Rtelligent ECT Series Manual de usuario

ECT Series User Manual

ECT Series

User Manual

Shenzhen Rtelligent Mechanical Electrical Technology Co., Ltd

ECT Series User Manual

Revision history

V202

1、Add the phase loss detection function, when 0x2056 bit7 is 1, enable the phase loss detection.

2、PP, PV mode status flag perfect, homing parameter 0x6099 change to standard 32bit, the previous

version is 16bit, non-standard

3、homing method 0x6098 change to INT8 type, before the UINT16 is non-standard

4、Add control support for three-phase motors

5、Add CSV mode

6、Add ECR86/ECT86 product description

7、Product version unified upgrade to V202

ECT Series User Manual

一Driver Description

1.1 Product Introduction

Thank you for choosing the Rtelligent EC series stepper motor driver. EC series is a high

performance bus control stepper motor driver, while integrating the functions of intelligent

motion controller. EC series EtherCAT drivers can be run as standard EtherCAT slave and

support CoE (CANopenover). ECT series is closed loop control.

1.1.1 Characteristics

Support CoE (CANopen over EtherCAT), meet CiA 402 standards

Support CSP, PP, PV, Homing mode

The minimum synchronization period is 500us

Dual port RJ45 connector for EtherCAT communication

Control methods: open loop control, closed loop control / FOC control (ECT series support)

Motor type: two phase, three phase;

Digital IO port:

4 channels optically isolated digital signal inputs: IN 1、IN 2 is encoder input; IN 3~IN 6 is 24V

single-ended input, common anode connection method;

2 channels optically isolated digital signal outputs, maximum tolerance voltage 30V, maximum

pouring or pulling current 100mA, common cathode connection method.

1.1.2 Electrical characteristics

ECT series product specifications

Product model

ECT42

ECT60

ECT86

Output current (A)

0.1~2 A

0.5~6 A

0.5~7 A

Default current (mA)

450

3000

6000

Power supply voltage

24~80 VDC

24~100VDC / 24~80VAC

Matched motor

Below 42 base

Below 60 base

Below 86 base

ECT Series User Manual

Encoder interface

Incremental orthogonal encoder

Encoder resolution

1000~65535 pulse/turn

Optical isolation input

24 V input for 4 common anodes

Optical isolation output

2 channels: alarm, lock, in place and general output

Communication

interface

Dual RJ45, with communication LED indication

*Please do not exceed the scope of use specified above.

*Before enabling the motor, the user needs to set the operating current according to the motor

specifications, otherwise the current setting beyond the rated range may cause the motor to

burn.

1.2 Power and motor

Model

Description

ECT42

ECT60

ECT86

V+

For ECT42、ECT60, the power supply is DC power supply, V+ is

connected to the positive pole of the power supply, and V- is

connected to the negative pole of the power supply. The

recommended power supply voltage is 24~80VDC..

For ECT86, the power supply is AC and DC compatible power supply.

AC and AC can input 24~100V DC power, and can also input 24~80V

AC power.

*The above power supply voltage is the limit value of the driver. Due to

the influence of the back electromotive force of the stepper motor, the

customer needs to reserve a certain voltage margin when using it.

V-

A +

Two phase stepper motor winding connection port, specific motor wire

connection please refer to the motor manufacturer instructions.

A-

B +

B -

IN1+

Encoder input interface, specific encoder connection please refer to

the motor manufacturer instructions.

IN1-

IN2+

IN2-

ECT Series User Manual

1.3 Digital input and output ports

ECT series can no longer be used for other input port functions because IN1 and IN2 are

assigned to orthogonal encoder interfaces and will not work for IN1、IN2 function settings.

1.3.1 Digital input port

ECT series step driver has 4 channels digital input port ,2 channels digital output port. The

object dictionary 0x2007 is the function setting of the input port and 0x2008 is the polarity

setting of the input port.

Note: IN1+ / IN1-、IN2+ / IN2- is motor encoder input terminal, do not directly connect the input

signal higher than this voltage, otherwise the driver will be damaged!

The schematic diagram of the input port is shown below, and the user can connect the system

according to the schematic diagram.

驱动器

+24V

IN1

IN2

IN3

IN4

IN5

IN6

驱动器

OUT1

OUT2

OUT3

OUT4

NR60-6IN数字IO口接线端子示意图

驱动器

+24V

IN1

IN2

IN3

IN4

驱动器

OUT1

OUT2

NR60-4IN数字IO口接线端子示意图

驱动器

IN1+

IN1-

IN2-

IN3

IN4

IN5

IN6

NT60 数字IO接线端子示意图

IN2+

+24V

驱动器

OUT1

OUT2

IN3~IN6 are single-ended input terminal

Taking IN 3 as an example, the IN 3~IN 6 interface circuit is the same.

When the upper device is relay output:

ECT Series User Manual

伺服驱动器

数字输入接口电路

外部+24VDC

外部GND

继电器

伺服驱动器

数字输入接口电路

外部+24VDC

外部GND

伺服驱动器

数字输入接口电路

外部+24VDC

外部GND

NPN

COM+

IN1

COM+

IN1

COM+

IN1

PNPPNP

When the upper device is open collector output:

伺服驱动器

数字输入接口电路

外部+24VDC

外部GND

继电器

伺服驱动器

数字输入接口电路

外部+24VDC

外部GND

伺服驱动器

数字输入接口电路

外部+24VDC

外部GND

NPN

COM+

IN3

COM+

IN3

COM+

IN1

PNPPNP

Note: PNP input is not supported

1.3.2 Digital output port

ECT series contains two optically isolated output signals.

