Power Electronics SD 300 Series Accesories Manual
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Power Electronics SD 300 Series Accesories Manual

Power Electronics SD 300 Series Accesories Manual

Ethercat module
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SD300 – ETHERCAT MODULE
ACCESORIES
MANUAL
LOW VOLTAGE VARIABLE SPEED DRIVE

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  • Page 1 SD300 – ETHERCAT MODULE ACCESORIES MANUAL LOW VOLTAGE VARIABLE SPEED DRIVE...
  • Page 3 A C C E S O R I E S EtherCAT Module Accessories Manual Edition: October 2018 SD30MA04BI Rev. B...
  • Page 4 SD300 - ETHERCAT MODULE POWER ELECTRONICS...
  • Page 5 To consult the most updated information of this product, you may access our website www.power-electronics.com, where the latest version of this manual can be downloaded. The reproduction or distribution of the present manual is strictly forbidden, unless express authorization from Power Electronics. REVISIONS...

  • Page 6: Table Of Contents

    SD300 - ETHERCAT MODULE POWER ELECTRONICS TABLE OF CONTENTS SAFETY SYMBOLS ..................5 SAFETY INSTRUCTIONS ................6 INTRODUCTION ..................12 What is EtherCAT? ................. 12 Technical Features .................. 12 Components of the EtherCAT kit ............13 INSTALLATION AND CONNECTION ............ 14 Installation ....................

  • Page 7: Safety Symbols

    POWER ELECTRONICS SD300 - ETHERCAT MODULE SAFETY SYMBOLS Always follow safety instructions to prevent accidents and potential hazards from occurring. In this manual, safety messages are classified as follows: Identifies potentially hazardous situations where dangerous voltage may be present, which if not avoided, could result in minor personal injury, serious injury or death.

  • Page 8: Safety Instructions

    Power Electronics accepts no responsibility or liability for partial or total damages resulting from incorrect use of equipment. Please, pay careful attention to the following recommendations:...
  • Page 9 POWER ELECTRONICS SD300 - ETHERCAT MODULE The drive does not remove the voltage from the input terminals. Before working on the drive, isolate the whole drive from the supply. If you do not remove the power supply, you may get an electric shock.
  • Page 10 The SD300 are carefully tested and perfectly packed before delivery. • In the event of transport damage, please ensure to notify the transport agency and POWER ELECTRONICS: 902 40 20 70 (International +34 96 136 65 57), or your nearest agent, within 24hrs from receiving the goods. UNPACKING •...
  • Page 11 • Before operating the drive, read this manual thoroughly to gain an understanding of the unit. If any doubt exists, please contact POWER ELECTRONICS, (902 40 20 70 / +34 96 136 65 57) or your nearest agent. • Wear safety glasses when operating the drive with power applied or for when the front cover is removed.
  • Page 12 SD300 - ETHERCAT MODULE POWER ELECTRONICS ELECTROMAGNETIC COMPATIBILITY (EMC) • The drive is intended to be used in industrial environments (Second Environment). It achieves compliance with C3 category defined in IEC/EN 61800-3 standard when the installation recommendation within this manual are followed.
  • Page 13 If the drive has not been operated for a long time, capacitors lose their charging characteristics and are depleted. To prevent depletion, once a year run the device under no-load conditions during 30-60 minutes. For further information, contact Power Electronics. REFERENCE DOCUMENTS The following documents are available for SD300 variable speed drives: •...

  • Page 14: Introduction

    SD300 - ETHERCAT MODULE POWER ELECTRONICS INTRODUCTION What is EtherCAT? EtherCAT (Ethernet for control automation technology) is a real-time Ethernet technology developed by Beckhoff with outstanding performance, flexible topology and simple configuration. It represents a huge benefit for all applications in which the target system is controlled or measured via the bus system.

  • Page 15: Components Of The Ethercat Kit

    POWER ELECTRONICS SD300 - ETHERCAT MODULE Components of the EtherCAT kit The EtherCAT communication module provides EtherCAT network communication to the SD300 drives. The EtherCAT module kit contains the following parts: • 1 EtherCAT Communication Module board • 1 EtherCAT module manual •...

