SHS EtherCAT HT7 Bedienungsanleitung
HT7
Stepper Motor Drive
EtherCAT User Manual
Manual r06
Company Quality Assurance conforming
S.H.S. s.r.l. Via Fratelli Rosselli 29 - 20027 Rescaldina MI) Italy - Phone +39 0331 466918 - www.shsitalia.it
Index
Introduction 1
Warnings 1
General Info 1
Configuration File 1
Device Control 2
Drive State 3
Device Control Commands 3
Errors 4
Device Errors 4
Communication Errors 4
System Units 5
Operating Modes 5
Overview 5
Profile position mode pp) 6
Overview 6
Controlword Profile Position mode-specific bits 7
Statusword Profile Position mode-specific bits 7
Profile velocity mode pv) 8
Overview 8
Controlword Profile Velocity mode-specific bits 9
Statusword Profile Velocity mode-specific bits 9
Homing mode hm) 10
Overview 10
Controlword Homing mode mode-specific bits 10
Statusword Homing mode mode-specific bits 10
Homing Method 1 Negative Limit Switch with Encoder Index) 11
Homing Method 17 Negative Limit Switch) 11
Homing Method 37 Homing on current position) 11
Encoder Feedback 12
Encoder Mode 0 12
Encoder Mode 1 12
Encoder Mode 2 12
Inputs and Outputs 13
HT7 Ethercat User Guide i
Digital inputs 13
Digital outputs 14
Analog input 14
Analog output 14
EtherCAT communication 15
EtherCAT State Machine 15
Object Dictionary 17
Overview 17
Object Dictionary Overview 17
Object Data Types 18
Object Access Types 19
Objects 19
Device type 0x1000 19
Error Register 0x1001 19
Manufacturer Device Name 0x1008 20
Hardware Version Object 0x1009 20
Software Version Object 0x100A 21
Identity Object 0x1018 21
Error Settings Object 0x10F1 22
Receive PDO 1 Mapping Object 0x1600 23
Receive PDO 256 Mapping Object 0x1700 23
Transmit PDO 1 Mapping Object 0x1A00 24
Transmit PDO 2 Mapping Object 0x1B00 24
Sync Manager Communication Type Object 0x1C00 25
Sync Manager Channel 2 RxPDO) Object 0x1C12 26
Sync Manager Channel 3 TxPDO) Object 0x1C13 27
Phase Current Object 0x2010 28
Phase Current Reduction Object 0x2011 28
Phase Current Reduction Time Object 0x2012 29
Low Noise Mode Object 0x2013 29
Min Frequency Object 0x2018 29
Drive Temperature Object 0x2020 30
Encoder Counts Object 0x2030 30
Encoder Configuration Object 0x2032 31
Encoder Fault Steps Object 0x2034 31
HT7 Ethercat User Guide ii
Digital Inputs Configuration Object 0x2070 32
Digital Inputs Functionalities Object 0x2071 33
Digital Outputs Configuration Object 0x2078 34
Digital Outputs Functionalities Object 0x2079 35
Error Code Object 0x603F 36
Controlword Object 0x6040 36
Statusword Object 0x6041 37
Quick Stop Option Code Object 0x605A 38
Shutdown Option Code Object 0x605B 39
Disable Operation Option Code Object 0x605C 39
Modes of Operation Object 0x6060 40
Modes of Operation Display Object 0x6061 40
Position Demand Value Object 0x6062 41
Position Actual Internal Value Object 0x6063 41
Position Actual Value Object 0x6064 41
Velocity Demand Value Object 0x606B 42
Velocity Actual Value Object 0x606C 42
Velocity Window Object 0x606D 42
Velocity Window Time Object 0x606E 43
DC Link Circuit Voltage Object 0x6079 43
Target Position Object 0x607A 43
Home Offset Object 0x607C 44
Software Position Limit Object 0x607D 44
Polarity Object 0x607E 45
Max Profile Velocity Object 0x607F 46
Profile Velocity Object 0x6081 46
Profile Acceleration Object 0x6083 46
Gear Ratio Object 0x6091 47
Feed Constant Object 0x6092 48
Homing Method Object 0x6098 49
Homing Speeds Object 0x6099 49
Homing Acceleration Object 0x609A 50
Touch Probe Function Object 0x60B8 50
Touch Probe Status Object 0x60B9 51
Touch Probe Position 1 Positive Value Object 0x60BA 51
HT7 Ethercat User Guide iii
Touch Probe Position 1 Negative Value Object 0x60BB 52
Touch Probe 1 Positive Edge Counter Object 0x60D5 52
Touch Probe 1 Negative Edge Counter Object 0x60D6 52
Supported Homing Methods Object 0x60E3 53
Motor Resolution Object 0x60EF 54
Position Demand Internal Value Object 0x60FC 55
Target Velocity Object 0x60FF 55
Supported Drive Modes Object 0x6502 55
HT7 Ethercat User Guide iv
1 Introduction
1.1 Warnings
This document is meant for qualified technical personnel. You must read carefully and understand
the manual, then follow the instruction given here before starting any activities.
1.2 General Info
This document provides the necessary information to use the HT7 stepper motor drive by mean of
EtherCAT communication. It contains descriptions of the architecture, device states, operation
modes, error handling and object dictionary. Wiring schemes and electrical characteristics can be
found on the HT7_HW_MANUAL, available on our website: www.shsitalia.it
1.3 Configuration File
Refere to ESI configuration file “HT7_ECAT_3_05_DC.xml”.
