor will be bounced back slowly and find the target homing position. Under this homing method, the target homing position is the first

C pulse away from the limit switch.

Homing method 2: Use C pulse and positive limit switch

At first servo motor will move fast toward positive direction and decelerate to stop after reaching the positive limit switch. And then servo motor will be bounced back slowly to find homing position. Under this homing method, the target homing position is the first C pulse away from the limit switch.

Home method 3 and 4: Use C pulse and reference limit switch

Servo drive’s initial moving direction is relied on the status of reference point limit switch. The target homing position is on the left side or right side of the reference limit switch. The distance between the reference position switch and homing position is one C pulse.

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EtherCAT User's Manual

Homing method 17 ~ 20 Not to use C pulse

These 4 homing methods are similar to approach 1-4 but the target homing position is not relied on C pulse any more but on the change of limit switch or reference point. For example, as below, method 19 and method 20 are just similar to method 3 and method 4.

Homing method 35: set current position as the homing point.

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EtherCAT User's Manual

5.6 Profile velocity mode

5.6.1 Control word

Name

Halt

15 ~ 9 8

* Halt

*: Refer to previous chapters

Value

0

1

Description

7 ~ 4

*

Execute the motion

Stop axle

5.6.2 State word

3 ~ 0

*

15 ~ 14 13

* MaxSlippageError

12

Speed

*: Refer to previous chapters

Name

Target reached

Speed

Max slippage error

Value

0

1

0

1

0

Description

11

*

10

Target reached

Halt = 0: Target position not reached

Halt = 1: Axle decelerates

Halt = 0: Target velocity reached

Halt = 1: Axle has velocity 0

Speed is not equal 0

Speed is equal 0

Maximum slippage not reached

1 Maximum slippage reached

5.6.3 Parameters related to velocity mode

Index

6069 h

Object

VAR

Name

velocity_sensor_actual_value

31

Type

INT32

9 ~ 0

*

Attr.

RO

EtherCAT User's Manual

606B h

606C h

609D h

606E h

606F h

6070 h

60FF h

VAR

VAR

VAR

VAR

VAR

VAR

VAR velocity_demand_value velocity_actual_value velocity_window velocity_window_time velocity_threshold velocity_threshold_time target_velocity

INT32

INT32

UINT16

UINT16

UINT16

UINT16

INT32

RO

RO

RW

RW

RW

RW

RW

velocity_sensor_actual_value

The master could read velocity_sensor_actual_value to know the current velocity. The parameter’s unit is internal speed unit.

Index

6069 h

Name

velocity_sensor_actual_value

Object Code

Data Type

Access

PDO Mapping

VAR

INT32

RW

YES

Units

Value Range

0.1rmps (1R/10min)

--

Default Value

--

velocity_demand_value

Master can read velocity_demand_value to know the current reference speed value of the servo drive. The unit of this parameter is user’s velocity unit.

Index

606B h

Name

velocity_demand_value

Object Code

Data Type

Access

PDO Mapping

Units

Value Range

Default Value

VAR

INT32

RO

YES speed units

--

--

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EtherCAT User's Manual

velocity_actual_value

The master can read velocity_ actual _value to know the current velocity of the servo motor. The unit of this parameter is user’s velocity unit.

Index

606C h velocity_actual_value

Name

Object Code

VAR

Data Type

Access

INT32

RO

PDO Mapping

Units

YES speed units

Value Range

--

Default Value

--

velocity_window

The difference between velocity_actual_value (606C

target_velocity (60FF h h

) and

) is defined as actual velocity error window. If the actual velocity error window is always smaller than velocity_window(606D h

) within the time set by velocity_window_time(606E h

), then bit 10 of status word (target_reached) will be set as 1 to indicate that the set velocity has been reached.

Index

Name

Object Code

606D

h

velocity_window

VAR

Data Type

Access

PDO Mapping

Units

Value Range

Default Value

UINT16

RW

YES speed units

--

20 R/10min

velocity_window_time

Velocity window comparator is composed of velocity_window_time and velocity_window.

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EtherCAT User's Manual

Index

Name

Object Code

Data Type

Access

PDO Mapping

606E h velocity_window_time

VAR

UINT16

RW

YES

Units

Value Range

ms

--

Default Value

0

velocity_threshold

Velocity_threshold indicates a range close to zero speed in order to define if the servo motor has already stopped.

Index

606F h

Name

velocity_threshold

Object Code

VAR

Data Type

Access

PDO Mapping

Units

UINT16

RW

YES speed units

Value Range

--

Default Value

10 R/10min

velocity_threshold_time

Velocity_threshold_time is used to set the shortest time when servo motor’s speed is under velocity threshold. The unit is: ms. When the time that servo motor’s speed is lower than the threshold is more than

velocity_threshold_time, status word bit 12(speed is zero) will be set as 1.

34

Index

Name

Object Code

Data Type

Access

PDO Mapping

6070 h velocity_threshold_time

VAR

UINT16

RW

YES

Units

Value Range

ms

--

Default Value

0

target_velocity

Target_velocity is reference speed.

Index

60FF h

Name

target_velocity

Object Code

Data Type

Access

PDO Mapping

Units

Value Range

Default Value

VAR

INT32

RW

YES speed units

--

0

EtherCAT User's Manual

5.7 Profile position mode

5.7.1 Control word

15 ~ 9 8

New Set-point

Change set immediately

7 6

1

5 4 3 ~ 0

Name

* Halt * abs / rel change set immediately New set-point *

*: Please refer to previous chapters

Value Description

0

1

0

Does not assume target position

Assume target position

Finish the actual positioning and then start the next positioning

Interrupt the actual positioning and start the next positioning

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EtherCAT User's Manual

Abs/rel

Halt

0

1

0

1

Target position is an absolute value

Target position is a relative value

Execute positioning

Stop axle with profile deceleration (if not supported with profile acceleration)

5.7.2 State word

15 ~ 14 13 12

* Following error Set_point acknowledge *

*: please refer to previous chapters

11 10 9 ~ 0

Target reached *

N-ame

Target reached

Set-point acknowledge

Following error

1

0

1

Value Description

0

1

0

Halt = 0: Target position not reached

Halt = 1: Axle decelerates

Halt = 0: Target position reached

Halt = 1: Velocity of axle is 0

Trajectory generator has not assumed the positioning values

(yet)

Trajectory generator has assumed the positioning values

No following error

Following error

5.7.3 Parameters related to position control

Index Name Type Attr. PDO Mapping M/O

6040 h

Control word

6041 h

Statusword

607A h target_position

607B h

Positin_range_limit

6081 h profile_velocity

6082 h end_velocity

6083 h profile_acceleration

6084 h profile_deceleration

UINT16

UINT16

INT32

INT32

UINT32

UINT32

UINT32

UINT32

RW

RO

RW

RW

RW

RW

RW

RW

YES

YES

YES

NO

YES

YES

YES

YES

6085 h quick_stop_deceleration UINT32 RW YES

6086 h motion_profile_type INT16 RW YES

M

M

M

O

M

O

O

O

O

M

target_position

Target_position is reference position and this position could be an incremental value or an absolute value. It is up to bit6 of control word.

36

EtherCAT User's Manual

Index

Name

607A h target_ position

Object Code

Data Type

VAR

INT32

Access

RW

PDO Mapping

YES

Units

position units

Value Range

--

Default Value

0

profile_velocity

Profile_velocity is the speed that the servo motor could finally reach after acceleration.

Index

6081 h

Name

profile_velocity

Object Code

VAR

Data Type

Access

UINT32

RW

PDO Mapping

YES

Units

speed units

Value Range

--

Default Value

0

end_velocity

End_velocity is the speed when servo motor reaches the

target_position. Normally we set this value as 0 in order to stop the servo motor when the servo motor reaches the requested position. But in continuous multiple position, this value could be set as a non-zero value.

37

EtherCAT User's Manual

Index

Name

6082 h end_velocity

Object Code

Data Type

VAR

UINT32

Access

RW

PDO Mapping

YES

Units

speed units

Value Range

--

Default Value

0

profile_acceleration

Profile_acceleration is the acceleration speed before reaching the target position.

