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Astraada DRV-28 Operation Manual

Communication extension card
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Operation Manual
Astraada DRV-28
Communication extension card
The owner of Astraada brand is ASTOR Sp. z o.o.

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Summary of Contents for Astraada DRV-28

  • Page 1 Operation Manual Astraada DRV-28 Communication extension card The owner of Astraada brand is ASTOR Sp. z o.o.
  • Page 2 Safety precautions The extension card can be installed and operated only by people who have taken part in professional training on electrical operation and safety knowledge, obtained the certification, and been familiar with all steps and requirements for installing, performing commissioning on, operating, and maintaining the device, and are capable of preventing all kinds of emergencies.
  • Page 3 Communication extension card Terminology and abbreviations Terminology and abbreviations Controller Area Network Communication object, a transmitted unit on a CAN network. Communication objects (COBs) carry data and can be transmitted through the whole network. A COB is part of a CAN message frame. Electronic datasheet, an ASCII file for node configuration, required when a CANopen network is configured.

  • Page 4: Table Of Contents

    Communication extension card Contents Chapter 1 Product confirmation .................... 2 Chapter 2 PROFIBUS communication card ................3 2.1 Overview........................3 2.2 Features ........................3 2.3 Electrical connection...................... 3 2.4 Bus network connection ....................4 2.5 System configuration ..................... 6 2.6 PROFIBUS-DP communication ..................7 Chapter 3 CANopen communication card ................

  • Page 5: Chapter 1 Product Confirmation

    Communication extension card Chapter 1 Product confirmation Check the following after receiving a communication extension card product: • Whether the communication card is damaged. • Whether the received communication card is the one you purchase according to the bar code label on the PCB.

  • Page 6: Chapter 2 Profibus Communication Card

    Communication extension card Chapter 2 PROFIBUS communication card Overview PROFIBUS communication cards are optional accessories for VFDs. They can be used to connect VFDs to PROFIBUS networks. On a PROFIBUS network, VFDs are slave devices. The following functions can be performed by using a PROFIBUS communication card: •...

  • Page 7: Bus Network Connection

    Communication extension card package (DIP) switch on the printed circuit board (PCB) of a communication card is used to connect to the fieldbus terminator. If the communication card is the last or first module on the network, the bus terminator must be set to ON. When a PROFIBUS D-sub connector with a built-in terminator is used, you must disconnect the communication card from the terminator.
  • Page 8 Communication extension card communication baud rate is required to be higher than 187.5 kbps, strictly follow the wiring standards stipulated by Siemens. 2. Repeaters A maximum of 32 stations (including the master station) can be connected to each fieldbus segment. If the number of stations to be connected to a fieldbus segment exceeds 32, you need to use repeaters to connect the fieldbus segments.

  • Page 9: System Configuration

    Communication extension card Besides the shielded twisted-pair copper cables, you can also use optical fibers for transmission in a PROFIBUS system. When a PROFIBUS system is applied in an environment with strong electromagnetic interference, you can use optical fiber conductors to increase the high-speed transmission distance. Two types of optical fiber conductors can be used.

