Econ EtherCAT EHS-580 User Manual
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
EHS-580
EtherCAT Hybrid Servo Drive
© 2017 shenzhen ECON Technology Co.,Ltd. Version 2.0
Add:2F,BuildingB,Jintai,Industrial,Park,HangchengAvenue,GushuVillage,XixiangStreet,Bao'anArea,ShenzhenCity,
GuangdongProvince,China
Tel: +86 136 2096 1024
E-mail:enquiry@hybridservo.com
technical01@hybridservo.com
All rights reserved
[Please read this manual carefully before use to avoid damage the drive]
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
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
3.1 Input configuration ................................................................................................................................ 22
3.2 Output configuration ............................................................................................................................. 23
3.3 Related node ID ..................................................................................................................................... 24
3.4 Motor rotation direction setting ............................................................................................................. 24
3.5 Pulse/Revolution setting ........................................................................................................................ 24
4. Parameters ......................................................................................................................................................... 25
4.1 Parameter saving ................................................................................................................................... 25
4.2 Parameter reset ...................................................................................................................................... 25
4.3 Parameters list ....................................................................................................................................... 25
5. Basic Information Of EtherCAT ........................................................................................................................ 29
5.1 EtherCAT Data Frame Structure ................................................................................................................. 29
5.2 Synchronous Mode ....................................................................................................................................... 29
5.2.1 Random running mode ...................................................................................................................... 29
5.2.2 Distributed clock synchronization mode ........................................................................................... 29
5.2.3 EtherCAT state machine ................................................................................................................... 30
5.3 COE ............................................................................................................................................................. 30
5.3.1 Service data object (SDO) ................................................................................................................ 31
5.3.2 SDO protocol and message format ................................................................................................... 31
5.3.3 Suspend SDO transmission ............................................................................................................... 32
5.4 processing data object ................................................................................................................................. 34
5.4.1 PDO mapping ................................................................................................................................... 34
5.4.2 PDO dynamical mapping.................................................................................................................. 35
5.4.3 The difference of PDO and SDO ....................................................................................................... 35
Contact us: ................................................................................................................................................................. 36
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
EtherCAT :
EtherCAT (Ethernet for Control Automation Technology) is open network communication using
real-time Ethernet between masters and slaves developed by Beckhoff Automation GmbH, Germany.
This User Manual of EHS-580 Included:
Part 1:EHS-580 hardware manual
This part for hardware, function description, parameter configuration, etc.
Part 2 :EHS-580 EtherCAT communication protocol specification
This part for EtherCAT communication protocol.
Notice!
Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can
result in injury and damage to persons and machinery. Strictly adhere to the technical information regarding
installation requirements.
This manual is not for use or disclosure outside of ECON technology except under permission. All rights are
reserved. No part of this manual shall be reproduced, stored in retrieval form, or transmitted by any means,
electronic, mechanical, photocopying, recording, or otherwise without approval from ECON technology. While
every precaution has been taken in the preparation of the book, ECON technology assumes no responsibility for
errors or omissions. Neither is any liability assumed for damages resulting from the use of the information
contained herein.
This document is proprietary information of ECON technology that is furnished for customer use ONLY.
Information in this document is subject to change without notice and does not represent a commitment on the part
of ECON technology. Therefore, information contained in this manual may be updated from time-to-time due to
product improvements, etc., and may not conform in every respect to former issues.
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Part 1:EHS-580
Hardware Manual
1 Descriptions
EHS-580 is Econ technology's new EtherCAT hybrid servo driver, which adopt the latest floating-point 64-bit
MCU digital processing technology, the advanced vector control technology drive the motor with low heating ,low
noise and extra smoothly. The user can set any ID address within 1-255 and any current value under the rated
current, it can be matched with different of size motors(from Nema17--Nema24) to applied for variable
applications. the drive can auto-tuning for matching the motor when power up, which can automatically generate
optimal operating parameters for different motors to maximize the performance of the motor
2 Features
New floating point 64bit MCU technology
Serial Port And Auto Tune Function
3 channels opto-coupler isolation OC output
Advanced vector control technology
High torque at starting and low speed
5 channels opto-coupler isolation input,2 of them are high speed opto-coupler isolation input
Communication Frequency up to 100MHz
DIPs can set 127 IPs or automatic allocate IP
Current setting range 0.5-8A
Smooth movement and extra low noise
The supported encoder can be 500ppr—5000ppr.