Index

6083 h

Name

profile_acceleration

Object Code

VAR

Data Type

Access

UINT32

RW

PDO Mapping

YES

Units

acceleration units

Value Range

--

Default Value

100000 R/10min/s

profile_deceleration

Profile_deceleration is the deceleration speed before reaching the target position.

38

Index

Name

Object Code

Data Type

Access

PDO Mapping

6084 h profile_deceleration

VAR

UINT32

RW

YES

EtherCAT User's Manual

Units

Value Range

acceleration units

--

Default Value

100000 R/10min/s

quick_stop_deceleration

Quick_stop_deceleration is the deceleration speed in Quick Stop.

Index

6085 h

Name

quick_stop_deceleration

Object Code

Data Type

Access

PDO Mapping

Units

VAR

UINT32

RW

YES acceleration units

Value Range

--

Default Value

200000 R/10min/s

motion_profile_type

Motion_profile_type is used to select the motion curve. Now we only support trapezoid speed curve.

39

EtherCAT User's Manual

Index

Name

Object Code

Data Type

Access

PDO Mapping

6086 h motion_profile_type

VAR

INT16

RW

YES

Units

Value Range

--

0

Default Value

0

5.7.4 Function description

There are two methods to allocate a reference position.

Single step setting:

After reaching the target position, servo drive will inform the master that Reach the target position. And the servo drive will start new motion after getting new target position. Before getting the new reference position, the velocity of the servo motor is zero.

Continuous setting:

After reaching the target position, the servo motor will keep moving toward next target position which is set in advance. In this way, the servo motor could move continuously without pause. Between two reference positions, the servo motor doesn’t need to decelerate to zero.

Above two methods could be switched to each other by using control word bit 4, bit 5 and statues word bit 12 (set_point_acknowledge) in real time. Through handshaking mechanism, we could pause the position control in the process and use these bits above to reset the target position and then re-active and operate.

Single step setting procedure:

At first, set the NMT status into Operational and set the control mode parameter

(6060 h

) as 1.

According to the actual demand, we could set the target position (target_positon:

607A h

) and so on.

We need set bit4 (new_set_point) of the control word as 1, bit 5

(change_set_immediately) as 0, bit 6 (absolute/comparative) should be determined by whether the reference target position is an absolute value or a comparative value.

40

EtherCAT User's Manual

We use bit12 (set_point_acknowledge) of the status word to configure the servo drive acknowledge mechanism. And then we start to operate position control.

After reaching the target position, servo drive will need to respond through bit 10

(target_reached) of the status word. And then servo drive will follow the program to keep moving or accept new target position.

Continuous step setting procedure:

1

At first, we need to set NMT status into operational and set control mode

(6060 h

) as 1. According to actual demand, we need to set the first target position (target_position: 607A h

), target speed, acceleration/deceleration and other relevant parameters.

Set bit 4 (new_set_point) of control word as 1. Set bit 5

(change_set_immediately) as 0. Set bit6 (absolute/comparative) according to the type of object position.

Set bit 12 (set_point_acknowledge) of the status word and then start to operate position control.

Set the second target position (target_position: 607A h

), target speed, acceleration/deceleration speed.

Set bit4 (new_set_point) as 1, bit 5 (change_set_immediately) as 0. Set Bit6

(absolute/comparative) according to the target position type.

After reaching the first target position, the servo drive will not stop and keep moving toward the second target position. After reaching the second target position, the servo drive will respond through status word bit 10

(target_reached). And then the servo motor will follow the program to keep moving or accept new target position.

41

EtherCAT User's Manual

5.8 Interpolation position mode

5.8.1 Control word

15 ~ 9 8 7 6 5 4

* Halt * * * Enable ip mode

*: please referred to previous chapters

Name Value Description

Enable ip mode

Halt

0

1

0

1

3 ~ 0

*

Interpolated position mode inactive

Interpolated position mode active

Execute the instruction of bit 4

Stop axle

5.8.2 State word

15 ~ 14 13 12 11 10 9 ~ 0

Name

Target reached ip mode active

* * ip mode active *

*: please referred to previous chapters

Value Description

0

1

0

1

Target reached *

Halt = 0: Target position not (yet) reached

Halt = 1: Axle decelerates

Halt = 0: Target position reached

Halt = 1: Velocity of axle is 0

Interpolated position mode inactive

Interpolated position mode active

5.8.3 Parameters related to interpolation position control

Index

60C0

h

Object

VAR

Name

Interpolation sub mode select

42

Type

INT16

Attr.

RW

EtherCAT User's Manual

60C1

h

ARRAY Interpolation data record INT32 RW

60C2

h

RECORD Interpolation time period RW

Interpolation sub mode select

Interpolation sub mode select is used to select the method of interpolation under IP control.

Pronet servo drive only offers linear interpolation.

Index

60C0h

Name

Object Code

Data Type

Access

PDO Mapping

NO

Value Range

0

Default Value

0

Interpolation sub mode select

VAR

INT16

RW

Comment

0: Linear interpolation

Interpolation data record

Interpolation data record is used to reserve interpolation potion data.

Our servo drive’s interpolation command only uses the first data whose subindex is 1.

Index

60C1h

Subindex

0

Object Code

ARRAY

Data Type

Access

INT32

RO

PDO Mapping

YES

Value Range

INT8

Default Value

2

Comment

number of entries

43

EtherCAT User's Manual

Index

Subindex

60C1h

1

Object Code

Data Type

ARRAY

INT32

Access

RW

PDO Mapping

YES

Value Range

INT32

Default Value

0

Comment

the first parameter of ip function

Index

Subindex

Object Code

Data Type

Access

60C1h

2

ARRAY

INT32

RW

PDO Mapping

YES

Value Range

INT32

Default Value

0

Comment

The second parameter of ip function

Interpolation time period

Interpolation time period is used to reserve the time data of interpolation position.

Index

60C2h

Subindex

0

RECORD

Object Code

Data Type

INT8

RO

Access

PDO Mapping

NO

Value Range

2

Default Value

2

Comment

number of entries

44

EtherCAT User's Manual

Index

Subindex

60C2h

1

Object Code

Data Type

UINT8

Access

RW

PDO Mapping

YES

Value Range

0~255

Default Value

1

Comment

Interpolation time units

Index

Subindex

Object Code

60C2h

2

Data Type

Access

INT8

RW

PDO Mapping

YES

Value Range

-4~0

Default Value

-3

Comment

Interpolation time index

5.9 Cyclic synchronous position mode

Cyclic synchronous position mode is similar to position interpolation mode. In this control mode, the master could offer extra speed and torque to achieve speed and torque feed forward control. The interpolation cycle time defines the time for target position updating. In this case, interpolation cycle time is the same as sync time.

Parameters related to CYCLIC SYNCHRONOUS POSITION MODE

Index Name

6040 h

Controlword

6041 h

Statusword

6064 h

Position_actual_value

607A h target_position

607B h

Positin_range_limit

6081 h profile_velocity

Type Attr. PDO Mapping M/O

UINT16 RW YES

UINT16 RO YES

INT32

INT32

RO YES

RW YES

INT32 RW NO

UINT32 RW YES

M

M

M

M

O

M

45

EtherCAT User's Manual

Index Name Type Attr. PDO Mapping M/O

6082 h end_velocity

6083 h profile_acceleration

UINT32

UINT32

RW

RW

YES

YES

6084 h profile_deceleration UINT32 RW YES

6085 h quick_stop_deceleration UINT32 RW YES

O

O

O

O

46

EtherCAT User's Manual

Chapter 6 EtherCAT communication example

In this example, we use Beckhoff TwinCAT software as the real time master. Please prepare as below before the test:

1) Identify the network interface model number and install the network interface correctly.

2) Install Beckhoff TwinCAT software.

3) Copy the device description document (.XML document) to the directory

C:\TwinCAT\IO\EtherCAT. (You could contact Estun to have this XML document)

4) Set drive’s parameter Pn006.0=4, select EtherCAT communication mode,

Pn704 is the address.

After finishing copying, reactivate TwinCAT software. Then TwinCAT will list an

ESTUN ProNet servo drive EtherCAT bus option.

And then please follow steps as below:

1

Use the right button of the mouse to single click I/O Device and choose

EtherCAT network adapter. Name it as Device 1.