  • Page 10: Profibus-Dp Communication

    Communication extension card Table 2-4 Communication card configuration parameters Paramet Parameter Setting options Default setting er No. name Module type Read-only PROFIBUS-DP Node address 0–99 0: 9.6 1: 19.2 2: 45.45 kbit/s 3: 93.75 4: 187.5 Baud rate 5: 500 setting 6: 1.5 7: 3...
  • Page 11 Communication extension card input by a slave and transmits a feedback signal to the slave. 2. SAP The PROFIBUS-DP system uses the services at the data link layer (Layer 2) through service access points (SAPs). Functions of each SAP are clearly defined. For more information about SAPs, see the related PROFIBUS master user manuals, that is, PROFIdrive––PROFIBUS models or EN50170 standards (PROFIBUS protocol) for variable-speed drives.
  • Page 12 Note: A VFD device always checks the bytes of a CW and reference value. Task packet (master station -> VFD) CW: The first word in a PZD task packet is a VFD CW. Table 2-5 describes Astraada DRV-28 series VFD CWs. Table 2-5 Astraada DRV-28 series VFD CWs Name...
  • Page 13 Reference value (REF): The second to twelfth words in a PZD task packet are the main settings. The main frequency settings are provided by the main setting signal source. Table 2-6 describes the settings of Astraada DRV-28 series VFD. Table 2-6 Settings of Astraada DRV-28 series VFD Function Default...
  • Page 14 Actual value (ACT): The second to twelfth words in a PZD task packet are the main actual values. The main actual frequency values are provided by the main actual value signal source. Table 2-8 Actual state values of Astraada DRV-28 series VFD Function...
  • Page 15 Communication extension card Function Default Word Value range code value P15.21 Transmitted PZD10 8: Rotating speed of the running (×1, RPM) P15.22 Transmitted PZD11 9: Linear speed of the running (×1, m/s) 10: Ramp frequency reference 11: Fault code 12: AI1 value (×100, V) 13: AI2 value (×100, V) 14: AI3 value (×100, V) 15: HDIA frequency (×100, kHz)
  • Page 16 Communication extension card Bits 15–00 Task or response identification flag 0–7 Second word PKW2 (16 bits) Bits 15–00 Basic parameter address 0–247 Third word PKW3 (16 bits) Value (most significant word) of a Bits 15–00 parameter or error code of the returned value Fourth word PKW4 (16 bits) Value (least significant word) of a...
  • Page 17 Communication extension card Table 2-10 Task identification flag PKW1 Request No. (from the master to a slave) Response signal Request Function Acceptance Rejection No task – Requesting the value of a parameter 1, 2 Modifying a parameter value (one word) [modifying the value only on 3 or 4 RAM] Modifying a parameter value (two...
  • Page 18 0001: Response (parameter value updated) PZD examples: The transmission of the PZD zone is implemented through VFD function code settings. For the function codes, see the related ASTRAADA VFD operation manual. Example 1: Reading the process data of a VFD In this example, PZD3 is set to "8: Rotating speed of the running"...
  • Page 19 Communication extension card Response xx xx xx xx xx xx xx xx xx xx xx xx 00 0A … xx xx Example 2: Writing process data to a VFD device In this example, PZD3 is set to "2: PID reference" through the VFD parameter P15.03. The parameter specified in each request frame is updated with the information contained in PZD3 until another parameter is specified.

  • Page 20: Chapter 3 Canopen Communication Card

    Chapter 3 CANopen communication card Overview 1. Thanks for choosing ASTRAADA CANopen communication cards. This manual describes the function specifications, installation, basic operation and settings, and information about the network protocol. To ensure that you install and operate the product properly, read this manual and the communication protocol section in the VFD operation manual carefully before you use the product.

  • Page 21: Electrical Wiring

    Communication extension card ➢ Supports manufacturer-defined object dictionary. You can use SDOs to control and obtain the actual parameter values of a VFD in real time. 3. Non-supported CANopen services ➢ Saves object dictionary parameters at power outage ➢ Time stamp service 4.

  • Page 22: Canopen State Transition

    Communication extension card Arbitration field Frame Control Response Response Frame Identifier of the Remote Data field header field sequence delimiter interver delimiter footer communication object transmission (COB-ID) request 1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits...
  • Page 23 Communication extension card Initializing Initializing (15) Reset application (16) Reset communication (11) (10) (14) Pre-operation (13) Stopped (12) Operation Figure 3-3 NMT state diagram Table 3-2 NMT state transition State transition Required triggering event Automatic initialization after power-on Automatic change after initialization Command of the NMT master station for starting a (3), (6) remote node...

  • Page 24: Management Service Command (Nmt)

    Communication extension card 3.4.3 Management service command (NMT) This function is used by the master station to control the NMT states of slave station nodes. ⚫ Command Master station -> slave station COB-ID Byte0 Byte1 0x000 Command specifier Node-ID (Node ID) (CS) ⚫...

  • Page 25: Heartbeat Packet (Heartbeat Producer)

    Communication extension card COB-ID Byte0 (state value) 0x700 + Node-ID Bit 7: Triggering bit; Bits 0 to 6: State ⚫ Description The most significant bit (MSB) bit 7 of Byte0 (state value) in the response command is the triggering bit, that is, the value of bit 7 is alternated between 0 and 1 each time when the slave station transmits a response frame to distinguish frames.

