DP3CL series open loop bus stepping driver

User manual

Wuxi Xinje Electric Co., Ltd.

Data No. D3C07 20211218 1.0
Basic description
 Thank you for purchasing Xinje DP3CL series stepping driver. Please read this product manual carefully
before operating.
 The manual mainly provides the user with relevant guidance and instructions for the correct use and
maintenance of the step driver. The manual involves the function, use method, installation and maintenance
of the step driver.
 The contents described in the manual are only applicable to Xinje's DP3CL series stepping driver products.

Notice to user
This manual is applicable to the following personnel:
 The installation personnel of stepper driver
 Engineering and technical personnel (electrical engineers, electrical operators, etc.)
 The designer
Before operating or debugging the stepper driver, the above personnel should carefully read the safety precautions
section of this manual.

Statement of responsibility
 Although the contents of the manual have been carefully checked, errors are inevitable and we can not
guarantee that they are completely consistent.
 We will always check the contents of the manual and make corrections in subsequent versions. We welcome
your comments.
 The contents described in the manual are subject to change without prior notice.

Contact us
If you have any questions about the use of this product, please contact the agent and office that purchased the
product, or contact Xinje company directly.
 Tel: 400-885-0136
 Fax: 0510-85111290
 Address: 4th Floor, building 7, creative industry park, No. 100 Dicui Road, Wuxi City
 Postcode: 214072
 Website: www.xinje.com

WUXI XINJE ELECTRIC CO., LTD. Copyright

Without explicit written permission, this information and its contents shall not be copied, transmitted or

used. Violators shall be liable for the losses caused. All rights provided in patent license and registration

including utility module or design are reserved.

December 2020
 Catalog

1. PRODUCT INTRODUCTION ....................................................................................................................... 5

1-1. MODEL NAMING RULE ...................................................................................................................................... 5

1-2. PERFORMANCE ................................................................................................................................................. 5
1-3. ELECTRICAL SPECIFICATION ............................................................................................................................. 6
1-4. SAFETY CAUTION ............................................................................................................................................. 6

2. INSTALLATION AND WIRING ........................................................................................................................ 7

2-1. INSTALLATION .................................................................................................................................................. 7

2-1-1. Dimension ................................................................................................................................................ 7
2-1-2. Installation environment .......................................................................................................................... 7
2-2. WIRING ............................................................................................................................................................ 8
2-2-1. Typical wiring diagram ............................................................................................................................ 8
2-2-2. Wiring caution ......................................................................................................................................... 8

3. DRIVER INTERFACE ........................................................................................................................................ 9

3-1. ALARM INFORMATION AND SOLUTION .............................................................................................................. 9

3-2. ETHERCAT TERMINALS .................................................................................................................................. 10
3-3. CONTROL SIGNAL INTERFACE ......................................................................................................................... 10
3-4. STRONG ELECTRICITY INTERFACE................................................................................................................... 11
3-5. SOFTWARE COMMUNICATION INTERFACE........................................................................................................ 11
3-6. DIAL SWITCH .................................................................................................................................................. 11
3-6-1. Working (dynamic) current setting ......................................................................................................... 11
3-6-2. Static current setting .............................................................................................................................. 12
3-6-3. Filter time setting ................................................................................................................................... 12
3-6-4. Direction setting..................................................................................................................................... 13
3-6-5. Station no. setting .................................................................................................................................. 13

4. PARAMETER AND SETTING ......................................................................................................................... 14

4-1. PARAMETER LIST ............................................................................................................................................ 14

Group P0: basic function ................................................................................................................................. 14
Group P1: gain control .................................................................................................................................... 14
Group P2: IO configuration ............................................................................................................................. 14
Group P3: protection function .......................................................................................................................... 14
Group P4: motor parameters ........................................................................................................................... 15
Group P8: curve collection .............................................................................................................................. 15
Group U0 .......................................................................................................................................................... 16
Group U1 .......................................................................................................................................................... 16
Group U2 .......................................................................................................................................................... 17
Group U3 .......................................................................................................................................................... 17
Group F0 .......................................................................................................................................................... 17

5. ETHERCAT COMMUNICATION ................................................................................................................... 18

5-1. ETHERCAT OVERVIEW ................................................................................................................................... 18

 5-1-1. EtherCAT overview ................................................................................................................................ 18
5-1-2. System composition (composition of master station and slave station) ................................................. 18
5-2. ETHERCAT COMMUNICATION SPECIFICATION ................................................................................................. 19
5-2-1. Communication specification list ........................................................................................................... 19
5-2-2. EtherCAT frame structure ...................................................................................................................... 20
5-2-3. State machine ESM ................................................................................................................................ 20
5-2-4. Slave station controller ESC .................................................................................................................. 21
5-2-5. SII area (0000h～003Fh)....................................................................................................................... 24
5-2-6. SDO ....................................................................................................................................................... 24
5-2-7. PDO ....................................................................................................................................................... 26
5-2-8. Communication synchronization mode .................................................................................................. 27
5-2-9. LED light ............................................................................................................................................... 29

6. ETHERCAT OPERATION MODE .................................................................................................................. 30

6-1. HOMING MODE .............................................................................................................................................. 30

6-1-1. Overview ................................................................................................................................................ 30
6-1-2. Operation steps ...................................................................................................................................... 30
6-1-3. Related object list................................................................................................................................... 30
6-1-4. Homing mode ......................................................................................................................................... 30
6-2. CYCLIC SYNCHRONOUS POSITION MODE ....................................................................................................... 38
6-2-1. Overview ................................................................................................................................................ 38
6-2-2. Operation steps ...................................................................................................................................... 38
6-2-3. Related object list................................................................................................................................... 38
6-3. PROFILE POSITION MODE ............................................................................................................................... 39
6-3-1. Overview ................................................................................................................................................ 39
6-3-2. Operation steps ...................................................................................................................................... 39
6-3-3. Related object list................................................................................................................................... 45
6-4. PROFILE VELOCITY MODE.............................................................................................................................. 45
6-4-1. Overview ................................................................................................................................................ 45
6-4-2. Operation steps ...................................................................................................................................... 45
6-4-3. Related object list................................................................................................................................... 45

7. MODE COMMON FUNCTION ....................................................................................................................... 46

7-1. TOUCH PROBE FUNCTION ............................................................................................................................... 46

7-1-1. Overview ................................................................................................................................................ 46
7-1-2. Operation steps ...................................................................................................................................... 46
7-1-3. Related object list................................................................................................................................... 46
7-2. DIGITAL INPUT (60FDH) ................................................................................................................................. 48

8. ETHERCAT PARAMETER LIST (REFER TO XML FILE FOR DETAILS)............................................. 49

8-1. COE OBJECT WORD ......................................................................................................................................... 49

8-1-1. Communication Profile area .................................................................................................................. 49
8-1-2. Driver Profile area ................................................................................................................................. 49

9. ETHERCAT ALARM INFORMATION .......................................................................................................... 51

1. Product introduction
1-1. Model naming rule
Take DP3CL-705 as an example:

DP3CL - 70 5
① ②③
① : DP3CL series open loop bus stepping driver
② : Driver output maximum peak current 7A
③ : The maximum supply voltage of the driver is 50VDC

1-2. Performance
⚫ Support COE (CANopen over EtherCAT) protocol, conform to CiA402 standard, support 32-axis,
support master station with standard EtherCAT protocol, and the communication period between master
and slave station can reach 32-axis 1ms.
⚫ The network cable replaces the traditional pulse direction signal cable, and also has power cable and
encoder cable, which is simple in wiring. It can reduce the cost of cable, labor and maintenance greatly.
⚫ Relying on the low bus load of EtherCAT bus and the point-to-point physical layer, it can greatly
suppress the generation of interference and clutter, and significantly improve the reliability and
anti-interference ability of the system.
⚫ EtherCAT bus technology combined with the latest control algorithm has greatly improved the
performance.
1-3. Electrical specification
Driver model DP3CL-305 DP3CL-705 DP3CL-808
Input power supply voltage 20-50 20-50 20-80
(VDC)
Output peak current (A) 1-3 1-7 1-8
Matched motor (base) 42 57/60 86
origin input, positive and negative limit, emergency stop, clear
Input signal
alarm, user-defined input
Output signal Alarm output, holding brake signal output, custom output
Alarm function Overcurrent, overvoltage, abnormal communication, etc
Debugging software Xinje stepper driver software
Try to avoid dust, oil mist and corrosive gas, places with high
Application area humidity and strong vibration, and combustible gas and conductive
dust are prohibited
Environment
0℃~50℃
Using temperature
environ Max working
60℃
ment temperature
Humidity 40%~90% RH (No condensation or water droplets)
Vibration 5.9m/s2 Max
Storage
-25℃～70℃
temperature

1-4. Safety caution

(1) The driver must be installed and operated by professional technicians!
(2) The input voltage of the driver must meet the technical requirements!
(3) It is strictly forbidden to plug and unplug the power terminal of the driver with electricity. When the motor
stops, there is still a large current flowing through the coil. Pulling and unplugging the power terminal will
produce a huge instantaneous induction, and the electric potential will burn out the driver!
(4) Before power on, please ensure the connection correctness and firmness of power cable, motor cable and
signal cable!
(5) Avoid electromagnetic interference!
2. Installation and wiring
2-1. Installation
2-1-1. Dimension
⚫ DP3CL-305, DP3CL-705, DP3CL-808 Unit: mm

25.3

3.8
35.5 92.2 5

117.9
125

3
4.
φ

2-1-2. Installation environment

The reliable working temperature of the driver is usually within 60℃, and the working temperature of the motor is
within 80℃. To ensure that the driver works within the reliable working temperature range, the driver shall be
installed in an electric cabinet with good ventilation and proper protection. If necessary, a fan shall be installed
near the driver to dissipate heat forcibly, so as to avoid using in the occasions of dust, oil mist, corrosive gas, too
high humidity and strong vibration.
2-2. Wiring
2-2-1. Typical wiring diagram