47

EtherCAT User's Manual

Use the right button of the mouse to single click Device 1 and add a slave ProNet device.

3. Add one NC task and name it as Task 1.

Add Axis 1 under NC task.

48

EtherCAT User's Manual

Choose application layer protocol CoE.

Click Link to button and map servo drive axis to the device.

49

EtherCAT User's Manual

Click activate configuration button on the toolbar and activate configuration.

Click online label and start to operate on servo axis.

50

Index

1000

1001

1003

1018

EtherCAT User's Manual

0

1

2

3

4

Sub index Name

0

Device type

0

Error register

Pre-defined error field

0 Number of entries

1

7

8

Standard error field1

Standard error field7

Standard error field8

Identity Object

Appendix A Object dictionary

Type

UINT32

UINT8

Access.

RO

RO

PDO

NO

NO

Support

All

PP PV HM IP

UINT8

UINT32

UINT32

UINT32

UINT32

RO

RO

RO

RO

RO

NO

NO

NO

NO

NO

Number of entries

Vender ID

Product code

Revision number

Serial number

UINT8

UINT32

UINT32

UINT32

UINT32

RO

RO

RO

RO

RO

NO

NO

NO

NO

NO

CSP

Unit

51

Index Sub index Name

1600

1601

1st Receive PDO Mapping

0

1

6

7

8

2

3

4

5

Number of entries

Mapping entry 1

Mapping entry 2

Mapping entry 3

Mapping entry 4

Mapping entry 5

Mapping entry 6

Mapping entry7

Mapping entry 8

3

4

5

0

1

2

2nd Receive PDO Mapping

Number of entries

Mapping entry 1

Mapping entry 2

Mapping entry 3

Mapping entry 4

Mapping entry 5

Type

UINT8

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

RW

RW

RW

RW

RW

RW

RW

RW

RW

UINT8

UINT32

UINT32

UINT32

UINT32

UINT32

RW

RW

RW

RW

RW

RW

EtherCAT User's Manual

Access. PDO

Support

All PP PV HM IP CSP

Unit

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

52

Index

1602

1603

Sub index

6

7

8

Name

Mapping entry 6

Mapping entry7

Mapping entry 8

4

5

6

7

8

2

3

0

1

3rd Receive PDO Mapping

Number of entries

Mapping entry 1

Mapping entry 2

Mapping entry 3

Mapping entry 4

Mapping entry 5

Mapping entry 6

Mapping entry7

Mapping entry 8

0

1

4th Receive PDO Mapping

Number of entries

Mapping entry 1

Type Access.

UINT32

UINT32

UINT32

RW

RW

RW

UINT8

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

RW

RW

RW

RW

RW

RW

RW

RW

RW

UINT8

UINT32

RW

RW

PDO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

EtherCAT User's Manual

Support

All PP PV HM IP CSP

Unit

53

Index

1A00

Sub index Name

5

6

7

8

2

3

4

Mapping entry 2

Mapping entry 3

Mapping entry 4

Mapping entry 5

Mapping entry 6

Mapping entry7

Mapping entry 8

3

4

5

6

7

0

1

2

1st Receive PDO Mapping

Number of entries

Mapping entry 1

Mapping entry 2

Mapping entry 3

Mapping entry 4

Mapping entry 5

Mapping entry 6

Mapping entry7

Type

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT8

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

RW

RW

RW

RW

RW

RW

RW

RW

Access.

RW

RW

RW

RW

RW

RW

RW

NO

NO

NO

NO

NO

NO

NO

NO

PDO

NO

NO

NO

NO

NO

NO

NO

EtherCAT User's Manual

Support

All

PP PV HM IP CSP

Unit

54

Index

1A01

1A02

Sub index Name

Mapping entry 8

8

5

6

3

4

7

8

0

1

2

2nd Transmit PDO Mapping

Number of entries

Mapping entry 1

Mapping entry 2

Mapping entry 3

Mapping entry 4

Mapping entry 5

Mapping entry 6

Mapping entry7

Mapping entry 8

0

1

2

3rd Transmit PDO Mapping

Number of entries

Mapping entry 1

Mapping entry 2

Type Access.

UINT32 RW

UINT8

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

RW

RW

RW

RW

RW

RW

RW

RW

RW

UINT8

UINT32

UINT32

RW

RW

RW

PDO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

EtherCAT User's Manual

Support

All

PP PV HM IP CSP

Unit

55

Index

1A03

Sub index Name

3

4

5

6

7

8

Mapping entry 3

Mapping entry 4

Mapping entry 5

Mapping entry 6

Mapping entry7

Mapping entry 8

4thTransmit PDO Mapping

0

1

2

3

4

5

6

7

8

Number of entries

Mapping entry 1

Mapping entry 2

Mapping entry 3

Mapping entry 4

Mapping entry 5

Mapping entry 6

Mapping entry7

Mapping entry 8

Type

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT8

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

UINT32

RW

RW

RW

RW

RW

RW

RW

RW

RW

Access.

RW

RW

RW

RW

RW

RW

NO

NO

NO

NO

NO

NO

NO

NO

NO

PDO

NO

NO

NO

NO

NO

NO

EtherCAT User's Manual

Support

All

PP PV HM IP CSP

Unit

56

EtherCAT User's Manual

Index

1C00

1C12

Sub index Name Type Access. PDO

Support

All PP PV HM IP CSP

Unit

Sync Manager Communication Type

0

1

2

3

4

Number of used Sync

Manager channels

Communication type sync manager 0

Communication type sync manager 1

Communication type sync manager 2

Communication type sync manager 3

UINT8

UINT32

UINT32

UINT32

UINT32

Sync Manager PDO assignment 2

0

1

2

Number of assigned

PDOs

Index of assigned

RxPDO 1

Index of assigned

RxPDO 2

UINT8

UINT16

UINT16

RW

RW

RW

RW

RW

RW

RW

RW

NO

NO

NO

NO

NO

NO

NO

NO

57

EtherCAT User's Manual

Index

1C13

Sub index Name Type Access. PDO

Support

All PP PV HM IP CSP

Unit

Sync Manager PDO assignment 3

0

1

2

Number of assigned

PDOs

Index of assigned

TxPDO 1

Index of assigned

TxPDO 2

UINT8

UINT16

RW

RW

UINT16 RW

NO

NO

NO

58

Index

3000

3001

3002

3003

3004

3005

3006

3010

3011

3012

3013

3014

3015

3016

3017

3018

3019

Sub index Name

Pn000

Pn101

Pn102

Pn103

Pn104

Pn105

Pn106

Pn107

Pn001

Pn002

Pn003

Pn004

Pn005

Pn006

Pn100

Pn108

Pn109

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

EtherCAT User's Manual

Type Access.

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

PDO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

Support

All PP PV HM IP CSP

Unit

59

Index

301A

301B

301C

301D

301E

301F

3020

3021

3022

3023

3024

3025

3026

3027

3028

3029

302A

Sub index Name

Pn118

Pn119

Pn120

Pn121

Pn122

Pn123

Pn124

Pn110

Pn111

Pn112

Pn113

Pn114

Pn115

Pn116

Pn117

Pn125

Pn126

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

EtherCAT User's Manual

Type Access.

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

PDO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

Support

All PP PV HM IP CSP

Unit

60

Index

302B

302C

302D

302E

302F

3030

306E

306F

3070

3071

3072

3073

3074

3075

307D

307E

307F

Sub index Name

Pn409

Pn410

Pn411

Pn412

Pn413

Pn414

Pn505

Pn127

Pn128

Pn129

Pn130

Pn131

Pn132

Pn407

Pn408

Pn506

Pn507

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

EtherCAT User's Manual

Type Access.

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

PDO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

Support

All PP PV HM IP CSP

Unit

61

Index

3080

3081

3082

3083

3084

3085

3086

3088

3089

30FC

30FD

3100

3138

6007

603F

6040

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Sub index Name

Pn508

Pn509

Pn510

Pn511

Pn512

Pn513

Pn514

Pn516

Pn517

Pn700

Pn701

Pn704

Pn840

Abort connection option code

Error code

Control word

EtherCAT User's Manual

Type Access.

