# Nu-Step DA # Series Stepper Drivers # User’s Manual Stepper Driver Based on EtherCAT Field Bus ![ECAT OUT ECAT IN GND-D-N-US\nSW1:Manual ID definitio\nSwt\nID S1 S2 S3 S4 S5 S6 S7 S8\nFormat: off off off off off off Off\n1 on off off off off off Off\n2 on on off off off off Off\n3 on on off off off off Off\n4 off on on on on on on on Off\n5 on on on on on on on On\n127 on on on on on on on On\nSW8\nSW7\nSW6\nSW5\nSW4\nSW3\nSW2\nSW1\nIN0+ IN0-\nIN1+ IN1-\nIN2+ IN2-\nIN3+ IN3-\nOUT0+OUT0-\nOUT1+OUT1-\nE2+\nEB+\nEA+\n5V GND\nADLINK\nNu-Step\nModel: DAZD542EC\nEtherCAT\nVDC\nH+/U\nB+/W\nA+/V\nGND\n+VDC](.nu-step-da-50m-40802-1000-10/1f5ccedbf506d7763694802ce6560eaeb658614294a0dca1cffeadab6d47b3c0.jpg) Manual Rev.: 1.0 Revision Date: June 7, 2023 Part Number: 50M-40802-1000 # Preface # Copyright Copyright © 2023 ADLINK Technology, Inc. This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer. # Disclaimer The information in this document is subject to change without prior notice in order to improve reliability, design, and function and does not represent a commitment on the part of the manufacturer. In no event will the manufacturer be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use the product or documentation, even if advised of the possibility of such damages. # Environmental Responsibility ADLINK is committed to fulfill its social responsibility to global environmental preservation through compliance with the European Union's Restriction of Hazardous Substances (RoHS) directive and Waste Electrical and Electronic Equipment (WEEE) directive. Environmental protection is a top priority for ADLINK. We have enforced measures to ensure that our products, manufacturing processes, components, and raw materials have as little impact on the environment as possible. When products are at their end of life, our customers are encouraged to dispose of them in accordance with the product disposal and/or recovery programs prescribed by their nation or company. ![Symbol of a trash bin crossed with a diagonal line and a horizontal bar below (no text or labels)](.nu-step-da-50m-40802-1000-10/dbd3f4cf18e350de2c7dd006265d39426d0ed40906f82cdba8e9f45c18c5d10c.jpg) Battery Labels (for products with battery) ![Simple line drawing of a trash bin with crossed lines indicating no waste or restriction (no text or symbols)](.nu-step-da-50m-40802-1000-10/79bc30bc08390d44d9af7252f058d0b03d856448a03f41620e0832d28889f066.jpg) ![Li-ion](.nu-step-da-50m-40802-1000-10/977c5cf1204c1f458609f934cae27a6edd84687f96b6a748218bb0d17ba92146.jpg) ![RECYCLE\nRBRC\nLi-ion\n7.800.822.8837](.nu-step-da-50m-40802-1000-10/1b566461411ae2f80af5940d0fd74e7b815dd1dd9e8248ce349bfdf708193420.jpg) ![廢電池請回收](.nu-step-da-50m-40802-1000-10/e46449d03f7b0b7bd1c7615e1cd36f9c41c1ace50fe8df7c5d462935c3292ba4.jpg) # California Proposition 65 Warning ![The image displays a standard warning sign featuring a yellow equilateral triangle with a thick black border. Centered inside the triangle is a large black exclamation point. The sign is set against a plain white background.](.nu-step-da-50m-40802-1000-10/d905bada146fc6daf02dd67e04458a38344ecf56adc1cf52e190d729bb09b41b.jpg) WARNING: This product can expose you to chemicals including acrylamide, arsenic, benzene, cadmium, Tris (1,3-dichloro-2-propyl)phosphate (TDCPP), 1,4-Dioxane, formaldehyde, lead, DEHP, styrene, DINP, BBP, PVC, and vinyl materials, which are known to the State of California to cause cancer, and acrylamide, benzene, cadmium, lead, mercury, phthalates, toluene, DEHP, DIDP, DnHP, DBP, BBP, PVC, and vinyl materials, which are known to the State of California to cause birth defects or other reproductive harm. For more information go to www.P65Warnings.ca.gov. # Trademarks Product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies. Revision History
RevisionDescriptionDateBy
1.0Initial release2023-06-07RA
# Table of Contents Preface ... Table of Contents.... List of Figures ........ .iv List of Tables ...... 1. Introduction... 1.1. Definitions and Abbreviation ... 2 1.2. Specifications..... 2 1.3. EtherCAT Field Bus Support and Tool Program........ .. 4 1.4. Model Nomenclature.. 4 2. Getting Started... 2.1. Package Contents 5 2.2. Mechanical Dimensions.... .5 2.3. Hardware Installation.. 5 2.4. Connector, Switch and LED Locations .... 7 3. Signal Connection ................. .13 3.1. Emergency Stop/Limit Switch/Home Switch Signal... ..13 3.2. Universal Digital Output/Alarm/In-Position Signal... ..15 3.3. Comparison Trigger Signals .... .. 16 3.4. Encoder Input Signal . ..19 4. Motion Control .............. .21 4.1. OD Summary Table.. .21 4.2. Operation Mode... .31 4.3. Homing Mode . .34 4.4. Comparison Trigger Mode..... ..39 4.5. Error code .. ..40 Safety Instructions... .41 Getting Service..... .42 # List of Figures Figure 1: Application architecture of Nu-Step DA Series . Figure 2: Nu-Step Series Mechanical Dimensions.. 5 Figure 3: Nu-Step Series Connector, Switch and LED Locations.. Figure 4: Homing Function . ..34 Figure 5: Zero return on negative limit switch and index pulse... ..35 Figure 6: Zero return on positive limit switch and index pulse . ..35 Figure 7: Zero return on positive home switch and index pulse.. ...36 Figure 8: Zero return on negative home switch and index pulse .. ...36 Figure 9: Homing on the home switch and index pulse - positive initial move.. ..37 Figure 10: Homing on the home switch and index pulse - negative initial move . ...37 Figure 11: Homing on the positive home switch . ...38 Figure 12: Homing on the index pulse... ..38 Figure 13: Home offset definition .. ..39 # List of Tables Table 1: Dial Switch S1 Pin Definition ... .8 Table 2: IO Connector, IOIF1 Pin Definition.. .9 Table 3: Motor Drive Output Connector, J2 Pin Definition .. ...10 Table 4: Driver Power Input Connector, J1 Pin Definition.. ..11 Table 5: EtherCAT Connector, CN 1/CN2 Pin Definition ..... ..12 This page intentionally left blank. # 1. Introduction The ADLINK Nu-Step DA Series is a stepper driver based on the EtherCAT bus featuring a 32-bit ARM processor and advanced variable current and frequency conversion technology. The driver generates less heat and motor vibration for more stable operation. It not only supports the standard EtherCAT specification, but also supports table comparison triggers for automated optical inspection (AOI) and linear comparison triggers for line scanning. According to the standard EtherCAT specification, various EtherCAT masters can be supported. Compared with the traditional communication protocols, EtherCAT offers improved reliability, reduces the influence of noise on instructions and greatly extends the communication distance with improved frame error detection and processing. The Nu-Step DA Series stepper drivers exchange data with a master through an EtherCAT field bus that includes motion control commands, feedback, and parameters. With the built-in comparison trigger function, the system meets a variety of process control requirements, including area scanning, line scanning and EMG functions commonly used in AOI. Through the use of an EtherCAT field bus the complexity and difficulty of cable installation between the host controller and the slave can be greatly reduced, saving on cabling and equipment development costs. In order to meet the diversified process requirements of automation equipment, the Nu-Step DA Series supports the standard EtherCAT field bus control mode up to 250μs cycles. Operation modes include CSP, PP, PV and HM, with programmable positive and negative limits, home and digital input and digital output, which can make more effective use of digital input and output channels on the driver to achieve more accuracy, safety and faster process procedures. The Nu-Step DA Series also supports both software slave ID configuration and hardware slave ID configuration with a DIP switch, so that different equipment can be leverage which greatly reduces the development and design costs caused by the integration and use of different drivers. A built-in digital filtering function can also effectively inhibit noise, avoid system process operational errors to improve reliability. The Nu-Step DA Series has a built-in single-axis comparison trigger function with a frequency up to 1KHz, which supports real-time comparison trigger functionality that cannot be provided by an EtherCAT field bus alone. This function is ideal for frame grabbing and signal measurement process requirements by various detection devices in the Nu-Step DA Series of stepper drivers. Whether in the EMS, LED or PCB industries, the Nu-Step DA Series stepper drivers can provide high reliability and compatibility solutions for processes after upgrading to an EtherCAT field bus. ![The diagram illustrates a system architecture consisting of a horizontal chain of hardware modules and vertical connections to specific input/output devices.\n\n**Top Row Blocks (Left to Right):**\n* **EtherCAT Master Card**\n* **Digital Input**\n* **Digital Output**\n* **Comparison Trigger**\n* An unlabeled module followed by an ellipsis **...**\n\n**Horizontal Connections:**\n* **EtherCAT Master Card** is connected to **Digital Input**.\n* **Digital Input** is connected to **Digital Output**.\n* **Digital Output** is connected to **Comparison Trigger**.\n* **Comparison Trigger** is connected to the next module via **...**\n\n**Vertical Connections (Per Column):**\n* **Digital Input:** Connected via red lines to a vertical sequence of labels:\n * **PEL**\n * **ORG**\n * **MEL**\n * **EMG** (This block includes the text '緊急開關' and 'EMERGENCY')\n* **Digital Output:** Connected via red lines to a green button and a red button. The text **DC12/24V** appears in red near these buttons.\n* **Comparison Trigger:** Connected via red lines to a blue sensor and a ring light.](.nu-step-da-50m-40802-1000-10/9576309f792ddec7a5cc08a480e0be68f42667ca181ef713157dca481fa82d86.jpg) Figure 1: Application architecture of Nu-Step DA Series Based on the specific implementation requirements, all digital inputs can be configured for motion control functions, or simply digital input. All digital outputs can be configured for standard digital output or comparison trigger output channels. # 1.1. Definitions and Abbreviation
CANController Area Network
CiACAN in Automation
COBCommunication Object (CAN message). A unit of transportation in a CAN network. Data must be sent across a network inside a COB.
COB-IDCOB-Identifier. Identifies a COB uniquely in a network. The identifier determines the priority of that COB in the MAC sublayer.
PDOProcess Data Object. Object for data exchange between several devices.