2-2-2. Wiring caution

(1) Please wiring according to the terminal voltage and polarity to prevent equipment damage and personal injury.
The DC driver power supply cannot be reversed.
(2) If one power supply supplies multiple drives, parallel connection shall be adopted at the power supply side,
and chain connection from one to another is not allowed.
(3) The wiring head shall not be exposed outside the terminal to prevent accidental short circuit from damaging
the driver.
3. Driver interface

3-1. Alarm information and solution

The green LED is the power indicator, which is always on when the driver is powered on. This LED goes off
when the drive is powered off.
The red LED is a fault indicator lamp. In case of a fault, the indicator lamp flashes continuously, pauses for one
second and then flashes continuously. When the fault is cleared by the user, the red LED is always off. The
number of consecutive flashes of red LED represents different fault information, and the specific relationship is
shown in the following table.
Flashing Fault Reason and solution
The possible causes of alarm are: wrong wiring, short circuit of the
Over current or short
Blink once driver, electromagnetic interference, check the wiring and power on
circuit
again to clear the alarm
When the driver voltage exceeds the specified voltage, it will enter
Blink twice
Over voltage overvoltage protection. At this time, it is necessary to reduce the
continuously
power supply and power on again to clear the alarm
Flashes
The default parameter is set to 0. The undervoltage alarm is not
continuously Under voltage
enabled, and the user can set the undervoltage alarm threshold
for 3 times
Detect the motor status when the power on motor parameters are
Flashes
Motor open circuit or automatically adjusted. During operation, do not detect the motor
continuously
poor contact disconnection and other information. Check the wiring, power on
for 4 times
again, and clear the alarm
Alarm related to Use the stepping driver software or check the bus alarm information
Always on
EtherCAT at the PLC end
Note: Since the driver does not have the protection function of reverse connection of the positive and negative
poles of the power supply, please confirm the correct connection of the positive and negative poles of the power
supply again before powering on. The reverse connection of the positive and negative poles will cause the fuse in
the driver to burn out.
3-2. EtherCAT terminals
Graphic Pin Name Explanation
1, 9 E_TX+ EtherCAT data send +
2, 10 E_TX- EtherCAT data send -
LED1 1
3, 11 E_RX+ EtherCAT data receive +
8 4, 12 / /
LED2
LED3 9 5, 13 / /
6, 14 E_RX- EtherCAT data receive -
16
LED4 7, 15 / /
8, 16 / /
Note: LED1 and LED3 are "RUN" status lights. The yellow light is on during normal connection, but it is not on
after connection failure.
LED2 is the "L/A OUT" status light.
LED4 is the "L/A IN" status light.
Note: the cable length between EtherCAT bus nodes is recommended to be no more than 50m. It is recommended
to use CAT5E Ethernet cable with double-layer shielding or better.

Ethernet port light definition

Name Color Status Description
Yellow light ON Connection normal
RUN
OFF Connection abnormal
Green light ON Physical layer link establishment
L/A OUT OFF Physical layer link not established
Flash Interactive data after link establishment
Green light ON Physical layer link establishment
L/A IN OFF Physical layer link not established
Flash Interactive data after link establishment

3-3. Control signal interface

Graphic Pin Name I/O Explanation
1 SI1 Input Single ended input signals IN1~IN4, 12~24V are valid,
2 SI2 Input the maximum input frequency is 10KHz, and the signal
3 SI3 Input definition is configurable.
4 SI4 Input IN1 defaults to clear alarm, and IN2, IN3, and IN4
5 COMI Input defaults to positive and negative limit and origin. COMI
is the common terminal of single end input signal,
common anode or common cathode
6 COMO Output Output signal common GND
7 ERR Output Err single ended output, maximum current 50mA,
withstand voltage 30VDC
8 BRK Output Holding brake output, maximum current 500mA,
withstand voltage 30VDC, can be directly connected to
holding brake without relay
3-4. Strong electricity interface
Interface Function Explanation
GND DC power supply ground DC power supply ground
＋V DC power supply + Select voltage according to demand
A+, A- Motor phase A coil Swap A+, A - to change the running direction of the motor
B+, B- Motor phase B coil Swap B+, B - to change the running direction of the motor
Note:
DP3CL-305 range: 20~50VDC: recommended value: 24~36VDC.
DP3CL-705 range is 20~50VDC: the recommended value for 57 motors is 24~36VDC, and the recommended
value for 86 or high-speed application scenarios is 48V.
DP3CL-808 range: 20~80VDC: above 48V is recommended.

3-5. Software communication interface

The definition of RS232 interface pin arrangement is shown in the following table:
Diagram Pin Function Notes
1 TXD RS232 send
2 RXD RS232 receive
3 GND RS232 ground

Note: please use the cable supplied by Xinje company.

RS232 default communication parameters: baud rate 19200bps, 8 data bits, 1 stop bit, even parity, station no.1.

3-6. Dial switch

Half/Full current mode Direction

SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

Dynamic current setting Filter time Station no. switching

3-6-1. Working (dynamic) current setting

⚫ DP3CL-305
Output peak current Output average SW1 SW2 SW3
current
Default (1.0A) OFF OFF OFF
0.56A 0.4A ON OFF OFF
0.84A 0.6A OFF ON OFF
1.4A 1.0A ON ON OFF
1.82A 1.3A OFF OFF ON
2.1A 1.5A ON OFF ON
 2.66A 1.9A OFF ON ON
3.0A 2.1A ON ON ON

⚫ DP3CL-705
Output peak current Output average SW1 SW2 SW3
current
Default (3A) OFF OFF OFF
2.5A 1.8A ON OFF OFF
3.4A 2.4A OFF ON OFF
4.2A 3.0A ON ON OFF
5A 3.6A OFF OFF ON
5.6A 4.0A ON OFF ON
6.4A 4.6A OFF ON ON
7A 5.0A ON ON ON

⚫ DP3CL-808
Output peak current Output average SW1 SW2 SW3
current
Default (4.4A) OFF OFF OFF
2.7A 1.6A ON OFF OFF
3.6A 2.3A OFF ON OFF
4.6A 3.2A ON ON OFF
5.5A 3.7A OFF OFF ON
6.4A 4.4A ON OFF ON
7.3A 5.2A OFF ON ON
8.4A 6.0A ON ON ON

3-6-2. Static current setting

SW4 dial switch can set the static current.
Half current mode, the static current is set to half of the
OFF
dynamic current
SW4
ON Full current mode, static current is the same as dynamic
current

3-6-3. Filter time setting

Filter time SW5 SW6
1.5ms (default, software) OFF OFF
3ms OFF ON
12ms ON OFF
Close ON ON
3-6-4. Direction setting
Dial switch Function ON OFF
SW7 DIR CW CCW

3-6-5. Station no. setting

Dial switch Function ON OFF
SW8 Station no. selection SW1-SW7 can set the station no. SW1-SW7 can use for filter and
current adjustment
SW8 is the station number and general function selector switch, for default OFF state, SW1-SW7 can be used for
current and filtering adjustment.
After SW8 is set to ON, select the function of dialing to set station number, SW1-SW7 combination to select
station number, and write the new station number after dialing modification, power off holding. After the station
number is modified, the new station number has been written into the driver, and SW8 can be set to OFF to select
other general function settings.

When SW8 is set to OFF, the description of SW1-SW7 dial setting station number is as follows:
Set the station no. SW7 SW6 SW5 SW4 SW3 SW2 SW1
0 OFF OFF OFF OFF OFF OFF OFF
1 OFF OFF OFF OFF OFF OFF ON
2 OFF OFF OFF OFF OFF ON OFF
3 OFF OFF OFF OFF OFF ON ON
4 OFF OFF OFF OFF ON OFF OFF
5 OFF OFF OFF OFF ON OFF ON
6 OFF OFF OFF OFF ON ON OFF
7 OFF OFF OFF OFF ON ON ON
8 OFF OFF OFF ON OFF OFF OFF
... ...
4. Parameter and setting
4-1. Parameter list

Group P0: basic function

Parameter Address Meaning Range Default Note
P0-01 0x0001 Subdivision 200~51200 10000 Effective after restart
Effective after restart, shut down the
P0-02 0x0002 Filter time 0~50 0
filter when setting to zero
Open loop current Open loop running current=
P0-05 0x0005 1~100 100
percentage Open loop current % ×peak current
Open loop holding current (static
Open loop holding
P0-08 0x0008 0~100 50 half current)=open loop holding
current percentage
current % ×peak current
0: mode 1: address 2: speed per
P0-11 0x000B Panel display mode 0~2 0
second
Open loop holding Time for switching from pulse free
P0-12 0x000C 1~10000 100
current switching time input to open loop holding current

Group P1: gain control

Parameter Address Meaning Range Default Note
P1-00 0x0100 Auto tuning 0~1 1 0: OFF 1: ON
P1-01 0x0101 Current Kp 1~65535 1500
P1-02 0x0102 Current Ki 1~65535 800
P1-13 0x010D In place delay 0~100 3

Group P2: IO configuration

Parameter Address Meaning Range Default Note
Bit0~3 output terminal
P2-02 0x0202 Alarm output 0~65535 1
Bit4 effective voltage
Bit0~3 output terminal
P2-03 0x0203 Brake output 0~65535 2
Bit4 effective voltage
Bit0~3 output terminal
P2-05 0x0205 Alarm clear 0~65535 1
Bit4 effective voltage
Bit0~3 output terminal
P2-06 0x0206 POT 0~65535 2
Bit4 effective voltage
Bit0~3 output terminal
P2-07 0x0207 NOT 0~65535 3
Bit4 effective voltage
Bit0~3 output terminal
P2-08 0x0208 HOME 0~65535 4
Bit4 effective voltage

Group P3: protection function

Parameter Address Meaning Range Default Note
P3-01 0x0301 Fault detection selection 0~255 255
P3-02 0x0302 Under voltage alarm 0~20 0 Shield the alarm when it is 0 in
 threshold default

Group P4: motor parameters

Parameter Address Meaning Range Default Note
305：1~40 305：30
P4-00 0x0400 Peak current 705：1~70 705：70 Motor peak current (100mA)
808：1~84 808：84
Quadruple frequency, modification
P4-01 0x0401 Encoder resolution 200~20000 4000
is not supported
P4-02 0x0402 - 0~1 0

Group 5 to group 7 are reserved.