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

RW

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

UINT16

INT16

UINT16

UINT16

PDO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

NO

YES

YES

Support

All PP PV HM IP CSP

Unit

62

EtherCAT User's Manual

Index

605E

6060

6061

6062

6063

6064

6065

6066

6067

6068

6041

605A

605B

605C

605D

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Sub index Name Type

Status word

Shutdown option code

UINT16

Quick stop option code

INT16

INT16

Disable operation option code

Stop option code

INT16

INT16

Fault reaction option code

Modes of operation

UINT16

INT8

Modes of operation display

Position demand value

INT8

INT32

Position actual value*

INT32

Position actual value

INT32

Following error window

UINT32

Following error time out

Position window

UINT16

UINT32

Position window time

UINT16

Access.

RO

RW

RW

RW

RW

RW

RW

RO

RO

RO

RO

RW

RW

RW

RW

PDO

YES

NO

NO

NO

NO

NO

YES

YES

YES

YES

YES

YES

YES

YES

YES

Support

All PP PV HM IP CSP

Unit

● position units inc position units position units ms position units ms

63

EtherCAT User's Manual

6069

606B

606C

606D

606E

606F

6070

6077

6078

607A

Index

607B

607C

607D

Sub index Name Type

0

Velocity sensor actual value

Velocity demand value

UINT16

0 INT32

0

Velocity actual value

INT32

0

Velocity window

UINT16

0

Velocity window time

UINT16

0

Velocity threshold

UINT16

0

Velocity threshold time

UINT16

0

Torque actual value INT16

0

Current actual value

Software Position Limit

0 Number of entries

INT16

0

Target position

INT32

Position range limit

0

1

Number of entries UINT8

Min position range limit INT32

2

0

Max position range limit

Home offset

INT32

INT32

UINT8

Access.

RW

RO

RO

RW

RW

RW

RW

RO

RO

RW

RO

RW

RW

RW

RO

PDO

YES

YES

YES

YES

YES

YES

YES

YES

YES

YES

NO

NO

NO

YES

NO

Support

All PP PV HM IP

CSP

Unit

speed units speed units speed units speed units ms speed units ms position units

● position units position units position units

64

EtherCAT User's Manual

607E

6081

6082

6083

6084

6085

6086

Index

6093

6094

6097

Sub index Name Type

0

0

1

2

0

Min position limit

Max position limit

Polarity

Profile velocity

End velocity

Profile acceleration

INT32

INT32

USINT

UINT32

UINT32

0 UINT32

Profile deceleration

0 UINT32

0

Quick stop deceleration

Motion profile type

UINT32

0 INT16

Position factor

0

1

2

--

0

1

Number of entries numerator divisor

Velocity encoder factor --

Number of entries numerator

UINT32

UINT32

UINT32

UINT32

UINT32

2 divisor

Acceleration factor

UINT32

RW

RW

RO

RW

RW

RW

--

RW

RW

RW

Access.

RW

RW

RW

RW

RW

RW

YES

YES

NO

NO

NO

--

NO

NO

NO

PDO

NO

NO

NO

YES

YES

YES

YES

All

Support

PP PV HM

IP

Unit

CSP

● position units position units speed units speed units acceleration units acceleration units acceleration units

65

EtherCAT User's Manual

609A

60B1

60B2

60C1

Index

6098

6099

60C2

Sub index Name

0

1

0

Number of entries numerator

Homing method

Homing speeds

0 Number of entries

1

2

Speed during search for switch

Speed during search for zero

Homing acceleration

0

0

Velocity Offset

0

Torque Offset

Interpolation data record

0 Number of entries

1 1st set-point

Interpolation time period

0 Number of entries

1

Interpolation time period value

Type

UINT32

UINT32

INT8

UINT8

UINT32

UINT32

UINT32

INT32

INT

UINT8

INT32

UINT8

UINT8

Access.

RW

RW

RW

RW

RW

RW

RW

RW

RW

RO

RW

RO

RW

PDO

NO

NO

YES

YES

YES

YES

YES

YES

YES

NO

YES

NO

NO

All

Support

PP PV HM

IP CSP

Unit

● speed units speed units acceleration units

● position units

66

EtherCAT User's Manual

Index

60FA

60FC

60FD

60FE

60FF

60A4

6502

Sub index Name Type

2

Interpolation time index

Control effort

0

0

Position demand value

0

Profile jerk

0

Digital inputs

Digital outputs

0

1

Number of entries

Physical outputs

2

0

Bit mask

Target velocity

Number of entries

Profile jerk 1

1

UINT16

INT32

INT32

UINT32

UINT8

UINT32

UINT32

INT32

UINT8

UINT32

0

Supported drive modes

UINT32

Access.

RW

RO

RO

RO

RO

RW

RW

RW

RO

RW

RO

PDO

NO

YES

YES

YES

NO

NO

NO

NO

YES

YES

YES

Support

All PP PV HM IP

● ●

CSP

Unit

position units

0.1rpm

● acceleration units

67

Appendix B Parameters

B.1 Parameter list

Parameter No.

Pn000

Pn001

Pn003

Pn004

Pn005

Pn006

Descripition

Binary

Pn000.0: Servo ON

Pn000.1: Forward rotation input signal prohibited (P-OT)

Pn000.2: Reverse rotation input signal prohibited (N-OT)

Pn000.3: Alarm output when instantaneous power loss

Binary

Pn001.0: CCW,CW selection

Binary

Pn003.0: Reserved

Pn003.1: Reserved

Pn003.2: Low speed compensation

Pn003.3: Overload enhancement

Hex

Pn004.0: Stop mode

Pn004.1: Error counter clear mode

Hex

Pn005.2: Out-of-tolerance alarm selection

Pn005.3: Servomotor model

Hex

Pn006.0: Bus mode

Pn006.1: Reserved

EtherCAT User's Manual

Unit Range Default Setting invalidation

0~1111

0~1111

0~1111

0

0

0

0~0x3425 0

0~0x33E3 0

After restart

After restart

After restart

After restart

After restart

0~0x2133 0x0020 After restart

68

Pn109

Pn110

Pn111

Pn112

Pn113

Pn114

Pn115

Pn101

Pn102

Pn103

Pn104

Pn105

Pn106

Pn107

Pn108

Parameter No.

Pn100

Pn116

Descripition

Pn006.2: Low frequency jitter suppersion switch

Online autotuning setting

0:Manual gain adjustment

1,2,3=Normal mode;4,5,6=Vertical load

1,4 = Load inertia without variation;

2,5 = Load inertia with little variation;

3,6= Load inertia with great variation

Machine rigidity setting

Speed loop gain

Speed loop integral time constant

Position loop gain

Torque reference filter time constant

Load inertia percentage

2nd speed loop gain

2nd speed loop integral time constant

2nd position loop gain

2nd torque reference filter time constant

Speed bias

Feedforward

Feedforward filter

Torque feedforward

Torque feedforward filter

P/PI switching condition

0: Torque reference percentage

69

EtherCAT User's Manual

Unit Range Default Setting invalidation

Hz

0.1ms rpm

%

0.1ms

%

0.1ms

Hz

0.1ms

1/s

0.1ms

Hz

0.1ms

0~6 1 After restart

0~15

1~4000

1~4096

0~1000

0~250

0~20000

1~4000

1~4096

0~1000

0~250

0~300

0~100

0~640

0~100

0~640

0~4

0

0

0

40

4

0

0

5

160

200

40

4

0

40

200

0

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

After restart

Pn122

Pn123

Pn124

Pn125

Pn126

Pn127

Pn128

Parameter No.

Pn117

Pn118

Pn119

Pn120

Pn121

Descripition

1: Value of offset counter

2: Value of acceleration speed setting

3: Value of speed setting

4: Fixed PI

Torque switching threshold

Offset counter switching threshold

Setting acceleration speed switching threshold

Setting speed switching threshold

Gain switching condition

0: Fix to 1st group gain

1: External switch gain switching

2: Torque percentage

3: Value of offset counter

4: Value of acceleration speed setting

5: Value of speed setting

6: Speed reference input

7: actual motor speed

Switching delay time

Threshold switching level

Reserved

Position gain switching time

Hysteresis switching

Low speed detection filter

Speed gain acceleration relationship during online autotuning

70

% 0~300 reference pulse 0~10000

10rpm/s rpm

0~3000

0~10000

200

0

0

0

Immediately

Immediately

Immediately

Immediately

EtherCAT User's Manual

Unit Range Default Setting invalidation

0~6 0 After start

0.1ms

0.1ms

0.1ms

0~20000

0~20000

0~20000

0~20000

0~100

0~3

0

0

0

0

10

3

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Parameter No.

