SHS EtherCAT HT7, User Manual

Page 1: ...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 ...

Page 2: ...ecific 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...

Page 3: ...eceive 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...

Page 4: ...n 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 Vel...

Page 5: ...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 ...

Page 6: ...rovides 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_ECA...

Page 7: ...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 n...

Page 8: ...x 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 ...

Page 9: ... 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 da...

Page 10: ... 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 ...

Page 11: ...cts shown in Figure 5 1 below Figure 5 1 Trajectory generator for pp mode Set points handshake is controlled by the Controlword bits new set point as well as the bit set point acknowledgement in the Statusword After a set point is applied to the drive the control device signals that the set point is valid by a rising edge of the new set point bit The drive device sets the set point acknowledgement...

Page 12: ...point start move 6 0 Target position is an absolute value 1 Target position is a relative value 8 0 Positioning shall be executed or continued 1 Motor shall be stopped accordingly to halt option code object 0x605D Table 5 2 Controlword bits 4 6 8 in pp mode 5 2 3 Statusword Profile Position mode specific bits The profile position mode uses some bits of the Statusword for mode specific purposes Tab...

Page 13: ...3 in pp mode 5 3 Profile velocity mode pv 5 3 1 Overview When the drive is in pv mode the position control loop is closed on the drive side The control device can manage the positioning by acting on the objects shown in Figure 5 5 below Figure 5 5 Profile velocity mode The profile velocity mode doesn t have handshake mechanism contrary to the profile position mode every time a parameter is changed...

Page 14: ...alt option code object 0x605D Table 5 5 Controlword bit 8 in pv mode 5 3 3 Statusword Profile Velocity mode specific bits The profile position mode uses some bits of the Statusword for mode specific purposes Table 5 6 explain the meaning of these bits Bit Value Definition 10 0 Target velocity not reached 1 Target velocity reached 12 0 Speed is not equal to 0 1 Speed is equal to 0 13 0 Not used 1 N...

Page 15: ...ing mode mode specific bits To start the homing position the Homing operation start bit 4 in the Controlword must be set The motor can be halted during the homing procedure setting the Halt bit in Controlword 5 4 3 Statusword Homing mode mode specific bits The bits of the Statusword listed in Table 5 7 describes the operative status of the drive when in homing mode Bit 13 Bit 12 Bit 10 Definition ...

Page 16: ... 5 4 5 Homing Method 17 Negative Limit Switch After the Homing operation start bit has been set the drive starts the motor in CCW direction toward the negative position until the negative limit switch is reached then it moves in positive direction to disengage the switch After the switch has been disengaged the Position Actual Value will be set to Home Offset value 5 4 6 Homing Method 37 Homing on...

Page 17: ...Encoder Fault Steps Object 0x2034 When this condition is violated the drive rise an error in the statusword based on the active operating mode see Table 6 1 The motor keeps running until the target position is reached User must take into account that if the stepper motor is in a stall condition it should be stopped and restarted in order to exit this condition Active Mode Statusword flag Encoder E...

Page 18: ...inputs by mean of the Digital Inputs Configuration Object 0x2070 By modifying the Digital Inputs Functionalities Object 0x2071 the polarity can be set up for all the functions while only the general purpose inputs can be masked Figure 7 1 shows this behavior Figure 7 1 Digital Inputs usage HT7 Ethercat User Guide 13 ...

Page 19: ...iguration Object 0x2078 The value and the mask can be set modifying the Digital Outputs Functionalities Object 0x2079 7 3 Analog input Analog inputs can t be read or assigned to a function by the control device 7 4 Analog output Analog outputs can t be write or assigned to a function by the control device HT7 Ethercat User Guide 14 ...

Page 20: ...ailable Master setup cyclic communication via PDOs SAFEOP Safe Operational state Mailbox communication on the application layer process input data communication available In SafeOp only inputs are evaluated outputs are kept in safe state OP Operational state Process data inputs and outputs are valid BOOT Bootstrap state No process data communication Communication only via mailbox on Application La...

Page 21: ...s SafeOp state and waits for confirmation S O Master sends valid Outputs and requests Op state Error Init Error PreOp Error SafeOp Incorrect ESC register configuration DC FMMU SyncManager etc The AL Status Code register register 0x134 indicates error reasons Table 8 2 EtherCAT State Machine Transitions HT7 Ethercat User Guide 16 ...

Page 22: ...RECORD RW RO 0x1CC3 Sync Manager 3 Parameter RECORD RW RO 0x2010 Phase Current UINT16 RW 0x2011 Phase Current Reduction UINT8 RW 0x2012 Phase Current Reduction Time UINT8 RW 0x2013 Low Noise Mode UINT8 RW 0x2018 Min frequency UINT16 RW 0x2020 Drive Temperature UINT16 RO 0x2030 Encoder Count INT32 RO 0x2032 Encoder Configuration RECORD RW 0x2034 Encoder Fault Steps UINT16 RW 0x2070 Digital Inputs C...

Page 23: ...RW 0x6098 Homing method INT8 RW 0x6099 Homing speeds RECORD RW 0x609A Homing acceleration UINT32 RW 0x60B8 Touch Probe Function UINT16 RW 0x60B9 Touch Probe Status UINT16 RO 0x60BA Touch Probe Position 1 positive value INT32 RO 0x60BB Touch Probe Position 1 negative value INT32 RO 0x60D0 Touch Probe Source RECORD RW 0x60D5 Touch Probe 1 positive edege counter UINT16 RO 0x60D6 Touch Probe 1 negativ...

Page 24: ...nly write preoperational Table 9 3 Object Access Types 9 2 Objects 9 2 1 Device type 0x1000 This constant describes the device type The lower word is the supported device profile number The value 0x0192 402 means that the device follows the CiA402 Device Profile Drives and Motion Control The higher word holds information about the drive type The value 0x0004 means that the drive is a stepper drive...