Group P8: curve collection

Parameter Address Meaning Range Default Note
P8-00 0x0800 Sampling channel 1 0~65535 8001
P8-01 0x0801 Sampling channel 2 0~65535 8003
P8-02 0x0802 Sampling channel 3 0~65535 0
P8-03 0x0803 Sampling channel 4 0~65535 0
P8-04 0x0804 Sampling channel 5 0~65535 8002
P8-05 0x0805 Sampling channel 6 0~65535 8004
P8-06 0x0806 Sampling channel 7 0~65535 0
P8-07 0x0807 Sampling channel 8 0~65535 0
P8-08 0x0808 Sampling channel 9 0~65535 1008
P8-09 0x0809 Sampling channel 10 0~65535 1009
P8-10 0x080A Sampling channel 11 0~65535 0
P8-11 0x080B Sampling channel 12 0~65535 0
P8-12 0x080C Sampling channel 13 0~65535 0
P8-13 0x080D Sampling channel 14 0~65535 0
P8-14 0x080E Sampling channel 15 0~65535 0
P8-15 0x080F Sampling channel 16 0~65535 0
P8-16 0x0810 Sampling mode 0~8 1
P8-17 0x0811 Sampling interval 1~65535 36
P8-18 0x0812 Sampling time 0~65535 1024
P8-19 0x0813 Trigger channel 0~65535 0
P8-20 0x0814 Trigger threshold low bit 0~65535 0
P8-21 0x0815 Trigger threshold high bit 0~65535 0
P8-22 0x0816 Trigger slope 0~65535 0
P8-23 0x0817 Sampling proportion 0~100 100
P8-24 0x0818 - 0~1 0
P8-25 0x0819 - 0~1 0
P8-26 0x081A - 0~1 0
Group U0
Parameter Address Contents Note
U0-01 0x1001 Setting speed rpm
U0-10 0x100A 0~15 Command pulse
U0-11 0x100B 16~31
Pulse quantity
U0-12 0x100C 32~47
U0-13 0x100D 48~62; 63: direction bit
U0-18 0x1012 Single turn pulse 0~15 Command pulse
U0-19 0x1013 counting 16~31
U0-20 0x1014 0~15
Pulse turns
U0-21 0x1015 16~31
U0-25 0x1019 Setting electric angle
U0-26 0x101A Phase A feedback current mA
U0-27 0x101B Phase B feedback current mA
U0-28 0x101C Reference feedback current mA
U0-29 0x101D Phase A setting current mA
U0-30 0x101E Phase B setting current mA
U0-31 0x101F Reference setting current mA
U0-32 0x1020 Bus voltage V

Group U1
Parameter Address Contents Note
U1-00 0x1100 Current alarm code
U1-01 0x1101 Phase A current when alarm occurs
U1-02 0x1102 Phase B current when alarm occurs
U1-03 0x1103 Reference current when alarm occurs
U1-04 0x1104 Bus voltage when alarm occurs
U1-05 0x1105 Position offset when alarm occurs
U1-06 0x1106 Speed value when alarm occurs
U1-07 0x1107 The time when alarm occurs
U1-08 0x1108 The time when alarm occurs
U1-09 0x1109 This time operation error code quantity
U1-10 0x110A Last second alarm code
U1-11 0x110B Last third alarm code
U1-12 0x110C Last fourth alarm code
U1-13 0x110D Last fifth alarm code
U1-14 0x110E Last sixth alarm code
U1-15 0x110F Reserved
U1-16 0x1110 Reserved
U1-17 0x1111 Reserved
U1-18 0x1112 Reserved
U1-19 0x1113 Reserved
U1-20 0x1114 Reserved
U1-21 0x1115 Reserved
Group U2
Parameter Address Contents Note
U2-00 0x1200 Power on times
U2-01 0x1201 Machine type
U2-02 0x1202 Series
U2-03 0x1203 Model
U2-04 0x1204 Date of production Year
U2-05 0x1205 Date of production Month
U2-06 0x1206 Date of production Day
U2-07 0x1207 Software version
U2-08 0x1208 Hardware version
U2-09 0x1209 Power on operation time Hour
U2-10 0x120A Power on operation time Minute
U2-11 0x120B Power on operation time Second
U2-12 0x120C Device serial no. Low 16-bit
U2-13 0x120D Device serial no. High 16-bit
U2-14 0x120E Firmware generation date: year
U2-15 0x120F Firmware generation date: month/day
U2-16 0x1210 Firmware generation date: hour/minute

Group U3
Parameter Address Contents Note
U3-00 0x1300 PDI period
U3-01 0x1301 PDI time
U3-02 0x1302 PDI period max time
U3-03 0x1303 PDI period min time
U3-04 0x1304 Sync0 period
U3-05 0x1305 Sync0 time
U3-06 0x1306 Sync0 period max time
U3-07 0x1307 Sync0 period min time
U3-08 0x1308 ECAT timer period
U3-09 0x1309 PID2Sync0 time difference
U3-10 0x130A PID2Sync0 max time difference
U3-11 0x130B PID2Sync0 min time difference

Group F0
Parameter Address Contents Note
F0-00 0x2000 Clear the alarm
F0-01 0x2001 Restore factory settings
F0-02 0x2002 Save the parameters
5. EtherCAT communication

5-1. EtherCAT overview

This section mainly introduces the basic concept, system composition, communication specification and
connection description of EtherCAT.

5-1-1. EtherCAT overview

EtherCAT, the full name of Ethernet for Control Automation Technology, is developed by Beckhoff Atomization
GmbH. It is a real-time Ethernet used for open network communication between master station and slave station.
As a mature industrial Ethernet technology, EtherCAT has the characteristics of high performance, low cost, easy
use, etc.
The XG2 series controller (master station) and DP3CL step driver (slave station) comply with the standard
EtherCAT protocol, support the maximum number of slave stations 32 axes, 32-axis synchronization cycle 1 ms,
2-channel Touch probe function, and multiple control modes of position and speed, which are widely applicable to
various industrial applications.

5-1-2. System composition (composition of master station and slave station)

The connection form of EtherCAT is a network system that connects the master station (FA controller) and
multiple slave stations in a linear manner.
The number of nodes that can be connected by the slave station depends on the processing or communication
cycle of the master station, the number of bytes transmitted, etc.

18
5-2. EtherCAT communication specification

This section mainly introduces the frame structure, state machine, ESC, SDO, PDO, SII area, communication
synchronization mode, etc. of EtherCAT.

5-2-1. Communication specification list

Item Specification
Physical layer 100BASE-TX (IEEE802.3)
Baud rate 100[Mbps] (full duplex)
Topology Line
Connection cable JC-CA twisted pair (shielded twisted pair)
Cable length The maximum length between nodes is 50m
Communication port 2 Port (RJ45)
[Run] RUN LED
EtherCAT LED [L/A IN] Port0 Link/Activity LED (Green)
[L/A OUT] Port1 Link/Activity LED (Green)
Set range: 0~65535
Station Alias (ID)
Set address: 2700h
Explicit Device ID Cannot support
Mailbox protocol COE（CANopen Over EtherCAT）
SyncManager 4
FMMU 3
Control mode
Csp Cyclic synchronous position mode
Modes of operation
Position PP Profile position mode
Hm Homing mode
Speed Pv Profile velocity mode
Touch Probe 2 channels
DC (SYNCO Event synchronization)
Synchronization mode
SM (SM Event synchronization)
Cyclic time (DC 500,1000,2000,4000[μs]
Communication cycle)
Communication object SDO[Service Data Object], PDO[Process Data Object]
Single station PDO max TxPDO: 4 [pcs] RxPDO: 4 [pcs]
distribution number
Single station PDO max byte TxPDO: 24[byte] RxPDO: 24[byte]
number
Mailbox communication 1ms
interval in PreOP mode
Email SDO request and SDO information
Note: refer to chapter 5-2-3. State Machine ESM for the meanings of SDO and PDO.

19
5-2-2. EtherCAT frame structure

EtherCAT is an industrial communication protocol that can be controlled in real time based on Ethernet. It is just
an extension of IEEE 802.3 Ethernet specification without any change to the basic structure, so it can transfer the
data in the standard Ethernet frame.
Since the EtherType of the Ethernet Header is [88A4h], the subsequent Ethernet data is processed as an EtherCAT
frame.
The EtherCAT frame is composed of the EtherCAT frame header and more than one EtherCAT submessage. The
EtherCAT submessage is further subdivided. Only EtherCAT frames with Type=1 of EtherCAT frame header are
processed according to ESC.

EtherNet/EtherCAT frame structure

14byte 46-1500byte 4byte

Ethernet Message header Ethernet data FCS

Ethernet Message header EtherCAT header Data package

6byte 6byte 2byte 11bit 1bit 4bit 44(*1)-1498byte

Data package Source EtherType Length Res. Type Data package
88A4h 1

1st Ethernet Message header 2nd Nth EtherCAT Data package

10byte Max:1486byte 2byte

Data package message header Data WKC

1byte 1byte 4byte 11bit 3bit 1bit 1bit 2byte

Working Counter
Command index Address area Len R C M IRQ

2byte 2byte More EtherCAT Datagrams

AP** Position Offset Location addressing

FP** Address Offset Node addressing

L** Logical Address Logic addressing

*1: Ethernet frame is shorter than 64byte, 1~32 byte is added.