Pn139

Pn140

Pn141

Pn142

Pn143

Pn144

Pn304

Pn305

Pn129

Pn130

Pn131

Pn132

Pn133

Pn134

Pn135

Pn136

Pn137

Pn138

Pn306

Pn307

Pn308

Pn309

Pn310

Descripition

Low speed correction coefficient

Friction load

Friction compensation speed hysteresis area

Sticking friction load

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Parameter speed

JOG speed

Soft start acceleration time

Soft start deceleration time

Speed filter time constant

S curve risetime

Speed reference curve form

0:Slope

71

EtherCAT User's Manual

Unit Range Default Setting invalidation

ms ms ms ms

— rpm rpm

0.1%

0~30000

0~3000 rpm 0~100

0.1%/1000rpm 0~1000

0~10000

0~10000

0~10000

0~10000

-6000~6000 500

0~6000 500

0

0

0

0

0

0

0

0

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

— 0~3 0 After restart

Pn311

Pn407

Pn408

Pn409

Pn410

Pn411

Pn412

Pn500

Pn501

Pn502

Pn503

Pn504

Pn505

Pn506

Pn507

Pn508

Pn509

Pn510

Pn511

Pn512

Pn513

Parameter No. Descripition

1:S curve

2:1 st order filter

3:2 nd

order filter

S form selection

Notch filter 1 frequency

Notch filter 1 depth

Notch filter 2 frequency

Notch filter 2 depth

Low frequency jitter frequency

Low frequency jitter damp

Positioning error

Coincidence difference

Zero clamp speed

Rotation detection speed TGON

Offset counter overflow alarm

Servo ON waiting time

Basic waiting flow

Brake waiting speed

Brake waiting time

Allocate input signal to terminal

Allocate input signal to terminal

Allocate output signal to terminal

Bus control input node low-bit enable

Bus control input node low-bit enable

72

EtherCAT User's Manual

Unit Range Default Setting invalidation

10ms rpm

10ms

Hz

Hz

0.1Hz

Puls rpm rpm rpm

256Puls ms

0~3

50~5000

0~11

50~5000

0~11

0

5000

1

5000

1

50~500

0~200

0~5000

0~100

100

25

10

10

0~3000

0~3000

10

20

1~32767 1024

-2000~2000 0

0~500

10~100

10~100

0~0xFFFF

0~0xFFFF

0~0x0999

0~1111

0~1111

0

100

Immediately

Immediately

50 Immediately

0x3210 After restart

0x7654 After restart

0x0210 After restart

0

0

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Parameter No.

Pn514

Pn515

Pn516

Pn517

Pn518

Pn519

Pn520

Pn521

Pn522

Pn523

Pn524

Pn525

Pn526

Pn528

Pn529

Pn530

Pn700

Descripition

Input port filter

Alarm port filter

Input port signal inversion

Input port signal inversion

Dynamic brake time

Serial encoder error time

Position complete time

If connect externally regenerative resistor

0: connect externally regenerative resistor between B1 and B2

1: dose not connect externally regenerative resistor, relay on internal capacitance (This parameter is in effect only on ProNet-02/04

/ProNet-E-02/04)

Reserved

Reserved

Reserved

Overload alarm threshold

Temperature threshold of motor overheat alarm (Only enabled in

ProNet–75/1A/1E/2B)

Output signal inverse

Torque detection output signal threshold value

Torque detection output signal time

Hex

Pn700.0: MODBUS communication baud rate

73

%

% ms

EtherCAT User's Manual

Unit

0.2ms

0.2ms

0.5ms

0.1ms

0.1ms

Range

0~1000

0~3

0~1111

0~1111

50~2000

0~10000

0~60000

Default Setting invalidation

1

1

0

0

125

3

500

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

0~1 1 Immediately

100~150

50~180

0~1111

3~300

1~1000

100

110

0

100

10

Immediately

Immediately

Immediately

Immediately

After restart

0~0x0182 0x0151 After restart

Parameter No.

Pn701

Pn702

Pn703

Pn704

Pn840

Descripition

Pn700.1: MODBUS protocol selection

Pn700.2:Communication protocol selection

Pn700.3: Reserved

MODBUS axis address

Reserved

EtherCAT communication speed

EtherCAT communication contact

Hex

Pn840.0: Encoder model selection

Pn840.1: Reserved

Pn840.2: Reserved

Pn840.3: Reserved

EtherCAT User's Manual

Unit Range Default Setting invalidation

1~247

0x0005

1~127

1

After restart

0x0004 After restart

1 After restart

0x0003~

0x0B06

— After restart

74

B.2 Parameters in detail

Parameter No.

Description Setting Validation Control Mode

Pn000 Binary After restart ALL

EtherCAT User's Manual

Function and Meaning

Pn000.0 Servo ON

[0] External S-ON enabled.

[1] External S-ON disabled. Servo motor excitation signal is turned ON automatically after S-RDY is output.

Pn000.1 Forward rotation input signal prohibited (P-OT)

[0] External P-OT enabled. Operate in the time sequence setting in Pn004.0 when travel limit occurs.

[1] External P-OT disabled.

Pn000.2 Reverse rotation input signal prohibited (N-OT)

[0] External N-OT enabled. Operate in the time sequence setting in Pn004.0 when travel limit occurs.

[1] External N-OT disabled.

Pn000.3 Alarm output when instantaneous power loss

[0] Instantaneous power loss for one period with no alarm output

[1] Instantaneous power loss for one period with alarm output

Pn001 Binary After restart

Pn001.0

ALL

Pn001.1

T

Pn001.2

P, S

Pn001.3

P

Pn001.0 CCW,CW selection

[0] Sets CCW as forward direction

[1] Sets CW as forward direction

75

Pn003 Binary

Pn004 Hex

After restart

After restart

ALL

Pn004.0

ALL

Pn004.1

P

Pn004.2

P

Pn004.3

P

EtherCAT User's Manual

Pn003.0 Reserved

Pn003.1 Reserved

Pn003.2 Low speed compensation

[0] Without low speed correction

[1] With low speed correction to avoid servomotor creeping, but the degree of correction is determined by the setting in Pn219.

Pn003.3 Overload enhancement

[0] Without overload enhancement function

[1] With overload enhancement function, which can enhance the overload capacity when servomotor exceeds the 2 times rated overload. It is used in frequent power

ON/OFF occasions.

Pn004.0 Stop Mode

[0] Stops the servomotor by applying DB and then releases DB.

[1] Coast to a stop.

[2] Stops the servomotor by DB when servo OFF, stops the servomotor by plug braking when overtravel, then places it into coast (power OFF) mode.

[3] Makes the servomotor coast to a stop state when servo OFF, stops the servomotor by plug braking when overtravel, then places it into coast (power OFF) mode.

[4] Stops the servomotor by DB when servo OFF, stops the servomotor by plug braking when overtravel, then places it into zero clamp mode.

[5] Makes the servomotor coast to a stop state when servo OFF, stops the servomotor by plug braking when overtravel, then places it into zero clamp mode.

Pn004.1 Error counter clear mode

[0] Clear error pulse when S-OFF, do not when overtravel.

[1] Do not clear error pulse.

[2] Clear error pulse when S-OFF orovertravel (excep for zero clamp)

76

Pn005 Hex

Pn006 Hex

After restart

After restart

Pn005.0

P, S

Pn005.1

ALL

Pn005.2

P

EtherCAT User's Manual

Pn005.2 Out-of-tolerance alarm selection

[0] Out-of-tolerance alarm disabled

[1] Out-of-tolerance alarm enabled. Outputs alarm when the value of error counter exceeds Pn504 setting value.

