EtherCAT TO

Settings and Operation

Switch

1. EtherCAT ID Display and Setting Switch (SW1, SW2)
Use two rotary switches to set EtherCAT ID (ECAT Device ID). Set ones digit (x1) of EtherCAT ID on the right rotary switch (SW1), and set tens digit (x10) of EtherCAT ID on the left rotary switch (SW2).

Status LED

1. EtherCAT Status LED
LED indicates communication status of EtherCAT. Link/Activity LED exists on each port of EtherCAT.
LED Color Status Description
RUN Green OFF State INIT or Power OFF
Blinking State PRE-OPERATIONAL
Single Flash State SAFE-OPERATIONAL
ON State OPERATIONAL
Flickering State BOOTSTRAP
ERR Red OFF No Error or Power OFF
Blinking Invalid Configuration
Single Flash Local Error
Double Flash Watchdog Time Out
 
LED Color Status Description
Link /
Activity
Green OFF Link not Established
ON Link Established
Flickering Link Established and in Operation
2. Drive Status LED
LED Color Function ON/OFF Condition
PWR Green Power input indication LED is turned ON when power is applied
INP Yellow Complete Positioning Motion Lights On when Positioning error reaches within the preset pulse selected by parameter
SON Orange Servo On/Off Indication Servo On: Lights On, Servo Off: Lights Off
ALM Red Alarm indication Flash when an error occurs
◆ Error Types and LED Flash Times
Times Error Code*4 Error Type Description
1 E-001 Over Current Error The current through power devices in inverter exceeds the limit value.*1
2 E-002 Over Speed Error Motor speed exceed 3,000r/min.
3 E-003 Position Tracking Error Position error value is higher than 180˚ in motor run state.*2
4 E-004 Over Load Error The motor is continuously operated more than 5 seconds under a load exceeding the max. torque.
5 E-005 Over Temperature Error Inside temperature of drive exceeds 85℃.
6 E-006 Over Regenerated Voltage Error Back-EMF more high limit value.*3
7 E-007 Motor Connection Error The power is ON without connection of the motor cable to drive
8 E-008 Encoder Connect Error Cable connection error in Encoder connection of drive
9 E-009 Main Power Voltage Error The main power voltage is lower than 18V.
10 E-010 In-Position Error After operation is finished, position error more than 1 pulse is continued for more than 3 seconds
12 E-012 ROM Error Error occurs in parameter storage device(ROM)
15 E-015 Position Overflow Error Position error value is higher than 180˚ in motor stop state*2
16 E-016 Abnormal Safety State Error Input states of TQOFF1 and TQOFF2 are different from each other.
* 1 : Limit value depends on motor model. (Refer to the User Manual)
* 2 : Default value can be changed by parameter. (Refer to the User Manual)
* 3 : Voltage limit of Back-EMF depends on motor model. (Refer to the User Manual)
* 4 : When an alarm occurs, error code is displayed on the 7-segment instead of EtherCAT ID.
※ Please refer to the User Manual for the details of error types.
Alarm LED flash
(e.g., Position tracking error)

Connector

1. Input/Output Signal Connector(CN1)
NO. Function I/O
1 LIMIT+ Input
2 LIMIT- Input
3 ORIGIN Input
4 Digital In1 Input
5 Digital In2 Input
6 Digital In3 Input
7 Digital In4 Input
8 Digital In5 Input
9 Digital In6 Input
10 Digital Out1 Output
NO. Function I/O
11 Digital Out2 Output
12 Digital Out3 Output
13 Digital Out4 Output
14 Digital Out5 Output
15 BRAKE+ Output
16 BRAKE- Output
17 EXT_GND Input
18 EXT_24VDC Input
19 F.GND ---
20 F.GND ---
2. Encoder Connector(CN2)
NO. Function I/O
1 A+ Input
2 A- Input
3 B+ Input
4 B- Input
5 Z+ Input
NO. Function I/O
6 Z- Input
7 DC5V Output
8 GND Output
9 F. GND ----
10 F. GND ----
3. Motor Connector(CN3)
NO. Function I/O
1 A Phase Output
2 B Phase Output
3 A Phase Output
4 B Phase Output
4. Main Power Connector(CN4)
NO. Function I/O
1 DC24V Input
2 GND Input
5. Control Power Connector(CN5)
NO. Function I/O
1 DC24V Input
2 GND Input
6. TQOFF Connector(CN6)
NO. Function I/O
1 TQOFF1_P Input
2 TQOFF1_N Input
3 TQOFF2_P Input
4 TQOFF2_N Input
5 TQMON_P Output
6 TQMON_N Output
7 OVRTQ Input
8 GND Output
7. EtherCAT Communication Connector(CN7, CN8)
NO. Function
1 TD+
2 TD-
3 RD+
4 ----
5 ----
NO. Function
6 RD-
7 ----
8 ----
Connector
hood
F.GND
8. USB Connector(CN9)
NO. Function
1 VBUS
2 D-
3 D+
4 ----
5 GND

Connector Specifications

Available to connect between Input/Output signals and Ezi-SERVOⅡ EtherCAT TO.
Function Item Product No. Manufacturer
Main Power Connector
(CN4)
Housing
Terminal
5557-02R
5556T
MOLEX
Control Power Connector
(CN5)
Housing
Terminal
PAP-02V-S
SPHD-001T-P0.5
JST
Motor Connector Drive Side
(CN3)
Housing
Terminal
5557-04R
5556T
MOLEX
Motor Side Housing
Terminal
5557-04R
5556T
MOLEX
Encoder Connector Drive Side
(CN2)
Housing
Terminal
51353-1000
56134-9000
MOLEX
Encoder Side Housing
Terminal
SMP-09V-NC
SHF-001T-0.8BS
JST
I/O Connector
(CN1)
Housing
Terminal
PADP-20V-1-S
SPH-002T-P0.5L
JST
TQOFF Connector
(CN6)
Housing
Terminal
PAP-08V-S
SPHD-001T-P0.5 or SPHD-002T-P0.5
JST
※ The connectors are supplied with the product. If you use other connectors, make sure those are equivalent in specifications to the supplied connectors.