Page 25: ...eneric Error Table 9 6 Error Register Bits 9 2 3 Manufacturer Device Name 0x1008 Product name HT7x0_ECAT Attribute Value Name Manufacturer Device Name Index 0x1008 Subindex 0x00 Type VISIBLE_STRING Access RO Default Value HT7x0_ECAT Value range Table 9 7 Object 0x1008 Manufacturer Device Name 9 2 4 Hardware Version Object 0x1009 This object contains Hardware version s number Attribute Value Name H...

Page 26: ...This object contains SHS vendor identification number assigned by ETG the product code HW version and SW version Attribute Value Name Identity Object Index 0x1018 Entries 4 Type RECORD Table 9 10 Object 0x1018 Identity Object Attribute Value Name Vendor ID Index 0x1018 Subindex 0x01 Type UNSIGNED32 Access RO Default Value 0x000n09AD Value range Table 9 11 Object 0x1018 sub1 Vendor ID High word con...

Page 27: ...e 9 13 Object 0x1018 sub3 Revision Number Contains the last 8 digits of the device serial number in hex format Attribute Value Name Serial Number Index 0x1018 Subindex 0x04 Type UNSIGNED32 Access RO Default Value Value range Table 9 14 Object 0x1018 sub4 Serial Number 9 2 7 Error Settings Object 0x10F1 See Ethercat specs Attribute Value Name Error Settings Object Index 0x10F1 Entries 2 Type RECORD...

Page 28: ...pped objects whereas subindex 0x01 0x0n represents the mapped objects Attribute Value Name Receive PDO 1 Mapping Index 0x1600 Subindex 0x00 Type UNSIGNED8 Access RW Default Value 1 Value range Sub index Access Default value Mapped Object 0x01 RW 0x60400010 Controlword Table 9 17 Receive PDO 1 Mapping 9 2 9 Receive PDO 256 Mapping Object 0x1700 PDO mapping is static and cannot be changed Thereby su...

Page 29: ...ng 9 2 10 Transmit PDO 1 Mapping Object 0x1A00 PDO mapping can be changed Thereby subindex 0 represents the number of mapped objects whereas subindex 0x01 0x0n represents the mapped objects Attribute Value Name Transmit PDO 1 Mapping Index 0x1A00 Subindex 0x00 Type UNSIGNED8 Access RW Default Value 1 Value range Sub index Access Default value Mapped Object 0x01 RO 0x60410010 Statusword Table 9 21 ...

Page 30: ...O 0x603F0010 Error Code Table 9 22 Transmit PDO 256 Mapping 9 2 12 Sync Manager Communication Type Object 0x1C00 From this object it is possible to read out the transfer mode of the EtherCAT Sync Manager s channels Attribute Value Name Sync Manager Communication Type Index 0x1C00 Entries 4 Type RECORD Table 9 25 Sync Manager Communication Type Attribute Value Name Number of used Sync Manager Chann...

Page 31: ...mmunication Type Sync Channel 2 Attribute Value Name Communication Type Sync Channel 3 Index 0x1C00 Subindex 0x04 Type UNSIGNED8 Access RO Default Value 4 Process Data Input Master Slave Table 9 30 Communication Type Sync Channel 3 9 2 13 Sync Manager Channel 2 RxPDO Object 0x1C12 This object is used to configure a PDO for Sync channel 2 Master to Slave Only one PDO can be assigned Sub index 0 val...

Page 32: ... to configure a PDO for Sync channel 3 Slave to Master Only one PDO can be assigned Sub index 0 value represents the number of PDOs assigned to the Sync channel while sub index 1 indicates the PDO object Prior to assign the PDO Number of assigned PDOs must be set to 0 Attribute Value Name Sync Manager Channel 3 PDO Index 0x1C13 Entries 2 Type RECORD Table 9 34 Sync Manager Channel 3 Attribute Valu...

Page 33: ...IGNED16 Access RW Default Value 0x03E8 1000 Value range 0 Device dependent Units mA Table 9 37 Phase Current 9 2 16 Phase Current Reduction Object 0x2011 The object set up the desired current reduction when the motor is still refer to Table 9 39 for value selection Attribute Value Name Phase Current Reduction Index 0x2011 Subindex 0x00 Type UNSIGNED8 Access RW Default Value 0x02 Value range 0x00 0...

Page 34: ... 0x0A Value range 0x00 0xFF 255 Units ms Table 9 40 Phase Current Reduction Time 9 2 18 Low Noise Mode Object 0x2013 The object establishes if the low noise function of the drive is active or not Attribute Value Name Low Noise Mode Index 0x2013 Subindex 0x00 Type UNSIGNED8 Access RW Default Value 0x0A Possible values 0x00 Disabled 0x02 Enabled Table 9 41 Low Noise Mode 9 2 19 Min Frequency Object ...

Page 35: ...te Value Name Drive Temperature Index 0x2020 Subindex 0x00 Type INTEGER16 Access RW Default Value 0 Value range Units C Table 9 43 Drive Temperature 9 2 21 Encoder Counts Object 0x2030 The object shows the number of the encoder counts in 4xCPR Attribute Value Name Encoder Counts Index 0x2030 Subindex 0x00 Type INTEGER32 Access RO Default Value 0 Value range Units 4xCPR Table 9 44 Encoder Counts HT...

Page 36: ... 0 Open loop Encoder counts can be read 1 Positioning made with encoder feedback no stop error generate 2 Encoder feedback used to check positioning error stop error generate Table 9 47 Encoder modes Attribute Value Name Encoder Resolution Index 0x2032 Subindex 0x02 Type UNSIGNED16 Access RW Default Value 1024 Value range 16 65535 Units CPR Table 9 48 Encoder Resolution Sub Index 9 2 23 Encoder Fa...

