EtherCAT

Setting & Operation

◆ 86mm Motor Drive(EzS2-EC-86 series)

Status Monitor LED

1. EtherCAT Status Monitor LED
LED indicates communication status of EtherCAT. Link/Activity LED exists on each port of EtherCAT.
Name Color Function Explanation
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
Link /
Activity
Green OFF Link not Established
ON Link Established
Flickering Link Established and in Operation
2. Drive Status LED
Indication Color Function ON/OFF Condition
PWR Green Power Input Indication Lighting When Power is On
INP Yellow Complete Positioning Motion Lights On when Positioning error reaches within the preset pulse selected by rotary Switch
SON Orange Servo On/Off Indication Servo On: Lights On, Servo Off: Lights Off
ALM Red Alarm Indication Flash when protection function is activated
◆ Protection functions and LED flash times
Times Error Code*4 Protection Conditions
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 3,000 [rpm]
3 E-003 Position Tracking Error Position error value is higher than 90˚ 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. torqu
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 dreiv
8 E-008 Encoder Connect Error Cable connection error in Encoder connection of drive
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 90˚ in motor stop state*2
* 1 : Limit value depends on motor model. (Refer to the Manual)
* 2 : Default value can be changed by parameter. (Refer to the Manual)
* 3 : Voltage limit of Back-EMF depends on motor model. (Reefr to the Manual
* 4 : When an alarm occurs, error code is displayed on the 7-segment instead of EtherCAT ID.
※ Please refer to uer Manual for the details of protection functions.
Alarm LED flash
(Ex, Position tracking error)

Switch

1. EtherCAT ID Display and Setting Switch (SW1, SW2)
There are two Rotary Switches to set value of EtherCAT ID (ECAT Device ID). Switch on the right side indicates the ones’place(×1), and Switch on the left side indicates the tens’place(×10).

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 In7 Input
No. Function I/O
11 Digital Out1 Output
12 Digital Out2 Output
13 Digital Out3 Output
14 Digital Out4 Output
15 Digital Out5 Output
16 Digital Out6 Output
17 BRAKE+ Output
18 BRAKE- Output
19 EXT_GND Input
20 EXT_24VDC Input
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 5VDC 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

No. Function I/O
1 / B Phase Output
2 B Phase Output
3 / A Phase Output
4 A Phase Output

※ 86mm motor drive.

4. Power Connector(CN4)
No. Function I/O
1 24VDC Input
2 GND Input

No. Function I/O
1 GND Input
2 40~70VDC Input

※ 86mm motor drive.

5. EtherCAT Communication Connector(CN5, CN6)
No. Function
1 TD+
2 TD-
3 RD+
4 ----
5 ----
No. Function
6 RD-
7 ----
8 ----
Connection
Hood
F.GND
6. USB Connector(CN7)
NO. Function
1 VBUS
2 D-
3 D+
4 ----
5 GND

Connector Specifications

Connector specifications for cabling to drive.
Purpose Item Part Number Manufacturer
Power
(CN4)
Housing
Terminal
5557-02R
5556T
MOLEX
Motor Drive Side
(CN3)
Housing
Terminal
5557-04R
5556T
MOLEX
Motor Side Housing
Terminal
5557-04R
5556T
MOLEX
Encoder Drive Side
(CN2)
Housing
Terminal
51353-1000
56134-9000
MOLEX
Encoder Side Housing
Terminal
SMP-09V-NC
SHF-001T-0.8BS
JST
Signal
(CN1)
Connector
Backshell
10120-3000PE
10320-52A0-008
3M
※ Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.

Connector Specifications_ 86mm

Connector specifications for cabling to drive.
Purpose Item Part Number Manufacturer
Power
(CN4)
Terminal Block AK950-2 PTR
Motor Drive Side
(CN3)
Terminal Block AK950-4 PTR
Motor Side Housing
Terminal
3191-4R1
1381T
MOLEX
Encoder Drive Side
(CN2)
Housing
Terminal
51353-1000
56134-9000
MOLEX
Encoder Side Housing
Terminal
SMP-09V-NC
SHF-001T-0.8BS
JST
Signal
(CN1)
Connector
Backshell
10120-3000PE
10320-52A0-008
3M
※ Above connector is the most suitable product for the drive applied. Another equivalent connector can be used.