[2] Reserved

[3] Reserved

Pn005.3 Servomotor model selection

[0] EMJ

[1] EMG

[2] Reserved

[3] EMB

Pn006.0 Bus type selection

[0] ~ [3] No bus

[4] EtherCAT

Pn006.1 Reserved

Pn006.2 Low-frequency vibration suppression switch

[0] Low-frequency vibration suppression function disabled

[1] Low-frequency vibration suppression function enabled

77

Pn100

Online autotuning setting

After restart

P, S

Pn101

Pn102

Pn103

Machine rigidity setting

Immediately

Speed loop gain

Speed loop integral time constant

Immediately

Immediately

P, S

P, S

P, S

EtherCAT User's Manual

[0] Manual gain adjustment

[1,2,3] Normal mode

[4,5,6] Vertical load

[1,4] Load inertia without variation

[2,5] Load inertia with little variation

[3,6] Load inertia with great variation

Note:

1.Autotuning is invalid when servomotor max.speed is less than 100rpm. Manual gain adjustment is used.

2.Autotuning is invalid when servomotor acceleration/deceleration speed is less than

5000rpm/s. Manual gain adjustment is used.

3.Autotuning is invalid when mechanical clearance is too big during operation. Manual gain adjustment is used.

4.Autotuning is invalid when the difference of different speed load is too great. Manual gain adjustment is used.

The response speed of servo system is determined by this parameter. Normally, the rigidity should be set a little larger. However, if it is too large, it would suffer mechanical impact. It should be set a little smaller when large vibration is present. This parameter is only valid in autotuning.

This parameter determines speed loop gain.

Unit: Hz

Decreases the value of this parameter to shorten positioning time and enhance speed response.

Unit: 0.1ms

78

Pn104

Pn105

Pn106

Pn107

Pn108

Pn109

Pn110

Position loop gain

Immediately

Torque reference filter time constant

Load inertia percentage

2nd speed loop gain

2nd speed loop integral time constant

2nd position loop gain

2nd torque reference filter time constant

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

P

P, S, T

P, S

P, S

P, S

P

P, S, T setting will result to mechanical vibration. Unit:0.1ms

Setting value=(load inertia/rotor inertia)

Unit: %

EtherCAT User's Manual

This parameter determines position loop gain. Decreases this value to enhance servo rigidity, but vibration will occur if the value is too large.

Unit: 1/s

Torque reference filter can eliminate or lighten mechanical vibration, but incorrect

×

100

The meanings of these parameters are the same as Pn102~Pn105.

These parameters are only needed to set when two types of gain function are enabled.

79

Pn111 Speed bias Immediately P

Pn112

Pn113

Feedforward Immediately

Feedforward filter

Immediately

P

P

EtherCAT User's Manual

This parameter setting can shorten positioning time. However, if it is too large or does not cooperate with Pn111 correctly, vibration will occur.

The relationship with speed reference, error counter, positioning error is shown in the following chart.

Speed reference

Pn500

Pn111

Error counter

Pn111

Pn500

It is used to set position feedforward. The response speed is faster and position error is less when this parameter setting is higher. Vibration will occur if the value is set too large.

Unit: %

It is used to ease mechanical vibration due to position feedforward. The feedforward lag will be enlarged and result to vibration if the value is set too large.

Unit: 0.1ms

80

Pn114

Pn115

Pn116

Pn117

Pn118

Pn119

Pn120

Torque feedforward

Torque feedforward filter

Immediately

Immediately

P/PI switching condition

After restart

Torque switching threshold

Offset counter switching threshold

Setting acceleration speed switching threshold

Setting speed switching threshold

After restart

Immediately

Immediately

Immediately

P, S

P, S

P, S

P, S

P

P, S

P, S

EtherCAT User's Manual

It is used to set torque feedforward, and enhance response speed.

Set the load inertia percentage(Pn106) correctly to enable this function in manual gain adjustment mode.

Unit: %

It is used to ease mechanical vibration due to torque feedforward.

Unit: 0.1ms

0: Torque reference percentage

1: Value of offset counter

2: Value of acceleration speed setting

3: Value of speed setting

4: Fixed PI

Threshold of torque to switch PI control to P control.

Unit: %

Threshold of error counter to switch PI control to P control.

Unit: pulse

Threshold of acceleration speed to switch PI control to P control.

Unit: 10rpm/s

Threshold of speed to switch PI control to P control.

Unit: rpm

81

Pn121

Pn122

Pn123

Pn124

Pn125

Pn126

Pn127

Pn128

Gain switching condition After restart

P, S

Switching delay time

Switch threshold level

Reserved

Position gain switching time

Hysteresis switching

Low speed detection filter

Speed gain acceleration relationship during online autotuning

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

P, S

P, S

P, S

P

P, S

P, S

EtherCAT User's Manual

0: Fix to 1st group gain

1: External switch gain switching(G-SEL)

2: Torque percentage

3: Value of offset counter

4: Value of acceleration speed setting (10rpm)

5: Value of speed setting

6: Speed reference input

7: actual motor speed

Delay time of switching gain when switching condition is satisfied.

Gain switching trigger level

This parameter is used to smooth transition if the change of the two groups of gain is too large.

This parameter is used to set the operation hysteresis of gain switching.

This parameter is used to filter in low speed detection. The speed detection will be lagged if the value is too large.

The increasing multiple of speed loop gain is the same rigidity during online autotuning. The speed loop gain is larger when this value is higher.

82

Pn129

Pn130

Pn131

Pn132

Pn133

Pn134

Pn135

Pn136

Pn137

Pn138

Pn139

Pn140

Pn141

Pn142

Pn143

Pn144

Pn304

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Low speed correction coefficient

Friction Load

Friction compensation speed hysteresis area

Sticking friction load

Reserved

Immediately

Immediately

Immediately

Immediately

Parameter speed

Immediately

P, S

P, S

P, S

P, S

S

EtherCAT User's Manual

The intensity of anti-friction and anti-creeping at low speed. Vibration will occur if this value is set too large.

Frictin load or fixed load compensation

Threshold of friction compensation start

Sticking damp which is in direct proportion to speed.

The parameter can be set to positive or negative. When control mode is set to D, it determines the speed of motor .

The servomotor speed is determined by this parameter when Pn005.1=D.

83

Pn308

Pn309

Pn310

Pn311

Pn407

Pn408

Pn409

Pn305

Pn306

Pn307

JOG speed

Soft start acceleration time

Soft start deceleration time

Speed filter time constant

S curve risetime

Speed reference curve form

S form selection

Notch filter 1 frequency

Notch filter 1 depth

Notch filter 2 frequency

Immediately

Immediately

Immediately

Immediately

Immediately

After restart

After restart

Immediately

Immediately

Immediately

S

S

S

S

S

S

S

P, S, T

P, S, T

P, S, T

EtherCAT User's Manual

It is used to set JOG rotation speed, and the direction is determined by the pressing key during JOG operation.

The time for trapeziform acceleration to accelerate to 1000rpm.

Unit: ms

The time for trapeziform deceleration to decelerate to 1000rpm.

Unit: ms

1st order filter time constant

Unit: ms

The time for transition from one point to another point in S curve.

0:Slope

1:S curve

2:1 st order filter

3:2 nd

order filter

This value determines the transition form of S curve.

Notch filter 1 frequency

Notch filter 1 depth

Notch filter 2 frequency

1. In some conditions, vibration will be picked up and response will be lagged after notch filter is set.

2. When notch filter frequency is set to 5000, the notch filter is invalid.

84

Pn410

Pn411

Pn412

Pn500

Pn501

Pn502

Pn503

Pn504

Pn505

Pn506

Pn507

Notch filter 2 depth

Low frequency vibration frequency

Low frequency vibration damp

Positioning error

Coincidence difference

Zero clamp speed

Rotation detection speed

TGON

Offset counter overflow alarm

Servo ON waiting time

Basic waiting flow

Brake waiting speed

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

P, S, T

P, S

P

S

P, S

P

P, S, T

P

P, S, T

P, S, T

P, S, T

EtherCAT User's Manual

Notch filter 2 depth

Frequency of low frequency vibration with load.

Attenuation damp of low frequency vibration with load. It does not need to change.

Outputs /COIN signal when error counter is less than this value.

