EtherCAT interface, Unipolar constant current, Single axis 2-phase stepping motor driver
[Features]
・Ethernet Fieldbus "EtherCAT" Interface
・Supports the drive profile CiA402, PP mode (Profile Position Mode) and HM mode (Homing Mode)
DC synchronization: 250 μs or higher
・PCL6115 LSI (by Nippon Pulse Motor) is integrated as the core for motion controls
・2-phase unipolar constant-current stepping motor driver
Max. output current 2.5 A / phase, 1/32 micro-step drive
・Current-up during acceleration/deceleration (up to 1.5 times of the set current (max. 2.5 A))
・Mechanical position counting in accordance with encoder inputs
・Various settings made by the software (reliability is improved by eliminating DIP switches)
・Compact size: 130(W) × 70(D) × 30(H) mm
・Excellent cost performance
Specification
EtherCAT
| Device ID | 1 |
|---|---|
| Communication protocol | EtherCAT PDO (Process Data Object) SDO (Service Data Object) |
| Supporting communication protocol | CoE (CANopen application protocol over EtherCAT) FoE (File Access over EtherCAT) |
| Control profile | CiA402 drive profile |
| Operation mode | PP (Profile Position) mode HM (Homing Mode) |
| Synchronization method | DC (Distributed Clock) mode: 250 μs or higher / Free Run mode |
Motion control
| Number of controllable axes | Single axis |
|---|---|
| Motion control core | Pulse control LSI PCL6115 by NPM (Reference clock :24 MHz) |
Driver
| Applicable motor | 2-phase unipolar stepping motor |
|---|---|
| Control method | Unipolar constant current drive |
| Excitation method | Micro-stepping control (1/1, 1/2, 1/4, 1/8, 1/16 and 1/32) |
| Output current | 0.1 A to 2.5 A/ phase (in increments of 0.1 A) |
| Motor drive current control | Current-up at acceleration/deceleration (up to 1.5 times of the set current (max. 2.5 A)) |
| Error detection | Overcurrent, overheat and motor power-down |
| Drive parameter | Set by SDO (Service Data Object) communication |
Signal
| Input signal | Emergency stop / ± End limit / Origin / Encoder A, B, Z phases |
|---|---|
| Output signal | Emergency stop / ± End limit / Origin / Encoder A, B, Z phases |
Others
| Supply voltage | +12 to +24 V DC ±10 % (Separated for control power and motor driver power) |
|---|---|
| Supply current | Control power: 0.5 A / Motor drive power: 6 A |
| Applicable standard | RoHS Directive 2011/65/EU (including additional four substances in 2015/863/EU) |
| Operating temperature range | 0 to 45 °C (no condensation) |
| Storage temperature range | -10 to 60 °C (no condensation) |
| Firmware software | FoE (File Access over EtherCAT) It can be rewritten using the protocol |
| Dimensions | 130 mm (W) × 70 mm (D) × 30 mm (H) |
| Cooling system | Natural cooling (forced cooling is required if the heat sink exceeds 70 °C) |
Dimensions
Block configuration
Optional items
| Item Name | Item No. | Model No. | Appearance |
|---|---|---|---|
| Harness for power supply | 2240-001102 | ECD-B1CA-PW1 |  |
| Harness for motor connection | 2240-001112 | ECD-U1CA-MT1 |  |
| Harness for I/O signal connection | 2240-001104 | ECD-B1CA-IO1 |  |