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WEG CFW11 User Manual

WEG CFW11 User Manual

Operation of the cfw11 frequency inverter using the ethercat protocol
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Motors | Automation | Energy | Transmission & Distribution | Coatings
EtherCAT
CFW11
User's Guide

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  • Page 1 Motors | Automation | Energy | Transmission & Distribution | Coatings EtherCAT CFW11 User’s Guide...
  • Page 2 EtherCAT User’s Guide Series: CFW11 Language: English Document: 10006412842 / 00 Build 750 Publication Date: 03/2019...

  • Page 3: Table Of Contents

    Contents CONTENTS ABOUT THE MANUAL ..................1 Equipment Characteristics in EtherCAT Network .
  • Page 4 Contents P0859 – Data Update Interval ................. . . 19 6 Network Operation .

  • Page 5: About The Manual

    ABOUT THE MANUAL ABOUT THE MANUAL This manual supplies the necessary information for the operation of the CFW11 frequency inverter using the EtherCAT protocol. This manual must be used together with the CFW11 user’s manual and programming manual. ✓ NOTE! To use the EtherCAT accessory for CFW11 frequency inverter, it is necessary to use the special version 5.5X.

  • Page 6: Equipment Characteristics In Ethercat Network

    Equipment Characteristics in EtherCAT Network EQUIPMENT CHARACTERISTICS IN ETHERCAT NETWORK Following they are presented the main characteristics for the EtherCAT communication accessory for CFW11 frequency inverter. It allows the equipment to operate as slave for the EtherCAT communication. It has two Ethernet ports, which allows to connect several equipments in sequence or in a ring topology.

  • Page 7: Ethercat Overview

    The EtherCAT communication allows different protocols to be used in the application layer. For frequency inverter CFW11, the CANopen over EtherCAT (CoE) device profile is available, where the CANopen protocol is applied to EtherCAT. Different communication objects available to CANopen are also used via EtherCAT, like Service Data Objects (SDO), Process Data Objects (PDO) and the Object Dictionary structure to manage the parameters.

  • Page 8: Interfaces Description

    Interfaces Description INTERFACES DESCRIPTION CFW11 frequency inverter uses EtherCAT accessory connected to slot 3 to provide an EtherCAT interface operating as EtherCAT slave in the product. ETHERCAT INTERFACE ACCESSORY Supplied items: – Installation guide. – EtherCAT interface module. It has an integrated switch to daisy chain connection.
  • Page 9 With link and with activity. Table 3.3: Status LED Color State Description INIT (or not powered) Alternating on/off PRE-OPERATIONAL. Green 1 blink and 1 interval SAFE-OPERATIONAL. Solid green OPERATIONAL. No error (or not powered) Alternating on/off Interface initialization error. CFW11 | 9...

  • Page 10: Network Installation

    Shielded cable. Maximum length between devices: 100m. NETWORK TOPOLOGY To connect CFW11 frequency inverter in an EtherCAT network, it is necessary to observe the Ethernet connector on the device used for connection. The network always start by the EtherCAT master.
  • Page 11 Use clamps on the main grounding point, allowing better contact surface between the cable shield and ground. Avoid the cable connection on multiple grounding points, especially where there are grounds with different potentials. Pass signal cables and communication cable in dedicated pathways. Prevent the passage of these cables next to power cables. CFW11 | 11...

  • Page 12: Parameterization

    P0228 – JOG SELECTION – REMOTE SITUATION Description: These parameters are used to configure the command sources for CFW11 frequency inverter local and remote situations. To control the device through the EtherCAT interface, select the options ‘EtherCAT’ available in these parameters.

  • Page 13: P0680 - Status Word

    “Causes a Fault”, which blocks the equipment even if it is not controlled by network). This programming is achieved by means of parameters P0220 to P0228. P0680 – STATUS WORD Range: 0000h ... FFFFh Default: - Properties: Description: It allows the device status monitoring. Each bit represents a specific status: Function CFW11 | 13...

  • Page 14: P0681 - Motor Speed In 13 Bits

    2048 (0800h), then, to obtain the speed in rpm one must calculate: 8192 ⇒ 1800 rpm 2048 ⇒ Speed 2048 × 1800 Speed = 8192 Speed = 450 rpm Negative values in this parameter indicate that the motor is running in the reverse direction. CFW11 | 14...

  • Page 15: P0684 - Control Word

    To use the reference written in this parameter, it is necessary to program the drive to use the speed reference via EtherCAT. This programming is achieved by means of parameters P0221 and P0222. This word uses a 13-bit resolution with signal to represent the motor synchronous speed: CFW11 | 15...

  • Page 16: P0695 - Digital Outputs Setting

    Bit 2 0: Open DO3 . Value for DO3 1: Close DO3. Bit 3 0: Open DO4. Value for DO4 1: Close DO4. Bit 4 0: Open DO5. Value for DO5 1: Close DO5. Bit 5...15 Reserved. CFW11 | 16...

  • Page 17: P0696 - Value 1 For Analog Outputs

    Description: EtherCAT accessory has an internal processor responsible by running the communication routines and perform data exchange with CFW11 frequency inverter. This parameter identify the firmware revision of this accessory. For the actual output resolution, refer to the product manual.

  • Page 18: P0851 - Ethercat Accessory Status

    2 = Watchdog error 3 = Offline 4 = Online Properties: ro, ecat Description: Indicates the status of EtherCAT Interface, related to the data exchange between network master and CFW11 frequency inverter. Table 5.5: Indications of parameter P0851 Value Description 0 = Inactive Interface not installed or not recognized by the device.