(Ethernet message header + Ethernet data + FCS）

5-2-3. State machine ESM

ESM refers to EtherCAT State Machine. The ESM is responsible for coordinating the state relationship between
the master and slave applications during initialization and runtime.
The state change request is executed by the master station, which puts forward a control request to the application
layer service. The latter generates an application layer control event in the slave station, and the slave station

20
responds to the application layer control service through the local application layer state write service after the
state change request succeeds or fails. If the status change fails, the slave station keeps the status and sets an error
flag.
The following figure shows the state transition of ESM:

Initialization
（IP） （PI）
Pre-Operational
（OI）
（PS） （SP） （SI）
(IP) in the state transition diagram is the
（OP） Safe-Operational
abbreviation of state transition
（SO） （OS） (IP): Init Pre-Operational
(PS): Pre-Operational Safe-Operational
Operational

Communication action
Slave station PDO PDO
Action in each state SDO (mailbox) send
state send receive
and receive message
message message
Communication initialization, SDO and PDO
Init - - -
fail to send and receive message
Pre-operational Only SDO sending and receiving status Yes - -
Only SDO sends and receives message, and the
Safe-operational Yes Yes -
status of PDO sends message
Operational SDO and PDO send and receive message status Yes Yes Yes

Note:
The access from the master station to the ESC register is independent of the above table and is available at any
time.
PDO (Process Data Object) is used to transmit periodic communication data.
SDO (Service Data Object) is used to transmit non periodic communication data.
Command or interface operation during ESM status switching may cause abnormal communication error.

5-2-4. Slave station controller ESC

5-2-4-1. Principle overview

ESC refers to the Ethercat Slave Controller. The communication process is completely handled by ESC, which has
four data receiving and transmitting ports, and each port has a TX and RX. Each port can send and receive
Ethernet data frames. The data flow direction in ESC is fixed: port 0 -->port 3 -->port 1 -->port 2 -->port 0. If
ESC detects that a port has no external PHY, it will automatically close the port and automatically forward to the
next port through the internal loopback.

21
 Ports（MII/EBUS） SPI/uC parallel/
0 1 2 3 Ditigal I/O On-chip bus

AutoForwarder+
PDI
Loopback
ECAT connect PDI connect

PHY
Management
FMMU

ECAT
Processing SyncManager
Unit

ESC address space

Reset Reset Registers User RAM Process RAM

Distributed
Monitoring EEPROM Status
Clocks

SYNC LATCH I2C EEPROM LEDs

5-2-4-2. Address space

The DP3CL series holds a physical address space of 8Kbyte.

The original 4Kbyte (0000h ~ 0FFFh) is used as a register space, and the other 4Kbyte (1000h ~ 1FFFFh) is used
as a process data PDO in the RAM field. For details of registers, please refer to the data table of IP
(ET1810/ET1811/ET1812).

ESC register byte Initial

Length (Byte) Explanation
address value*1
Slave controller information
0000h 1 Type 04h
0001h 1 Revision 02h
0002h~0003h 2 Build 0040h
0004h 1 FMMUs supported 03h
0005h 1 SyncManagers supported 04h
0006h 1 RAM Size 08h
0007h 1 Port Descriptor 0Fh
0008h~0009h 2 ESC Features supported 0184h
Station address
0010h~0011h 2 Configured Station Address -
0012h~0013h 2 Configured Station Alias -
…
Data link layer
…
0100h~0103h 4 ESC DL Control -
…

22
 ESC register byte Initial
Length (Byte) Explanation
address value*1
0110h~0111h 2 ESC DL Status -
Application layer
0120h~0121h 2 AL Control -
0130h~0131h 2 AL Status -
0134h~0135h 2 AL Status Code -
…
PDI Process data interface
0140h 1 PDI Control 08h
0141h 1 ESC Configuration 0Ch
0150h 1 PDI Configuration -
0151h 1 SYNC/LATCH PDI Configuration 66h
0152h~153h 2 Extend PDI Configuration -
…
Watchdog
0400h~0401h 2 Watchdog Divider -
0410h~0411h 2 Watchdog Time PDI -
0420h~0421h 2 Watchdog Time Process Data -
0440h~0441h 2 Watchdog Status Process Data -
0442h 1 Watchdog Counter Process Data -
0443h 1 Watchdog Counter PDI -
…
FMMU
0600h~062Fh 3x16 FMMUs[2:0] -
+0h~3h 4 Logical Start Address -
+4h~5h 2 Length -
+6h 1 Logical Start bit -
+7h 1 Logical Stop bit -
+8h~9h 2 Physical Start Address -
+Ah 1 Physical Start bit -
+Bh 1 Type -
+Ch 1 Activate -
+Dh~Fh 3 Reserved -
…
Distributed Clocks（DC）-SYNC Out Unit
0981h 1 Activation -
…
0984h 1 Activation Status -
098Eh 1 SYNCO Status -
…
0990h~0993h 4 Start Time Cyclic Operation/Next SYNC0 Pulse -

23
 ESC register byte Initial
Length (Byte) Explanation
address value*1
…
09A0h~09A3h 4 SYNC0 Cycle Time -
…

5-2-5. SII area (0000h～003Fh)

In the ESC configuration area (EEPROM word address 0000h~0007h), Configured Station Alias automatically
reads and writes to the ESC register according to ESC after the drive power is started. When the changed value of
SII EEPROM is reflected in the ESC register, the power supply needs to be started again. In addition, the initial
value of the IP core (ET1810/ET1811/ET1812) is set. For details, please refer to the data sheet of IP core
(ET1810/ET1811/ET1812).

5-2-6. SDO

The DP3CL series supports SDO (Service Data Object). The data exchange of SDO uses Mailbox communication,
so the data refresh time of SDO becomes unstable.
The master station can read and write data in the records in the object dictionary, and can set objects and monitor
various statuses of slave stations. The response to the SDO read/write action takes time. Objects refreshed with
PDO should not be refreshed with SDO, but overwritten with PDO values.

5-2-6-1. Mailbox frame structure

The frame structure of Mailbox/SDO is shown below. Please refer to ETG specifications (ETG1000-5 and
ETG1000-6) for details.
Ethernet Header EthernCAT Header 1st EtherCAT Datagram 2nd… … Nth… FCS

10byte Max:1486byte 2byte

Datagram Header Mailbox Protocol WKC

6byte 2byte Max:1478byte

Mailbox Header CoE Header Cmd Specific

16bit 16bit 6bit 2bit 4bit 4bit 9bit 3bit 4bit Max:1478byte
Length Address Channel Prio Type Cnt Number Res Serv Cmd Specific

Frame area Data area Data type Function

MailBox Header Length WORD Mailbox data length
Address WORD The station address of the sending source
Channel Unsigned6 (Reserved)
Prority Unsigned2 Priority
Type Unsigned4 Mailbox type
00h: error
01h: (Reserved)
02h: EoE (Not corresponding)
03h: CoE
04h: FoE (Not corresponding)

24
 Frame area Data area Data type Function
05h: SoE (Not corresponding)
06h-0Eh: (Reserved)
0Fh: VoE (Not corresponding)
Cnt Unsigned3 Mailbox counter
Reserved Unsigned1 (Reserved)
CoE Header Number Unsigned9 Reserved
Reserved Unsigned3 Reserved
Service Unsigned4 Message type
Cmd specific Size Indicator Unsigned1 Data Set Size use License
Transfer Type Unsigned1 Normal transfer/Expedited transfer
Data Set Size Unsigned2 Specify data size
Complete accessibility Unsigned1 Selection of object access method (not
corresponding)
Command Specfier Unsigned3 Upload/download
Selection of requirements/responses, etc
Index WORD Index of object
Sub index BYTE Sub index of object
Data of object or Abort message etc.

5-2-6-2. Mailbox timeout

The following timeout settings are made for this stepping driver in Mailbox communication.
Mailbox Request timeout: 100ms
The master station sends a request to the slave station (driver). If the WKC of the sending data of the requested
frame is updated, the slave station is considered to receive the request normally. Try again and again until the
WKC is updated. However, if the WKC is not updated until this set time, the master station will timeout.
Mailbox Reponse timeout: 10s
The master station receives the response from the slave station (driver) request. If this WKC is updated, it is
considered that the response is received normally. Until this set time, if the updated WKC response cannot be
received, the master side will timeout.
The maximum time required for a slave (drive) response to complete.

5-2-6-3. Information in case of abnormal alarm

(1) Alarm code

Error code return the same value as 603Fh (Error code).
0000h～FEFFh are defined as IEC61800-7-201.
FF00h～FFFFh are defined by manufacturer.
Index subindex Name Range Data type Accessibility PDO Op-mode
603Fh 00h Error code 0-65535 U16 ro TxPDO All
Displays the alarms that are occurring in the servo drive (only the master number).
When the alarm does not occur, it displays 0000h.
When an alarm occurs, the alarm code is displayed.

(2) Alarm type (status)

Error register return the same value as 1001h (Error register).

25
Index subindex Name Range Data type Accessibility PDO Op-mode
1001h 00h Error register 0-65535 U16 ro TxPDO All
Displays the type (status) of alarm that is occurring in the servo driver.
When the alarm does not occur, it displays 0000h.
No warnings are displayed.
Bit Content
0 Not support
1
2
3
4 Alarm defined by AL status code occurs *1
5 Not support
6 Reserved
7 Alarm undefined by AL status code occurs *2
*1: The "alarm defined by AL status code" refers to EtherCAT communication association
fault E-800 ~ 7, E-810 ~ 7, E-850 ~ 7.
*2: The "alarm undefined by AL status code" refers to the fault of EtherCAT communication
association E-880~7 and the fault besieds EtherCAT communication association.

5-2-7. PDO

DP3CL series supports PDO (process data object).

The real-time data transfer based on EtherCAT is carried out through the data exchange of PDO (Process Data
Object).
PDO includes RxPDO transferred from master station to slave station and TxPDO transferred from slave station
to master station.
Send Receive
RxPDO Master station Slave station
TxPDO Slave station Master station

5-2-7-1. PDO mapping object

PDO mapping refers to the mapping from object dictionary to application object of PDO.
The table used for DP3CL series PDO mapping can use RxPDO (1600h ~ 1603h) and TxPDO (1A00h ~ 1A03h)
mapping objects.
The maximum number of application objects that a mapping object can map is as follows:
RxPDO: 24 [byte], TxPDO: 24 [byte]
The following shows an example of PDO mapping settings.
<Setting example>
Allocate the application object 6040h, 6060h, 607Ah, 60B8h to the mapping object 1600h (Receive PDO mapping
1: RxPDO_1).
Index Sub Object contents
1600h 00h 04h
01h 6040 00 10 h
02h 6060 00 08 h
03h 607A 00 20 h

26
 04h 60B8 00 10 h
05h 0000 00 00 h
…
18h 0000 00 00 h
6040h 00h Controlword U16
6060h 00h Mode of operation I8
607Ah 00h Target Position I32
60B8h 00h Touch probe function U16

5-2-7-2. PDO distribution object

In order to exchange PDO data, the table used for PDO mapping must be allocated to SyncManager. The
relationship between the table used for PDO mapping and SyncManager is described to the PDO allocation object.
As PDO allocation objects, DP3CL series can use RxPDO (SyncManager2) for 1C12h and TxPDO
(SyncManager3) for 1C13h.
The maximum number of application objects that a mapping object can map is as follows:
RxPDO: 4 [Table] (1600h~1603h).
RxPDO: 4 [Table] (1A00h~1A03h).
Usually, 1 mapping object is sufficient, so the default does not need to be changed.