3 Applications
For a variety of small and medium-sized automation equipment and instruments, such as: AGV, speed pass door,
engraving machine, marking machine, cutting machine, laser Phototypesetting, router machine, plotter, CNC
machine tools, automatic assembly equipment. The users can get special effect from small noise, high speed
equipment application.
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Description
EHS-580
Min
Typical
Max
Unit
Output Current(peak)
0.5 - 8.0 A Input Voltage（DC）
15
24/36/48
50
VDC
Control Signal Input Current
6
10
16
mA
Control Signal Interface
Electricity
4.5 5 28
Vdc
OC output Pull-Up voltage
5 - 24
Vdc
Ether-CAT communication
frequency
-
100
-
MHz
Insulation Resistance
100
MΩ
Cooling
Natural Cooling or Forced cooling
Environment
Condition
Far away from other heating device,Avoid dust, oil fog
and corrosive gases, heavy humidity and strong vibration
occasion, forbid flammable gases and conductive dust
Temperature
-10℃～ +50℃
Humidity
40 ～ 90%RH
Vibration
5.9m/s2MAX
Storage Environment
-20℃～60℃
Altitude
Less than 1000m
Weight
about 0.2KG
4 Specifications
4.1 Electrical Specifications
4.2 Operating Environment
5 Mechanical Specifications
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
Pin Function
Details
pl+
INEFFECTIVE
pl-
dr+
dr-
in+
Low speed signal：in1，in2，in3 common positive input,5-28VDC
in1
Low speed in1 negative input
in2
Low speed in2 negative input
in3
Low speed in3 negative input
ot-
Common negative OC emitter output，ot1，ot2，ot3 emitter OC output common terminal
]I/O signal
Encoder
Motor
Power input
※Recommend side installation, better cooling effect, when design installation dimension, consider the terminal
size and wiring!
Enhance Cooling method
A:The driver's reliable operating temperature is usually within 60 ℃, the motor operating temperature is within
80 ℃;
B: It is recommended to use the automatic half-flow mode, the current will be automatically reduced by half when
the motor stops, so as to reduce the heating of the motor and the drive;
C: When installing the driver, please use the vertical side installation, so that the cooling teeth form a strong air
convection; when necessary, install a fan where is close to the drive, forced cooling to ensure that the drive is in a
reliable working temperature range
6 Connectors and Pin Assignment
The EHS-580 has four connectors, connector for i/o connections, connector for Encoder Feedback and hall signal,
connector for power and motor connection, and the CAT Communication Port
6.1 Control signals connector
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
ot1
ot1emitter output，the Max pull-up voltage 24Vdc，the pull-up resistance 2KΩ，the Max
output current 100mA
ot2
ot2 emitter output，the Max pull-up voltage 24Vdc，the pull-up resistance 2KΩ，the Max
output current 100mA
ot3
ot3 emitter output，the Max pull-up voltage 24Vdc，the pull-up resistance 2KΩ，the Max
output current 100mA
gnd
5V-
RS232-TX
RS232-RX
5V
5V+,current 50mA
Pin Function
Details
ea+
Encoder channel A input
ea-
eb+
Encoder channel B input
eb-
ez+
Encoder channel Z input(if there is Z signal in encoder ,no connection needed )
ez-
eu+
Hall U channel U input, special for dc brushless servo, open loop/hybrid servo no
connection needed
eu-
ev+
Hall V channel U input, special for dc brushless servo, open loop/hybrid servo no
connection needed
ev-
ew+
Hall W channel U input, special for dc brushless servo, open loop/hybrid servo no
connection needed
ew-
5V
Provide 5V+ dc power to motor encoder and Hall components, current 100mA
gnd
5V-
Pin
Definition
I/O
Description
1
A+ O Motor Phase A+
2
A- O Motor Phase A- (U for dc brushless servo motor)
3
B+ O Motor Phase B+ (V for dc brushless servo motor)
4
B- O Motor Phase B- (W for dc brushless servo motor)
5
+VDC
I
15-50VDC,36VDC is recommended, leaving rooms for voltage fluctuation
6.2 Encoder Feedback and hall signal Connector
6.3 Power and Motor
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
6
GND
GND
and back-EMF.