  • Page 19: P0853 - Ethercat Slave Status

    Indicates the index of the transmission PDO selected for communicate with the equipment. The device has 4 transmit PDOs, responsible for sending data to the master, but only one can be active for communication. Each TxPDO has a default mapping, but the master can also change the PDO mapping as desired. CFW11 | 19...

  • Page 20: P0856 - Number Of Bytes Configured At Txpdo

    Once in the operational state, the master must send telegrams to update the operating data at regular intervals. This parameter indicates the time between the last two data updates, allowing user to monitor the period for execution of this function. CFW11 | 20...

  • Page 21: Network Operation

    Network Operation NETWORK OPERATION Following it shows operating characteristics of the CFW11 frequency inverter using EtherCAT interface. ETHERCAT COMMUNICATION ARCHITECTURE The following figure presents the CFW11 frequency inverter architecture for network data exchange. Figure 6.1: EtherCAT communication architecture The application layer protocol used by the EtherCAT is based on CANopen DS301 protocol, called CANopen over EtherCAT (CoE).

  • Page 22: Sync Managers

    Sync Manager 2: control access to RxPDO data. Object 1C12h is used to indicate which RxPDO this Sync Manager is associated with. Sync Manager 3: control access to TxPDO data. Object 1C13h is used to indicate which TxPDO this Sync Manager is associated with. CFW11 | 22...

  • Page 23: Synchronization Modes

    DC-Synchronous: data update is synchronous, using distributed clock mechanism. ✓ NOTE! The minimum cycle allowed for CFW11 frequency inverter data updating over the network is 1ms. PROCESS DATA - PDO The process data (cyclic data), used to control and monitor the equipment during operation, are transmitted and received by the slave using PDOs.

  • Page 24: Pdo Assignment

    Information such as the list of objects for communication, configuration and FMMUs Sync Managers, standard mapping for PDOs, are present in this file. ✓ NOTE! It is important to note if the XML configuration file is compatible with the firmware version of CFW11 frequency inverter. CFW11 | 24...

  • Page 25: Object Dictionary

    For indexes from 2000h to 5FFFh, each manufacture is free to define which objects will be present, and also the type and function of each one. In the case of the CFW11, the whole list of parameters was made available in this object range.

  • Page 26: Device Profile

    Object Dictionary DEVICE PROFILE The CFW11 frequency inverter follows the CiA DPS 402 – Device Profile Drives and Motion Control description. This document describes a set of objects that must be common for drives, regardless of the manufacturer. This makes the interaction between devices with the same function easier (as for frequency inverter), because the data, as well as the device behavior, are made available in a standardized manner.

  • Page 27: Cia 402 Drive Profile

    The objects that are common for drives, defined by the CANopen specification in the CiA DSP 402 document, are described in this section The following table presents the list of the available objects for the frequency inverter CFW11, divided according to the different operation modes of the device.
  • Page 28 Transition 5: the Disable operation command has been received. The drive is disabled. It corresponds to reset the bit 1 of the control word of the drive via EtherCAT – P0684. ✓ Transition 6: the Shutdown command has been received. The state transition is performed, but no action is taken by the drive. CFW11 | 28...

  • Page 29: Object 6040H - Controlword

    8.3. The bits 11, 12, 13, 14 e 15 are reserved for manufacturer specific use. For the CFW11 frequency inverter bit 11 selects the operation mode for Local (0) or remoto (1).

  • Page 30: Object 6041H - Statusword

    Access index Mapping 6060h Modes of Operation INT8 The only supported mode for CFW11 frequency inverter is Velocity Mode, represented by value 2. 8.1.4 Object 6061h – Modes of Operation Display It indicates the drive operation mode. CFW11 | 30...

  • Page 31: Position Control Function

    Ramp enabling – bit 0 do P0684 = 1. Halt Ramp disabling – bit 0 do P0684 = 0. For the Statusword, the bits specified in the operation mode (bits 12 and 13) are reserved for future use. CFW11 | 31...

  • Page 32: Object 6042H - Vl Target Velocity

    UINT32 8.3.6 Object 6048h – vl velocity acceleration It allows programming the inverter acceleration ramp. Sub- Index Name Type Access index Mapping Number Of Entries UINT8 6048h delta speed UINT32 delta time UINT16 CFW11 | 32...

  • Page 33: Object 6049H - Vl Velocity Deceleration

    UINT32 delta time UINT16 The deceleration value is calculated dividing the speed programmed at the sub-index 1 by the time programmed at the sub-index 2. The programmed values must respect the parameter P0101 allowed value range. CFW11 | 33...

  • Page 34: Startup Guide

    2. Select CFW11 frequency inverter on the list of available products in the network configuration tool. This can be done manually or automatically, if allowed by the tool. 3. Program the transmit and receive PDOs, as well as the data transmitted and received by these PDOs: There are 4 TxPDOs and 4 RxPDOs, but only one can be enabled at a time.

  • Page 35: Communication Status

    6040h: ControlWord 6041h: StatusWord 6060h: Mode of operation 6063h: Position actual value It is important to know these objects and understand the operation of each mode of operation to program the master as desired for the application. CFW11 | 35...

  • Page 36: Faults And Alarms

    FAULTS AND ALARMS A0145/F0245 - ETHERCAT INTERFACE ACCESS ERROR Description: It indicates data exchange failure between CFW11 frequency inverter and the EtherCAT accessory. Actuation: During initialization and operation, regular data check is performed between device and EtherCAT accessory to assure this connection is correct.
  • Page 37 WEG Drives & Controls - Automação LTDA. Jaraguá do Sul – SC – Brazil Phone 55 (47) 3276-4000 – Fax 55 (47) 3276-4020 São Paulo – SP – Brazil Phone 55 (11) 5053-2300 – Fax 55 (11) 5052-4212 automacao@weg.net www.weg.net...

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