Page 37: ...070 Subindex 0x00 Type RECORD Access RW Default Value 0x03 Table 9 50 Digital Inputs Configuration Attribute Value Name Function of Digital Input n Index 0x2070 Subindex 0x0n Type UNSIGNED16 Access RW Default Value 0x0001 IN1 0x0002 IN2 0x0800 IN3 Value range 0x0000 0xFFFF Table 9 51 Function of Digital Input n Bit Value Functionality Description 0 0x0001 Negative limit switch Used in some homing ...

Page 38: ...Inputs Functionalities Object 0x2071 With the object sub index Digital Inputs Functionalities State the state of each function can be read Digital Inputs Functionalities Mask can mask the general purpose inputs while Digital Inputs Functionalities Polarity sets the polarity for each function Attribute Value Name Digital Inputs Functionalities Index 0x2071 Subindex 0x00 Type RECORD Access RO RW Def...

Page 39: ...nality for each configurable output The configurable outputs are OUT1 OUT2 and OUT3 Attribute Value Name Digital Outputs Configuration Index 0x2078 Subindex 0x00 Type RECORD Access RW Default Value 0x02 Table 9 57 Digital Outputs Configuration Attribute Value Name Function of Digital Output 1 Index 0x2078 Subindex 0x01 Type UNSIGNED16 Access RW Default Value 0x0002 Value range 0x0000 0xFFFF Table ...

Page 40: ... Outputs Functions 9 2 27 Digital Outputs Functionalities Object 0x2079 With the object sub index Digital Outputs Functionalities State the state of general purpose outputs can be set Digital Outputs Functionalities Mask can mask the general purpose outputs Attribute Value Name Digital Outputs Functionalities Index 0x2079 Subindex 0x00 Type RECORD Access RW Default Value 0x03 Table 9 62 Digital Ou...

Page 41: ...2 28 Error Code Object 0x603F The value represents the error condition of the drive as described in Table 9 66 Attribute Value Name Error Code Index 0x603F Subindex 0x00 Type UNSIGNED16 Access RO Default Value 0 Value range Table 9 65 Error Code Error Code Meaning 0x2230 Short circuit 0x3210 DC link over voltage 0x3220 DC link under voltage 0x4210 Excess temperature device 0x5440 Contact Error Dis...

Page 42: ... 8 Operating mode specific Halt Halt Halt 7 Fault reset 6 Operating mode specific Abs Rel positioning reserved reserved 5 Operating mode specific reserved reserved reserved 4 Operating mode specific New setpoint reserved Homing start 3 Enable operation 2 Quickstop 1 Enable voltage 0 Switch on Table 9 68 Controlword bits 9 2 30 Statusword Object 0x6041 Statuswords consists of bits related to Device...

Page 43: ...t reached Target reached Target reached 9 Remote 8 Reserved 7 Warning 6 Switch on disabled 5 Quickstop 4 Voltage enabled 3 Fault 2 Operation enabled 1 Switched on 0 Ready to switch on Table 9 70 Statusword bits 9 2 31 Quick Stop Option Code Object 0x605A The value describes the behavior of the drive when the quick stop function is executed Table 9 72 lists the available functions Attribute Value N...

Page 44: ...t Value 0x0000 Value range Table 9 73 Shutdown Option Code Value Description 0 Disable drive function switch off the drive power stage 1 NA Table 9 74 Shutdown Option Code functions 9 2 33 Disable Operation Option Code Object 0x605C The value describes the behavior of the drive when a transition from Operation Enabled state to Switched On state is performed Table 9 76 lists the available functions...

Page 45: ...Index 0x6060 Subindex 0x00 Type INTEGER8 Access RW Default Value 1 Value range See Table 9 78 Table 9 77 Modes of Operation Operation Mode Description 1 Profile position mode pp 3 Profile velocity mode pv 6 Homing mode hm Table 9 78 Modes of Operation 9 2 35 Modes of Operation Display Object 0x6061 The value represents the actual modes of operation the legend is in Table 9 Attribute Value Name Mod...

Page 46: ...The value represents the actual position in internal units Attribute Value Name Position Actual Internal Value Index 0x6063 Subindex 0x00 Type INTEGER32 Access RO Default Value Value range Table 9 81 Position Actual Internal Value 9 2 38 Position Actual Value Object 0x6064 The object provides the actual position value in user defined position unit Attribute Value Name Position Actual Value Index 0...

Page 47: ...0x606C The value represents the actual velocity in user defined units Attribute Value Name Velocity Actual Value Index 0x606C Subindex 0x00 Type INTEGER32 Access RO Default Value Value range Table 9 82 Velocity Actual Value 9 2 41 Velocity Window Object 0x606D The value represents speed validation range pv mode Attribute Value Name Velocity Window Index 0x606D Subindex 0x00 Type UNSIGNED16 Access ...

Page 48: ...079 Subindex 0x00 Type UNSIGNED16 Access RO Default Value Unit V Table 9 85 DC Link Circuit Voltage 9 2 44 Target Position Object 0x607A The value represents the position setpoint when the drive is in Profile position mode pp The movement will be executed according to the Profile Velocity Object 0x6081 and Profile Acceleration Object 0x6083 The setpoint can be absolute or relative by setting the a...

Page 49: ... is set to Homing Method 17 Negative Limit Switch the drive will move away from the sensor of the offset quantity Attribute Value Name Home Offset Index 0x607C Subindex 0x00 Type INTEGER32 Access RW Default Value 0 Value range Table 9 87 Home Offset 9 2 46 Software Position Limit Object 0x607D The object contains the maximum and minimum values for the Target Position Object 0x607A If the values ar...