  • Page 16: Installation And Connection

    SD300 - ETHERCAT MODULE POWER ELECTRONICS INSTALLATION AND CONNECTION WARNING Turn the power supply off before connecting a communication network. If the EtherCAT communication module is removed or installed, the power supply should be switched off. Otherwise, the SD300 drive may get damaged and warranty will be voided.
  • Page 17 POWER ELECTRONICS SD300 - ETHERCAT MODULE  Remove the keypad  Unfasten the screw from I/O the board and fasten the prepared brass bars. INSTALLATION AND CONNECTION...
  • Page 18 SD300 - ETHERCAT MODULE POWER ELECTRONICS  Mount EtherCAT communication module and  fasten the two screws (one was removed in step 4; the second is included in the kit).  Install the keypad and  the communication module cover.
  • Page 19 POWER ELECTRONICS SD300 - ETHERCAT MODULE  Finally, install the front cover again. INSTALLATION AND CONNECTION...

  • Page 20: Network Connections

    SD300 - ETHERCAT MODULE POWER ELECTRONICS Network connections The following image shows the communication cable connector. Its pins and description can be found in the table below. Pin No. Signal Description Cable color Data transmission (+) White / Yellow Data transmission (-)
  • Page 21 POWER ELECTRONICS SD300 - ETHERCAT MODULE Network cable specification There are five different STP cable categories depending on the frequency range, from category 1 to category 5. The EtherCAT network communication requires using CAT5 STP cables. Classification Detail Used STP (S.STP)
  • Page 22 SD300 - ETHERCAT MODULE POWER ELECTRONICS LEDs description The EtherCAT module has four LEDs in its front panel that show its status at all times. Opera- Description Color Status Function tion Flashing Preoperational Ready for operation Operating Green status Operation in progress.
  • Page 23 POWER ELECTRONICS SD300 - ETHERCAT MODULE Opera- Description Color Status Function tion Communication between the communication module and the drive is normal. Green Abnormal communication Flashing (failures) conditions exist 0.2 s ON / between the communication 0.2 s OFF module and the drive.

  • Page 24: Ethercat

    SD300 - ETHERCAT MODULE POWER ELECTRONICS ETHERCAT EtherCAT is a fieldbus protocol for I/O transmission and servo actuation, created by the German corporation “Beckhoff”. The EtherCAT Technology Group, promoted its standardization and the EtherCat protocol is now part of the IEC 61131 and IEC 61158 international standards. As a high-performance...

  • Page 25: Canopen Over Ethercat (Coe)

    POWER ELECTRONICS SD300 - ETHERCAT MODULE CANopen over EtherCAT (CoE) SD300 EtherCAT communication module enables network communication between EtherCAT master and EtherCAT slave devices, using the CANopen over EtherCAT (COE) protocol for data transmission. In the CoE protocol, the parameter settings and data information is stored in an object dictionary.

  • Page 26: Ethercat Process Data Object (Pdo)

    SD300 - ETHERCAT MODULE POWER ELECTRONICS The following diagram explains the EtherCAT communication statuses and transitions between different statuses. EtherCAT Process Data Object (PDO) A synchronous EtherCAT communication utilizes the process data object (PDO). Process data includes TxPDO, which is transmitted from an drive to the EtherCAT master, and RxPDO, which is transmitted from the EtherCAT master to an drive.

  • Page 27: Profile

    POWER ELECTRONICS SD300 - ETHERCAT MODULE PROFILE CiA 402 Drive and Motion Control Device Profile Only Velocity Mode is supported. Finite State Automation (FSA) The following diagram explains the EtherCAT communication statuses and transitions between different statuses when the CiA 402 profile is used.
  • Page 28 SD300 - ETHERCAT MODULE POWER ELECTRONICS • Ready to switch on: The device is ready to be switched on. • Switched on: The device is switched on and ready for operation. It is waiting for a run command. • Operation enabled: The motor is operating.