SDOService Data Object. Peer-to-peer communication with access to the object dictionary of a device.
ppProfile Position Mode
pvProfile Velocity Mode
vlVelocity Mode
hmHoming Mode
ipInterpolated Position Mode
ptProfile Torque Mode
allMandatory for all modes
ceCommon entries in the object dictionary
dcDevice Control
pcPosition Control Function
CSPCyclic Synchronous Position
CSVCyclic Synchronous Velocity
CSTCyclic Synchronous Torque
ODObject Dictionary
# 1.2. Specifications # 1.2.1. Open-Loop Stepper Driver Specifications
ModelDA2D530EODA2D542EODA2D580EO
Output Current0.2-3.0A1.0-4.2A2.4-8.0A
Input Voltage15-50V DC
Weight0.2 kg
Size116 x 69.2 x 26.5 mm
Interface TypeSingle-ended
Control ProtocolEtherCAT
Operation ModeCSP / PP/ PV/ HM
Encoder SupportNo
Comparison TriggerYes
EtherCAT Bus Cycle250μs / 500μs / 1ms / 2ms / 4ms
Digital Input Channel4
Digital Output Channel2
Software Slave IDYes
1.2.2. Closed-Loop Stepper Driver Specifications
ModelDA2D530ECDA2D542ECDA2D580EC
Output Current0.2-3.0A1.0-4.2A2.4-8.0A
Input Voltage15-50V DC
Weight0.2 kg
Size116 x 69.2 x 26.5 mm
Interface TypeSingle-ended
Control ProtocolEtherCAT
Operation ModeCSP / PP/ PV/ HM
Encoder SupportYes
Comparison TriggerYes
EtherCAT Bus Cycle250μs / 500μs / 1ms / 2ms / 4ms
Digital Input Channel4
Digital Output Channel2
Software Slave IDYes
1.2.3. IO Interface
Input SignalHome, positive limit, negative limit, emergency stop, active level (normal open/normal closed)
Output SignalAlarm, in-position, comparison trigger, master control, active configuration (normal open/normal closed)
Alarm FunctionOvercurrent, overvoltage, out-of-tolerance and OP damage
1.2.4. Environmental Specifications
Cooling ModeNatural Cooling or Forced Air Cooling
EnvironmentLocationCannot be placed next to other heating equipment, dust, oil mist, corrosive gas; high humidity and strong vibration places are avoided, and combustible gas and conductive dust are prohibited.
Temperature-10°C to +50°C
Humidity40% to 90%RH
VibrationMaximum 5.9 m/s $^{2}$
Storage Temperature-20°C to +60°C
AltitudeBelow 1000 meters
Weight0.2 kg
# 1.3. EtherCAT Field Bus Support and Tool Program # 1.3.1. EtherCAT Topology EtherCAT supports almost all connection topologies, including linear, tree, star and daisy chain, making it possible to have a pure bus topology or linear topology with hundreds of nodes without any limitations that cascaded switches or hubs usually have. Connecting a mainline to a spur or vertical line in a system is beneficial because the ports required to create a spur are directly integrated into multiple I/O modules. No additional switches or activated base components are required. Flexible and diverse cable types are supported. In 100BASE-TX mode, an economical industrial Ethernet cable can be used between two nodes with a distance of no more than 100m. Optical fiber (e.g. 100BASEFX) can also be used when the node distance exceeds 100m. Up to 65,535 devices can be connected to EtherCAT, extending the network almost indefinitely while allowing Ethernet to change freely between physical layers. # 1.3.2. Motion Creator Pro 2 Motion Creator Pro 2 is a user interface developed specifically for ADLINK motion control products in commonly used Windows environments. With Motion Creator Pro 2, you can easily set the parameters of the stepper actuator corresponding to the EtherCAT field bus. The ADLINK EtherCAT upper controller PCIe-833x can be used to carry out basic continuous testing and action operations to reduce the development time of application programs. Motion Creator Pro 2 cannot only effectively shorten the development time, but also verify the whole mechanical and electrical design simultaneously through all single-axis and interpolation motion operation pages. # 1.4. Model Nomenclature For Nu-Step DA Series model designation, refer to the following information. For example, model DA2D530EC can be interpreted as:
1234567
DA2D530EC
No.DescriptionExample
1SeriesDA: DA series
2Phase number2: 2 phase, 3: 3 phase
3Type of power supplyD: DC, A: AC
4Maximum operating voltage of driver=Vmax / 10 (5 means maximum operation voltage is 50 volts)
5Maximum peak value of driver=Amax x 10 (30 means peak current is 3 Amps)
6Upper control modeSS: STD, E: ECAT
7Motor control modeO: Open-loop, C: Closed-loop
# 2. Getting Started This chapter describes how to install Nu-Step hardware and its I/O wiring. # 2.1. Package Contents The following items are included in the product packaging: 1x Nu-Step DA Series driver body Relevant interface terminals are installed on the body 1x Product warranty card If any items are found missing or damaged, consult your dealer immediately. Keep the products together with the items in the package for easy replacement or maintenance. # 2.2. Mechanical Dimensions ![The image displays a technical line drawing of a rectangular electronic device, showing three views: a front view (top), a side view (right), and a bottom view (bottom).\n\n**Top View (Front):**\n* **Dimensions:** The overall width is labeled **115.5**.\n* **Left Flange:** Features a vertical dimension of **67**, with sections labeled **30** and **15.5**. The flange width is **4**. A mounting hole is depicted.\n* **Right Flange:** Features vertical dimensions of **15.5** and **30**. The flange width is **4**. A mounting hole is depicted.\n\n**Right Side View:**\n* Shows the side profile of the device with connectors visible on the face. No specific dimensions are provided for this view.\n\n**Bottom View:**\n* **Dimensions:** The width is **115.5** and the height is **28**.\n* **Flanges:** Both the left and right flanges have a width of **4** and a height of **10.2**.\n* **Components:** From left to right, the bottom face features a small rectangular area, a DIP switch block labeled **1 2 3 4 5 6 7 8**, a multi-pin terminal block, a rectangular port, and two circular connectors.\n\n**Footer Text:**\n* The text at the bottom reads: '**All dimensions shown in millimeters.**'](.nu-step-da-50m-40802-1000-10/f0f924cb6dfec7f2e72409b7c4b1054897c9dad33eb83a0a248279f8fd72ca12.jpg) Figure 2: Nu-Step Series Mechanical Dimensions # 2.3. Hardware Installation # 2.3.1. Hardware Configuration The Nu-Step DA Series of stepper drivers conform to the standard EtherCAT field bus and CIA-402 protocol specifications. The upper controller can run different control modes for stepper motor behavior control and digital IO control. # 2.3.2. Installation Procedures 1. Read this manual carefully and set the digital input and output ports and power supply to the correct modes. 2. The installation of multi-actuators must be kept above 30 mm to avoid the problems of poor heat dissipation and excessive EMI interference. Installation must follow the direction of the heat dissipation fins for better heat dissipation. 3. During installation, make sure that the locking screws are fixed correctly to avoid damage or short circuits. 4. For EtherCAT buses, use industrial communication wires with isolation protection, such as STP and FTP isolation network or isolation layer function wires, and correctly use shielded RJ45 connectors to reduce communication interference and improve operational efficiency. 5. Set the motion control related limit switch in the driver parameters and set the general digital signal wiring and levels. 6. Make sure the power input cord is as far away as possible from the EtherCAT field bus communication line, and the servo or stepper driver connections. 7. Turn on the power supply of the system, including the power supply of the upper controller and the power supply of the stepper driver. 8. If an ADLINK EtherCAT upper controller (card) is used, use Motion Creator Pro 2 to verify the I/O signals and the operation of the stepper driver and motor. ![Communication Cable Tray\n30mm\n30mm\n30mm\n50mm\nPower Cable Tray\n• Vertical driver orientation is best for heat convection and reduces the risk of overheating.\n• The distance between drivers shall be 30mm minimum.\n• The distance between the driver and the power trunk line must be 50mm minimum to avoid high frequency electromagnetic interference.](.nu-step-da-50m-40802-1000-10/2a0ab46980cde18c560f90deccc13a1cbb80fee1480322b8606c2bc912619865.jpg) Make sure to ground the shielded end of the power terminal to reduce the risk of electric shock and ensure the proper operation of the product. ![The image shows a standard safety symbol featuring a yellow equilateral triangle with a black border. Inside the triangle is a black exclamation point. Below the triangle is the word 'Caution' in bold black text.](.nu-step-da-50m-40802-1000-10/a227b2c88b69ad9c3c297bf5aa3efc9c9ae5fc06835b4650259cb75194fb7774.jpg) Before using the driver for the first time, disconnect the system load. Do not connect the motor driver to any mechanical equipment until the control system and driver are installed. Connect the system only after adjusting and confirming that the parameters of the corresponding mechanisms of the drivers are set normally. Otherwise, serious damage may be caused. # 2.3.3. Protection Functions # Short Circuit Protection In case of a phase-to-phase short circuit or internal overcurrent of the driver, the red light of the driver flashes once every 3 seconds. When this happens, the fault must be removed, and the system powered-on and reset. # Overvoltage Protection When the input voltage is higher than 55V, the red light of the driver flashes twice every 3 seconds. When this happens, the fault must be removed, and the system powered-on and reset. # Motor Open Circuit Protection When the motor is open or has no connection, the red light of the driver flashes 4 times every 3 seconds. When this happens, the fault must be removed, and the system powered-on and reset. # 2.4. Connector, Switch and LED Locations This section describes the Nu-Step DA Series connectors and their pinouts, and the LEDs and switches that are used on the module. ![This image is a technical schematic drawing of a rectangular electronic enclosure, featuring three views: a front/back view, a side view, and a bottom view.\n\n**Top Left View (Front/Back Face):**\n* **Dimensions:** The overall width is **115.5** and the total height is **67**.\n* **Mounting Holes:**\n * **Left Side:** There are two mounting holes. The upper hole is positioned **30** units from the top edge. The lower hole is positioned **15.5** units from the bottom edge. Both holes have a diameter/width of **15.5** and are offset horizontally by **4** units.\n * **Right Side:** There are two mounting holes. The upper hole is positioned **15.5** units from the top edge. The lower hole is positioned **30** units from the bottom edge. Both holes are offset horizontally by **4** units.\n\n**Top Right View (Side Panel):**\n* This view shows two vertical connectors labeled **CN2** (top) and **CN1** (bottom), resembling RJ45 ports.\n\n**Bottom View (Bottom Edge):**\n* **Labels:** From left to right, the components are labeled **LD**, **S1**, **IOIF1**, **J2**, and **J1**.\n* **Connectors/Components:**\n * **S1:** A DIP switch block with numbers **0 1 2 3 4 5 6 7 8**.\n * **IOIF1:** A terminal block with numbers **1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16**.\n * **J2:** A square 4-pin connector.\n * **J1:** A circular 4-pin connector.\n* **Dimensions:** The overall width is **115.5**. The left-side height is **10.2**. The right-side total height is **28**, with the connector area height being **10.2**. Mounting holes on both sides are offset by **4** units.](.nu-step-da-50m-40802-1000-10/3d3089c7e43b03a5af790df133544f35c9067ea94c29e5d36ee8219a6a986395.jpg) All dimensions shown are in millimeters. Figure 3: Nu-Step Series Connector, Switch and LED Locations
ItemDescription
S1EtherCAT slave hardware ID of the dial switch. Set the ID range from 1-127 or set to 0 for software ID use.