  • Page 26: Start Packet (Nmt Boot-Up)

    Communication extension card 0x700 + Node-ID State value ⚫ Description The heartbeat packets are in the same format with the node protection response frames. The difference between them is that no triggering bit alternation is performed for heartbeat packets (the triggering bit is always 0).

  • Page 27: Emergency Packet Object (Emcy)

    Table 3-7 describes the indication of the bits of the error register. For information about the VFD error codes, see the VFD operation manual. The function code P07.27 in Appendix B describes the error codes of Astraada DRV-28 VFD.
  • Page 28 Example For example, if the "inverter unit phase U protection (OUT1)" fault occurs on the Astraada DRV-28 VFD whose node ID is 3, and the fault type is 1 (that is, the VFD error code is 1), the communication card transmits the following emergency packet.

  • Page 29: Service Data Object (Sdo)

    Communication extension card master station that the slave station is no longer faulty. Emergency Error COB- VFD error code error code register Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x83 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 3.4.9 Service data object (SDO) SDOs are mainly used to transmit non-time key data.
  • Page 30 Communication extension card Request Request Command Requested data code type code description Byte4 Byte5 Byte6 Byte7 data Writes 1-byte 0x2F bit7-0 data Read 0x40 Reads data Table 3-9 SDO response codes and response data Response data Response Response Command code type code description Byte4...
  • Page 31 Communication extension card Interruption Code function description code 0609 0030 Parameter value range exceeded 0609 0031 Written parameter value too large 0609 0032 Written parameter value too small 0609 0036 Max. value less than Min. value 0800 0000 Common error 0800 0020 Data failed to be transmitted or stored in the application Data failed to be transmitted or stored in the application...

  • Page 32: Process Data Object (Pdo)

    Communication extension card e code Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x583 0x43 0x01 0x18 0x03 0xe8 0x03 0x00 0x00 Read/write error example: The master station transmits the following read operation command to read an object (whose index is 0x6000 and subindex is 0x00) that cannot be found. Request Object index Subindex...

  • Page 33: Pdo1

    Communication extension card Asynchronous triggering (254): When the value of the event timer is not zero, a slave station transmits PDO Tx commands periodically. For example, if the event timer of PDO2 Tx is set to 200, the slave station transmits a PDO2 Tx command at the interval of 200 ms.
  • Page 34 Astraada DRV-28 series VFD function code address representation rules: The MSB is the hexadecimal form of the number before the dot mark, and LSB is that of the number behind the dot mark. Take P10.01 as an example, the number before the dot mark is 10, that is, the MSB of the parameter address is 0×0A;...
  • Page 35 Communication extension card Note: The data domain of PDO1 Rx must be six bytes. Otherwise, the communication card reports an emergency packet. 3.5.2.2 PDO1 Tx ⚫ Command Response: Slave station -> master station COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Response Response Error code...

  • Page 36: Pdo2 Rx

    ⚫ Example of PDO1 The VFD is a Astraada DRV-28 series VFD, and the slave station address is 3. Assume that you want to set the function code P15.13 of the VFD to 1. Command analysis: The parameter address of P15.13 is 0×0F0D. According to the protocol, the request code of PDO1 Rx is 0×02, the parameter address is 0x0F0D, and the requested data is 0x01, and therefore PDO1...
  • Page 37 0x2101.00 0x2100.03 0x2100.04 0x2100.05 ⚫ Description A CW is two bytes. Byte0 is the LSB, and Byte1 is the MSB. Table 3-17 describes Astraada DRV-28 series VFD CWs. Table 3-17 Astraada DRV-28 series VFD CWs Name Value Description Forward running...

  • Page 38: Pdo2 Tx

    Description A SW is two bytes. Byte0 is the LSB, and Byte1 is the MSB. Table 3-18 describes the definitions of the Astraada DRV-28 series VFD SWs. For VFD of other series, see the corresponding VFD operation manual. Table 3-18 Astraada DRV-28 series VFD SWs...

  • Page 39: Pdo3 Rx And Pdo4 Rx

    Example Assume that the VFD is a Astraada DRV-28 series VFD, the slave station address is 3, the VFD is running, and the running frequency is 50.00 Hz. Returned value 1 is set to "Running frequency", returned value 2 is set to "Output voltage", and returned value 3 is set to no function.