  • Page 29: Cia 402 Object Dictionary

    POWER ELECTRONICS SD300 - ETHERCAT MODULE CiA 402 Object Dictionary Error codes (Object: 0x603F) Index:0x603F A service data object (SDO) is used to identify the fault trip types when an drive fault trip occurs. The following table lists the error codes that are used to respond to drive fault trips (refer to drive addresses 0h0330, 0h0331, 0h0332, 0h0333, and 0h0334 for details).
  • Page 30 SD300 - ETHERCAT MODULE POWER ELECTRONICS Fault Code Number Description 0x7001 Fan Trip 0x7011 OptionTrip1 0x7021 IO Board Trip 0x7022 XIO Trip 0x7120 No Motor Trip 0x7310 EncorderTrip 0x9001 External Trip 0x9002 0xFF01 Thermal 0xFF03 Out Phase Open 0xFF04 Over Load...
  • Page 31 POWER ELECTRONICS SD300 - ETHERCAT MODULE Control word The following table lists the bit control words. Qs ev so: Switch on ev: Enable voltage Qs: Quick stop eo: Enable operation Er: Enable ramp ur: Unlock ramp rr: Reference ramp fr: Fault reset...
  • Page 32 SD300 - ETHERCAT MODULE POWER ELECTRONICS Control word bits Command Transitions Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 2, 6, 8 Switch on Switch on + enable 3 + 4 operation (NOTE) Disable voltage 7, 9, 10, 12...
  • Page 33 POWER ELECTRONICS SD300 - ETHERCAT MODULE Status word (Object: 0x6041) Index: 0x6041. The following table lists the bit control words. rtso rtso: Ready to switch on so: Switched on oe: Operation enabled f: Fault (Trip) ve: Voltage enabled qs: Quick stop...
  • Page 34 SD300 - ETHERCAT MODULE POWER ELECTRONICS w: Warning rm: Remote tr: Target reached ila: Internal limit active nu: Not used The following table lists the bit settings for the FAS statuses. Status word PDS FSA state xxxx xxxx x0xx 0000b...
  • Page 35 POWER ELECTRONICS SD300 - ETHERCAT MODULE vl target velocity (Object: 0x6042) Index:0x6042 Function: Target speed Unit: rpm Basic format: 0 Setting range: -30,000 to 30,000 (Negative values are for reverse operations and positive values are for forward operations. The setting range may vary depending on the drive parameter settings).
  • Page 36 SD300 - ETHERCAT MODULE POWER ELECTRONICS vl velocity demand (Object: 0x6043) Index:0x6042 Function: The current target speed Unit: rpm Basic format: 0 Setting range: -30,000 to 30,000 (Negative values are for reverse operations and positive values are for forward operations. The setting range may vary depending on the drive parameter settings.)
  • Page 37 POWER ELECTRONICS SD300 - ETHERCAT MODULE vl velocity actual value (Object: 0x6044) Index: 0x6044 Function: Sets the current operation speed Unit: rpm Basic format: 0 Setting range: -30,000 to 30,000 (Negative values are for reverse operation and positive values are for forward operation.
  • Page 38 SD300 - ETHERCAT MODULE POWER ELECTRONICS vl velocity min max amount (Object :0x6046) This object is not supported by SD300 drives to prevent confusion, although it is included in the CiA402 profile. Drive parameters ADV 24, ADV 25, and ADV26 perform the same function as this object.
  • Page 39 POWER ELECTRONICS SD300 - ETHERCAT MODULE Object description Attribute Value Index 6048h Name vl velocity acceleration Object Code Record Data Type vl velocity acceleration deceleration Category Conditional: Mandatory if vl is supported Entry description Attribute Value Subindex Description Delta time...
  • Page 40 SD300 - ETHERCAT MODULE POWER ELECTRONICS Transfer characteristic of the velocity acceleration As explained in the figure above, this object is used to set the Quick Stop deceleration time using the speed and time differences (delta [A] speed and delta [A] time).
  • Page 41 POWER ELECTRONICS SD300 - ETHERCAT MODULE Entry description Attribute Value Subindex Description Delta time Entry Category Mandatory Access PDO Mapping See /CiA402-3/ Value Range Unsigned16 Default Value Manufacturer specific Modes of operation (Object: 0x6060) Index:0x6060 This object indicates the drive’s operation modes. The setting value is fixed as "0x02 (frequency converter).”...

  • Page 42: Service Data Objects For The Sd300 Drive

    [(communication address - 0h300) + 1]. Example: Data at 0h0310 can be read from index 0x3300 (subindex: 0x11). * Using the EDS file provided by Power Electronics, you can conveniently access the data by name. Drive Control Area The drive control area refers to the common parameters located at 0h380 through 0h3DF, which are used exclusively for drive control.
  • Page 43 POWER ELECTRONICS SD300 - ETHERCAT MODULE Drive Memory Control Area The drive memory control area refers to the common parameters located at 0h3E0 through 0h3FF, which are used exclusively for drive memory control. In the CiA402 profile, the index base address is 0x33E0 and the subindex address is [(communication address - 0h3E0) + 1].