Page 50: ...e polarity bits meaning is shown in Table 9 93 When the operation mode is set to Profile position mode pp only the Velocity Polarity bit shall be used while the Position Polarity bit shall be used when the drive is on Profile velocity mode pv It is recommended that Velocity and Position Polarity bits have the same value Attribute Value Name Polarity Index 0x607E Subindex 0x00 Type UNSIGNED8 Access...

Page 51: ...ubindex 0x00 Type UNSIGNED32 Access RW Default Value 0x4E20 20 000 Value range 1 Table 9 94 Max Profile Velocity 9 2 49 Profile Velocity Object 0x6081 The value sets the target speed of the drive when Profile position mode pp is active Attribute Value Name Profile Velocity Index 0x6081 Subindex 0x00 Type UNSIGNED32 Access RW Default Value 0x0200 512 Value range 1 Table 9 95 Profile Velocity 9 2 50...

Page 52: ...t revolution and number of driving shaft revolution The gear ratio is calculated as below G ear Rat io mot or shaf t r ev ol ut ion s d r i vi ng sha f t r e v olut i ons Attribute Value Name Gear Ratio Index 0x6091 Subindex 0x00 Type RECORD Access RW Default Value 0x02 Table 9 96 Gear Ratio Attribute Value Name Motor Revolutions Index 0x6091 Subindex 0x01 Type UNSIGNED32 Access RW Default Value 0...

Page 53: ...f eed shaf t r e vol ut i ons Attribute Value Name Feed Constant Index 0x6092 Subindex 0x00 Type RECORD Access RW Default Value 0x02 Table 9 99 Feed Constant Attribute Value Name Feed Index 0x6092 Subindex 0x01 Type UNSIGNED32 Access RW Default Value 0x0001 Value range 0x0001 0xFFFF Table 9 100 Feed Attribute Value Name Shaft Revolutions Index 0x6092 Subindex 0x02 Type UNSIGNED32 Access RW Default...

Page 54: ...r will have during the homing procedure more in detail the speed during the switch search and the zero search The search for zero speed is also used for the limit switch disengagement Attribute Value Name Homing Speeds Index 0x6099 Subindex 0x00 Type ARRAY Access RW Default Value 2 Table 9 103 Homing Speeds Attribute Value Name Speed during search for switch Index 0x6099 Subindex 0x01 Type UNSIGNE...

Page 55: ... Table 9 108 Attribute Value Name Touch Probe Function Index 0x60B8 Subindex 0x00 Type UNSIGNED16 Access RW Default Value 0x0000 Value range Table 9 107 Touch Probe Function Bit Value Description 0 0 Disable touch probe 1 1 Enable touch probe 1 1 0 Trigger only first event 1 Continuous 2 3 00 Trigger with touch probe 1 input N A 01 Trigger with zero impulse signal or position encoder 10 Touch prob...

Page 56: ...000 Value range Table 9 110 Touch Probe Status Bit Value Description 0 0 Touch probe 1 disabled 1 Touch probe 1 enabled 1 0 No positive edge position stored touch probe 1 1 Positive edge position stored touch probe 1 2 0 No negative edge position stored touch probe 1 1 Negative edge position stored touch probe 1 3 5 0 Reserved 6 7 Not used 8 15 0 Not used Table 9 111 Touch Probe Status bits 9 2 58...

Page 57: ...efault Value 0x0000 Value range Table 9 113 Touch Probe Position 1 Negative Value 9 2 60 Touch Probe 1 Positive Edge Counter Object 0x60D5 If the touch probe is enabled this object provides a counter of the detected rising edges of the touch probe 1 The counter is cleared when the Touch Probe Function Object 0x60B8 disables the probe Attribute Value Name Touch Probe 1 Positive Edge Counter Index 0...

Page 58: ... 2 62 Supported Homing Methods Object 0x60E3 The object lists the supported homing method of the drive Attribute Value Name Supported Homing Methods Index 0x60E3 Subindex 0x00 Type ARRAY Access RO Default Value 3 Table 9 116 Supported Homing Methods Attribute Value Name Supported Homing Method 1 Index 0x60E3 Subindex 0x01 Type INTEGER8 Access R0 Default Value 0x01 1 Table 9 117 Supported Homing Me...

Page 59: ...0step rev motor Attribute Value Name Motor Resolution Index 0x60EF Subindex 0x00 Type UNSIGNED32 Access RW Default Value 25600 0x6400 Value range see Table 9 121 for possible values 200 25600 Table 9 120 Motor Resolution Value Step resolution 200 Full step 400 Half step 1 2 800 1 4 step 1600 1 8 step 3200 1 16 step 6400 1 32 step 12800 1 64 step 25600 1 128 step 500 1 2 5 step 1000 1 5 step 2000 1...

Page 60: ... object indicates the target velocity in user defined units Attribute Value Name Target Velocity Index 0x60FF Subindex 0x00 Type INTEGER32 Access RW Default Value 0 Value range Table 123 Target Velocity 9 2 66 Supported Drive Modes Object 0x6502 The object provides the supported operating modes of the device see Table 9 125 Attribute Value Name Supported Drive Modes Index 0x6502 Subindex 0x00 Type...

Page 61: ...nous Velocity mode csv N A 7 0 Cyclic synchronous position mode csp N A 6 0 Interpolated position mode ip N A 5 1 Homing mode hm 4 0 Reserved 3 0 Torque mode N A 2 1 Profile velocity mode pv 1 0 Velocity mode N A 0 1 Profile position mode pp Table 9 125 Supported drive modes HT7 Ethercat User Guide 56 ...

Page 62: ...S H S s r l Via F lli Rosselli 29 20027 Rescaldina MI ITALY Tel 39 0331 466918 Fax 39 0331 466147 www shsitalia it User Guide STEPPING MOTOR DRIVE Series HT7 Models ETHERNET IP HT7_ETHERNET IP_rev6_eng ...