  • Page 40: Pdo3 Tx And Pdo4 Tx

    Communication extension card COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Setting 4 Setting 5 Setting 6 Setting 7 0x400+NODEID 0x2100.06 0x2100.07 0x2100.08 0x2100.09 ⚫ PDO4 Rx command Master station -> slave station COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Setting 8 Setting 9 Setting 10...

  • Page 41: Monitoring Process Data Through Sdo Commands

    Communication extension card Monitoring process data through SDO commands The communication can use SDOs as well as PDOs to monitor the process data of a VFD. You can select a monitoring mode as required. You can monitor the VFD by using SDOs to read the manufacturer-defined object dictionary.
  • Page 42 Communication extension card Table 3-20 Objects with the monitoring function in the manufacturer-defined object dictionary Index Subindex Access Data Corresponding Function (hexadecimal) (hexadecimal) permission length Response code (do bytes not use it) Error code (do not bytes use it) Response data (do bytes not use it)
  • Page 43 Communication extension card Request Object index Subindex Requested data code COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x603 0x2B 0x01 0x21 0x00 0x01 0x00 0x00 0x00 Example 2: Assume that the address of the VFD slave station is 3, and the function of setting 1 is defined as "Set frequency".

  • Page 44: Baud Rate And Communication Address Setting

    Communication extension card Request Object index Subindex Requested data code COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x583 0x4B 0x00 0x20 0x03 0x88 0x13 0x00 0x00 Baud rate and communication address setting 3.7.1 Baud rate setting After setting the CANopen baud rate and communication address, you need to restart the VFD to enable the settings to take effect.
  • Page 45 Communication extension card Function Default Word Value range code value PZD7 6: Setting of the upper limit of reverse running frequency (0–Fmax, unit: 0.01 Hz) Received P15.08 7: Upper limit of the electromotive torque (0–3000, PZD8 in which 1000 corresponds to 100.0% of the rated Received P15.09 current of the motor)
  • Page 46 Communication extension card Function Default Word Value range code value Transmitted 9: Linear speed of the running (×1, P15.22 PZD11 m/s) 10: Ramp frequency reference 11: Fault code 12: AI1 value (×100, V) 13: AI2 value (×100, V) 14: AI3 value (×100, V) 15: HDIA frequency (×100, kHz) 16: Terminal input state 17: Terminal output state...

  • Page 47: Chapter 4 Profinet Communication Card

    Chapter 4 PROFINET communication card Overview 1. Thanks for choosing ASTRAADA PROFINET communication cards. This manual describes the function specifications, installation, basic operation and settings, and information about the network protocol. To ensure that you install and operate the product properly, read this manual and the communication protocol section in the VFD operation manual carefully before you use the product.
  • Page 48 Communication extension card Figure 4-1 Two standard RJ45 ports Table 4-1 Standard RJ45 port pins Name Description Transmit Data+ Transmit Data- Receive Data+ Not connected Not connected Receive Data- Not connected Not connected 4. State indicators The PROFINET communication card provides nine LED indicators to indicate its states. Table 4-2 describes the state indicators.

  • Page 49: Electrical Wiring

    Communication extension card Color State Description (Network port state connected to the PC/PLC through a indicator) network cable PROFINET communication card not connected to the PC/PLC PROFINET communication card LED8/9 communicating with the PC/PLC (Network port Green PROFINET communication card communication not communicating with the...