  • Page 44: Service Data Object Address For Keypad Parameter Area

    SD300 - ETHERCAT MODULE POWER ELECTRONICS Service Data Object Address for Keypad Parameter Area For the keypad parameters, the parameter group decides the index address and the subindex is the code number. The following table lists the index addresses by parameter groups.

  • Page 45: Process Data Objects For The Sd300 Drive

    POWER ELECTRONICS SD300 - ETHERCAT MODULE Process Data Objects for the SD300 Drive The SD300 EtherCAT uses the PDOs defined for a frequency converter in the Drive and Motion Control features of the CiA 402 profile. Receive Process Data Object (RPDO) The RPDOs in the CiA 402 profile are as follows.
  • Page 46 SD300 - ETHERCAT MODULE POWER ELECTRONICS RPDO MAPPING In the SD300 CiA402 profile, the map is fixed and cannot be modified by users. • RPDO1 Mapping The RPDO is set in the CiA 402 profile. The index address is 0x1600 The following table shows the map settings for RPDO1.
  • Page 47 POWER ELECTRONICS SD300 - ETHERCAT MODULE Transmit Process Data Object (TPDO) The TPDOs in the CiA 402 profile are as follows. TPDO number Type Description Mandatory Controls PDS FSA and Target velocity (vl) Optional Manufacturer specifications The SD300 EtherCAT communication supports only TPDO1 and TPDO3.
  • Page 48 SD300 - ETHERCAT MODULE POWER ELECTRONICS Setting Parameter Parameter Subindex Parameter name value index subindex 0x01 0x60410010 0x6041 Statusword 0x02 0x60440010 0x6044 vl velocity actual value • TPDO3 Mapping The PDO is set in the PE Drive Profile. The index address is 0x1A02. The following table shows the map settings for PDO3.

  • Page 49: Operation

    POWER ELECTRONICS SD300 - ETHERCAT MODULE OPERATION To run the SD300 drive using the EtherCAT communication module, set drv (Cmd Source) to [4 Comms] using the keypad. To provide a frequency reference via the EtherCAT communication module, set frq (Freq Ref Src) to [8 Comms].
  • Page 50 SD300 - ETHERCAT MODULE POWER ELECTRONICS Keypad Set on Screen Description Range Default value display 0Bit : RUN LED (Green) 1Bit : ERROR LED (Red) EtherCAT 2Bit : LINK in LED (Green) CM.09 communication module’s Comms LED 3Bit : LINK out LED (Green) LED status.
  • Page 51 POWER ELECTRONICS SD300 - ETHERCAT MODULE Keypad Set on Screen Description Range Default value display Number of the RPDO Para data to be controlled by CM.50 Control 0 to 8 the EtherCAT master device Para CM.51 0x0005 Control -1 Para CM.52...

  • Page 52: Setting The Parameters For Lost Command Conditions

    SD300 - ETHERCAT MODULE POWER ELECTRONICS Setting the Parameters for Lost Command Conditions When the NMT status is "Operation” and "Pre-operation,” the EtherCAT module assumes normal network communication where the master and slave units are linked. When the NMT status becomes any status other than "Operation”...

  • Page 53: Configuration Register

    POWER ELECTRONICS SD300 - ETHERCAT MODULE CONFIGURATION REGISTER VARIABLE SPEED DRIVE: SD300. SERIAL Nº: MODEL: APPLICATION: DATE: CUSTOMER: NOTES: PARAMETER / DEFAULT SETTING 1 SETTING 2 DESCRIPTION VALUE CM.6 0.00 __________________ __________________ Communication S/W version REMOTE __________________ __________________ Command source...
  • Page 54 SD300 - ETHERCAT MODULE POWER ELECTRONICS PARAMETER / DEFAULT SETTING 1 SETTING 2 DESCRIPTION VALUE CM.35 0x0000 __________________ __________________ TPDO data address 5 CM.36 0x0000 __________________ __________________ TPDO data address 6 CM.37 0x0000 __________________ __________________ TPDO data address 7 CM.38...
  • Page 56 24H TECHNICAL ASSISTANCE 365 DAYS A YEAR FIND YOUR NEAREST DELEGATION POWER-ELECTRONICS.COM/CONTACT/...

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