Example of setting PDO assignment objects:

Allocation mapping object 1600h to allocation object 1C12h (Sync manager channel 2).
Index Sub Object contents
1C12h 00h 01h
01h 1600h
02h 0000h
03h 0000h
04h 0000h

Allocation mapping object 1A00h to allocation object 1C13h (Sync manager channel 3).
Index Sub Object contents
1C13h 00h 01h
01h 1A00h
02h 0000h
03h 0000h
04h 0000h

5-2-8. Communication synchronization mode

The DP3CL series can select the following synchronization modes.

Synchronous Content Synchronization method Features
mode
DC SYNC0 Event Synchronize the time high-precision
synchronization information of other slave Compensation processing is required at the
stations based on the time of master station side
the first axis

27
 SM2 SM2 Event Synchronize according to No transmission delay compensation, poor
synchronization RxPDO receiving time accuracy
Need to keep transmission time on the
controller side (special hardware, etc.)
FreeRun Asynchronous Asynchronous Simple processing and poor real-time
performance

5-2-8-1. DC (SYNC0 Event synchronization)

The DP3CL series has a 64-bit DC (Distributed Clock).

The synchronization of EtherCAT communication is based on this DC. According to the DC slave, the
synchronization is realized by using the same reference clock (System Time). The local cycle of the slave starts
with the SYNC0 event. Because the slave processing (servo processing) starts from the SYNC0 event cycle, it is
always synchronized with the SYNC0 event.
The master station needs to perform transmission delay compensation (offset compensation) and regular deviation
compensation during communication initialization. The following figure shows the process of synchronous
completion from control power input to SYNC0 event and slave station processing (servo processing).
About
2~3s
CPU action restart Initialization Normal action
Time change according to ESM state
EtherCAT migration instruction
communication *1)
status Pre Safe
Init Operational
(ESM status) Operational Operational

Servo driver SDO (Mailbox) can send and receive message

communication
action
PDO can send message

PDO can receive

message

SYNC0 signal
from ESC

Synchronization Communication
synchronization complete time cycle
state of SYNC0 Max.1s
Synchronization Synchronization
signal and servo
not complete completed
control cycle After the SYNC0 signal and
the servo control cycle are
"synchronized", the PDO
sends the message under the
status of synchronization
with the servo control cycle

28
5-2-8-2. SM2 (SM2 Event synchronization）

The local cycle of the slave starts with the SM2 event.
Because the slave processing starts from the SM2 event cycle, it is always synchronized with the SM2 event.
Because the SM2 event occurs when the PDO receiving the message completed, it is necessary to ensure that the
upper (master) side sends the message regularly. If the fluctuation (deviation) of the sending time is too large, the
synchronization cannot be completed, or an alarm occurs.
If the above problem occurs, please use DC (SYNC0 event synchronization).

5-2-9. LED light

The L/A IN and L/A OUT LED lights indicate the LINK status and action status of the physical layer of each port.
The light color is green.
LED status Content
OFF LINK not established
Flashing LINK established, data send and receive
ON LINK established, no data send and receive

29
6. EtherCAT operation mode
6-1. Homing Mode
6-1-1. Overview
The user can use this mode to let the driver search for the origin position, and set the homing mode, the speed and
acceleration.
6-1-2. Operation steps
P2-06 corresponds to POT, P2-17 corresponds to NOT, and P2-08 corresponds to origin
1. set [control mode: 6060h] to homing mode (0x06).
2. set [homing mode: 6098h], setting range is 1~14, 17~30, 33, 34, 35, 37. Some stepping motors don’t have Z
phase signal, please select the homing mode carefully.
3. set [homing speed 6099h Sub-1], define the speed to find the origin switch (unit: command unit/s).
4. set [homing speed: 6099h Sub-2], define the speed to find the origin (unit: command unit/s).
5. set [homing acceleration: 609Ah], define the homing acceleration (unit: command unit/s2).
6. set [control word: 6040h] to (0x06 > 0x07 > 0x0F), enable the driver and make the motor to run.
7. set [control word: 6040h] to (0x0F > 0x1F), find the Home Switch and do the homing operation.
8. read [status word: 6041h] to know the driver status.

6-1-3. Related object list

Index Name Unit Read/write
6040h Controlword - RW
6041h Statusword - RO
6060h Modes of operation - RW
6061h Modes of operation display - RO
6098h Homing method - RW
6099h Homing speed command unit/s RW
609A Homing acceleration command unit/s2 RW

6-1-4. Homing mode

At present, the homing mode supported by Xinje DP3CL series servo is 1-14, 17~30, 33, 34, 35, 37. If a
slave station of another brand is used, the homing mode shall be subject to the description in the slave station
manual of the corresponding brand. Some stepper motors do not have a Z-phase signal and will not stop.
Please carefully select the homing mode.

◼ Mode 1:
When using homing mode 1, if the reverse limit switch is not triggered, the initial moving direction is left. The
origin position is at the first Z-phase pulse on the right of the position where the negative limit switch becomes
invalid.

30
 6099h-01h
6099h-02h

1
Index Pulse

NegativeLimit
Negative direction Positive direction
Homing on negative limit switch and index pulse

◼ Mode 2:
When using method 2, if the forward limit switch is not triggered, the initial movement direction is right. The
origin position is at the first Z-phase pulse on the left of the position where the forward limit switch becomes
invalid.

6099h-01h
6099h-02h

Index Pulse

Positive Limit
Negative direction Positive direction
Homing on positive limit switch and index pulse

◼ Mode 3, 4:
Using method 3 or 4, the initial direction of movement depends on the status of the origin switch. The origin
position is on the reverse side of the origin switch or on the Z phase position initially detected in the forward
direction.

31
 6099h-01h
6099h-02h

Index Pulse

Home Switch
Negative direction Positive direction
Homing on positive home switch and index pulse

◼ Mode 5, 6:
Using method 5 or 6, the initial direction of movement depends on the status of the origin switch. The origin
position is on the reverse side of the origin switch or on the Z phase position initially detected in the forward
direction.

6099h-01h
6099h-02h

6
Index Pulse

Home Switch
Negative direction Positive direction
Homing on negative home switch and index pulse

◼ Mode 7~14:
The initial action direction of modes 7 and 8 is negative if the origin switch has been activated at the beginning of
action.
The initial action direction of modes 9 and 10 is positive if the origin switch has been activated at the beginning of
the action.
The initial action direction of modes 11 and 12 is positive if the origin switch has been activated at the beginning
of the action.

32
The initial action direction of modes 13 and 14 is negative if the origin switch has been activated at the beginning
of the action.
The final homing position is the Z-phase signal near the rising or falling edge of the origin switch.
6099h-01h
6099h-02h

7 9

8 10

8 9

1
7 10
0

8 1
10
0
7 9

Index Pulse

Home Switch

Positive Limit
Negative direction Positive direction
Homing on home switch and index pulse – positive initial motion

6099h-01h
6099h-02h

13
8 11
8

147 7
12

8
13
13 9
12
12

14
7
14 11
11

7
14
14 12
9
12

813
13 11
11

Index Pulse

Home Switch

Negative Limit
Negative direction Positive direction
Homing on home switch and index pulse – Negative initial motion

◼ Mode 17:
This method is similar to Method1.
The difference is that the origin detected position is not the index pulse, but the limit switch change position.
(Please refer to the following figure)
When NOT is not assigned, Homing error =1.

33
 6099h-01h
6099h-02h

17

Negative Limit

Negative direction Positive direction

Homing on negative limit switch

◼ Mode 18:
This method is similar to Method 2.
The difference is that the origin detected position is not the index pulse, but the limit switch change position.
(Please refer to the following figure)
When POT is not assigned, Homing error =1.

6099h-01h
6099h-02h

18

Positive Limit
Negative direction Positive direction
Homing on positive limit switch

◼ Mode 19, 20:

This method is similar to Method 3, 4.
The difference is that the origin detected position is not the index pulse, but the Home switch change position.
(Please refer to the following figure)
When HOME is not assigned, Homing error =1.

34
 6099h-01h
6099h-02h

19

3
19

20
4

20
4

Home Switch
Negative direction Positive direction
Homing on positive home switch

◼ Mode 21, 22:

This method is similar to Method 5, 6.
The difference is that the origin detected position is not the index pulse, but the Home switch change position.
(Please refer to the following figure)
When HOME is not assigned, Homing error =1.

6099h-01h
6099h-02h

22

21

21
4

22

Home Switch
Negative direction Positive direction
Homing on positive home switch and index pulse

35
 ◼ Mode 23, 24, 25, 26:
This method is similar to Method 7, 8, 9, 10.
The difference is that the origin detected position is not the index pulse, but the Home switch change position.
(Please refer to the following figure)
When HOME, POT are not assigned, Homing error =1.

6099h-01h
6099h-02h

23 25

24 26

23 25

24 26

24 26

23 25

Home Switch

Positive Limit
Negative direction Positive direction
Homing on home switch and index pulse – positive initial motion

◼ Mode 27, 28, 29, 30:

This method is similar to Method 11, 12, 13, 14.
The difference is that the origin detected position is not the index pulse, but the Home switch change position.
(Please refer to the following figure)
When HOME, NOT are not assigned, Homing error =1.