J1Power input port. Refer to the specifications of each model for specific input power specifications.
J2Motor control current output port.
IOIF1Digital input and output port, including motor encoder input port and 5V DC output power supply.
LDLED status indicator.
CN1EtherCAT input port using standard RJ45 terminals.
CN2EtherCAT output port using standard RJ45 terminals.
# 2.4.1. Dial Switch, S1 Pin Orientation ![The image displays a black-and-white line drawing of a scale or ruler segment. At the top, a horizontal line features a row of small, rectangular notches hanging downward. Below these notches, the numbers 1, 2, 3, 4, 5, 6, 7, and 8 are printed in sequence. In the bottom left corner, the text 'V1' appears above the word 'ON'. The numbers are centered beneath the corresponding notches.](.nu-step-da-50m-40802-1000-10/6674a6da579489d0c61fa051941e72c34af89d3cfacd2f94c79edd6ad044a0db.jpg) Pin Assignment
IDSW1SW2SW3SW4SW5SW6SW7SW8
0 (default)OffOffOffOffOffOffOffReserved
1OnOffOffOffOffOffOffReserved
2OffOnOffOffOffOffOffReserved
3OnOnOffOffOffOffOffReserved
4OffOffOnOffOffOffOffReserved
5OnOffOnOffOffOffOffReserved
................................................Reserved
127OnOnOnOnOnOnOnReserved
Table 1: Dial Switch S1 Pin Definition The default exit value is ID=0. At this time, the EtherCAT slave ID of the driver is software ID, and the valid range of hardware ID is 1-127 # 2.4.2. IO Connector, IOIF1 Pin Orientation ![20 18 16 14 12 8 6 4 2\n19 17 15 13 11 9 7 5 3 1](.nu-step-da-50m-40802-1000-10/f0ba616612b2060825007ef2a13582f3bb3199edfbf3e1b73bb6100a155f4b08.jpg) Pin Assignment
Foot Position NumberDefinitionFunctional Description
1DI0-Digital input signal 0 negative terminal, differential mode, compatible level 5-24V DC
2DI0+Digital input signal 0 positive terminal, differential mode, compatible level 5-24V DC
3DI1-Digital input signal 1 negative terminal, differential mode, compatible level 5-24V DC
4DI1+Digital input signal 1 positive terminal, differential mode, compatible level 5-24V DC
5DI2-Digital input signal 2 negative terminal, differential mode, compatible level 5-24V DC
6DI2+Digital input signal 2 positive terminal, differential mode, compatible level 5-24V DC
7DI3-Digital input signal 3 negative terminal, differential mode, compatible level 5-24V DC
8DI3+Digital input signal 3 positive terminal, differential mode, compatible level 5-24V DC
9DO0-Digital output signal 0 negative terminal, maximum pull-up voltage 24V DC, pull-up resistor 2K Ω, maximum output current 100mA
10DO0+Digital output signal 0 positive terminal, maximum pull-up voltage 24V DC, pull-up resistor 2K Ω, maximum output current 100mA
11DO1-Digital output signal 1 negative terminal, maximum pull-up voltage 24V DC, pull-up resistor 2K Ω, maximum output current 100mA
12DO1+Digital output signal 1 positive terminal, maximum pull-up voltage 24V DC, pull-up resistor 2K Ω, maximum output current 100mA
13EZ-Encoder Z signal single-ended input interface negative terminal (open-loop stepper is not connected).
14EZ+Encoder Z signal single-ended input interface positive terminal (open-loop stepper is not connected).
15EB-Encoder B signal single-ended input interface negative terminal (open-loop stepper is not connected).
16EB+Encoder B signal single-ended input interface positive terminal (open-loop stepper is not connected).
17EA-Encoder A signal single-ended input interface negative terminal (open-loop stepper is not connected).
18EA+Encoder A signal single-ended input interface positive terminal (open-loop stepper is not connected).
19GNDThe encoder of the motor is provided with a negative electrode of DC reference terminal
20+5VThe encoder of the motor is provided with DC voltage of 5V and a current of 100mA.
Table 2: IO Connector, IOIF1 Pin Definition # Notes: • Shielded cable is recommended for digital input and output wire, with wire diameter ${ > } 0 . 1 2 ~ \mathsf { m m } ^ { 2 } ,$ , AWG 24-26. • Multi-core twisted pair shielded cable is recommended for encoder wire, with wire diameter ${ > } 0 . 0 8 ~ \mathsf { m m } ^ { 2 } ,$ , AWG 24-28. • Single-core wire is recommended for +5V DC power supply, with wire diameter ${ > } 0 . 1 2 ~ \mathsf { m m } ^ { 2 }$ , AWG 22-26. • Twisted pair shielded cable is recommended for non-power supply wire, and the cable length is as short as possible (recommended not to exceed 3 meters). • The wire routing shall be as far away from the power wire routing as possible to prevent interference from entering the wire, which will lead to the misoperation of digital input and output. • Install surge absorption components for inductive components (such as coils, etc.) in relevant lines; DC coil in reverse parallel freewheeling diode, AC coil in parallel resistance-capacitance absorption loop. # 2.4.3. Motor Drive Output Connector, J2 # Pin Orientation ![The image is a black-and-white line drawing of a square integrated circuit package. Inside the main square outline, four smaller square-shaped components are arranged in a 2x2 grid. Each component contains a smaller, centered square. The components in the top-left and bottom-right positions feature a slanted cut on their right side, while the top-right and bottom-left components are perfect squares.\n\nNumbers label the corners of the package:\n* **2** is at the top left.\n* **1** is at the top right.\n* **3** is at the bottom right.\n* **4** is at the bottom left.\n\nA small rectangular tab protrudes from the left side of the main square, aligned near the number 4.](.nu-step-da-50m-40802-1000-10/ad550edde9e4904e8ca2523e7c4bb6d71a080472f85d91b5ab415df6a1e41303.jpg) # Pin Assignment
Pin No.SignalFunctional Description
1A+A+ phase winding interface of two-phase stepper motor, empty connection of three-phase stepper motorTwo-phase/three-phase motor drive power output
2A-/UA- phase winding interface of two-phase stepper motor or U-phase winding interface of three-phase stepper motor
3B+/VB+ phase winding interface of two-phase stepper motor or V winding interface of three-phase stepper motor
4B-/WB- phase winding interface of two-phase stepper motor or W-phase winding interface of three-phase stepper motor
Table 3: Motor Drive Output Connector, J2 Pin Definition Multi-core power wire is recommended, with wire diameter ${ > } 0 . 3 ~ \mathsf { m m } ^ { 2 } ,$ , (AWG 15 - 22). # 2.4.4. Driver Power Input Connector, J1 # Pin Orientation ![The image is a black-and-white technical line drawing depicting a mechanical assembly. On the far left, there is a vertical rectangular component with vertical lines running through it and horizontal lines crossing them, resembling a spring or threaded rod. In the center, two large circular wheels or pulleys are stacked vertically, each featuring a square hub in its center. To the right, a curved, C-shaped housing or bracket encloses the right side of the wheels. Inside this housing, near the top wheel, a small rectangular block is visible. Horizontal lines connect the left component to the central wheels, suggesting a linkage.](.nu-step-da-50m-40802-1000-10/8bed8090cd0f15e9c802f96669021b6c1c240db7bb34076357214afdc25349ab.jpg) 2 1 # Pin Assignment
Pin No.SignalFunctional Description
1+DC inPositive electrode of DC power supply. Power supply voltage range: DC 15-50V DC, according to different power requirements of each machine type. Refer to 1.2.1 and 1.2.2 (24V DC or 36V DC recommended).Module power input
2DC GNDDC power supply ground
Table 4: Driver Power Input Connector, J1 Pin Definition Single-core power wire is recommended, with wire diameter >0.3 mm2 , (AWG 15-22). It is recommended that the power supply be powered by a noise filter to provide anti-interference. # Notes: • Pay attention to the positive and negative poles of the power supply when wiring. • When a non-regulated power supply is used, the current output capacity of the power supply shall be greater than 60% of the set current of the driver. • When a regulated switching power supply is used, the output current of the power supply shall be greater than or equal to the working current of the driver. • When the driver is connected in series to a power supply system, ensure that the power supply is large enough to support all the drivers. # 2.4.5. EtherCAT Connector, CN 1/CN2 ![Pure electrical connector diagram without any text, numbers, or symbols](.nu-step-da-50m-40802-1000-10/6145358723932d3f0c4a1138a6e6ce14c184f49b2fcf598cbb84458e3b47272e.jpg) # Pin Assignment
Pin No.SignalFunctional Description
1TX+EtherCAT data transmission positive terminalEtherCAT IN/OUT
2TX-EtherCAT data transmission negative terminal
3RX+EtherCAT data receiving positive terminal
4NCNot connected
5NCNot connected
6RX-EtherCAT data receiving negative terminal
7NCNot connected
8NCNot connected
Table 5: EtherCAT Connector, CN 1/CN2 Pin Definition It is recommended to use CAT5e standard wire with isolation and shielded joints at both ends, and it is recommended to use a machine pressing process for RJ45 joints. EtherCAT bandwidth: 100MHz, maximum distance between stations: 100m # 2.4.6. Module Status LEDs The blue LED is the power indicator, which is always on when the driver is turned on. When the driver loses power, the LED turns off. The red LED is the fault indicator. When a fault occurs, the number of flashes occuring within 3 seconds represents the different fault condition, as shown in the following table.