Outputs /VCMP signal when the difference between speed reference value and speed feedback value is less than this value.

The servomotor is locked in the form of temporary position loop when the speed corresponding to the analog input is less than this value.

When the servomotor speed exceeds this parameter setting value, it means that the servomotor has already rotated steadily and outputs /TGON signal.

When the value in error counter exceeds this parameter setting value, it means that error counter alarm has occurred and outputs alarm an signal.

These parameters are only enabled when the port output parameters are allocated with /BK signal output.

These parameters are used to keep braking (prevent from gravity glissade or continuous outside force on servomotor) time sequence.

Servo ON waiting time:

○1For the parameter is plus,/BK signal is output firstly when servo-ON signal is input,

85

Pn508

Pn509

Brake waiting time

Immediately

Allocate input port to signal, one port with four bits(hex)

After restart

P, S, T

P, S, T

EtherCAT User's Manual and then servomotor excitation signal is created after delaying the parameter setting time.

○2For the parameter is minus, servomotor excitation signal is output firstly when servo-ON signal is input, and then /BK signal is created after delaying the parameter setting time.

Basic waiting flow:

Standard setting: /BK output (braking action) and servo-OFF are at the same time.

Now, the machine movable part may shift slightly due to gravity according to mechanical configuration and character; it can be eliminated by using the parameters when the servomotor is at stop or at a low speed.

Brake waiting speed:

/BK signal is output when the servomotor speed is decreased below the parameter setting value at servo-OFF.

Brake waiting time:

BK signal is output when the delay time exceeds the parameter setting value after servo-OFF.

/BK signal is output as long as either of the brake waiting speed or brake waiting time is satisfied.

Pn509.0 corresponding port CN1_14

Pn509.1 corresponding port CN1_15

Pn509.2 corresponding port CN1_16

Pn509.3 corresponding port CN1_17

86

Pn510

Allocate input port to signal, one port with four bits(hex)

After restart

P, S, T

EtherCAT User's Manual

Pn510.0 corresponding port CN1_39

Pn510.1 corresponding port CN1_40

Pn510.2 corresponding port CN1_41

Pn510.3 corresponding port CN1_42

Terminal PRI: CN1_14< CN1_15< CN1_16< CN1_17< CN1_39< CN1_40< CN1_41<

CN1_42

Corresponding signal of each data is shown as following:

0: S-ON

1: P-CON

2: Reserved

3: Reserved

4: ALMRST

5: CLR

6: Reserved

7: Reserved

8: Reserved

9: Reserved

A: Reserved

B: Reserved

C: HmRef

D: Reserved

E: Reserved

87

Pn511

Pn512

Pn513

Output signal allocation

After restart

Bus control input node low-bit enabled

Immediately

Bus control input node low-bit enabled

Immediately

P, S, T

P, S, T

P, S, T

EtherCAT User's Manual

Pn511.0 corresponding port CN1_11, CN1_12

Pn511.1 corresponding port CN1_05, CN1_06

Pn511.2 corresponding port CN1_09, CN1_10

Corresponding signal of each data is shown as follows:

0: /COIN/VCMP

1: /TGON

2: /S-RDY

3: /CLT

4: /BK

5: Reserved

6: Reserved

7: Reserved

8: /HOME

9: Reserved

Bus communication input port enabled:

[0]: Disabled

[1]: Enabled

Pn512.0

CN1_14

Pn512.1

CN1_15

Pn512.2

CN1_16

Pn512.3

CN1_17

Pn513.0

CN1_39

Pn513.1

CN1_40

Pn513.2

CN1_41

Pn513.3

CN1_42

88

Pn514

Pn515

Pn516

Pn517

Pn518

Pn519

Pn520

Pn521

Pn522

Pn523

Pn524

Pn525

Input port filter Immediately

Reserved

Input port signal inversion

Immediately

Input port signal inversion

Immediately

Reserved

Reserved

Reserved

Binary

Immediately

Reserved

Reserved

Reserved

Overload alarm threshold

Immediately

P, S, T

P, S, T

P, S, T

P,S,T

P, S, T

EtherCAT User's Manual

It is used to set input port filter time. The signal will be lagged if the parameter setting is too high.

[0]: Do not inverse signal.

[1]: Inverse signal

Pn516.0

CN1_14 inversion

Pn516.1

CN1_15 inversion

Pn516.2

CN1_16 inversion

Pn516.3

CN1_17 inversion

Pn517.0

CN1_39 inversion

Pn517.1

CN1_40 inversion

Pn517.2

CN1_41 inversion

Pn517.3

CN1_42 inversion

If a regenerative resistor if connected externally

0: connect externally regenerative resistor between B1 and B2

1: Dose not connect externally regenerative resistor, relay on internal capacitance.

(This parameter is in effect only on ProNet-02/04/ ProNet-E-02/04)

When load percentage is larger than overload alarm threshold, A04 will occur soon.

Pn525 is recommended to set below 120, otherwise the servo drive and motor will be damaged.

89

Pn526

Pn528

Pn529

Pn530

Temperature threshold of motor overheat alarm (Only enabled in

ProNet–75/1A/

1E/2B)

Immediately

Output signal inverse

Immediately

Torque detection output signal threshold value

Torque detection output signal time

Immediately

After restart

EtherCAT User's Manual

P, S, T

When servomotor winding temperature exceeds Pn526 setting, A19 will occur. (Only enabled in ProNet–75/1A/1E/2B )

P, S, T

P, S, T

P, S, T

[0]: Do not inverse signal.

[1]: Inverse signal

Pn528.0

CN1_5,6 inversion

Pn528.0

CN1_7,8 inversion

Pn528.0

CN1_9,10 inversion

Pn528.0

CN1_11,12 inversion

When motor torque output is higher than Pn529 setting value, /TCR is ON. When motor torque output is lower than Pn529 setting value, /TCR is OFF.

Unit:%

Torque detection output signal time.

Unit: ms

90

Pn700 Hex After restart ALL

Pn701

Pn702

MODBUS Axis address

Reserved

After restart

ALL

EtherCAT User's Manual

Pn700.0 MODBUS communication baud rate

[0] 4800bps

[1] 9600bps

[2] 19200bps

Pn700.1 MODBUS protocol selection

[0] 7, N, 2 (MODBUS,ASCII)

[1] 7, E, 1 (MODBUS,ASCII)

[2] 7, O, 1 (MODBUS,ASCII)

[3] 8, N, 2 (MODBUS,ASCII)

[4] 8, E, 1 (MODBUS,ASCII)

[5] 8, O, 1 (MODBUS,ASCII)

[6] 8, N, 2 (MODBUS,RTU)

[7] 8, E, 1 (MODBUS,RTU)

[8] 8, O, 1 (MODBUS,RTU)

Pn700.2 Communication protocol selection

[0] No protocol SCI communication

[1] MODBUS SCI communication

Pn700.3 Reserved

Axis address of MODBUS protocol communication

91

EtherCAT User's Manual

Pn703

EtherCAT communication speed

After restart ALL

Pn703.0 EtherCAT communication baud rate

[0] 50Kbps

[1] 100Kbps

[2] 125Kbps

[3] 250Kbps

[4] 500Kbps

[5] 1Mbps

Pn704

Pn840

EtherCAT communication contact

Hex

After restart

After restart

ALL

ALL

Note

①: When connecting to EMJ-04A□H□□, Pn005.3 should be set as “1”.

EtherCAT Aix address of communication

Pn840.0 Encoder model selection

[0]-[2] Reserved (For factory using)

[3] 17-bit absolute encoder

[4] Reserved

[5] Resolved

[6] Reserved

Pn840.1 Reserved (For factory using)

Pn840.2 Reserved (For factory using)

Pn840.3 Reserved (For factory using)

92

Appendix C Standard Wiring Examples

C.1 Single-phase 200VAC (ProNet-02AEA-EC to ProNet-04AEA-EC)

L1 L2

Molded-case Circuit Breaker

Surge Protector

Noise Filter

Power OFF Power ON

1Ry

1PL (

Servo Alarm Display

)

1KM

1KM

1Ry

1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay.