Page 63: ... attention especially during installation and application development Only use equipment properly sized for the application The SHS devices are considered components for automation and are sold as finished products to be installed only by qualified personnel and in accordance with all local safety regulations The technicians must be able to recognize possible dangers that may result from programmi...

Page 64: ...www shsitalia it info shsbox shsitalia it Index ETHERNET IP 4 1 1 Data Communication 4 1 2 Control Bits 6 1 3 ZSW bits positioning 7 1 4 Parameters 10 3 ...

Page 65: ...A OUTPUT PKE PWE ZSW SLOT1 OUT SLOT2 OUT SLOT3 OUT SLOT4 OUT U16 S32 U16 S32 S32 S32 S32 PKE Bit 15 H 12 Bit11 Bit 10 0 L AK Not used PNU AK VALUE MEANING 0 No task 1 Request parameter value 2 Change parameter value Bits 0 to 10 contain the number of the desired parameter PNU Refer to the parameter listing Chapter 3 4 Bits 12 to 15 contain the task or reply identifier AK PKW Parameter identifier v...

Page 66: ...PKW Parameter identifier value PZD Process data PKE Parameter idetifier PWE Parameter value STW Status word U16 Word unsigned MSB first H L S32 Double Word Signed MSB first HH HL LH LL AK Task or reply identifier PNU Parameter number Parameter Identifier PKE Bits 0 to 10 contain the number of the desired parameter PNU Refer to the parameter listing Chapter 3 4 Bits 12 to 15 contain the task or rep...

Page 67: ...ored when relative absolute positioning or JOG CCW function is active 9 1 ON 0 OFF ON START Jog ccw infinite motion OFF Stop This bit is ignored when relative absolute positioning or JOG CW function is active 10 11 1 ON 0 OFF ON Set OUT3 OFF Reset OUT3 Set reset OUT3 To use this function bit 12 must be set to 1 12 1 ON 0 OFF ON Enable outputs force OFF Disable outputs set Standard function on outp...

Page 68: ...5 1 ON 0 OFF ON IN2 active OFF IN2 not active 6 1 ON 0 OFF ON IN3 active OFF IN3 not active 7 8 9 10 1 ON 0 OFF ON Max frequency reached OFF Max frequency not reached 11 1 ON 0 OFF ON Positioning completely executed OFF Positioning not completely executed 12 1 ON 0 OFF ON Axis zeroing executed OFF Axis zeroing not executed 13 1 ON 0 OFF ON EXTRA SWITCH reached OFF EXTRA SWITCH notreached 14 1 ON 0...

Page 69: ...ait TB time minimum 50ms to start new JOG If TB is not respected motor may be not start HOMING Connect switch or proximity sensor NO or NC to IN1 Enable driver ZSW BIT 3 Set maximum frequency PNU 1 in homing function it represents home search speed Set minimum frequency PNU 0 in homing function it represents sensor disengage speed Start homing PNU 18 with a parameter 0x01 HEX for NC sensor or 0x11...

Page 70: ...w position Wait at least 10ms before change Control Word To switch OFF remap set 255 to REMAP SLOT REMAP INPUT VARIABLE EXAMPLE Remap Actual Position Set REMAP SLOT1 IN PNU 43 to 10 Actual Position Read in SLOT1 IN the drive position To switch OFF remap set 255 to REMAP SLOT 9 www shsitalia it info shsbox shsitalia it ...

Page 71: ...e 1 1 128 step mode 1040 1 2 5 step mode 1020 1 5 step mode 1010 1 10 step mode 1005 1 20 step mode 1002 1 50 step mode 1001 1 100 step mode NO 4 Mode setting of electric current reduction Set or current reduction when motor is stopped If the sent 0 current 0 max reduction 1 no reduction 2 reduction to 25 3 reduction to 50 RD WR 5 Time setting of electric current reduction Time after which current...

Page 72: ... the Input or the inputs and the respective Levels which must be enabled for carrying out the STOP by an external command USE ONLY ONE TRIGGER STOP AT TIME PNU 14 OR PNU 15 Use only less significant byte The 4 less significant bits indicate the input or the inputs which must be enabled for STOP 1 enabled input The next 4 bits indicate the level of these inputs 1 input active at high level RD WR 15...

Page 73: ...nificant bits indicate the input or the inputs which must be enabled for AXIS ZEROING 1 enabled input The next 4 bits indicate the level of these inputs 1 input active at high level NO 19 Limit switch It defines the input and the relative level where the limit switch will be connected When the switch will be intercepted it will cause the immediate motor stop and it allow only the opposite wise mot...

Page 74: ...TER NO 27 Drive temperature C READ ONLY REGISTER NO 40 Remap SLOT1 OUT variable Variable OUT PLC PNU admitted NO 41 Remap SLOT2 OUT variable Variable OUT PLC PNU admitted NO 42 Remap SLOT3 OUT variable Variable OUT PLC PNU admitted NO 43 Remap SLOT4 OUT variable Variable OUT PLC PNU admitted NO 44 Remap SLOT1 IN variable Variable IN PLC PNU admitted NO 45 Remap SLOT2 IN variable Variable IN PLC PN...

Page 75: ... encoder enabled without error detection 2 encoder enabled with error detection RD WR 52 Set encoder pulse revolution From 0 to 2147483647 RD WR 53 Set encoder fault steps Set encoder steps to detect positioning error From 0 to 2147483647 RD WR 54 Encoder Index search frequency It defines the search index frequency From 1 to 5000 Hz RD WR 55 Encoder index search mode Indicate 4 modes to search ind...

Page 76: ...www shsitalia it info shsbox shsitalia it 15 ...

Page 77: ...S H S s r l Via F lli Rosselli 29 20027 Rescaldina MI ITALY Tel 39 0331 466918 Fax 39 0331 466147 www shsitalia it ...