Serial No.Number of FlashesRed LED Flash WaveformFault Description
11Overcurrent fault
22Overvoltage fault
37Out-of-tolerance fault
49Operational amplifier fault
When a fault is cleared, the red LED turns off. # 3. Signal Connection The Nu-Step DA Series of stepper drivers offer 4-point digital inputs and 2-point digital outputs for use with standard EtherCAT upper motion controllers such as the PCIE-833x, Talos, TWINCAT and CODESYS. It also provides programmable function selection, so that users can set the stepper driver more easily. The following sections give detailed descriptions for making signal connections and considerations for connecting to the EtherCAT bus. # 3.1. Emergency Stop/Limit Switch/Home Switch Signal # 3.1.1. Interface Circuit ![Vcc\nQ2\n5~24V\nSink\nType\nDIn +\nR3\nC2\nU3\nDIn -\nD2\nSourcing\nType\nQ1\n5~24 V\nVcc\nDIn +\nR2\nC1\nU1\nDIn -\nD1\nDriver](.nu-step-da-50m-40802-1000-10/7ba608bac591905a59a5e4acb348075e35e677005e65d8cff2b20337de8099cd.jpg) # 3.1.2. Interface Circuit Specification
Digital Input Specification (Optical Isolation)
TypeSingle-ended
Voltage5-24V DC
Current6-16mA/Ch
Channels4
Fastest COS frequency1KHz
# 3.1.3. Input Function Setting Mode Use OD 0x2152 to select functions.
OD AddressFunctionDefault ValueFunction OptionsInput Range
0x21521DI0 function settings00: negative limit1: positive limit2: zero3: emergency stop0-3
2DI1 function settings10: negative limit1: positive limit2: zero3: emergency stop0-3
3DI2 function settings20: negative limit1: positive limit2: zero3: emergency stop0-3
4DI3 function settings30: negative limit1: positive limit2: zero3: emergency stop0-3
5Reserved0Reservex
0x21540Digital input polarity setting0bit0: DI0 polarity settingbit1: DI1 polarity settingbit2: DI2 polarity settingbit3: DI3 polarity setting0: Non Inverse1: Inverse1-15
Set the DI point to be active (active polarity). This value adopts a binary algorithm. If DI0 and DI2 need to reverse polarity, set this value to 5. # 3.1.4. Input Status Corresponds to OD Address
FunctionAbbreviationOD address
0: Negative limitMEL0x60FD.0
1: Positive limitPEL0x60FD.1
2: ZeroORG0x60FD.2
3: Emergency stopSTO0x6041.5
● Post-EMG behavior is defined in 0x605A according to CIA402. # 3.2. Universal Digital Output/Alarm/In-Position Signal # 3.2.1. Interface Circuit ![DOn +\n2k Ohm\nU2\nDOn -\nD3\nDriver](.nu-step-da-50m-40802-1000-10/daae69eb814458261e4b67d97c21e462434d46ede32aa4188b999354483afa3c.jpg) # 3.2.2. Interface Circuit Specification
Digital Output Specification
TypeSingle-ended
Voltage5-24V DC
Current< 100mA/Chs, pull-up resistance 2k ohm
Channels2
Fastest COS frequency1KHz
# 3.2.3. Output Function Setting Mode Use OD 0x2005 to select functions.
OD AddressFunctionDefault ValueFunction OptionsInput Range
0x20051DO0 function settings41: Alarm2: In-position3: CMP4: Master control1-4
2DO1 function settings41: Alarm2: In-position3: CMP4: Master control1-4
0x20080DO polarity setting0When 0x2005 is set to 1,2,4 bit0: DO0 polarity settingbit1: DO1 polarity setting0: Normal Open1: Normal Close0-32767
Set the DO point to be active (active polarity). This value adopts a binary algorithm. If DO0 and DO1 need to reverse polarity, set this value to 3. # 3.2.4. Output Status Corresponds to OD Address As a general master control digital output.
IOIF1 Foot PositionFunctionFunctional Description
9/10DO0Digital output # 0, 0x60FE.1
11/12DO1Digital output # 1, 0x60FE.2
In-position
OD AddressFunctionFunctional Description
0x6041.10In-positionTrue when 0x60F4=0
![Based on the provided image, here is the accurate and concise description of the flowchart:\n\n**Labeled Blocks:**\n* **Summing junction:** A circle representing the subtraction of values.\n* **Window comparator:** A square block.\n* **timer:** A square block.\n\n**Connections and Flow:**\n1. **Position demand value (6062h)** enters the positive (+) input of the summing junction.\n2. **Position actual value (6064h)** enters the negative (-) input of the summing junction.\n3. The output of the summing junction is labeled **Following error actual value (60F4h)** and connects to the **Window comparator** block.\n4. **Positioning window (6067h)** connects to the **Window comparator** block.\n5. The output from the **Window comparator** connects to the **timer** block.\n6. **Position window time (6068h)** connects directly to the **timer** block.\n7. The final output from the **timer** block is labeled **Target reached in statusword (6041h)**.](.nu-step-da-50m-40802-1000-10/654ffaecf3e39afe7f45efcc65cc2292e8bd2bd458a03ca57150d27cc55c0409.jpg) Alarm
OD AddressFunctionDescription
0x603FError codeWhen an error occurs in motion control, the error code is displayed.
# 3.3. Comparison Trigger Signals The Nu-Step DA Series of stepper drivers supports the comparison trigger functions often used in electronic assembly manufacturing industry. They can be used for in-line scanning or triggering image taking used in AOI equipment. # 3.3.1. Interface Circuit ![DOn +\n2k Ohm\nU2\nDOn -\nD3\nDriver](.nu-step-da-50m-40802-1000-10/9dfca9cfed254e2561e12a965c348f819200bdae3a65d17609fef9210bff214f.jpg) # 3.3.2. Interface Circuit Specification
Digital Output Specification
TypeSingle-ended
Voltage5-24V DC
Current>100mA/ Chs, Pull-up resistance 2k ohm
Channels2
Fastest comparison trigger output frequency1KHz
# 3.3.3. Output Function Setting Mode Use OD 0x2005 to select functions.
OD addressFunctionDefault valueFunction optionsInput range
0x20051DO0 function settings41: Alarm2: In-position3: CMP4: Master control1-4
2DO1 function settings41: Alarm2: In-position3: CMP4: Master control1-4
# 3.3.4. Linear Comparison Trigger Output Corresponds to OD Address As a general master control digital output.
OD addressFunctionDefault ValueFunction OptionsInput Range
0x21641Comparison trigger start00: disable1: LCMP enable2: TCMP enable0,1,2
2Default polarity0When DO is set to CMP, the polarity when not triggered is:0: Normal Open1: Normal Close0,1
3Comparison trigger source00: Command1: Encoder0,1
4Comparison trigger width10count x 50μs1~2^32-1
5Total number of comparison trigger points1Total trigger points of LCMP & TCMPU32
0x21651Comparison trigger direction10: Negative1: Positive0,1
2Start position of linear comparison trigger10000The first trigger point-2^31~2^31-1
3Linear comparison trigger interval10000LCMP trigger interval0~2^32-1
3.3.5. Point Table Comparison Trigger Output Corresponds to OD Address
OD AddressFunctionDefault ValueFunction OptionsInput Range
0x21641Comparison trigger start00: disable1: LCMP enable2: TCMP enable0,1,2
2Default polarity0When DO is set to CMP, the polarity when not triggered0: Normal Open1: Normal Close0,1
3Comparison trigger source00: Command1: Encoder0,1
4Comparison trigger width10count x 50μs1~2^32-1
5Total number of comparison trigger points1Total trigger points of LCMP & TCMPU32
0x21651Comparison trigger direction10: Negative1: Positive0,1
0x21661-16Point table comparison trigger positions 1-161000# 1 - 16 TCMP comparison trigger point-2^31~2^31-1
# 3.4. Encoder Input Signal The Nu-Step DA Series of stepper drivers include open-loop and closed-loop products. When using closed-loop products, users need to input encoders into the drivers. Because of encoder feedback, the common out-of-step problem of traditional stepper motors can be avoided. See the following table for the corresponding pins of feedback signal input of Nu-Step DA Series of encoders. # 3.4.1. Interface Circuit Specification
Encoder input specification
TypeDifference
Voltage5V DC
Current+- 5mA
Channels1 (one port each for + and -)
Maximum acceptance frequency1MHz @ 4xAB
# 3.4.2. Interface Circuit Diagram ![Driver\nU4\n+\n-\nV+\nV-\nA+/B+\nR6\nVcc\n5V\nC3\nR4\nU5\n+\n-\nB+/B-\nR5\nC4\nR7\n5V\n33∧](.nu-step-da-50m-40802-1000-10/7971173f67654fbc10b89e9edce6a19679130fa589f6afe15b99ad7392d9438b.jpg) The encoder power supply is supplied to 5V from inside the driver. If the polarity of the encoder power line is reverse connected, the stepper motor or driver will be damaged. The signals generated by the stepper motor or external encoder are 5V differential or single-ended signals, which are processed by the internal differential chip of the driver and then sent to the master control. The maximum voltage of the interface is only 5V, and if exceeded, the stepper driver will be damaged. This page intentionally left blank. # 4. Motion Control This chapter describes the EtherCAT motion control function supported by the slave station of Nu-Step DA Series of stepper drivers, as well as the OD used and precautions. In the EtherCAT specification, OD partitions are described as in the following table.
IndexesSection NameDescription
0x1000-0x1FFFCommunication ObjectsThis section is defined in CIA301.
0x2000-0x2FFFManufacture Specific Area 1In this section, 0x200 is allocated for each axis following CIA402.
0x3000-0x3FFFInput AreaIn this section, 0x400 is allocated for each module following ETG.5001. These ODs are used to store TxPDO.
0x4000-0x4FFFOutput AreaIn this section, 0x400 is allocated for each module following ETG.5001. These ODs are used to store RxPDO.
0x5000-0x5FFFManufacture Specific Area 2In this section, 0x400 is allocated for each module following ETG.5001. These ODs are used to store manufacturer-specific parameters.
0x6000-0x9FFFCIA402 AreaIn this section, 0x800 is allocated for each axis following CIA402.
0xA000-0xEFFFReserved
0xF000-0xFFFFDevice AreaThis section follows ETG. 5001. These ODs are used to store MDP device parameters.