6099h-01h
6099h-02h

29 27

30 28

29 28

30 27

30 28

29 27

Home Switch

Negative Limit

Negative direction Positive direction

Homing on home switch and index pulse – Negative initial motion

36
 ◼ Mode 33, 34:
Using method 33 or 34, the homing direction is negative or positive, respectively. The original position is located
near the Z phase of the selected direction.

6099h-01h
6099h-02h
33

134

Negative direction Positive direction

Homing on index pulse

◼ Mode 35, 37:

In modes 35 and 37, the position after power on is the origin position.

35

37

37
6-2. Cyclic Synchronous Position Mode
6-2-1. Overview
The upper computer plans the path in CSP mode and sends PDO according to the specified cycle. When
transmitting each PDO, the data of target position and control word will be transmitted to the driver at the same
time.
6-2-2. Operation steps
1. set [control mode: 6060h】to cyclic synchronous position mode (0x08).
2. set [interpolation time period: 60C2h], the set value must be the same as SYNC0 cycle.
➢ 60C2h Sub-1 can be set Interpolation time units, the range is 1ms~20ms.
➢ 60C2h Sub-2 can be set Interpolation time index. The value is fixed at -3 which means the time is
10-3 second.
3. Drive PDO Rx:
➢ 607Ah can set the Target Pos Cmd (32-bit).
➢ 6040h Sub-0 can set the controlword.

6-2-3. Related object list

Index Name Unit Read/write
6040h Control word - RW
6072h Max torque 0.1% RW
607Ah Target Position Command unit RW
Soft Position Limit - RW
607Dh
Number of entries - RW
Position range limit - RW
607Bh
HighestSub-Index numbers - RW
60C5h Max acceleration Command unit /s2 RW
60C6h Max deceleration Command unit /s2 RW
60F2h Positioning option code - RW

Csp control mode related detection types

Index Name Unit Read/write
6041h Statusword - RO
6062h Position demand value Command unit RO
6063h Position actual internal value pulse RO
6064h Position actual value Command unit RO
6065h Following error window Command unit RW
6066h Following error timeout 1ms RW
606Ch Velocity actual value Command unit /s RO
6076h Motor rated torque mN·m RO
6077h Torque actual value 0.1% RO
60F4h Following error actual value Command unit RO
60FAh Control effort Command unit RO
60FCh Position deamnd internal value Command unit RO

38
6-3. Profile Position Mode
6-3-1. Overview
After receiving the position command from the upper computer controller, the servo driver controls the servo
motor to reach the target position.

6-3-2. Operation steps

1. set [control mode: 6060h] to profile position mode (0x01).
2. set [target position: 607Ah] to target position (unit: command unit).
3. set [profile speed: 6081h] to profile velocity control (unit: command unit/s).
4. set [profile acceleration: 6083h], plan the acceleration slope (unit: command unit/s²).
5. set [profile deceleration: 6084h], plan the deceleration slope (unit: command unit/s²).
6. set [control word: 6040h] to (0x06 > 0x07 > 0x0F), make the driver start and the motor run.
7. read [position feedback: 6064h], get the present feedback position of motor
8. read [status word: 6041h], get the driver status, including following error, set-point acknowledge, target
reached.

Control word (6040h) < the functions in pp control mode>

Index Subindex Name Range Data type Accessibility PDO Op-mode
6040h 00h Control 0~65535 U16 rw RxPDO All
word
Set control commands for servo drivers such as PDS state transition
Bit information
15 14 13 12 11 10 9 8
r om h
7 6 5 4 3 2 1 0
fr oms eo qs ev so
abs/rel Change set immediately New set-point
r = reserved (Not corresponding) fr = fault reset
oms = operation mode specific eo = enable operation
qs = quick stop
h = halt ev = enable voltage
so = switch on

bit6-4 (operation mode specific):

Bit Name Value Definition
4 new set-point 0 -> 1 Start of positioning action, trigger for setting value update
Get a new location decided task (607Ah (Target position), 6081h (Profile
velocity) etc.
5 change set 0 Complete the currently running positioning action. That is, in the process of
immediately movement, if the target position 607A, acceleration 6083, deceleration 6084 are
changed, and then the control command is sent, it will not operate according to
the new motion parameters. After the last movement is executed, a new
command must be sent to execute the new movement.
1 Interrupt the current positioning action and immediately start the downward
positioning action. That is, during the movement, change the target position
607A, acceleration 6083, deceleration 6084, and then send the control command,

39
 for example, after changing the control word 0x6F (111) → 0x7F (127) (relative
mode) or 0x2F (47) → 0x3F (63) (absolute mode), it will immediately run
according to the new motion parameters.
6 Absolute/ 0 607Ah (target position) is treated as absolute position.
relative 1 607Ah (target position) is treated as a relative position.
Note:
(1) Please do not change the acceleration and deceleration (*) during motor operation.
If the acceleration and deceleration are changed, please change bit4 (new set-point) from 0 to 1 after the motor
stops.
6083h (Profile acceleration)
6084h (Profile deceleration)
60C5h (Max acceleration)
60C6h (Max deceleration)
(2) In the following states, if you execute a set-point (bit4 (new set-point) is changed from 0 to 1), please note that
its positioning task is canceled.
--Setting points under 6081h (Profile speed) =0.
(3) In case that the drive is prohibited in deceleration according to the detection of halt=1, all positioning tasks
will be voided.
(4) Start the pp action, and keep it for more than 2ms until starting the next pp action (new set-point changes from
0 to 1).

Status word (6041h) <the functions in pp mode >

Index Subindex Name Range Data type Accessibility PDO Op-mode
6041h 00h Status 0~65535 U16 ro TxPDO All
word
Indicates the status of the servo driver
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
Following Error set- point acknowledge Target Reached
7 6 5 4 3 2 1 0
w sod Qs ve f oe so rsto
r = reserved (Not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on

bit13,12,10 (operation mode specific):

Bit Name Value Definition
10 target reached 0 halt=0 (normally): positioning not complete
halt=1 (stop as halt): axis is decelerating
1 halt=0 (normally): positioning completed
halt=1 (stop as halt): axis stop (axis speed is 0)

40
12 set-point acknowledge 0 The new-setpoint is 0, and the buffer is empty after executing the
action of the current target location
1 The new positioning task uses data to put into the buffer. The buffer is
not empty
13 following error 0 60F4h (Following error actual value)
(= 6062h(Position demand value) – 6064h(Position actual value), not
over the setting range of 6065h (Following error window), or 60F4h
value is over the setting value of 6065h, not pass the setting time of
6066h
1 60F4h (Following error actual value) is over the setting range of
6065h(Following error window), above the setting time of 6066h
(Following error time out) , continue

bit10: target reached (Position reached)

The difference between 6062h (required position value) and 6064h (position feedback) is within the range set for
6067h (position arrival threshold) when the servo enable is on (effective operation state) and all set points give the
status of completing command generation. If the time set for 6068h (position arrival time window) is over, the
bit10 (target reached) of 6041h (status word) becomes 1.
Bit Name Value Definition
10 Target reached 0 halt=0 (normally): positioning not complete
halt=1 (stop as halt): axis is decelerating
1 halt=0 (normally): positioning completed
halt=1 (stop as halt): axis stop (axis speed is 0)

Position reached threshold time (6068h)

Position reached threshold (6067h)

Target reached in
Window Status word (6041h)
Position command (6062h) ＋ Position offset (60F4h) Timer
Comparator

－
Position feedback (6064h)

Location arrival diagram

Index Subindex Name Unit Range Data Accessibility PDO OP-

type mode
6067h 00h Position Command 0~4294967295 U32 rw RxPDO PP
reached unit
threshold
The difference between 6062h (position command) and 6064h (position feedback) is within the
set value of this parameter. If the time set in 6068h (position arrival time window) is passed, set
the bit10 (target reached) of 6041h (status word) as the threshold value of 1.
If the difference is a value other than that set for this parameter, the bit10 of 6041h is 0.
6068h 00h Position 1ms 0~65535 U16 rw RxPDO PP
reached
time
window
When the difference between 6062h (position command) and 6064h (position feedback) is in
the range of 6067h (position reaching threshold), the time of setting bit10 (target reaching) of
6041h (status word) to be 1

41
 bit13: follow error
The value of 60F4h (position deviation) exceeds the set range of 6065h (position deviation excessive threshold). If
the time set for 6066h (error timeout) continues, the bit13 of 6041h (status word) becomes 1.
Bit Name Value Definition
13 following error 0 60F4h (position deviation)
(= 6062h (position command) – 6064h (position feedback), not over the
setting range of 6065h (position deviation excessive threshold), or 60F4h
value is over the setting value of 6065h, not pass the setting time of 6066h
1 60F4h (position deviation) is over the setting range of 6065h (position
deviation excessive threshold), above the setting time of 6066h(error
timeout), continue
Following error time out（6066h）

Following error window （6065h） Following error in

Following error Window statusword（6041h）
＋ Timer
Position demand value （6062h） Actual value（60F4h） Comparator

－
Position actual value （6064h）

Follow error function diagram

Index Subindex Name Unit Range Data Accessibility PDO OP-

type mode
6065h 00h position Command 0 ~ 4294967295 U32 rw RxPDO PP
deviation unit CSP
excessive
threshold
If the value of 60F4h (Following error actual value) is beyond the setting value of this parameter,
set the bit13 (following error) of 6041h (status word) as the threshold value of 1.
6066h 00h Error timeout 1ms 0~65535 U16 rw RxPDO PP
CSP
If the value of 60F4h (position deviation) exceeds the setting range of 6065h (position deviation
excessive threshold), this state is the setting value above this parameter. If you continue, set the
bit13 of 6041h (status word) to the threshold value of 1.

6-2-3-1. Action of pp control mode

Action example 1: (basic set-point)

(1) For the master station, after setting the value of 607Ah (target position), changes the bit4 (new set point) of
6040h (control word) from 0 to 1. At this time, please also set 6081h (profile speed). When 6081h (contour speed)
is 0, the motor does not act.
(2) For the slave station, confirm the rising edge (0 → 1) of the 6040h bit4 (new set point), and the 607Ah (target
position) as the target position to start positioning. At this time, change the bit 12 (set point acknowledge) of
6041h (status word) from 0 to 1.
(3) For master station, confirm that the 6041h bit12 (set point acknowledge) has changed from 0 to 1, 6040h bit4
(new set-point) returns 0.
(4) For slave station, confirm that 6040h bit4 (new set-point) has been 0, 6041h bit12 (set-point acknowledge)
changed to 0.