External Regenerator Resistor

B1

B2

B3

Be sure to ground

CN1

Signal allocatons can be modified:

S-ON: Servo ON

P-CON: P Control

P-OT: Forward Run Prohibited

N-OT: Reverse Run Prohibited

ALM-RST: Alarm Reset

+24V

DICOM

S-ON

20

15

P-CON 16

P-OT 17

N-OT 18

ALM-RST 19

3.3KΩ

Connect Shield to Connector Shell.

B1

B2

B3

L1

L2

1

2

ProNet

Series Servo Drives

U

V

W

L1C

L2C

485+

485-

GNDiso

6

7

8

Represents Twisted-pair Wires

Shield Shell

A(1)

Servomotor

B(2)

C(3)

D(4)

M

CN2

7

8

17

18

9

19

Shell

Absolute Encoder

S+

S-

BAT+

BAT-

PG5V

PG0V

Shield

CN3

7

8

5

6

3

4

1

2

Shell

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

Shield

CN4

3

4

5

1

2

6

7

8

Shell

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

Shield

RJ45 Socket

Encoder

PG

Be sure to prepare the end of the shielded wire properly.

11

14

13

14

TGON+

COM2

S-RDY+

COM2

12

14

ALM+

COM2

Signal Allocations can be Modified:

COIN: Positioning Completion

TGON:Rotation Detection

S-RDY:Servo Ready

CLT:Torque Limit Detection

BK:Brake Interlock

PGC: Encoder C-Pulse Output

OT:Over Travel

RD: Servo Enabled Motor Excitation Output

HOME: Home Completion Output

1Ry

+24V

1D

0V

ALM: Servo Alarm Output

Photocoupler Output:

Maximum Operating Voltage:DC30V

Maximum Output Current:DC50mA

93

Ethe

C.2 Three-phase 200VAC (ProNet-08AEA-EC to ProNet-50AEA-EC)

L1 L2 L3

Molded-case Circuit Breaker

Surge Protector

Noise Filter

Power OFF Power ON

1Ry

1PL (

Servo Alarm Display

)

1KM

1KM 1Ry

1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay.

External Regenerator Resistor

B1

B2

B3

Be sure to ground

Signal allocatons can be modified:

S-ON: Servo ON

P-CON: P Control

P-OT: Forward Run Prohibited

N-OT: Reverse Run Prohibited

ALM-RST: Alarm Reset

+24V

DICOM

S-ON

P-CON

P-OT

20

15

16

17

N-OT 18

ALM-RST 19

B1

B2

B3

L1

L2

L3

1

2

ProNet

Series Servo Drives

L1C

L2C

485+

485-

GNDiso

6

7

8

CN1

3.3KΩ

U

V

W

CN2

7

8

17

18

9

19

Absolute Encoder

Shell

S+

S-

BAT+

BAT-

PG5V

PG0V

Shield

CN3

3

4

5

1

2

6

7

8

Shell

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

Shield

CN4

1

2

3

4

5

6

7

8

Shell

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

Shield

Connect Shield to Connector Shell.

Represents Twisted-pair Wires

Shield Shell

RJ45 Socket

A(1)

Servomotor

B(2)

M

C(3)

D(4)

Encoder

PG

Be sure to prepare the end of the shielded wire properly.

11

14

13

14

TGON+

COM2

S-RDY+

COM2

12

14

ALM+

COM2

Signal Allocations can be Modified:

COIN: Positioning Completion

TGON:Rotation Detection

S-RDY:Servo Ready

CLT:Torque Limit Detection

BK:Brake Interlock

PGC: Encoder C-Pulse Output

OT:Over Travel

RD: Servo Enabled Motor Excitation Output

HOME: Home Completion Output

1Ry

+24V

1D

0V

ALM: Servo Alarm Output

Photocoupler Output:

Maximum Operating Voltage:DC30V

Maximum Output Current:DC50mA

Ethe

94

C.3 Three-phase 400VAC (ProNet-10DEA-EC to ProNet-75DEA-EC)

L1 L2 L3 Three-phase 380~480V (50/60Hz)

Molded-case Circuit Breaker

Surge Protector

Noise Filter

Power OFF Power ON

1Ry

1PL (

Servo Alarm Display

)

1KM

1KM

1Ry

1SUP

Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay.

24VDC Power Supply

External Regenerator Resistor

B1

B2

B3

B1

B2

B3

L1

L2

L3

1

2

ProNet

Series Servo Drives

U

V

W

24V

GND

Be sure to ground

Signal allocatons can be modified:

S-ON: Servo ON

P-CON: P Control

P-OT: Forward Run Prohibited

N-OT: Reverse Run Prohibited

ALM-RST: Alarm Reset

+24V

DICOM

S-ON

P-CON

20

15

16

P-OT

N-OT

17

18

ALM-RST 19

CN1

3.3KΩ

485+

485-

GNDiso

6

7

8

CN2

Absolute Encoder

7

8

17

18

9

19

Shell

S+

S-

BAT+

BAT-

PG5V

PG0V

Shield

CN3

7

8

5

6

3

4

1

2

Shell

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

Shield

CN4

3

4

5

1

2

6

7

8

Shell

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

Shield

Connect Shield to Connector Shell.

Shield Shell

11

14

13

14

TGON+

COM2

S-RDY+

COM2

Represents Twisted-pair Wires

12

14

ALM+

COM2

RJ45 Socket

A(1)

Servomotor

B(2)

C(3)

D(4)

M

Encoder

PG

Be sure to prepare the end of the shielded wire properly.

Signal Allocations can be Modified:

COIN: Positioning Completion

TGON:Rotation Detection

S-RDY:Servo Ready

CLT:Torque Limit Detection

BK:Brake Interlock

PGC: Encoder C-Pulse Output

OT:Over Travel

RD: Servo Enabled Motor Excitation Output

HOME: Home Completion Output

1Ry +24V

1D

0V

ALM: Servo Alarm Output

Photocoupler Output:

Maximum Operating Voltage:DC30V

Maximum Output Current:DC50mA

Ethe

95

C.4 Three-phase 400VAC (ProNet-1ADEA-EC to ProNet-1EDEA-EC)

Molded-case Circuit Breaker

L1 L2 L3 Three-phase 380~440V (50/60Hz)

Surge Protector

Noise Filter

Power OFF Power ON

1Ry

1PL (

Servo Alarm Display

)

1KM

1KM 1Ry

1SUP Be sure to connect a surge suppressor to the excitation coil of the magnetic contactor and relay.

L1C

L2C

B1

External Regenerator Resisotr

B2

Be sure to ground

CN1

Signal allocatons can be modified:

S-ON: Servo ON

P-CON: P Control

P-OT: Forward Run Prohibited

N-OT: Reverse Run Prohibited

ALM-RST: Alarm Reset

+24V

DICOM

S-ON

P-CON

P-OT

20

15

16

17

N-OT 18

ALM-RST 19

3.3KΩ

Connect Shield to Connector Shell.

L1

L2

L3

ProNet

Series Servo Drives

U

V

W

485+

485-

GNDiso

6

7

8

Represents Twisted-pair Wires

Shield Shell

A(1)

Servomotor

B(2)

M

C(3)

D(4)

CN2

Absolute Encoder

7

8

17

18

9

19

Shell

S+

S-

BAT+

BAT-

PG5V

PG0V

Shield

CN3

3

4

5

6

1

2

7

8

Shell

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

Shield

CN4

1

2

3

4

5

6

7

8

Shell

TD+

TD-

RD+

N.C.

N.C.

RD-

N.C.

N.C.

Shield

RJ45 Socket

Encoder

PG

Be sure to prepare the end of the shielded wire properly.

11

14

13

14

TGON+

COM2

S-RDY+

COM2

12

14

ALM+

COM2

Signal Allocations can be Modified:

COIN: Positioning Completion

TGON:Rotation Detection

S-RDY:Servo Ready

CLT:Torque Limit Detection

BK:Brake Interlock

PGC: Encoder C-Pulse Output

OT:Over Travel

RD: Servo Enabled Motor Excitation Output

HOME: Home Completion Output

1Ry +24V

1D

0V

ALM: Servo Alarm Output

Photocoupler Output:

Maximum Operating Voltage:DC30V

Maximum Output Current:DC50mA

Ethe

96

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