Page 78: ...S H S s r l Via F lli Rosselli 29 20027 Rescaldina MI ITALY Tel 39 0331 466918 Fax 39 0331 466147 www shsitalia it User Guide STEPPING MOTOR DRIVE Series HT7 HW MANUAL HT7_HW_MANUAL_rev9_eng ...

Page 79: ... attention especially during installation and application development Only use equipment properly sized for the application The SHS devices are considered components for automation and are sold as finished products to be installed only by qualified personnel and in accordance with all local safety regulations The technicians must be able to recognize possible dangers that may result from programmi...

Page 80: ... and Ethernet Connectors 6 1 5 Status LEDS 6 1 6 Protection Display messages 7 1 7 Parameters setting 8 1 8 Mechanical dimension 9 CONNECTION 10 2 1 Installation note 10 2 2 AC Power Supply 10 2 3 DC Power Supply 12 2 4 Input Outputs 13 2 5 Digital Inputs 14 2 6 Digital Outputs 14 2 7 Encoder Inputs 15 2 8 16 OPERATING MODE 16 HT7 MODELS CODE 17 Analog Inputs Outputs 3 ...

Page 81: ...A2 Phase A2 of the motor A1 Phase A1 of the motor HVI Power supply input DC connect to HV0 or use as input DC power GND 0V power supply J1B Right SIGNAL FUNCTION AC1 Power supply Vac AC2 Power supply Vac HV0 Rectified output AUX Logic power supply input 24Vdc SHIELD Shield 0S 0V power supply Aux J3 SIGNAL FUNCTION 1 0V 2 CL CANL 3 RS RS485 Used only upgrade firmware 4 CH CANH 5 RS RS485 4 ...

Page 82: ... Output OUT1 default motor run 14 OUT2 Output OUT2 default Drive Ready 15 OUT3 Output OUT3 default unused 16 IN_COM Input common IN1 IN2 IN3 ENA DIS 17 AN_IN0 Analog Input IN0 1 18 AN_IN1 Analog Input IN1 1 19 AN_IN2 Analog Input IN2 1 20 AN_OUT Analog Output 1 21 GND_SIGNAL 0V relative at EXT_12V AN_IN AN_OUT 1 22 EXT_12V Output 12V relative at GND_ SIGNAL 5 1 IF YOU NEED TO USE THE ANALOG INPUTS...

Page 83: ...mission type Speed Max Cable Lenght Electrical RJ45 Connector 100base TX Shield cable CAT5 IEEE 802 3 100Mbit s full duplex 100 mt LED FUNCTION RUN Drive OK Light ON Drive Error Light OFF ERR Drive Error Light ON Drive OK Light OFF STS Drive OK Light fast blinking Drive Error Light slow blinking Only HT7xx PN EC EI model is supplied of double RJ45 interface upper pictures The RJ45 connections can ...

Page 84: ...age undervoltage short circuits among outputs and among outputs and the positive power pole no phase motor connection If one of the mentioned conditions occurs drive disables the power bridge and shows an error condition on the display To restore the protection use the fault reset bit in the control word or restart the drive The decimal point to the left indicates the status RX while the one on th...

Page 85: ... toggle bit 0 1 PN EC EI MT p014 Enable refresh for the last polled parameter PN EC EI MT p015 FieldBus Type and Firmware Release WS MB CO PN EC EI MT By using the buttons below the display hereinafter referred to as you can parameterize the drive To access to main menù press it will visualized menu for 1 sec after the parameter p001 From the main menu to select the parameter to be changed press t...

Page 86: ...www shsitalia it info shsbox shsitalia it 1 8 Mechanical dimension MODEL HT7 xx WEIGHT gr WS MB CO PB 655 PN EC EI 720 9 ...

Page 87: ...ACH TIME POWER IS REMOVED The transformer power is P Vac Inf tot 1 Where P is VA power Vac is secondary voltage in Volts and Inf tot is the sum of all nominal currents set in all the drive to be supplied NOTE use a transformer with an isolated secondary don t connect the secondary at ground Vac nom Range value of voltage by which the drive can be powered Vac max Opertative Maximum voltage Over thi...

Page 88: ...www shsitalia it info shsbox shsitalia it In AC power mode do not connect GND signals between two or more HT7 drives WIRING DIAGRAM 11 ...

Page 89: ...1 0 1 0 1 Vdc nom Range value of voltage by which the drive can be powered Vdc max Operating Maximum voltage Over this limit the protection of maximum voltage inhibits the drive Vdc min Operating Minimum voltage Under this limit the protection of minimum voltage inhibits the drive I max Maximum value of phase current I min Minimum value of phase current Operating temperature For any temperature ov...

Page 90: ...13mA OUTPUTS VOLTAGE LEVEL PNP OUT OUT ON COM_OUT VOLTAGE 2V OUT OFF 0V NPN OUT OUT ON 2V OUT OFF COM_OUT VOLTAGE Digital inputs and outputs pins are isolated from power Single Ended inputs are NPN PNP type selectable through COM IN pin Differential input are TTL compatible and can be 24V compatible PNP through COM ENC pin Outputs are NPN PNP type selectable through COM OUT 10mA max for OUT1 100mA...

Page 91: ...www shsitalia it info shsbox shsitalia it 2 5 Digital Inputs 2 6 Digital Outputs 14 ...

Page 92: ...www shsitalia it info shsbox shsitalia it 2 7 Encoder Inputs 15 ...

Page 93: ...ed inputs scheme no electrical connections between control and drives 3 OPERATING MODE The driver can be operated in one of the follwing modes SHS RS485 PROTOCOL WS MODBUS RTU MB CAN OPEN CO PROFIBUS PB PROFINET PN ETHERCAT EC ETHERNET IP EI MODBUS TCP MT 16 Refer to the appropriate Fieldbus manual ...