42
(5) When the target position is reached, the bit10 (target reached) of 6041h changed from 0 to 1.

Actual speed

new set-point
(controlword bit 4) t
Master
station
Target position
(set-point) t

set-point
acknowledge
statusword bit 12) t
Slave
station
Target reached
(statusword bit 10) t

< Set-point example >

Note:
① 6081h (profile speed) is limited by the smaller one of 607Fh (maximum profile speed) and 6080h (maximum
motor speed).
② Changing the set value of 607Fh or 6080h during the action is not reflected in the action.

Action example 2: (Action data change without buffer: single set-point)

When the bit5 (change set immediate) of 6040h is 1, if the data is used for positioning action change, the current
positioning action is interrupted, and the next positioning action is started immediately.
(1) Master station, confirm 6041h bit12 (set-point acknowledge) is 0. After changing the value of 607Ah (target
position), change the 6040h bit4 (new set point) from 0 to 1.
Note: At this time, please do not change the acceleration and deceleration.

(2) Slave station, confirm 6040h bit4 (new set-point) rising edge is from 0 to 1, 607Ah is updated immediately as
a new target location. At this time, the bit 12 (set point acknowledge) of 6041h is changed from 0 to 1.
(3) Master station, confirm 6041h bit12 (set-point acknowledge) has changed from 0 to 1, 6040h bit4 (new
set-point) returns 0.
(4) Slave station, confirm 6040h bit4 (new set-point) has changed to 0, 6041h bit12 (set-point acknowledge) is 0.
Note: 6081h (profile speed) can be changed in the same steps (1)~(4).

After changing 607Ah (target position) and 6081h (profile speed), update 607Ah and 6081h simultaneously
according to the above steps (1) to (4).

43
 Actual speed

new set-point
(controlword bit 4) t
Master
station
Target position
(set-point) t

Current
Target position
t
processed
Slave set-point
station acknowledge
statusword bit 12) t

Target reached
(statusword bit 10) t

< handshaking procedure for the single set-point method >

44
6-3-3. Related object list
Index Name Unit Read/write
6040h Controlword UNSIGNED16 RW
6041h Statusword UNSIGNED16 RO
6060h Mode of operation INTEGER8 RW
6061h Modes of operation display INTEGER8 RO
6062h Position demand value [PUU] INTEGER32 RO
6063h Position actual value [increment] INTEGER32 RO
6064h Position actual value INTEGER32 RO
6065h Following error window UNSIGNED32 RW
6067h Position window UNSIGNED32 RW
6068h Position window time UNSIGNED16 RW
607Ah Target position INTEGER32 RW
6081h Profile velocity UNSIGNED32 RW
6083h Profile acceleration UNSIGNED32 RW
6084h Profile deceleration UNSIGNED32 RW
60F4h Following error actual value INTEGER32 RO
60FCh Position demand value INTEGER32 RO

6-4. Profile Velocity Mode

6-4-1. Overview
The driver can receive speed commands and plan acceleration and deceleration.

6-4-2. Operation steps

1. set [control mode: 6060h] to profile velocity mode (0x03).
2. set [control word: 6040h] to (0x06 > 0x07 > 0x0F), make the driver start and the motor to run.
3. set [profile acceleration: 6083h], plan acceleration slope (unit: command unit/s²).
4. set [profile deceleration: 6084h], plan deceleration slope (unit: command unit/s²).
5. set [target speed: 60FFh], target speed unit is 0.1 rpm.
6. read [status word: 6041h] to get the driver status.

6-4-3. Related object list

Index Name Unit Read/write
6040h Controlword UNSIGNED16 RW
6041h Statusword UNSIGNED16 RO
6060h Modes of operation INTEGER8 RW
6061h Modes of operation display INTEGER8 RO
606Bh Velocity demand value INTEGER32 RO
606Ch Velocity actual value INTEGER32 RO
606Dh Velocity window UNSIGNED16 RW
606Eh Velocity window time UNSIGNED16 RW
606Fh Velocity threshold UNSIGNED16 RW
60FFh Target velocity INTEGER32 RW

45
7. Mode common function
7-1. Touch Probe Function
7-1-1. Overview
The probe function can be triggered through the SI terminal of CN0 or encoder, and the feedback position can be
fixed as the rising edge or falling edge by the input terminals of differential input signals SI1 and SI2. The fixed
position time can be less than 5µs. This function can be used for high-speed measurement or packaging
applications.

7-1-2. Operation steps

P2-09 corresponds to probe 1 and P2-10 corresponds to probe 2 (it must be assigned to SI1 / SI2 and cannot be
modified).
[probe function: 60B8h] disable the corresponding probe in 60B8h, set the input terminal in P5-62/P5-63, then
enable the object word 60B8h.
When reading the probe value, you need to add the corresponding probe value object (60BAh-60BDh) to TxPDO.

7-1-3. Related object list

Index Name Unit Read/write
60B8h Touch probe function - RW
60B9h Touch probe status - RO
60BAh Touch probe pos1 pos value Command unit RO
60BBh Touch probe pos1 neg value Command unit RO
60BCh Touch probe pos2 pos value Command unit RO
60BDh Touch probe pos2 neg value Command unit RO

The user can obtain the current setting of the probe function from the object 60B8h. Under the same probe, do not
set the rising edge and falling edge at the same time. The following is the bit description of 60B8h.
Bit Value Explanation
0 switch off Touch probe 1
0 Stop/run Touch probe1
1 enable Touch probe 1
0 Trigger first event
1 Touch probe1 mode selection
1 Continuous
0 Trigger with Touch probe1 input Touch probe1trigger selection
2
1 Trigger with zero impulse signal of position encoder (external input/phase Z)
3 0 Reserved Unuse
0 switch off sampling at positive edge of touch probe1
4 Touch probe1 rising edge selected
1 enable sampling at positive edge of touch probe1
0 switch off sampling at negative edge of touch probe1
5 Touch probe1 falling edge selected
1 enable sampling at negative edge of touch probe1
6-7 0 Reserved
8 0 switch off Touch probe 2 Stop/run Touch probe2

46
 Bit Value Explanation
1 enable Touch probe 2
0 Trigger first event Touch probe2 mode selection
9
1 Continuous (single/continuous)
0 Trigger with Touch probe2 input Touch probe2 trigger selection
10
1 Trigger with zero impulse signal of position encoder (external input/phase Z)
11 0 Reserved not used
0 switch off sampling at positive edge of touch probe2
12 Touch probe 2 rising edge selected
1 enable sampling at positive edge of touch probe2
0 switch off sampling at negative edge of touch probe2 Touch probe 2 falling edge
13
1 enable sampling at negative edge of touch probe2 selected
14-15 0 reserved

The user can obtain the current state of the probe from the object 60B9h. The following is the description of bit
corresponding to 60B9h.
Bit Value Explanation
0 Touch probe1 is switch off Probe 1 action stop
0
1 Touch probe1 is enabled Probe 1 in action
0 Touch probe1 no positive edge value stored Rising edge probe 1 incomplete
status
1
1 Touch probe1 positive edge value stored Rising edge probe 1 completion
status
0 Touch probe1 no negative edge value stored Falling edge probe 1 incomplete
state
2
1 Touch probe1 negative edge value stored Falling edge probe 1 completion
status
3-5 - reserved not used
6-7 - Not supported not used
0 Touch probe2 is switch off Probe 2 action stop
8
1 Touch probe2 is enabled Probe 2in action
0 Touch probe2 no positive edge value stored Rising edge probe 2incomplete
status
9
1 Touch probe2 positive edge value stored Rising edge probe 2 completion
status
Touch probe2 no negative edge value stored Falling edge probe 2 incomplete
state
10
Touch probe2negative edge value stored Falling edge probe 2 completion
status
11-13 - Reserved not used
14-15 - Not supported not used

47
7-2. Digital input (60FDh)
Each bit of the digital input 60FDh represents the input status of the positive limit switch (POT), negative limit
switch (NOT), and home switch (HOME) respectively through the function signals allocated by the DS5C1 series
servo parameters P5-22 (POT setting address), P5-23 (NOT setting address), and P5-27 (HOME origin setting
address).

Digital input (60FDh)

Index Subindex Name Range Data Accessibility PDO Op-mode
type
60FDh 00h Digital inputs 0~4294967295 U32 ro TxPDO All
Indicates the theoretical input state of the external input signal.
Bit information
31 30 29 28 27 26 25 24
r
23 22 21 20 19 18 17 16
r
15 14 13 12 11 10 9 8
r
7 6 5 4 3 2 1 0
R hs pls nls
r = reserved (Not corresponding) pls= positive limit switch
nls = negative limit switch hs=home switch

Details of each bit are as follows:

Value Description
0 Input state OFF
1 Input state ON

The values of bit0 (reverse overtravel switch), bit1 (positive overtravel switch) and bit2 (origin switch) of 60FD
(digital input) represent the signal states of positive direction drive limit input, negative direction drive limit input
and near origin input respectively.