  • Page 50: Profinet I/O Communication

    Communication extension card header type type identifier user counter state state data 36– 2 bytes 2 bytes 2 bytes 1440 2 bytes 1 byte bytes byte bytes bytes 0x8100 0x8892 VLAN flag APDU state Data header 7-byte 1-byte synchronization 6-byte source 6-byte destination preamble information...
  • Page 51 Note: A VFD device always checks the bytes of a CW and reference value. Task packet (master station -> VFD) CW: The first word in a PZD task packet is a VFD CW. Table 4-5 describes Astraada DRV-28 series VFD CWs. Table 4-5 Astraada DRV-28 series VFD CWs Name...
  • Page 52 Reference value (REF): The second to twelfth words in a PZD task packet are the main settings. The main frequency settings are provided by the main setting signal source. Table 4-6 describes the settings of Astraada DRV-28 series VFD. Table 4-6 Settings of Astraada DRV-28 series VFD Function Default...
  • Page 53 1 and then to Response packet (VFD -> master station) SW: The first word in a PZD response packet is a VFD SW. Table 4-7 describes Astraada DRV-28 series VFD SWs.
  • Page 54 Actual value (ACT): The second to twelfth words in a PZD task packet are the main actual values. The main actual frequency values are provided by the main actual value signal source. Table 4-8 Actual state values of Astraada DRV-28 series VFD Function...
  • Page 55 Communication extension card Function Default Word Value range code value 25: State word 26: HDIB frequency value (×100, kHz) PKW zone PKW zone (parameter identification flag PKW1––numerical zone): The PKW zone describes the processing mode of the parameter identification interface. A PKW interface is not a physical interface but a mechanism that defines the transmission mode (such reading and writing a parameter value) of a parameter between two communication ends.
  • Page 56 Communication extension card Modifying a parameter value (two words) 3 or 4 [modifying the value only on RAM] Modifying a parameter value (one word) [modifying the value on both RAM and 3 or 4 EEPROM] Modifying a parameter value (two words) [modifying the value on both RAM and 3 or 4 EEPROM]...

  • Page 57: Ethercat Communication Card

    EtherCAT communication card Overview Thanks for choosing ASTRAADA EC-TX508 communication cards. This manual describes the function specifications, installation, basic operation and settings, and information about the EtherCAT protocol. To ensure that you install and operate the product properly, read this manual and the communication protocol section in the VFD operation manual carefully before you use the product.
  • Page 58 Communication extension card Figure 0-1 RJ45 ports Table 0-2 RJ45 port pins Name Description Transmit Data+ Transmit Data- Receive Data+ Not connected Not connected Receive Data- Not connected Not connected State indicators The EtherCAT communication card provides four LED indicators and four net port indicators to indicate its states.

  • Page 59: Electrical Wiring

    Communication extension card Item Color Function description indicator established. (OUT) On: Indicates that Ethernet connection is established successfully. Off: Without connection Green On: Wilth connection but inactive Blinks: With connection and active Electrical wiring The EtherCAT network usually consists of a master station (PLC) and several slave stations (drives or bus extension terminals).

  • Page 60: Ethercat Slave Station Information

    EtherCAT slave station information file (.xml) is read by the master station to construct the master and slave station configuration. This file contains mandatory information about EtherCAT communication settings. ASTRAADA provides this file AS28ETC0001.xml. 4.8.3 EtherCAT state machine EtherCAT state machine is used to describe the states and state change of slave station applications.

  • Page 61: Pdo Mapping

    Communication extension card State Description The master station configures the application layer control register. The slave station checks whether the mailbox is initialized properly. Pre-Op SDO communication is available but PDO is unavailable. The master station configures the SM and FMMU channels for PDO communication.

  • Page 62: Dc-Based Network Synchronization

    Communication extension card relationship between PDOs and SM channels is established through SM PDO assigned objects (1C12h and 1C13h). The mapping between SM channels and PDOs is shown in the following figure. Object dictionary Sub- Index Object content index 1C13h 0x02 1C13h 0x1A00...

  • Page 63: Coe State Machine

    Communication extension card 4.8.6 CoE state machine Power Fault Disabled Start Fault Reaction Active Not Ready to Switch On Fault Switch On Disabled Ready to Switch On Power Enabled Switch On Operation Quick Stop Enable Active Figure 0-7 CANopen over EtherCAT state machine Status Description Not Ready to Switch On...
  • Page 64 Communication extension card Serv Switc Facto Operati Servo Quic h on Reserv Suspe bein runni main defin mode stop circu ning BITS 0–3 AND 7 (used for status control): Bit of the control word Transit Enable Enable Command Fault Quick Switch ions operatio...
  • Page 65 Communication extension card The bits of 6041h are described as follows: Description Ready to switch on Switched on Operation enabled fault Voltage enable Quick stop Switch on disabled Warning Manufacture specific Remote Target reached Internal limit active 12-13 Operation mode specific 14-15 Manufacturer specific BIT0–3, 5, AND 6 (related to control mode)

  • Page 66: Device Running Mode

    5. Query for 【6041h: Status word】 to obtain the status feedback of the drive (following error, target reached and internal limit active). 6. For function details, see function parameters in group P21 in DRV-28 and the specific function commissioning instructions in the basic operations in the manual.