Page 94: ...Input 512 Fieldbus crimp connector 1024 Fieldbus DB9 connector 2048 IO crimp connector The defaul configuration it Input from 12 to 24V not available for this drive EXAMPLE 1 the default configuration will become option 0 00000 EXAMPLE 2 TTL Input OUT1 NPN PNP relay EEprom Firmware will become option 4 16 128 148 00148 OPTION View the following table SIZE 1 4A 18 60Vac or 24 90Vdc 2 7A 18 60Vac or...

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Page 96: ...S H S s r l Via F lli Rosselli 29 20027 Rescaldina MI ITALY Tel 39 0331 466918 Fax 39 0331 466147 www shsitalia it ...

Page 97: ...S H S s r l Via F lli Rosselli 29 20027 Rescaldina MI ITALY Tel 39 0331 466918 Fax 39 0331 466147 www shsitalia it User Guide STEPPING MOTOR DRIVE Series HT7 Models PROFINET HT7_PROFINET_rev8_eng ...

Page 98: ... attention especially during installation and application development Only use equipment properly sized for the application The SHS devices are considered components for automation and are sold as finished products to be installed only by qualified personnel and in accordance with all local safety regulations The technicians must be able to recognize possible dangers that may result from programmi...

Page 99: ...ges 7 1 7 Parameters setting 8 1 8 Mechanical dimension 9 CONNECTION 10 2 1 Installation note 10 2 2 AC Power Supply 10 2 3 DC Power Supply 12 2 4 Input Outputs 13 2 5 Digital Inputs 14 2 6 Digital Outputs 14 2 7 Encoder Inputs 15 2 8 16 OPERATING MODE 16 3 1 PROFINET Protocol 17 3 2 Data communication via PROFINET 17 3 3 PROFINET control bits 19 3 4 ZSW bits positioning timing 20 3 5 Parameters 2...

Page 100: ...A2 Phase A2 of the motor A1 Phase A1 of the motor HVI Power supply input DC connect to HV0 or use as input DC power GND 0V power supply J1B Right SIGNAL FUNCTION AC1 Power supply Vac AC2 Power supply Vac HV0 Rectified output AUX Logic power supply input 24Vdc SHIELD Shield 0S 0V power supply Aux J3 SIGNAL FUNCTION 1 0V 2 CL CANL 3 RS RS485 Used only upgrade firmware 4 CH CANH 5 RS RS485 4 ...

Page 101: ...Input IN3 CURRENT REDUCTION 10 IN2 Input IN2 DIRECTION 11 IN1 Input IN1 STEP IN J2B Right SIGNAL FUNCTION 12 OUT_COM Output common OUT1 OUT2 OUT3 13 OUT1 Output OUT1 default motor run 14 OUT2 Output OUT2 default Drive Ready 15 OUT3 Output OUT3 default unused 16 IN_COM Input common IN1 IN2 IN3 ENA DIS 17 AN_IN0 Analog Input IN0 18 AN_IN1 Analog Input IN1 19 AN_IN2 Analog Input IN2 20 AN_OUT Analog ...

Page 102: ...on Type Cable Transmission type Speed Max Cable Lenght Electrical RJ45 Connector 100base TX Shield cable CAT5 IEEE 802 3 100Mbit s full duplex 100 mt LED FUNCTION RUN Drive OK Light ON Drive Error Light OFF ERR Drive Error Light OFF Drive OK Light ON STS Drive OK Light fast blinking Drive Error Light slow blinking Only HT7xx PN EC EI model is supplied of double RJ45 interface upper pictures The RJ...

Page 103: ...ve is provided with protections against overtemperature overvoltage undervoltage short circuits among outputs and among outputs and the positive power pole no phase motor connection If one of the mentioned conditions occurs drive disables the power bridge and shows an error condition on the display To restore overcurrent protection tou must restart the unit The decimal point to the left indicates ...

Page 104: ...resh for the last polled parameter p015 Enable refresh status word p016 Motor Stopped when the driver communication fault By using the buttons below the display hereinafter referred to as you can parameterize the drive To access to main menù press it will visualized menu for 1 sec after the parameter p001 From the main menu to select the parameter to be changed press the button or From main menù t...

Page 105: ...www shsitalia it info shsbox shsitalia it 1 8 Mechanical dimension MODEL HT7 xx WEIGHT gr WS MB CO PB 655 PN EC EI 720 9 ...

Page 106: ...DRIVES EACH TIME POWER IS REMOVED The transformer power is P Vac Inf tot 1 Where P is VA power Vac is secondary voltage in Volts and Inf tot is the sum of all nominal currents set in all the drive to be supplied NOTE use a transformer with an isolated secondary don t connect the secondary at ground Vac nom Range value of voltage by which the drive can be powered Vac max Opertative Maximum voltage ...

Page 107: ...www shsitalia it info shsbox shsitalia it In AC power mode do not connect GND signals between two or more HT7 drives WIRING DIAGRAM 11 ...

Page 108: ... aux V 24 24 24 24 Vdc nom Range value of voltage by which the drive can be powered Vdc max Operating Maximum voltage Over this limit the protection of maximum voltage inhibits the drive Vdc min Operating Minimum voltage Under this limit the protection of minimum voltage inhibits the drive I max Maximum value of phase current I min Minimum value of phase current Operating temperature For any tempe...

Page 109: ...13mA OUTPUTS VOLTAGE LEVEL PNP OUT OUT ON COM_OUT VOLTAGE 2V OUT OFF 0V NPN OUT OUT ON 2V OUT OFF COM_OUT VOLTAGE Digital inputs and outputs pins are isolated from power Single Ended inputs are NPN PNP type selectable through COM IN pin Differential input are TTL compatible and can be 24V compatible PNP through COM ENC pin Outputs are NPN PNP type selectable through COM OUT 10mA max for OUT1 100mA...