# 4.1. OD Summary Table This section describes the OD list and the corresponding EtherCAT mode parameters required for the Nu-Step DA Series of stepper drivers. In addition, the basic settings of the drivers before motion control and the basic mode of operation are explained. # 4.1.1. OD Summary Table 4.1.1.1. Communication Data
IndexSub-IndexData
DescriptionData Type
0x10000Device TypeUDINT
0x10010Error RegisterUSINT
0x10080Device NameSTRING(7)
0x10090Hardware VersionSTRING(5)
0x100A0Software VersionSTRING(5)
0x100B0Manufactory Version
1Firmware VersionUNSIGNED32
2SDK versionVISIBLE_STRING
3Hardware VersionUNSIGNED32
4Software VersionUNSIGNED32
5ADLINK Serial Number [31:0]UNSIGNED32
6ADLINK Serial Number [39:32]UNSIGNED32
7Driver VersionVISIBLE STRING
8Library VersionVISIBLE STRING
0x10100Store ParametersUNSIGNED32
1Save All parametersUNSIGNED32
2Save Communication ParametersUNSIGNED32
3Save Application ParametersUNSIGNED32
4Save Manufacturer ParametersUNSIGNED32
0x10110Restore ParametersUNSIGNED32
1Restore All Default ParametersUNSIGNED32
2Restore Communication Default ParametersUNSIGNED32
3Restore Application Default ParametersUNSIGNED32
4Restore Manufacturer Default ParametersUNSIGNED32
0x10180Identity ObjectIdentity (23h)
1Vendor IDUNSIGNED32
2Product CodeUNSIGNED32
3Revision NumberUNSIGNED32
4Serial NumberUNSIGNED32
0x16000-8RXPDO 1 Mapping ParameterPDO Mapping (21h)
0x16010-8RXPDO 2 Mapping ParameterPDO Mapping (21h)
0x16020-8RXPDO 3 Mapping ParameterPDO Mapping (21h)
0x16030-8RXPDO 4 Mapping ParameterPDO Mapping (21h)
0x1A000-8TXPDO 1 Mapping ParameterPDO Mapping (21h)
0x1A010-8TXPDO 2 Mapping ParameterPDO Mapping (21h)
0x1C000SM Communication Type
1Comm. Type, Sync Manager 0
2Comm. Type, Sync Manager 1
3Comm. Type, Sync Manager 2
4Comm. Type, Sync Manager 3
0x1C120SM2(Outputs) PDO Assignment
1Sync Manager 2, PDO Mapping 0
2Sync Manager 2, PDO Mapping 1
3Sync Manager 2, PDO Mapping 2
4Sync Manager 2, PDO Mapping 3
0x1C130SM3(Inputs) PDO Assignment
1Sync Manager 3, PDO Mapping 0
2Sync Manager 3, PDO Mapping 1
0x1C320SM2(Outputs) SyncManager Parameter
1Synchronization Type
2Cycle Time
3Shift Time
4Sync Types Supported
5Minimum Cycle Time
6Calc and Copy Time
7Minimum Delay
8Get Cycle Time
9Minimum Hardware Delay
10Sync Cycle Time
0x1C330SM3(Inputs) SyncManager Parameter
1Synchronization Type
2Cycle Time
3Shift Time
4Sync Types Supported
5Minimum Cycle Time
6Calc and Copy Time
7Minimum Delay
8Get Cycle Time
9Minimum Hardware Delay
10
4.1.1.2. Driver Setting Parameters
IndexSub-IndexData
DescriptionData Type
0x20000Peak CurrentUINT
0x20010Motor ResolutionUINT
0x20020Standby TimeUINT
0x20030Standby Current PercentageUINT
0x20050Outputs Function
1DO0 FunctionUINT
2DO1 FunctionUINT
0x20080DOs PolarityUINT
0x20100Filter Time
1FIR Filter TimeUINT
2IIR Filter TimeUINT
0x20130AutoTune EnableUINT
0x20150Current Loop KpUINT
0x20160Current Loop KiUINT
0x20350position loop KpUINT
0x20360position loop KiUINT
0x20370position loop KdUINT
0x20380position loop KvffUINT
0x20490Motor rigidityUINT
0x20510PolarityUINT
0x20710Encoder DirectionUINT
0x21500Slave AliasUINT
0x21510Slave Alias SourceUINT
0x21520Inputs Function
1DI0 FunctionUINT
2DI1 FunctionUINT
3DI2 FunctionUINT
4DI3 FunctionUINT
5Reserve
0x21530Inputs Digital Filter
1DI0 Filter TimerUINT
2DI1 Filter TimerUINT
3DI2 Filter TimerUINT
4DI3 Filter TimerUINT
5Reserve
0x21540DIs PolarityUINT
0x21640CMP
1trigger EnableUDINT
2default StatusUDINT
3SourceUDINT
4Trigger high widthUDINT
5Total trigger countUDINT
0x21650CMP_1
1Trigger DirectionUDINT
2Start positionDINT
3IntervalDINT
0x21660CMP_POSDINT
1POS1DINT
2POS2DINT
3POS3DINT
4POS4DINT
5POS5DINT
6POS6DINT
7POS7DINT
8POS8DINT
9POS9DINT
10POS10DINT
11POS11DINT
12POS12DINT
13POS13DINT
14POS14DINT
15POS15DINT
16POS16DINT
To restore driver parameters to factory settings, 0x1011.4 = 0x64616f6c must be written, and then read back. When the read back value is 1, the action is completed; however, it will not be enabled until the power is turned off and the system restarted. For the storage mode of drive parameters, 0x1010.04 = 0x65766173 must be written, and then read back. When the read back value is 1, the action is completed; however, it will not be enabled until the power is turned off and the system restarted. Note: After the factory setting is restored, the 0x2000 current peak value will be restored to the lowest driving capacity value to avoid burning the motor. Reset the correct current peak value to avoid motor non-rotation. 4.1.1.3. CiA 402 Related Parameters
IndexSub-IndexData
DescriptionData Type
0x603F0Last Error CodeUINT
0x60400Control WordUINT
0x60410Status WordUINT
0x605A0Quick Stop Option CodeINT
0x60600Modes of OperationUSINT
0x60610Modes of Operation DisplayUSINT
0x60620Commanded PositionDINT
0x60640Actual PositionDINT
0x606B0Commanded VelocityDINT
0x606C0Actual VelocityDINT
0x60770Torque Actual Value
0x607A0Profile Target PositionDINT
0x607C0Homing OffsetDINT
0x60810Profile Target VelocityUDINT
0x60820End VelocityUDINT
0x60830Profile Target AccelerationUDINT
0x60840Profile Target DecelerationUDINT
0x60850Quick Stop DecelerationUDINT
0x60980Homing MethodSINT
0x60990Homing Velocity
1Homing velocity(fast)
2Homing velocity(slow)
0x609A0Homing AccelerationUDINT
0x60B00Position OffsetDINT
0x60B80Touch Probe FunctionUINT
0x60B90Touch Probe StatusUINT
0x60BA0Touch Probe 1 Positive ValueDINT
0x60BB0Touch Probe 1 Negative ValueDINT
0x60C20Interpolation Time Period
1Interpolation Time value
2Interpolation Time units
0x60D50Touch Probe 1 Positive CounterUINT
0x60D60Touch Probe 1 Negative CounterUINT
0x60FD0Digital InputsUDINT
0x60FE0Digital Outputs
1Output_0
2Output_1
0x60FF0Target VelocityDINT
0x65020Supported Drive ModesUDINT
4.1.2. Driver Parameter Setting Table and Definition
OD AddressFunctionDefault ValueFunction OptionsInput Range
0x20000Maximum instantaneous output current1000Maximum instantaneous output current (mA)0-10000
0x20010Single turn resolution10000Single turn resolution (pulse/rev)1-51200
0x20020Delay time of braking after setting300Delay time of braking after setting (ms)50-10000
0x20030Current value of braking after setting50Current value of braking after setting (%)0-100
0x20050DO function settings2NAx
1DO0 function settings41: Alarm2: In-position3: CMP4: Master control1-4
2DO1 function settings41: Alarm2: In-position3: CMP4: Master control1-4
0x20080DO polarity setting0When 0x2005 is set to 1,2,4: bit0: DO0 polarity settingbit1: DO1 polarity setting0: default high, active low1: default low, active high0-32767
0x20100Filtering time1NAx
1FIR filtering time4000Motor pre-filter time range50-25600μs
2XXnot supportedx
0x20130Automatic adjustment takes effect1Automatically setting current loop PI when power on:0: No automatic adjustment1: Automatic adjustment after enabling0,1
0x20150Current loop proportional gain value1000When 0x2013=1, the parameter is read onlyR
0x20160Current loop integral gain value200When 0x2013=1, the parameter is read onlyR
0x20350Position loop proportional gain value85Closed-loop KP gain value0-200
0x20360Position loop integral gain value0Closed-loop KI gain value0-200
0x20370Position loop differential gain value6000Closed-loop KD gain value0-6000
0x20380Position loop velocity feedforward gain value85Closed-loop Kvff gain value0-1000
0x20490Rigid adjustment0Closed-loop PID automatic adjustment,0: weaker1: stronger0,1
0x20510Steering adjustment00: forward1: reverse0,1
0x20710Encoder direction1Motion direction fed back by encoder; Closed-loop efficiency0: no reverse1: reverse0,1
0x21500Software slave station number1Software Slave ID1-65535
0x21510Station number basis0Specify slave ID source:0: hardware1: software0,1
0x21520DI function settings5NAx
1DI0 function settings00: negative limit1: positive limit2: zero3: emergency stop0-3
2DI1 function settings10: negative limit1: positive limit2: zero3: emergency stop0-3
3DI2 function settings20: negative limit1: positive limit2: zero3: emergency stop0-3
4DI3 function settings30: negative limit1: positive limit2: zero3: emergency stop0-3
5Reserved0Reservedx
0x21530DI digital filtering time5NAx
1DI0 digital filtering time1001 - 32768, 1=50μs, digital filtering1-32767
2DI1 digital filtering time1001 - 32768, 1=50μs, digital filtering1-32767
3DI2 digital filtering time1001 - 32768, 1=50μs, digital filtering1-32767
4DI3 digital filtering time1001 - 32768, 1=50μs, digital filtering1-32767
5Reserved100Reservedx
0x21540DI polarity setting0bit0: DI0 polarity settingbit1: DI1 polarity settingbit2: DI2 polarity settingbit3: DI3 polarity setting0: Non Inverse1: Inverse1-15
0x21640Comparison trigger5NAX
1Comparison trigger start00: disabled1: LCMP enabled2: TCMP enabled0,1,2
2Default polarity0When DO is set to CMP, the polarity when not triggered:0: Normal Open1: Normal Close0,1
3Comparison trigger source00: Command1: Encoder0,1
4Comparison trigger start width10count x 50μs1~2^32-1
5Total number of comparison trigger points1Total trigger points of LCMP & TCMPU32
0x21650Comparison trigger_13NAx
1Comparison trigger direction10: Negative1: Positive0,1
2Start position of linear comparison trigger10000Trigger the first point-2^31~2^31-1
3Linear comparison trigger interval10000LCMP trigger interval0~2^32-1
0x21660Point table comparison trigger position16NAx
1Point table comparison trigger position 11000#1 TCMP comparison trigger point-2^31-2^31-1
2Point table comparison trigger position 22000#2 TCMP comparison trigger point-2^31-2^31-1
3Point table comparison trigger position 33000#3 TCMP comparison trigger point-2^31-2^31-1
4Point table comparison trigger position 44000#4 TCMP comparison trigger point-2^31-2^31-1
5Point table comparison trigger position 55000#5 TCMP comparison trigger point-2^31-2^31-1
6Point table comparison trigger position 66000#6 TCMP comparison trigger point-2^31-2^31-1
7Point table comparison trigger position 77000#7 TCMP comparison trigger point-2^31-2^31-1
8Point table comparison trigger position 88000#8 TCMP comparison trigger point-2^31-2^31-1
9Point table comparison trigger position 99000#9 TCMP comparison trigger point-2^31-2^31-1
10Point table comparison trigger position 1010000#10 TCMP comparison trigger point-2^31-2^31-1
11Point table comparison trigger position 1111000#11 TCMP comparison trigger point-2^31-2^31-1
12Point table comparison trigger position 1212000#12 TCMP comparison trigger point-2^31-2^31-1
13Point table comparison trigger position 1313000#13 TCMP comparison trigger point-2^31-2^31-1
14Point table comparison trigger position 1414000#14 TCMP comparison trigger point-2^31-2^31-1
15Point table comparison trigger position 1515000#15 TCMP comparison trigger point-2^31-2^31-1
16Point table comparison trigger position 1616000#16 TCMP comparison trigger point-2^31-2^31-1
# 4.1.2.1. Braking Function Braking can reduce the problem of steep motion in place. Setting the current power of a motor under load conditions can reduce overheating.