  • Page 67: Function Code Modification

    Communication extension card 2. Set 【6040h: Control word】 to enable the drive (set it to 0x0F for enabling) and start the motor for running. 3. Set 【60FFh: Target velocity】 to set the target rotation speed (unit: rpm), which corresponds to P00.10 (a positive value indicates forward rotation and a negative value indicates reverse rotation).
  • Page 68 Communication extension card Sub- Index Description Permission Data type Default index response Bits 16–31: 0x0001 write success Bits 00–15: Parameter value written by 2002h Bits 16–31: 0x0003 write error Bits 00–15: Error codes 0x0002 illegal data address 0x0003 illegal data value 0x0007 read-only parameter 0x0008 the parameter is unchangeable during running -65-...

  • Page 69: Appendix B Canopen Object Dictionary

    1003 subindexes Error code Unsigned32 1005 COB-ID SYNC Unsigned32 Communication 1006 Unsigned32 cycle period Length of 1007 synchronous Unsigned32 window Manufacturer- ASTRAADA 1008 defined device CONST String CANopen name Manufacturer- defined 1009 CONST String V1.00 hardware version Manufacturer- 100A defined...
  • Page 70 Communication extension card Access Index Subindex Description permissio Data type Default value (hexadecimal) Number of Unsigned8 subindexes COB-ID Client -> 600H+Node Unsigned32 server (Rx) COB-ID Server -> 580H+Node Unsigned32 client (Tx) Number of Unsigned8 subindexes COB-ID Client -> Unsigned32 1280 server (Rx) COB-ID Server ->...
  • Page 71 Communication extension card Access Index Subindex Description permissio Data type Default value (hexadecimal) COB-ID used by Unsigned32 Transmission Unsigned8 type Unsigned16 Unsigned8 Event timer Unsigned16 PDO4 Rx communication parameters Supported Max. number of Unsigned8 subindexes COB-ID used by Unsigned32 1403 Transmission Unsigned8 type...
  • Page 72 Communication extension card Access Index Subindex Description permissio Data type Default value (hexadecimal) PDO3 Rx mapping parameters Number of application Unsigned8 program objects mapped in PDO First mapped Unsigned32 0x21000610 object 1602 Second mapped Unsigned32 0x21000710 object Third mapped Unsigned32 0x21000810 object Fourth mapped Unsigned32 0x21000910...
  • Page 73 Communication extension card Access Index Subindex Description permissio Data type Default value (hexadecimal) COB-ID used by Unsigned32 Transmission Unsigned8 type Disabled time Unsigned16 Reserved Unsigned8 Event timer Unsigned16 PDO3 Tx communication parameters Supported Max. number of Unsigned8 subindexes COB-ID used by Unsigned32 1802 Transmission...
  • Page 74 Communication extension card Access Index Subindex Description permissio Data type Default value (hexadecimal) Number of application Unsigned8 program objects mapped in PDO First mapped Unsigned32 0x20010010 object Second mapped Unsigned32 0x20000310 object Third mapped Unsigned32 0x20000410 object Fourth mapped Unsigned32 0x20000510 object PDO3 Tx mapping parameters Number of...

  • Page 75: Appendix C Ethercat Object Dictionary

    Appendix C EtherCAT object dictionary Access Data Default Index Subindex Description permission type value 1000h Device type UINT32 0x00000192 1001h Error register UINT8 Factory device ASTRAADA- 1008h String name EtherCAT Factory Hardware 1009h hardware String version version depended Factory Software 100Ah software String...
  • Page 76 Communication extension card Access Data Default Index Subindex Description permission type value objects First mapping UINT32 0x60400010 object Second UINT32 0x607A0020 mapping object RX PDO4 mapping parameter Number of supported UINT8 mapping objects 1603h First mapping UINT32 0x60400010 object Second UINT32 0x607A0020 mapping object...
  • Page 77 Communication extension card Access Data Default Index Subindex Description permission type value supported mapping objects First mapping UINT32 0x60410010 object Second UINT32 0x60640020 mapping object SM communication type Max. sub-index UINT8 communication UINT8 0x01 type communication UINT8 0x02 1C00h type communication UINT8 0x03...
  • Page 78 Communication extension card Access Data Default Index Subindex Description permission type value Synchronization 0x20 UINT8 error SM synchronization input parameter 0x00 Max. sub-index UINT8 0x20 Synchronization 0x01 UINT16 0x02 mode 0x02 Cycle time UINT32 0x03 Switching time UINT32 Supported 0x04 synchronization UINT16 0x4006...
  • Page 79 Communication extension card Access Data Default Index Subindex Description permission type value deviation timeout Position pulse 6067h UDINT32 range 606Ch Actual speed DINT32 6071h Target torque INT16 6072h Max. torque UINT16 6073h Max. current UINT16 Motor rated 6075h UDINT32 current Motor rated 6076h UDINT32...
  • Page 80 Communication extension card Access Data Default Index Subindex Description permission type value 60B8h Probe control UINT16 60B9h Probe status UINT16 Probe position 60BAh INT32 rising edge Position 60F4h INT32 deviation 60FDh Digital input UINT32 60FEh Digital output INT32 60FFh Target speed INT32 6502h Drive mode...