Page 110: ...www shsitalia it info shsbox shsitalia it 2 5 Digital Inputs 2 6 Digital Outputs 14 ...

Page 111: ...www shsitalia it info shsbox shsitalia it 2 7 Encoder Inputs 15 ...

Page 112: ... shsbox shsitalia it 2 8 Analog Inputs Outputs Note we suggest to use isolated inputs scheme no electrical connections between control and drives 3 OPERATING MODE The driver can be operated in the follwing modes PROFINET 16 ...

Page 113: ... PKW PZD PKE IND PWE ZSW HSW 1st word 2nd word 3rd word H 4th word L 1st word 2nd word PKE Bit 15 H 12 Bit11 Bit 10 0 L AK Not used PNU AK VALUE MEANING 0 No task 1 Request parameter value 2 Change parameter value The parameter identifier PKE is always a 16 bit value Bits 0 to 10 contain the number of the desired parameter PNU Refer to the parameter listing Chapter 5 4 Bits 12 to 15 contain the ta...

Page 114: ...RROR WORD 4 MEANING 0 No task 1 Parameter value cannot be changed PKW Parameter identifier value PZD Process data PKE Parameter idetifier IND Index not used PWE Parameter value STW Status word 1 see pag 16 HIW Main actual value not used AK Task or reply identifier PNU Parameter number Parameter Identifier PKE 1st Word The parameter identifier PKE is always a 16 bit value Bits 0 to 10 contain the n...

Page 115: ...s ignored when relative absolute positioning or JOGCCW function is active 9 1 ON 0 OFF ON Start Jog ccw infinite motion OFF Stop This bit is ignored when relative absolute positioning or JOGCW function is active 10 11 1 ON 0 OFF ON Set OUT3 OFF Reset OUT3 Set reset OUT3 To use this function bit 12 must be set to 1 12 1 ON 0 OFF ON Enable outputs force OFF Disable outputs set Standard function on o...

Page 116: ... active OFF IN3 not active 7 1 ON 0 OFF ON OUT1 active OFF OUT1 not active 8 1 ON 0 OFF ON OUT2 active OFF OUT2 not active 9 1 ON 0 OFF ON Rotation CW OFF Rotation CCW 10 1 ON 0 OFF ON Max frequency reached OFF Max frequency not reached 11 1 ON 0 OFF ON Positioning completely executed OFF Positioning not completely executed 12 1 ON 0 OFF ON Axis zeroing executed OFF Axis zeroing not executed 13 1 ...

Page 117: ...r ZSW BIT 3 Set absolute quote PNU 8 Set start absolute positioning bit ZSW BIT 1 to 1 Wait TA time to START motor minimum 30ms or front 0 1 of motor running bit STW BIT 1 Wait end of positioning front 1 0 or zero level of motor running bit STW BIT 1 Set start absolute positioning bit ZSW BIT 1 to 0 Wait TB time minimum 50ms and start new positioning If TB is not respected motor may be not start J...

Page 118: ...speed then it stops on sensor and starts in CW direction with minimum speed to disengage sensor then stops and set position register PNU 10 to 0 It s very important that the motor stops with sensor engaged without get over it To avoid this it is possible reduce maximum frequency or reduce ramp PNU 2 Sensor engaged When you write PNU 18 the motor starts immediately in CW direction with minimum spee...

Page 119: ...8 step mode 1040 1 2 5 step mode 1020 1 5 step mode 1010 1 10 step mode 1005 1 20 step mode 1002 1 50 step mode 1001 1 100 step mode 4 Mode setting of electric current reduction Set or current reduction when motor is stopped If the sent 0 current 0 max reduction 1 no reduction 2 reduction to 25 3 reduction to 50 5 Time setting of electric current reduction Time after which current reduction from 0...

Page 120: ...icate the level of these inputs 1 input active at high level 14 Trigger stop logic AND It defines the Input or the inputs and the respective Levels which must be enabled for carrying out the STOP by an external command USE ONLY ONE TRIGGER STOP AT TIME PNU 14 OR PNU 15 Use only less significant byte The 4 less significant bits indicate the input or the inputs which must be enabled for STOP 1 enabl...

Page 121: ... which must be enabled for AXIS ZEROING 1 enabled input The next 4 bits indicate the level of these inputs 1 input active at high level 19 Limit switch It defines the input and the relative level where the limit switch will be connected When the switch will be intercepted it will cause the immediate motor stop and it allow only the opposite wise motion The command activates this function until its...

Page 122: ...read or write this value expressed in encoder steps This value counts all fronts of two encoder phases From 2147483647 to 2147483647 51 Encoder mode Set encoder mode If Write 0 no encoder feedback You can read encoder but the drive don t use it to control position 1 encoder enabled without error detection 2 encoder enabled with error detection 52 Set encoder pulse revolution From 0 to 2147483647 5...

Page 123: ...18 60Vac or 24 90Vdc 40 12A 18 90Vac or 24 125Vdc CODE yyyyOPTION 1 Differential Encoder 2 Encoder TTL 4 Input TTL 8 OUT1 PNP OptoRelay 16 OUT1 NPN PNP 32 OUT2 PNP OptoRelay 64 OUT2 NPN PNP 128 EEprom special Firmware 256 Analog Input 512 Fieldbus crimp connector 1024 Fieldbus DB9 connector 2048 IO crimp connector The defaul configuration it Input from 12 to 24V not available for this drive EXAMPL...

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Page 125: ...S H S s r l Via F lli Rosselli 29 20027 Rescaldina MI ITALY Tel 39 0331 466918 Fax 39 0331 466147 www shsitalia it ...