48
8. EtherCAT parameter list (refer to XML file for details)
8-1. CoE object word
8-1-1. Communication Profile area
Index Name Data type Read/write
1000h VAR device type UNSIGNED32 RO
1001h VAR error register UNSIGNED8 RO
1600h~03h RECORD Receive PDO mapping UNSIGNED32 RW
1A00h~03h RECORD Transmit PDO mapping UNSIGNED32 RW
8-1-2. Driver Profile area
Index Name Data type Read/write
603Fh VAR Error Code UNSIGNED16 RO
6040h VAR Controlword UNSIGNED16 RW
6041h VAR Statusword UNSIGNED16 RO
605Bh VAR Shutdown option code INTEGER16 RW
605Eh VAR Fault reaction option code INTEGER16 RW
6060h VAR Modes of operation INTEGER8 RW
6061h VAR Modes of operation display INTEGER8 RO
6063h VAR Position actual value[increment] INTEGER32 RO
6064h VAR Position actual value INTEGER32 RO
6065h VAR Following error window UNSIGNED32 RW
6067h VAR Position windows UNSIGNED32 RW
6068h VAR Position window time UNSIGNED16 RW
606Bh VAR Velocity demand value INTEGER32 RO
606Ch VAR Velocity actual value INTEGER32 RO
606Dh VAR Velocity window UNSIGNED16 RW
606Eh VAR Velocity window time UNSIGNED16 RW
606Fh VAR Velocity threshold UNSIGNED16 RW
6071h VAR Target torque INTEGER16 RW
6072h VAR Max torque UNSIGNED16 RW
6074h VAR Torque demand value INTEGER16 RO
6075h VAR Motor rated current UNSIGNED32 RO
6076h VAR Motor rated torque UNSIGNED32 RO
6077h VAR Torque actual value UNSIGNED16 RO
6078h VAR Current actual value INTEGER16 RO
607Ah VAR Target position INTEGER32 RW
607Ch VAR Home Offset INTEGER32 RW
607Dh ARRAY Software position limit INTEGER32 RW
607Eh VAR Polarity UNSIGNED8 RW
607Fh VAR Max profile velocity UNSIGNED32 RW
6080h VAR Max motor speed UNSIGNED32 RW
6081h VAR Profile velocity UNSIGNED32 RW
6083h VAR Profile acceleration UNSIGNED32 RW
6084h VAR Profile deceleration UNSIGNED32 RW

49
 Index Name Data type Read/write
6085h VAR Quick stop deceleration UNSIGNED32 RW
6086h VAR Motion profile type INTEGER16 RW
6087h VAR Torque slope UNSIGNED32 RW
6093h ARRAY Position factor UNSIGNED32 RW
6098h VAR Homing method INTEGER8 RW
6099h ARRAY Homing speeds UNSIGNED32 RW
609Ah VAR Homing acceleration UNSIGNED32 RW
60B8h VAR Touch probe function UNSIGNED16 RW
60B9h VAR Touch probe status UNSIGNED16 RO
60BAh VAR Touch probe pos1 pos value INTEGER32 RO
60BBh VAR Touch probe pos1 neg value INTEGER32 RO
60BCh VAR Touch probe pos2 pos value INTEGER32 RO
60BDh VAR Touch probe pos2 neg value INTEGER32 RO
60C0h VAR Interpolation sub mode select INTEGER16 RW
60C1h ARRAY Interpolation data record UNSIGNED16/32 RW
60C2h RECORD Interpolation time period SIGNED8 RW
60C5h VAR Max acceleration UNSIGNED32 RW
60C6h VAR Max deceleration UNSIGNED32 RW
60F2h VAR Positioning option code UNSIGNED16 RW
60F4h VAR Following error actual value INTEGER32 RO
60FCh VAR Position demand value INTEGER32 RO
60FDh VAR Digital inputs UNSIGNED32 RO
60FFh VAR Target velocity INTEGER32 RW
6502h VAR Supported drive modes UNSIGNED32 RO
Xinje user-defined area
2000h~ VAR Parameter Mapping INTEGER16/32 RW
281Ah

50
9. EtherCAT alarm information
Note: the stepper alarm can be cleared by setting SM2013+20*(n-1) or the alarm can be cleared by upper
computer F0-00 = 1.
Code Explanation Reason Solution
E-800 Incorrect ESM Accept state transition requests that cannot be Confirm the status conversion
requires fault converted from the current state: requirements of the upper
protection Init→Safeop device
Init→OP
PreOP→OP
ESM status after alarming: stop at the current status
when the current status is Init, PreOP, convert to
SafeOP when it is SafeOP.
ESC register AL Status Code: 0011h
E-801 Undefined ESM Accept state transition requests except the Confirm the status conversion
requires fault following: requirements of the upper
protection 1: Request Init State device
2: Request Pre-Operational State
3: Request Bootstrap State
4: Reauest Safe-operational State
8: Request Operational State
ESM status after alarming: stop at the current status
when the current status is Init, PreOP, SafeOP.
Convert to SafeOP when it is OP.
ESC register AL Status Code: 0012h
E-802 Boot state Accept the following state transition requests: Confirm the status conversion
requires 3: Request Bootstrap State requirements of the upper
abnormal ESM status after alarming: Init device
protection ESC register AL Status Code: 0013h
E-803 PLL incomplete 1s after synchronization, the phase combination Confirm the setting of DC and
abnormal (PLL locking) of communication and servo still whether the propagation delay
protection cannot be completed compensation and deviation
ESM status after alarming: PreOP compensation are correct
ESC register AL Status Code: 002Dh
E-804 PDO watchdog PDO communication (SafeOP or OP state), set the Confirm whether the sending
abnormal time through ESC register address 0400 (Watchdog time of PDO from the upper
protection Divider) and 0420 (Watchdog Time Process Data), device is fixed (interrupted).
0220 (AL Event Request) bit10 is not ON. Confirm that the PDO watchdog
ESM status after alarming: Safe OP detection delay value is too
ESC register AL Status Code: 001Bh large.
Confirm whether there is any
problem with the wiring of
EtherCAT communication cable
and whether there is excessive
noise on the cable.
E-806 PLL abnormal ESM is in the state of SafeOP or OP, Confirm the setting of DC and
protection communication and servo phase (PLL locking) do whether the propagation delay

51
Code Explanation Reason Solution
not match compensation and deviation
ESM status after alarming: SafeOP compensation are correct.
ESC register AL Status Code: 0032h
E-807 Synchronous After the synchronization processing is completed, Confirm the setting of DC and
signal abnormal the interrupt processing occurs above the set whether the propagation delay
protection threshold according to SYNC0 or IRQ compensation and deviation
ESM status after alarming: SafeOP compensation are correct.
ESC register AL Status Code: 002Ch
E-810 Synchronization Set unsupported synchronization cycle: Set the correct synchronization
cycle setting The set value of synchronization cycle is beyond cycle
abnormal 500us, 1ms, 2ms and 4ms
protection ESM status after alarming: PreOP
ESC register AL Status Code: 0035h
E-811 Mailbox setting The mailbox setting value SM0/1 is error: Set correct SyncManager
abnormal The sending and receiving area of the mailbox according to ESI file
protection overlaps with SM2/3, and the sending and description
receiving area address is odd.
The mailbox starting address is at SyncManager0:
1000h~10FFh, SyncManager1: out the range of
1200h~12FFh.
SyncManager0/1length (ESC register: 0802h,
0803h/080Ah, 080Bh) setting is error:
SyncManager0: out the range of 32~256byte
SyncManager1: out the range of 40~256byte
SyncManager0/1 Control Register (ESC register
0804h/080Ch) setting is error:
Set other than 100110b to 0804h: bit5-0
Set other than 100110b to 080Ch: bit5-0
ESM status after alarming: Init
ESC register AL Status Code: 0016h
E-814 PDO watchdog PDO watchdog setting is error. Set correct watchdog
setting abnormal PDO watchdog trigger is effective (SyncManager: detection timeout value
protection register 0804h bit6 is 1), PDO watchdog detection
timeout value (register 0400h, 0402h) is not meet
“communication period *2”
ESM status after alarming: PreOP
ESC register AL Status Code: 001Fh
E-815 DC setting DC setting is error. Confirm the DC setting
abnormal ESC register 0981h (Activation) bit2-0 is set to the
protection value other than the following:
bit2-0=000b; bit2-0=011b.
ESM status after alarming: PreOP
ESC register AL Status Code: 0030h
E-816 SM event mode Unsupported SM time mode is set, 1C32/1C33-01 Confirm that the settings of
setting abnormal set the value other than 00,01,02. 1C32h-01h and 1C33h-01h are
protection ESC register 0981 bit2-0=000b and only SM2 of consistent and the values are at

52
Code Explanation Reason Solution
1C32h-01h and 1C33h-01h are set. any one of 00h, 01h and 02h
ESM status after alarming: PreOP
ESC register AL Status Code: 0028h
E-817 SyncManager SM2/3 is set to error value. Set correct SyncManager2/3
2/3 setting SM2/3 incorrect physical address setting (ESC according to ESI file
abnormal register: 0810h/0818h), the receiving and description
protection transmitting area overlaps, overlaps with SM2/3,
the starting address is odd, and the starting address
and completion address are outside the range.
SM2/3 length setting (ESC register: 0812h/081A)
and RxPDO, TxPDO is different.
SM2/3 control register (ESC register:
0814h/081Ch) setting is error.
Set other than 100110b to bit5-0
ESM status after alarming: PreOP
ESC register AL Status Code: 001Dh/001Eh
E-850 TxPDO TxPDO mapping data size is over 24 bytes Make sure the TxPDO
distribution ESM status after alarming: PreOP mapping data size is in the
abnormal ESC register AL Status Code: 0024h range of 24 bytes
protection
E-851 RxPDO RxPDO mapping data size is over 24 bytes Make sure the RxPDO
distribution ESM status after alarming: PreOP mapping data size is in the
abnormal ESC register AL Status Code: 0025h range of 24 bytes
protection
E-881 Control mode When the set value of 6060h is 0 and the set value Confirm the setting value of
setting abnormal of 6061h is 0, the PDS state is converted to 6060h
protection "operation enabled".
6060h no corresponding control mode is set.
When it is full closed loop control, 6060h is the
mode other than position control and to be set.
ESM status after alarming: stop at present ESM
state
ESC register AL Status Code: 0000h
E-882 ESM requires When the PDS status is "operation enabled" or Confirm the state
abnormal "quick stop active", other ESM status conversion transformation requirements
protection commands are received from the host computer
during operation ESM status after alarming: based on the state
transformation requirements from the host
computer
ESC register AL Status Code: 0000h

53
 WUXI XINJE ELECTRIC CO., LTD.

4th Floor Building 7,Originality Industry

park, Liyuan Development Zone, Wuxi City,

Jiangsu Province
214072

Tel: 400-885-0136
WECHAT ID Fax: (510) 85111290
www.xinje.com