HT7 Ethercat User Guide 1
2 Device Control
The state machine describes the drive states and the possible transition among them. Each state
determines a drive behavior and the accepted control commands. The drive state can be read by
means of the Statusword, while the transitions can be automatic or acted by the Controlword.
Not ready to Switch On state is performed automatically by the driver during startup.
Bold states are stable states and shall be checked by the control device.
Transitions 3 and 4 can only be requested by the control device.
Switch On Disabled can be passed through automatically, the control device has to perform
transition 2 only if needed.
HT7 Ethercat User Guide 2
2.1 Drive State
The current state of the driver can be read by the following bits of the Statusword.
State Statusword (binary) Description
Start xxxx xx0x x000 0000 Bootup
Not ready to Switch On xxxx xx1x x000 0000 Drive is disabled
Switch On Disabled xxxx xx1x x100 0000
Drive initialization completed
Drive disabled
Parameter can be changed
Ready to Switch On xxxx xx1x x010 0001 Drive disabled
Parameter can be changed
Switched On xxxx xx1x x010 0011 Drive disabled
Operation Enabled xxxx xx1x x011 0111
Drive enabled
Motor is powered
No faults
Quickstop Active xxxx xx1x x001 0111
Quickstop is being executed
Drive enabled
Motor is powered
Fault reaction active
when disabled) xxxx xx1x x000 1111 A fault occurred
Drive disabled
Fault reaction active
when enabled) xxxx xx1x x001 1111
A fault occurred
Drive enabled
The fault reaction is being executed
Fault xxxx xx1x x000 1000
A fault occurred
Drive disabled
Parameter can be changed
Table 2-1 Device State Bits on Statusword
2.2 Device Control Commands
A state transition can be caused by an internal event or by a command sent via the Controlword. To
trigger these events, the Controlword bits shall be set as per the following Table 2-2.
Command Controlword (binary) State transitions
Shutdown xxxx xxxx 0xxx x110 2, 6, 8
Switch On xxxx xxxx 0xxx x111 3
Enable operation xxxx xxxx 0xxx 1111 4, 16
Disable voltage xxxx xxxx 0xxx xx0x 7, 9, 10, 12
Quickstop xxxx xxxx 0xxx x01x 7, 10, 11
Disable operation xxxx xxxx 0xxx 0111 5
Fault reset xxxx xxxx 1xxx xxxx 15
Table 2-2 Device Control Commands
HT7 Ethercat User Guide 3
3 rrors
3.1 Device rrors
When the drive detects an error, it generates an error code. The reaction to an error depends on error
type and option code. After execution of the fault reaction, the device changes to fault state and the
drive will be disabled.
The Error Register 0x1001 describes the error happened on the device, a more detailed description
of the error can be read on Error Code Object 0x603F.
3.2 Communication rrors
An abort object will be sent over the network instead of a response to an SDO request if the request
was not successful. Table 3-1 describes the possible abort codes and their causes.
Abort Code Name
0x 0503 0000 Toggle bit has not changed
0x 0504 0000 SDO protocol timeout
0x 0504 0001 Invalid command received
0x 0504 0005 Out of memory
0x 0601 0000 Access to the object not supported
0x 0601 0001 Attempt to read to a write only object
0x 0601 0002 Attempt to write to a read only object
0x 0602 0000 Object not listed in the object directory
0x 0604 0041 Object cannot be mapped to PDO
0x 0604 0042 Number or length of the objects to be mapped exceeds the
PDO length
0x 0604 0043 General parameter incompatibility
0x 0604 0047 General internal parameter incompatibility
0x 0606 0000 Access denied due to a hardware error
0x 0607 0010 Wrong data type or length of the service parameter does not match
0x 0607 0012 Wrong data type or length of the service parameter is too large
0x 0607 0013 Wrong data type or length of the service parameter is too small
0x 0609 0011 Subindex does not exist
0x 0609 0030 Invalid value of the parameter write access only)
0x 0609 0031 Value of the parameter is too large
0x 0609 0032 Value of the parameter is too small
0x 0609 0036 Maximum value is less than minimum value
0x 0800 0000 General error
0x 0800 0020 Data cannot be transferred or saved in the application
0x 0800 0021 Data cannot be transferred or saved in the application due to local
control
HT7 Ethercat User Guide 4
Abort Code Name
0x 0800 0022 Data cannot be transferred or saved in the application due to device
state
0x 0800 0023 Dynamic generating of the object directory failed or no object
directory available
Table 3-1 Abort Codes Descri tion
4 System Units
The drive uses fixed internal drive units to manage the movements, nevertheless user can act on
some parameters in order to have convenient physical units, as explained on this section.
Internal units are described on Table 4-1 below.
Internal Units Definition
Position Steps
Speed Steps/s
Acceleration ms/10,000steps
Table 4-1 Internal Units Definition
Physical units are described on Table 4-2 below.
Internal Units Definition
Position 1 turn
Speed rpm
Acceleration rpm/s
Table 4-2 Physical Units Definition
User can act on the Gear Ratio Object 0x6091 and Feed Constant Object 0x6092 to obtain the
motion values on suitable units for its mechanical system.
5 Operating Modes
5.1 Overview
The drive behavior depends on the activated mode of operation. The mode can be chosen writing
the Modes of O eration object, while the drive provides the Modes of o eration dis lay to identify
the active operation mode.
PDOs, Statusword, Controlword and set-points are mode-specific, so the control device shall
manage the various operation modes correctly.
HT7 drive supports the modes of operation on Table 5-1 and will be explained later:
Mode of operation Abbre iation Code
Profile position mode pp 1
HT7 Ethercat User Guide 5
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1
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