OD AddressFunctionDefault ValueFunction OptionsInput Range
0x20020Delay time of braking after setting300Delay time of braking after setting (ms)50-10000
0x20030Current value of braking after setting50Current value of braking after setting (%)0-100
• 0x2002: Set the delay time for the driver to start the braking automatically after the motor setting is completed. • 0x2003: Set the current value to use when locking the motor. # 4.1.2.2. Adjustment Function This function is effective for closed-loop motors.
OD AddressFunctionDefault ValueFunction OptionsInput Range
0x20130Automatic adjustment takes effect1Automatically setting current loop PI when power on:0: No automatic adjustment1: Automatic adjustment after enabling0,1
0x20150Current loop proportional gain value1000When 0x2013=1, the parameter is read only.R
0x20160Current loop integral gain value200When 0x2013=1, the parameter is read only.R
0x20350Position loop proportional gain value85Closed-loop KP gain value0-200
0x20360Position loop integral gain value0Closed-loop KI gain value0-200
0x20370Position loop differential gain value6000Closed-loop KD gain value0-6000
0x20380Position loop velocity feedforward gain value85Closed-loop Kvff gain value0-1000
0x20490Rigid adjustment1Closed-loop PID automatic adjustment0: weaker1: stronger0,1
0x20710Encoder direction1Motion direction fed back by encoder; Closed-loop efficiency0: no reverse1: reverse0,1
• When 0x2013 is set to 0, the closed-loop gain of 0x2035-0x2038 can be adjusted. • When 0x2013 is set to 1, the self-adjustment function is started and the adjusted PI gain values are 0x2015 and 0x2016, which can be used for automatic adjustment. • 0x2049 is a simple rigid adjustment. # 4.1.2.3. Using Software ID
OD AddressFunctionDefault ValueFunction OptionsInput Range
0x21500Software slave station number1Software Slave ID1-65535
0x21510Station number basis0Specify slave ID source0: hardware,1: software0,1
• When 0x2151 is set to 0, the slave ID is the set value of SW1. • When 0x2151 is set to 1, the slave ID is set to 0x2150. 4.1.2.4. Digital Input Uses Digital Filtering Function
OD AddressFunctionDefault ValueFunction OptionsInput Range
0x21530DI digital filtering time5NAx
1DI0 digital filtering time1001 - 32768, 1=50μs, digital filtering1-32767
2DI1 digital filtering time1001 - 32768, 1=50μs, digital filtering1-32767
3DI2 digital filtering time1001 - 32768, 1=50μs, digital filtering1-32767
4DI3 digital filtering time1001 - 32768, 1=50μs, digital filtering1-32767
5Reserved100Reservedx
0x2053 is a digital filtering function and the filtering time of each digital input point is 0x2153.1 - 0x2153.4 \* 50μs. When it is set to 1, high signals with a long time <50μs will be filtered out. For example, if it takes 1ms for a high signal to be recognized, set the value to 20. # 4.2. Operation Mode EtherCAT offers several motion control modes. This section describes only the modes supported in the Nu-Step DA Series: PP, PV, CSP and HM. # 4.2.1. Profile Position Mode (PP mode) When running PP mode, the PTP motion is executed by the profile planning function of the driver, and the target position, profile speed and profile acceleration and deceleration are required to be input until the stroke is completed. ![The flowchart depicts a sequential process involving two main blocks and specific labeled inputs/connections:\n\n**Labeled Blocks:**\n* **Profile planning**\n* **Position control loop**\n\n**Connections:**\n* An arrow labeled **Target position (607Ah)** points into the left side of the **Profile planning** block.\n* An arrow labeled **Position demand. Value (6062h)** connects the **Profile planning** block to the left side of the **Position control loop** block.\n* An arrow exits the right side of the **Position control loop** block.](.nu-step-da-50m-40802-1000-10/b3054e402fb22902a87c0283cde5670d94c557f1ae4e8f6fd05d5b72fd899a8a.jpg) # 4.2.1.1. Operational Steps 1. Set the operation mode to profile position mode and the object (Mode of operations: 6060h) to 0x01. 2. Set the object (Target position: 607Ah) to the target position value and plan the execution path. 3. Set the object (Profile velocity: 6081h) to the profile velocity value setting. 4. Set the object (Profile acceleration: 6083h) and (Profile deceleration: 6084h) to the acceleration/deceleration value settings (millisecond from 0 rpm to 3000 rpm). 5. Change the object (Controlword: 6040h) value from 0x06 to 0x0F, so that the control system is in the Servo On state, and then the motor starts to operate. 6. Set the positive and negative errors allowed by the object (Position window: 6067h) to announce the arrival of the target position and confirm whether the target position is reached or not. In addition, the object (Position window time: 6068h) can be determined as Target Reached after judging how long it has stayed within the error range (ms). 7. Object (following error window: 6065h) position command error tolerance value. Object (following error window time: 6068h), after determining how long it has stayed within the error range (ms), can be confirmed whether it is positioned in a relative position. <table>Serial NumberObject DictionaryDescriptionSet ValueUnit16060HOperation mode1None26040HControl wordSet as neededNone3607AHTarget locationSet as neededUnit46081HProtocol speed in location modeSet as neededUnit/S56082HTake-off speed and stop speed in position modeSet as neededUnit/S66083HProtocol accelerationSet as neededUnit/(S*S)76084HProtocol decelerationSet as neededUnit/(S*S)86085HEmergency stop deceleration. Use depends on the value of 605A.Set as neededUnit/(S*S)9605AHWhether emergency stop deceleration is adopted (5: adopted; Other values: not adopted)Set as neededNone # 4.2.2. Profile Velocity Mode (PV mode) Set the target speed and plan the stroke acceleration and deceleration to reach the final speed stroke. # 4.2.2.1. Operational Steps 1. Set the object of mode of operations (6060h) to the profile velocity mode value = 0x03. 2. Change the driver to Serve On state and the object (Controlword: 6040h) setting value from 0x06 to 0x0F. 3. The object (Profile acceleration: 6083h) and (Profile deceleration: 6084h), plan the path acceleration and deceleration. (Millisecond from 0 rpm to 3000 rpm.) 4. Set the object of target velocity (Target velocity: 60FFh). According to the value, the motor runs to the target speed.
Serial NumberObject DictionaryDescriptionSet ValueUnit
16060HOperation mode3None
26040HControl wordSet as neededNone
360FFHProtocol speed in speed modeSet as neededUnit/S
46083+00HProtocol accelerationSet as neededUnit/(S*S)
56084+00HProtocol decelerationSet as neededUnit/(S*S)
# 4.2.3. Cyclic Synchronous Position Mode (CSP mode) In this mode, the upper controller needs to have the profile planning function, and only needs to input the target position. Then the position command can be transmitted to the driver in a cyclic synchronous way. # 4.2.3.1. Operational Steps 1. Set the object of mode of operations (6060h) to cyclic synchronous position mode value (0x08) and write the object (Target position: 607Ah) to the target location. 2. Change the object (Controlword: 6040h) value from 0x06 to 0x0F, so that the control system is in the Servo On state, and then the motor starts to operate. ![**Labeled Blocks and Elements:**\n* Torque offset (60B2h)\n* Velocity offset (60B1h)\n* Position offset (60B0h)\n* Target position (607Ah)\n* Position control\n* Velocity control\n* Torque control\n* M\n* S\n* Torque actual value (6077h)\n* Velocity actual value (606Ch)\n* Position actual value (6064h)\n* Three summing junctions (circles with '+' signs)\n* One amplifier (triangle)\n\n**Connections:**\n1. **Input Stage:** 'Target position (607Ah)' and 'Position offset (60B0h)' enter the first summing junction.\n2. **Position Loop:** The output of the first summing junction goes to 'Position control'. 'Position control' receives feedback from the bottom line labeled 'Position actual value (6064h)'.\n3. **Velocity Loop:** The output of 'Position control' and 'Velocity offset (60B1h)' enter the second summing junction. The output goes to 'Velocity control'. 'Velocity control' receives feedback from the middle line labeled 'Velocity actual value (606Ch)'.\n4. **Torque Loop:** The output of 'Velocity control' and 'Torque offset (60B2h)' enter the third summing junction. The output goes to 'Torque control'. 'Torque control' receives feedback from the top bottom-line labeled 'Torque actual value (6077h)'.\n5. **Actuation:** The output of 'Torque control' goes to the amplifier. The amplifier output goes to block 'M'. Block 'M' output goes to block 'S'.\n6. **Feedback:** Block 'S' provides feedback to the amplifier. Additionally, signals from 'S' route through the horizontal lines labeled 'Torque actual value (6077h)', 'Velocity actual value (606Ch)', and 'Position actual value (6064h)' (which have left-pointing arrows) back up to the respective controllers ('Torque control', 'Velocity control', and 'Position control').](.nu-step-da-50m-40802-1000-10/73f0b1e8a0e2c9c552bbed2291e9fc8c3d610bb5381c5607bf0f706497f08504.jpg)
Serial NumberObject DictionaryDescriptionSet ValueUnit
16060HOperation mode8None
26040HControl wordSet as neededNone
3607AHTarget locationSet as neededUnit
# 4.3. Homing Mode This section introduces the method for the driver to search for the original position (also known as a reference point or zero point). Several modes can be achieved by using a limit switch at the end of the trip or a home switch (zero switch) at the middle of the stroke. Most modes also use the index pulse (zero) of the incremental encoder. Since the Nu-Step DA Series of stepper drivers do not support EZ signals, they only support zero return mode, with the exception of 33 and 34. ![This block diagram features a central processing block labeled **'Homing'**.\n\n**Inputs (arrows pointing into the left side):**\n* `control_word`\n* `homing_option_code`\n* `homing_speeds`\n* `homing_acceleration`\n* `home_offset`\n\n**Outputs (arrows pointing away from the right side):**\n* `status_word`\n* `position_demand_value*`](.nu-step-da-50m-40802-1000-10/9e40e04005092993864d68e82dce14ae512dfa9ed55a496912ccb174ed110211.jpg) Figure 4: Homing Function OD definition of zero return mode.