PIN
Signal
Function Description
1
TX+
Ether CAT data sending positive port
EtherCAT IN（ECAT IN）
2
TX-
Ether CAT data sending negative port
3
RX+
Ether CAT data receiving positive port
4
NC
No connected
5
NC
No connected
ECAT IN
ECAT OUT
Power supply voltage between the provisions of the normal work, EHS-580 driver is best to use non-regulated DC
power supply,can also use the transformer step-down + bridge rectifier + capacitor filter. However, take care that
the peak value of the rectified voltage ripple does not exceed its maximum specified voltage. It is recommended
that users use DC voltage lower than the maximum voltage to supply power and avoid the fluctuation of power grid
beyond the working range of driver voltage.
If you are using a regulated switching power supply, be aware that the output current range of the switching power
supply needs to be maximized.
Please note!
A:When wiring, pay attention to the positive and negative poles of the power supply.
B:Better use non-regulated power supply;
C:When use a non-regulated power supply, the power supply current output capacity should be greater than 60% of
the drive setting current;
D:The use of regulated switching power supply, the output current of the power supply should be greater than or
equal to the working current of the driver;
E:To reduce costs, two or three drives can share a power supply, but should ensure that the power supply is large
enough.
6.4 EtherCAT Communication Port
Two RJ45 terminals
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
6
RX-
Ether CAT data receiving negative port
7
NC
Disconnect
8
NC
Disconnect
9
TX+
Ether CAT data sending positive
EtherCAT OUT（ECAT
OUT）
10
TX-
Ether CAT data sending negative
11
RX+
Ether CAT data receiving positive
12
NC
No connected
13
NC
No connected
14
RX-
Ether CAT data receiving negative
15
NC
No connected
168
NC
No connected
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8
Filter Sel
SW6
SW7
Nema11
on
on
Nema17
off
on
Nema23/nema24
on
off
Nema34
off
off
Motor selection
Direction
Filter time setting
Open/closed loop Working mode
Self- test
DIP switch
Note: The cable connecting EHS-580 to PC must be a dedicated cable. Please check before use to avoid damage.
7 DIP Switch Settings
7.1 Motor selection
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For EHS-580 EtherCAT Hybrid Servo Drive
TC42-03
TC42-04
TC42-06
TC42-08
Step Angle (Degree)
1.8
1.8
1.8
1.8
Holding Torque (N.m)
0.3
0.4
0.6
0.8
Phase Current (A)
2.3
1.68
2.3
2.3
Phase Resistance (Ohm)
0.94
1.65
1.3
1.7
Phase Inductance (mH)
1.8
2.8
2.5
4.6
Inertia (g.cm2)
57
73
86
102
Weight (Kg)
0.24
0.37
0.45
0.5
Encoder (lines / Rev.)
1000
1000
1000
1000
TC57-11
TC57-24(BK)
TC57-28
Step Angle (Degree)
1.8
1.8
1.8
Holding Torque (N.m)
1.1
2.4
2.8
Phase Current (A)
6.0
5.6
5.6
Phase Resistance (Ohm)
0.2
0.4
0.5
Phase Inductance (mH)
0.52
1.5
2.0
Inertia (g.cm2)
300
480
550
Weight (Kg)
0.7
1.1
1.8
Encoder (lines / Rev.)
1000
1000
1000
TC60-15
TC60-30
TC60-40
Step Angle (Degree)
1.8
1.8
1.8
Holding Torque (N.m)
1.5
3.0
4.0
Phase Current (A)
6.0
6.0
5.6
Phase Resistance (Ohm)
0.3
0.6
0.5
Phase Inductance (mH)
1.1
1.8
2.1
Inertia (g.cm2)
400
840
840
8 Hybrid servo Motors
EHS-580 can work with the following ECON technology’s hybrid servo motors:
8.1 Nema17
8.1 Nema23
BK:the motor supports brake
8.3 Nema24 motor
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