1. Preparation/Wiring
This document describes the steps for connecting the Keyence KV-7500+KV-XH16EC control unit and the EtherCAT bus driver via EtherCAT communication.
1.1 Prepare necessary equipment
Please prepare the following equipment:
KVPU1 | KV-7500 | KV-XH16EC | LAN cable (CAT6 class with shielding is recommended) |
Esxi / XML file | EtherCAT bus Stepper driver | Stepper motor | Switching power supply |
1.2 LAN cable connection diagram
Connect the EtherCAT port of the KV-XH16EC to the input port of the drive via a LAN cable.
When connecting multiple stepper drivers, as shown in the figure, please connect the output port of the left driver and the input port of the right driver using a LAN cable.
2. KV-XH16EC settings
Configure the KV-XH16EC using KV STUDIO.
2.1 Connecting the PC and CPU Unit
Open the USB cover on the CPU unit and connect the PC and CPU unit via USB cable.
2.2 Launch KV STUDIO and create the project.
Click the menu—File (F)—New Project (N)
Set the project name and save location, then click OK.
2.3 Select the unit to use
After creating a new project, a pop-up will appear: Confirm cell configuration settings - Yes (Y)
Then the cell editor—edit mode dialog box will pop up. Add "KV-XH16EC" by dragging and dropping (or double-clicking) — OK
2.4 Setting the Axis Configuration
2.4.1 ESI File Registration
Double-click the workspace—axis configuration settings—ESI file registration
This connection guide has been verified according to the following ESI file. If it does not work correctly, please check the ESI file.
• File name: Instar_StepperDriver_V112
2.4.2 Adding an axis
After adding the ESI file, "Instar Technology Co., Ltd." will be added. Drag and drop the model of the stepper driver you want to use and then add the axis.
Please click: Slave Detailed Settings (D) - Change Settings
2.4.3 Detailed Slave Configuration
In the above window, click "OK" under "Please configure according to the device in the slave station detailed settings," or click "Slave Station Details" in the lower right corner of the "Shaft Configuration Settings" window.
The "Settings" button enters the slave station detailed settings window: Modify the basic menu (usually only the type needs to be changed to stepper motor, and the extended settings to "Use"), initialization communication commands, and DC settings.
2.4.4 PDO Mapping Settings
Add RPDO and TPDO (this is a required setting).
2.4.5 "Motion Function Settings" Parameters (This is a required setting)
To use the negative limit, positive limit, and origin signals on the PLC driver, you need to configure them using the method shown in the diagram below. Set the negative limit, positive limit, and origin signals as follows: Process Data – Select 0x1A00 – Bit Position – Negative limit bit 1, positive limit bit 2, and corresponding origin bit 3.
2.4.6 Communication commands during initialization
This option is set according to user needs. In addition to the default settings, it is recommended to add two parameters: rated current and running microstepping, which correspond to 0x2000 (rated current) and 0x2001 (running microstepping) in the figure below. When publishing (T), select Safe-Op->Op.
2.4.7 Save Settings
Click on the detailed settings for the slave station—OK button—Save settings—Axis configuration settings—OK button—Axis configuration settings.
2.5 Execution and Coordinate Transformation Related Settings
After closing the axis configuration setting dialog box, the following dialog box will pop up: Yes (Y) - Coordinate transformation calculation. According to the project requirements, input the values that match the actual equipment. Calculation execution (E). Then you can confirm the calculation results under the current settings (as shown in the figure below, the setting is when the 10mm pitch ball screw moves in 0.01mm units) - OK (W).
2.6 Transmission Project
Click Monitor/Simulator (N) in the menu -> PLC Transfer -> Monitor Mode (C). A transfer program will pop up [Communication Target: KV-7300 Path: USB] -> Execute (E). After transferring the project, if the CPU unit is in PROGRAM mode, please switch to RUN mode.
2.7 Conduct trial operation
Right-click on the workspace—KV-XH16EC—Trial run (T)—Positioning control (P)—Axis 1 (1)
A test run dialog box will pop up. Then click Force Action Enable, Force Servo ON - Action Ready, Servo Ready will turn green. Execute JOG or click Run Confirm Action. If the axis fails to move normally, please check the settings, wiring, or other issues again.
*Note: The trial run function can only be executed when KV STUDIO is in monitor mode/online editing mode. You can switch KV STUDIO modes from the drop-down list in the toolbar.
