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T2-CAN-HS68D
User Manual
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Econ T2-CAN-HS68D User Manual

SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For CANopen Hybrid Servo Driv
T2-CAN-HS68D
CANopen Hybrid Servo Drive
© 2017 shenzhen ECON Technology Co.,Ltd. Version 2.0
City,Guangdong Province,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 CANopen Hybrid Servo Driv
Contents
1 Descriptions .............................................................................................................................................................. 4
2 Features .................................................................................................................................................................... 4
3 Applications .............................................................................................................................................................. 4
4 Specifications ............................................................................................................................................................ 4
4.1 Electrical Specifications ................................................................................................................................ 4
4.2 Operating Environment ................................................................................................................................. 5
5 Mechanical Specifications ........................................................................................................................................ 5
6 Connectors and Pin Assignment ............................................................................................................................... 6
6.1 Control signals connector .............................................................................................................................. 6
6.2 Encoder Feedback and hall signal Connector ............................................................................................... 7
6.3 Power and Motor ........................................................................................................................................... 7
6.4 CANopen Communication Port ................................ ................................................................ ..................... 8
7 DIP Switch Settings .................................................................................................................................................. 9
7.1 T2-CAN ID Table ................................ ................................................................ ........................................... 9
8 Hybrid servo Motors ............................................................................................................................................... 10
8.1 Nema24 and Nema34motor ......................................................................................................................... 10
8.2 Nema34motor .............................................................................................................................................. 10
9 Wiring Diagrams ..................................................................................................................................................... 11
9.1 Interface ........................................................................................................................................................ 11
9.2 Diagram for CANopen communication ........................................................................................................ 11
10 Protection Indications ............................................................................................................................................ 11
11 CANopen protocol and parameters ....................................................................................................................... 12
11.1 CANopen protocol ...................................................................................................................................... 12
11.2 Common Object Table—factory parameters list ........................................................................................ 12
11.3 Operation mode and control parameters list ............................................................................................. 17
12 Frequently Asked Questions ................................................................................................................................. 17
Problem Symptoms and Possible Causes........................................................................................................... 18
13 Warranty ............................................................................................................................................................... 18
Exclusions .......................................................................................................................................................... 19
Obtaining Warranty Service .............................................................................................................................. 19
Warranty Limitations ......................................................................................................................................... 19
Contact us: ................................................................................................................................................................. 19
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For CANopen Hybrid Servo Driv
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.
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SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For CANopen Hybrid Servo Driv
1 Descriptions
T2-CAN HS68Dis our new CANopen network driver, which adopt the latest 32-bit DSP 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 Nema23-Nema34) 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
Latest 32bit DSP Technology Serial Port And Auto Tune Function 4 channel opto-coupler isolation OC output 1 channel analogy input(0~5V) Advanced vector control technology High torque at starting and low speed 5 channel opto-coupler isolation input,2 of them are high speed opto-coupler isolation input Communication Frequency up to 1Mhz(default is 1Mhz) Current setting range 0.1-8A Smooth movement and extra low noise Quick response, no delay and zero settling time No loss of steps; no hunting; no overshooting
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.
4 Specifications
4.1 Electrical Specifications
Description
T2-CAN- HS68D
Min
Typical
Max
Unit
Output Current(peak)
0.1 - 8.0 A Input Voltage（DC）
15
36
50
VDC
Control Signal Input Current
6
10
16
mA
Control Signal Voltage
4.5 5 28
Vdc
OC output Pull-Up voltage
4.5 - 24
Vdc
CANopen communication
frequency
-
100
-
MHz
Insulation Resistance
100
MΩ
Analogy voltage input
0 5
Vdc
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For CANopen Hybrid Servo Driv
4.2 Operating Environment
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
5 Mechanical Specifications
※ 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
SHENZHEN ECON TECHNOLOGY CO.,LTD User Manual For CANopen Hybrid Servo Driv
6 Connectors and Pin Assignment
6.1 Control signals connector
Pin Function
Details
pl+
Pulse signal: In Pulse+direction mode, this input represents pulse signal,active at each rising or falling edge, In CW/CCW mode, this input represents clockwise (CW) pulse, active both at each high level and low level. 4-28V for PUL-HIGH, 0-0.5V for PUL-LOW. For reliable response,pulse width should be longer than 1.5μs
pl-
dr+
Dir signal: In Pulse+direction mode, this signal has low/high voltage levels representing two directions of motor rotation; in CW/CCW mode (software configurable), this signal is counter-clock (CCW) pulse，active both at high level and low level (software configurable). For reliable motion response, DIR signal should be ahead of PUL signal by 2.5μs at least. 4-28V when DIR-HIGH,0-0.5V when DIR-LOW. Please note that rotation direction is also related to motor-Drive wiring match. Exchanging the connection of two wires for a coil to the Drive will reverse motion direction. For reliable response,pulse width should be longer than 1.5μs
dr-
in+
Low speed signal：in1，in2，in3 common postive 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
ot1
ot1 emitter 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
Ot4
Ot4 emitter output，the Max pull-up voltage 24Vdc，the pull-up resistance 2KΩ，the Max output current 100mA
5V
Provide 5V voltage to analogy input, current 50mA
]I/O signal
Encoder
Motor
Power input
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