OUT1 output current capacity up to 30 mA.

OUT2 output current capacity up to 150 mA.

By default, the digital output is all open points, the function of output port can be selected

through object dictionary 2005, and object dictionary 2006 is used to set the polarity of output

port.

Object

Dictionary

Name

Property

Type

Scope

Default

Unit

Remarks

0x2005：01

Output Port

1 function

R/W/S

UINT

0~3

---

Output port function

selection:

0—— Custom output

1—— Alarm output

2—— Brake output

3—— In-place output

0x2005：02

Output port

2 function

R/W/S

UINT

0~3

---

ECT Series User Manual

0x2006

Output port

polarity

setting

R/W/S

UINT

0~3

---

Set the normally open

and normally closed

characteristics of the

output port

0 - normally closed

1 - normally open

驱动器

+24V

IN1

IN2

IN3

IN4

IN5

IN6

驱动器

OUT1

OUT2

OUT3

OUT4

NR60-6IN数字IO口接线端子示意图

驱动器

+24V

IN1

IN2

IN3

IN4

驱动器

OUT1

OUT2

NR60-4IN数字IO口接线端子示意图

驱动器

IN1+

IN1-

IN2-

IN3

IN4

IN5

IN6

NT60 数字IO接线端子示意图

IN2+

+24V

驱动器

OUT1

OUT2

Taking OUT1 as an example, the OUT1~OUT2 interface circuit is the same.

When the upper device is relay input:

Correct wiring diagram:

DC12-24V

继电器

伺服驱动器

外部地

输出电路外接继电器

DC12-24V 伺服驱动器

外部地

DC12-24V 伺服驱动器

外部地

OUT1

DC12-24V

光耦

伺服驱动器

外部地

输出电路外接光耦

OUT1

继电器

未接入继电器续流二极管极性错误

DC12-24V

光耦

伺服驱动器

外部地

OUT1

未接入限流电阻

Wrong wiring diagram:

DC12-24V

继电器

伺服驱动器

外部地

输出电路外接继电器

DC12-24V 伺服驱动器

外部地

DC12-24V 伺服驱动器

外部地

OUT1

DC12-24V

光耦

伺服驱动器

外部地

输出电路外接光耦

OUT1

继电器

未接入继电器续流二极管极性错误

DC12-24V

光耦

伺服驱动器

外部地

OUT1

未接入限流电阻

ECT Series User Manual

When the upper device is optocoupler input:

DC12-24V

继电器

伺服驱动器

外部地

输出电路外接继电器

DC12-24V 伺服驱动器

外部地

DC12-24V 伺服驱动器

外部地

OUT1

DC12-24V

光耦

伺服驱动器

外部地

输出电路外接光耦

OUT1

继电器

未接入继电器续流二极管极性错误

DC12-24V

光耦

伺服驱动器

外部地

OUT1

未接入限流电阻

1.4 Connection EtherCAT

Please use CAT5E (or higher level) network cable.

The Ethernet input interface IN is connected to the Ethernet output interface OUT of the

previous driver on the controller or the bus. The Ethernet output interface OUT is connected to

the Ethernet input interface IN of the next driver on the bus. If the driver is the last node on the

bus, you only need to connect the Ethernet input interface IN.

1.4.1 EtherCAT status indicator

The yellow light of RJ45 is used for Link status, indicating whether there is a network cable

connection.

The green light of RJ45 is used for Activity state, indicating whether there is data

communication.

RUN/ERRLED indicator:

LED

Color

Status

Description

RUN

Green

Not bright

initialization status

Slow Flash

pre-operational status

Single flash

safe-operational status

ECT Series User Manual

Always bright

operational status

ERR

Red

Not bright

No error

Slow Flash

General error

Single flash

Synchronization error

Double flash

Watchdog error

Fast flash: bright for 50ms, dark for 50ms (10Hz). So cycle.

Slow flash: bright for 200ms, dark for 200ms (2.5Hz). So cycle.

Single flash: 200ms bright, 1s dark. So cycle.

Double flash: bright for 200ms, dark for 200ms, bright for 200ms, dark for 1s. So cycle.

1.5 EtherCAT site address

The ECT series supports two methods to set the slave address: object dictionary 0x2150 to set

the site alias and ESC to set the site alias, and select through the object dictionary 0x2151.

The default 0x2151 is 0, and the node address is allocated by the master station and saved in

the EEPROM.

When users need to set their own fixed address, they need to set 0x2151 to 1, and then write

the required address value in 0x2150.

0x2151

0x2150

Site address

1001

Master station configures site aliases to ESC EEPROM 0x0004 word

addresses

Set value

Object dictionary 2150 sets the value to the node address value

1.6 Alarm code

LED status

Driver status

Green light on constantly

Driver not enabled

Green light flashing

The driver works fine

1 Green, 1 Red

Driver overcurrent

1 Green, 2 Red

Driver input power overvoltage

1 Green, 3 Red

Driver internal voltage error

1 Green, 4 Red

Encoder out of tolerance alarm

1 Green, 6 Red

Parameter check error

ECT Series User Manual

1.7 Mechanical dimensions

ECT42、ECT60 Installation size

ECT86 Installation size

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