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KEB COMBICOM Instruction Manual

Ethercat
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C O M B I C O M
GB
Instruction Manual
EtherCAT
02/2008

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Summary of Contents for KEB COMBICOM

  • Page 1 C O M B I C O M Instruction Manual EtherCAT 02/2008...
  • Page 3 GB - 3...

  • Page 4: Table Of Contents

    Table of Contents 1. Introduction ........................5 Preface ............................... 5 Product description .......................... 5 List of literature ..........................5 2. Hardware ..........................6 3. Software ...........................8 Fundamentals of the EtherCAT interface connection ..............8 3.1.1 EtherCAT Configuration (EEPROM) ....................8 3.1.2 Mailbox communication ........................8 3.1.2.1 Parameter addressing by 16 bit index plus 8 bit subindex ............

  • Page 5: Introduction

    Product description KEB develop, produce and sell static frequency inverters worldwide in the industrial power range. The inverters of the type F5 can be equipped optionally with a EhterCAT slave interface. The F5 EtherCAT operator is integrated into the FI housing by simple plug-in and fits into all F5-units.

  • Page 6: Hardware

    Hardware Hardware EtherCAT-Mailbox aktiv FU-Error EtherCAT-RUN EtherCAT-Error Prozessdaten aktiv START ENTER FUNC STOP Diagnose EtherCAT Link Speed Link Speed Component Description EtherCAT Mailbox active: Flashes as long as a mailbox command is carried out. ProcessData active: Flashes as long as there is process data communication from and to the inverter. EtherCAT RUN Green RUN-Led according to the specification of ‚RUN Indicator‘...
  • Page 7 Hardware Component Description EtherCAT ERROR Red Led according to specification of ‚ERR Indicator‘ in the EtherCAT specification ([1]): Flashing Description Constantly OFF No Error Cyclically blinking with ON(200ms) / General configuration errror OFF(200ms) Single flash with ON(200ms) / The application of the slave device has OFF(1000ms) automatically changed the communication state...

  • Page 8: Software

    Software Fundamentals of the EtherCAT interface connection The KEB F5 EtherCAT operator contains a EtherCAT slave controller for time-critical operations of the EtherCat communication. By using this EtherCAT controller it is guaranteed that basic communication is compatible to the EtherCAT specification.

  • Page 9: Process Data Communication

    3.1.3 Process data communication Through the process data channel it is possible to preset non-addressed setpoints to the KEB-F5 and actual values can be requested. Data communication of the process data between application and EtherCAT slave con- troller occurs via 3-buffer mechanism.

  • Page 10: Synchronous Mode

    .This is also done if the error is no longer present. The message contains 8 bytes of data. The first 3 bytes of this data are defined by [2], the last 5 bytes can be assigned manufacturer- specific. The KEB-F5-EtherCAT operator fills the emergency message as follows: Byte0...

  • Page 11: Operator Parameters

    Software Operator Parameters Name: Com_Cycle Index: 1006h Subindex: Description: Servs for activating/deactivating of synchronous operating mode. The value is coded in µs, but it has an internal resolution of 1 ms. Data length: 4 Byte Coding: 0 = OFF (normal operating mode), otherwise 1 µs. Value range: 0, 1000, 2000, 3000, .., 65000 Remarks:...
  • Page 12 Software Name: Error register Index: 1001h Description: Displays the actual error status according to [2]: Subindex: Data length: 1 Byte Coding: Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Manufac- Reserv. Device Communica- Tempera- Voltage Cur- Error turer profile spec. tion ture rent...
  • Page 13 1 : Vendor ID Description: Indicates the code that has been distributed by the CAN in automation user group. Coding: Default value: 00000014h (KEB) Subindex: 1 : Product Code Description: Indicates the product code of the node. This parameter is coded manufacturer-specific.
  • Page 14 Software Description: Indicates an object mapping. Data length: 4 Byte Coding: According to [2] as follows: Byte7 Byte6 Byte5 Byte4 Index Subindex Bitlength Please note that the sequence in the CAN telegram follows the Intel format. That means that the first byte (byte4) in the CAN telegram contains the bit length of this mapping and the last byte (byte7) contains the high-byte of the index.
  • Page 15 Software Name: Watchdog activation Index: 5FDAh Subindex: Description: Defines, when the field bus-watchdog is activated after power on. Data length: 1 Byte Coding: Mixture of value-coding and bit-coding. 0: The field bus-watchdog ist active immediately after power on. Bit7 Bit6 Bit5 Bit4 Bit3...

  • Page 16: Dsp402-Parameter

    In the following parameters are listed that are defined by the CANopen device-profile DSP402 [4]. Some of this parameters are rescaled by the EtherCat operator and then they are mapped to a KEB internal parameter of the inverter control. Partly some of these parameters are completely realized in the operator.
  • Page 17 Software PDO-mapping: receive PDO Transmit PDO Remarks: This parameter is internally mapped to parameter SY.51. GB - 17...

  • Page 18: Annex

    Access Param. Parameter name Parameter name length in address Byte 1000h ----- ----- Device type 1001h ----- ----- Error register (KEB) 1002h ----- ----- Manufactuer Status Register (KEB) 1003h ----- ----- Predefine Error Field RD_RW 1006h 0280h ----- ComCycle RD_RW...
  • Page 19 Notice D - 19...
  • Page 20 • mail: info@keb.de KEB (UK) Ltd. KEB Antriebstechnik GmbH & Co. KG 6 Chieftain Buisiness Park, Morris Close Wildbacher Str. 5 • D–08289 Schneeberg Park Farm, Wellingborough GB-Northants, NN8 6 XF fon: +49 3772 67-0 • fax: +49 3772 67-281 fon: +44 1933 402220 •...

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