SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Contents
Part 1: EHS-580.......................................................................................................................................................... 5
Hardware Manual........................................................................................................................................................ 5
1 Descriptions.............................................................................................................................................................. 5
2 Features.................................................................................................................................................................... 5
3 Applications.............................................................................................................................................................. 5
4 Specifications............................................................................................................................................................ 6
4.1 Electrical Specifications................................................................................................................................ 6
4.2 Operating Environment ................................................................................................................................. 6
5 Mechanical Specifications........................................................................................................................................ 6
6 Connectors and Pin Assignment............................................................................................................................... 7
6.1 Control signals connector.............................................................................................................................. 7
6.2 Encoder Feedback and hall signal Connector............................................................................................... 8
6.3 Power and Motor........................................................................................................................................... 8
6.4 EtherCAT Communication Port..................................................................................................................... 9
7 DIP Switch Settings................................................................................................................................................ 10
7.1 E-CAT ID Table ........................................................................................................................................... 10
8 Hybrid servo Motors................................................................................................................................................11
8.1 Nema24 and Nema34motor..........................................................................................................................11
8.2 Nema34motor ...............................................................................................................................................11
9 Wiring Diagrams .................................................................................................................................................... 12
9.1 Interface....................................................................................................................................................... 12
9.2 Diagram....................................................................................................................................................... 13
10 Protection Indications........................................................................................................................................... 13
11 Frequently Asked Questions.................................................................................................................................. 13
Problem Symptoms and Possible Causes........................................................................................................... 14
12 Warranty............................................................................................................................................................... 14
Exclusions.......................................................................................................................................................... 15
Obtaining Warranty Service .............................................................................................................................. 15
Warranty Limitations......................................................................................................................................... 15
Part 2 : EHS-580 EtherCAT Communication Protocol Specification ....................................................................... 16
1. Introduction ....................................................................................................................................................... 16
2. Operation mode................................................................................................................................................. 16
2.1 Profile position mode(PP) ........................................................................................................................... 16
2.1.1 Related objects.................................................................................................................................. 17
2.1.2 Control word and Status word .......................................................................................................... 17
2.1.3 Typical motion mode of bit 5 at PP mode......................................................................................... 17
2.1.4 The bit 8,10.12-15 of status word ..................................................................................................... 18
2.2 Profile velocity mode (PV ).......................................................................................................................... 19
2.3 Cyclic synchronous position mode mode(CSP) ........................................................................................... 19
2.3.1 Related objects.................................................................................................................................. 19
2.4 Homing mode (HM)..................................................................................................................................... 20
3. Input and output................................................................................................................................................. 22