IndexObjectNameTypeAttr.M/O
$607C_h$ VARHome offsetINTEGER32rwO
$6098_h$ VARHoming methodINTEGER8rwM
$6099_h$ ARRAYHoming speedsUNSIGNED32rwM
$609A_h$ VARHoming accelerationUNSIGNED32rwO
OD definition related to non-zero return mode.
IndexObjectNameTypeAttr.M/O
$6040_{h}$ VARControlwordUNSIGNED16dc $6040_{h}$
$6041_{h}$ VARStatuswordUNSIGNED16dc $6041_{h}$
# Functional Description The following settings will also be established: Zero return signal (positive limit switch, negative limit switch, home switch) Driving direction and appropriate direction Position of the index pulse The difference between the home position and the zero position is the home offset. For how to use this offset, refer to the definition of the home offset in 4.3.2.1. The figures in the following sections show various zero returns. The circled number represents the code used to select the zero return position. The direction of motion is also indicated. You can use negative zero return mode definitions and other zero return modes. Four types of zero return signals are available: negative and positive limit switches, home switch, and index pulse from the encoder. In the zero return sequence diagrams shown below, the encoder count increases as the axis position moves to the right; in other words, the left side is the minimum position and the right side is the maximum position. In order to run the position control driver, it is usually necessary to have an exact understanding of the absolute position. Because drivers usually do not have an absolute encoder for cost reasons, a zero return operation must be performed. Each mode clearly describes the exact sequence of zero return operations. In some cases, the device can choose from multiple modes using the zero return mode. # 4.3.1. Zero Return Mode This section describes the details of how each zero return mode works. # 4.3.1.1. Mode 1: zero return on negative limit switch and index pulse If the negative limit switch is not activated, the initial direction of motion will be left when using this mode. The starting position is at the first index pulse to the right of the position where the negative limit switch becomes invalid. ![Index Pulse\nNegative Limit Switch](.nu-step-da-50m-40802-1000-10/33aa4a479fb1201a490a150a16be6ad114166b3dd2c600a786ed77de9e4b31dd.jpg) Figure 5: Zero return on negative limit switch and index pulse # 4.3.1.2. Mode 2: Zero return on positive limit switch and index pulse With this mode, if the positive limit switch is not activated, the initial direction of movement is to the right. The home position is at the first index pulse to the left of the position where the positive limit switch becomes invalid. ![2\nIndex Pulse\nPositive Limit Switch](.nu-step-da-50m-40802-1000-10/e781813256aa4698cad64fcd081622bdbb746809e2e14835887fc1a3613b634b.jpg) Figure 6: Zero return on positive limit switch and index pulse # 4.3.1.3. Modes 3 and 4: zero return on positive home switch and index pulse With modes 3 or 4, the initial direction of motion depends on the state of the home switch. The home position is at the index pulse to the left or right of the point where the home switch changes state. If the initial position is positioned so that the direction of motion must be reversed during the return to zero, the point at which the reversal occurs will be anywhere after the home switch state has changed. ![The image displays a timing diagram illustrating the relationship between a mechanical position and various signals.\n\n**Labeled Blocks and Elements:**\n* **Top Component:** A horizontal bar with a sliding block.\n* **Signal Blocks (Circles):**\n * A circle containing the number **'3'** with an arrow pointing left.\n * A blank circle with an arrow pointing left.\n * A circle containing the number **'4'** with an arrow pointing right.\n * A circle containing the number **'4'** with an arrow pointing right.\n* **Signal Labels:**\n * **'Index Pulse'**\n * **'Home Switch'**\n\n**Connections and Alignments:**\n* Two vertical dotted lines extend downward from the top bar.\n* **Left Dotted Line:** Aligns vertically with the blank circle, the rising edge of the **'Index Pulse'** signal, and the start of the signal trace above it.\n* **Right Dotted Line:** Aligns vertically with the second circle labeled **'4'** and the transition point of the **'Home Switch'** signal (which shows a vertical drop followed by a horizontal line).](.nu-step-da-50m-40802-1000-10/376f3e6784b53405d5b82b90dd28d9007ada8752b0985a16ad39b8e956882df5.jpg) Figure 7: Zero return on positive home switch and index pulse # 4.3.1.4. Modes 5 and 6: zero return on negative home switch and index pulse With modes 5 or 6, the initial direction of motion depends on the state of the home switch. The home position is at the index pulse to the left or right of the point where the home switch changes state. If the initial position is positioned so that the direction of motion must be reversed during the return to zero, the point at which the reversal occurs will be anywhere after the home switch state has changed. ![This diagram illustrates a timing sequence involving a mechanical rail and signal lines.\n\n**Labeled Blocks and Components:**\n* **Top Rail:** A horizontal rectangular bar with a square slider block positioned towards the left.\n* **Signal Nodes (Circles):**\n * A circle labeled **'5'** with a right-pointing arrow.\n * A circle labeled **'5'** with a right-pointing arrow.\n * A circle labeled **'6'** with a left-pointing arrow.\n * An empty circle with a left-pointing arrow.\n* **Bottom Labels:**\n * **'Index Pulse'**\n * **'Home Switch'**\n\n**Connections and Layout:**\nThe diagram is organized vertically with dashed lines indicating synchronization points:\n* **Vertical Dotted Lines:** Two vertical dotted lines run from the top rail down through the signal paths to the bottom labels.\n * The **left dotted line** aligns the slider on the top rail, the circle labeled **'6'** in the third path, the rising edge of the **'Index Pulse'** line, and the falling edge of the **'Home Switch'** line.\n * The **right dotted line** aligns the top rail, the second circle labeled **'5'** (in the second path), and the second rising edge of the **'Index Pulse'** line.\n* **Signal Paths:**\n * The top path shows a line moving right past the first **'5'** node.\n * The second path shows a line looping left and then right past the second **'5'** node.\n * The third path shows a line looping right and then left past the **'6'** node.\n * The bottom-most path shows a line moving left past the empty circle.](.nu-step-da-50m-40802-1000-10/2130e16b1c856a92269ec43f28f15444baf905bc9dc325480247d65bc5f62c7c.jpg) Figure 8: Zero return on negative home switch and index pulse # 4.3.1.5. Modes 7 to 14: zero return on home switch and index pulse These modes use a home switch, which only works on the part of the stroke and, in effect, has an "instantaneous" effect when the position of the axle sweeps across the switch. Using modes 7 to 10, the initial direction of motion is right. Using modes 11 to 14, the initial direction of motion is left, unless the home switch is active at the beginning of the motion. In this case, the initial direction of motion depends on the edge to be sought. The original position is at the index pulse on either side of the rising or falling edge of the original switch, as shown in the following two figures. If the initial direction of motion is away from the home switch, the driver must reverse when it encounters the associated limit switch. ![Based on the provided image, here is an accurate and concise description:\n\n**Labeled Blocks:**\nThe diagram features four numbered circular blocks labeled **7**, **8**, **9**, and **10**. These blocks appear in three horizontal rows within the central section of the diagram.\n\n**Connections and Flow:**\n* **Top Section:** A horizontal bar with a sliding grey block is at the very top. Vertical dotted lines project downward from this bar, aligning specific positions with the logic blocks and signal lines below.\n* **Central Logic Rows:**\n * **Top Row:** A horizontal line connects block **7** (which has a left-pointing arrow) to block **8**. A separate horizontal line connects block **9** (with a left-pointing arrow) to block **10** (with a right-pointing arrow).\n * **Middle Row:** A horizontal line connects block **7** (left-pointing arrow) to block **8** (right-pointing arrow). A separate line connects block **9** (left-pointing arrow) to block **10** (right-pointing arrow). There is a vertical break in the central line.\n * **Bottom Row:** A horizontal line connects block **7** (left-pointing arrow) to block **8** (right-pointing arrow). A separate line connects block **9** to block **10** (right-pointing arrow). A T-shaped latch is visible on the far right of this row.\n* **Bottom Section (Signal Lines):** Vertical dotted lines connect the top bar and the logic blocks to three signal lines at the bottom, synchronizing the sequence.\n * **Index Pulse**: A line showing four vertical markers corresponding to the dotted lines.\n * **Home Switch**: A line showing a square wave pulse occurring between the second and fourth index markers.\n * **Positive Limit Switch**: A line showing a pulse occurring after the fourth index marker.\n\n**Verbatim Text Labels:**\n* Index Pulse\n* Home Switch\n* Positive Limit Switch](.nu-step-da-50m-40802-1000-10/5f57ee3c51f94cdd6848c64a77e94dab263013688308b07aaf73340c102ad708.jpg) Figure 9: Homing on the home switch and index pulse - positive initial move ![This diagram illustrates a sequence involving four numbered nodes and three signal lines.\n\n**Labeled Blocks (Nodes):**\n* **11**: Circular block with an arrow pointing right.\n* **12**: Circular block with an arrow pointing left (in middle and bottom rows) or right (in top row).\n* **13**: Circular block with an arrow pointing right.\n* **14**: Circular block with an arrow pointing left.\n\n**Connections (Horizontal Sequences):**\nThe diagram shows three distinct rows of connections:\n* **Top Row:** Node **14** connects to Node **13**. Node **12** connects to Node **11**.\n* **Middle Row:** Node **14** connects to Node **13**. Node **11** connects to Node **12**.\n* **Bottom Row:** A line connects to Node **13**, which connects to Node **14**. The line continues to Node **11**, which connects to Node **12**.\n\n**Vertical Alignment and Signals:**\nDotted lines connect the nodes to the signal timeline below, aligning them with the **Index Pulse** ticks:\n* Node **14** aligns with the first **Index Pulse**.\n* Node **13** aligns with the second **Index Pulse**.\n* Node **12** aligns with the third **Index Pulse**.\n* Node **11** aligns with the fourth **Index Pulse**.\n\n**Signal Labels:**\n* **Index Pulse**: A timeline showing four vertical ticks.\n* **Home Switch**: A signal line that goes high between the second and fourth Index Pulse ticks.\n* **Positive Limit Switch**: A signal line that goes high after the fourth Index Pulse tick.](.nu-step-da-50m-40802-1000-10/a4b42f916fc5357cb4fa72651bd03970406ca0b5d9716582c50cb5fd436d3d6a.jpg) Figure 10: Homing on the home switch and index pulse - negative initial move # 4.3.1.6. Modes 15 and 16: Reserved These modes are reserved for future zero return mode extensions. # 4.3.1.7. Modes 17 to 30: zero return without index pulse These modes are similar to modes 1 to 14 except that the original position does not depend on the index pulse, but only on the associated original or limit switch transition. For example, modes 19 and 20 are similar to modes 3 and 4 shown in the following figure. ![Based on the provided image, here is a description of the flowchart/block diagram:\n\n**Labeled Blocks:**\n* **Top Rail Assembly:** A horizontal double-rail structure at the top with a grey rectangular carriage block positioned on the left side.\n* **Circular Nodes:** Four circular nodes arranged vertically below the rail.\n * **Top Node:** Labeled '19' with an arrow pointing left.\n * **Second Node:** Labeled '19' with an arrow pointing left.\n * **Third Node:** Labeled '19' with an arrow pointing right.\n * **Bottom Node:** Labeled '20' with an arrow pointing right.\n* **Home Switch:** Text at the bottom left labeled 'Home Switch'.\n\n**Connections:**\n* **Vertical Dotted Line:** A dotted line descends from the top rail assembly, indicating a vertical axis or path.\n* **Looped Lines:**\n * A looped line connects to the right side of the top '19' node.\n * A looped line connects to the left side of the bottom '20' node.\n* **Horizontal Lines with Vertical Bars (T-shapes):**\n * A horizontal line extends to the right from the second '19' node, ending in a vertical bar.\n * A horizontal line extends to the left from the third '19' node, ending in a vertical bar.\n* **Home Switch Line:** A line extends to the right from the 'Home Switch' text, drops down vertically, and extends to the right again.](.nu-step-da-50m-40802-1000-10/98b38900986c8cd9bc0b4415e3a3165b053f50011859e1e0401a4fe9022016f4.jpg) Figure 11: Homing on the positive home switch # 4.3.1.8. Modes 31 and 32: Reserved These modes are reserved for future zero return mode extensions. # 4.3.1.9. Modes 33 to 34: zero return on index pulse Using modes 33 or 34, the direction back to home is negative or positive, respectively. The original position is on the index pulse found in the selected direction. ![Index Pulse\n33\n34](.nu-step-da-50m-40802-1000-10/7b003c4be6a63d0f6dc6e2200133a2a8ee27df28848302d26eeb3a948654e2cd.jpg) Figure 12: Homing on the index pulse # 4.3.1.10. Mode 35: zero return to current position In mode 35, the current position is set to the original position. # 4.3.2. Zero Return Object Definition # 4.3.2.1. Home Offset This object shall indicate the configuration difference between the zero position of the application and the home position of the machine (found during zero return). In the process of zero return, find the home position of the machine, and after zero return, offset the zero point from home by adding the home offset to the home position. All subsequent absolute movements shall be relative to the new zero position. If this object is not implemented, the home offset shall be considered zero. The value of this object shall be given in user-defined location units. Negative values indicate an opposite direction. ![Zero\nposition\nHome offset\nHome\nposition](.nu-step-da-50m-40802-1000-10/00a86c6f367eed2b6d5e1dec6e3de169e08380b8574617668eb55de76bcb20cf.jpg) Figure 13: Home offset definition # 4.4. Comparison Trigger Mode The Nu-Step DA Series of stepper drivers supports the standard EtherCAT protocol and adds the comparison trigger function commonly used in equipment, so customers can easily apply this function to AOI detection triggered by camera image acquisition or module data acquisition. The OD used in the comparison trigger does not support PDO input, and the trigger frequency is up to 1KHz. # 4.4.1. Comparison Trigger Function Module Compare trigger ![The flowchart depicts a logic flow with inputs feeding into three central processing blocks, which then feed into a central 'Trigger Type' block, ultimately outputting to two final blocks.\n\n**Labeled Blocks:**\n* Trigger Enable(0x2064.1)\n* default Status (0x2164.2)\n* Trigger Source (0x2164.3)\n* Trigger Width(0x2164.4)\n* Total trigger count (0x2164.5)\n* Trigger direction (0x2165.1)\n* Trigger Parameter\n* Start Position (0x2165.2)\n* Trigger interval (0x2165.3)\n* LCMP Condition\n* Trigger Table(0x2166.1~16)\n* TCMP Condition\n* Trigger Type\n* DO0\n* DO1\n\n**Connections:**\n* **Trigger Enable(0x2064.1)** connects directly to **Trigger Type**.\n* **default Status (0x2164.2)**, **Trigger Source (0x2164.3)**, **Trigger Width(0x2164.4)**, **Total trigger count (0x2164.5)**, and **Trigger direction (0x2165.1)** all connect to **Trigger Parameter**.\n* **Start Position (0x2165.2)** and **Trigger interval (0x2165.3)** connect to **LCMP Condition**.\n* **Trigger Table(0x2166.1~16)** connects to **TCMP Condition**.\n* **Trigger Parameter**, **LCMP Condition**, and **TCMP Condition** all connect to **Trigger Type**.\n* **Trigger Type** connects to both **DO0** and **DO1**.](.nu-step-da-50m-40802-1000-10/31ff76fd30e573149aca0ca5cdc81784c844ffc6396840d196e9549ad70b55d2.jpg)  Only LCMP or TCMP can be used at the same time.  It can output comparison trigger positions DO0 and DO1 at the same time. # 4.4.2. How to Use Linear Comparison Trigger LCMP 1. Input appropriate parameters 0x2164.2-0x2164.5 and 0x2165.1 for comparison trigger. 2. Input parameters 0x2165.2 and 0x2165.3 required for the corresponding comparison trigger. 3. Input 0x2164.1=1 after confirming the above two points of data to complete the input. 4. Confirm that the digital output point function for 0x2005 is set to 3 (CMP). 5. The axis motion can be triggered according to the set conditions. 6. After the trigger is finished, 0x2164.1 will be automatically set to 0 (Disabled). If the comparison trigger is needed for the following motion, you can set steps 3-5. # 4.4.3. How to Use Point Table Comparison Trigger TCMP 1. Input appropriate parameters 0x2164.2-0x2164.5 and 0x2165.1 for comparison trigger. 2. Input the order of points required for the corresponding comparison trigger requirement to mark 0x2166.1- 0x2166.16, with a maximum of 16 points. 3. Input 0x2164.1=2 after confirming the above two points of data to complete the input. 4. Confirm that the digital output point function for 0x2005 is set to 3 (CMP). 5. The axis motion can be triggered according to the set conditions. 6. After the trigger is finished, 0x2164.1 will be automatically set to 0 (Disabled). If the comparison trigger is needed for the following motion, you can set steps 3-5. # 4.5. Error code The error code is defined in OD 0x603F. The related fault and LED lamp number are displayed as follows. OD address: 0x603F # Error codes: Overcurrent: 0x50e0 (with the indicator flashing once) Overvoltage: 0x2811 (with the indicator flashing twice) Out of tolerance: 0x2810 (with the indicator flashing seven times) Operational amplifier fault: 0x50a0 (with the indicator flashing nine times) # Safety Instructions Read and follow all instructions marked on the product and in the documentation before you operate your system. Retain all safety and operating instructions for future use. Please read these safety instructions carefully. • Please keep this User‘s Manual for later reference. • Read the specifications section of this manual for detailed information on the operating environment of this equipment. • When installing/mounting or uninstalling/removing equipment, turn off the power and unplug any power cords/cables. • To avoid electrical shock and/or damage to equipment: Keep equipment away from water or liquid sources. Keep equipment away from high heat or high humidity.  Keep equipment properly ventilated (do not block or cover ventilation openings).  Make sure to use recommended voltage and power source settings.  Always install and operate equipment near an easily accessible electrical socket-outlet. Secure the power cord (do not place any object on/over the power cord).  Only install/attach and operate equipment on stable surfaces and/or recommended mountings.  If the equipment will not be used for long periods of time, turn off and unplug the equipment from its power source. • Never attempt to fix the equipment. Equipment should only be serviced by qualified personnel. # Getting Service Ask an Expert: https://www.adlinktech.com/en/Askanexpert # ADLINK Technology, Inc. No. 66, Huaya First Road, Guishan District, Taoyuan City, 333411 Tel: +886-3-216-5088 Fax: +886-3-328-5706 Email: service@adlinktech.com # Ampro ADLINK Technology, Inc. 6450 Via Del Oro San Jose, CA 95119-1208, USA Tel: +1-408-360-0200 Toll Free: +1-800-966-5200 (USA only) Fax: +1-408-600-1189 Email: info@adlinktech.com # ADLINK Technology (China) Co., Ltd. 300 Fang Chun Rd., Zhangjiang Hi-Tech Park, Pudong New Area Shanghai, 201203 China Tel: +86-21-5132-8988 Fax: +86-21-5132-3588 Email: market@adlinktech.com # ADLINK Technology GmbH Hans-Thoma-Straße 11 D-68163 Mannheim, Germany Tel: +49-621-43214-0 Fax: +49-621-43214-30 Email: germany@adlinktech.com Please visit the Contact page at www.adlinktech.com for information on how to contact the ADLINK regional office nearest you. [🔗 Link to the original document](.nu-step-da-50m-40802-1000-10/nu-step-da-50m-40802-1000-10.pdf)