  • Page 81: Appendix D Related Function Codes

    Communication extension card Appendix D Related function codes Function Setting Default Name Parameter description code range value Channel of 0: Keypad P00.01 running 1: Terminal 0–2 commands 2: Communication 0: Modbus communication 1: PROFIBUS/CANopen/DeviceNet communication 2: Ethernet communication 3: EtherCAT/PROFINET/EtherNetIP Communicatio n channel of communication...
  • Page 82 Communication extension card Function Setting Default Name Parameter description code range value torque control 9: Reserved EtherCAT/PROFINET/EtherNetIP communication 11–12: Reserved 0: Keypad (P03.20) 1–5: Reserved Setting mode 6: PROFIBUS/CANopen/DeviceNet of upper limit communication P03.18 7: Ethernet communication 0–11 electromotive 8: Reserved torque 9: EtherCAT/PROFINET/EtherNetIP communication...
  • Page 83 Communication extension card Function Setting Default Name Parameter description code range value speed pulse output PROFIBUS/CANopen/DeviceNet communication setting 1 PROFIBUS/CANopen/DeviceNet communication setting 2 Ethernet communication setting 1 Ethernet communication setting 2 20: Reserved EtherCAT/PROFINET/EtherNetIP communication setting 1 22–26: Reserved EtherCAT/PROFINET/EtherNetIP communication setting 2 28–47: Reserved 0: No fault...
  • Page 84 Communication extension card Function Setting Default Name Parameter description code range value slot 3 (C3-Er) 66: EtherCAT communication fault (E-CAT) 67: BACnet communication fault (E- BAC) 68: DeviceNet communication fault (E-DEV) 69: CAN slave fault in master/slave synchronous communication (S- Err) EtherNetIP communication...
  • Page 85 Communication extension card Function Setting Default Name Parameter description code range value 0: AI1 1–4: Reserved 5: PROFIBUS/CANopen/DeviceNet communication PID feedback P09.02 0–10 6: Ethernet communication source 7: Reserved 8: EtherCAT/PROFINET/EtherNetIP communication 9–10: Reserved Module P15.01 0–127 0–127 address P15.02 Received PZD2 0: Invalid 0–31 1: Set frequency (0–Fmax, unit:...
  • Page 86 Communication extension card Function Setting Default Name Parameter description code range value Voltage setting (for separation) (0–1000, which 1000 corresponds to 100.0% of the rated voltage of the motor) 12: AO output setting 1 (-1000– +1000, in which 1000 corresponds to 100.0%) 13: AO output setting 2 (-1000–...
  • Page 87 300.0 n timeout time DeviceNet 0.0– P15.31 communicatio 0.0 (invalid)–300.0s 0.0s 300.0 n timeout time Displayed node P15.32 baud rate P15.33 Enable polling 0–1 0–1 Output 19: ASTRAADA VFD output P15.34 19–27 instance in 20: ODVA basic speed control -84-...
  • Page 88 21: ODVA extended speed control output 22: ODVA speed and torque control output 23: ODVA extended speed and torque control output 24: ASTRAADA basic speed control output 25: ASTRAADA extended speed control output 26: ASTRAADA speed and torque control output...
  • Page 89 Parameter description code range value 25: ASTRAADA extended speed control output 26: ASTRAADA speed and torque control output 27: ASTRAADA extended speed and torque control output 69: ASTRAADA VFD input 70: ODVA basic speed control input 71: ODVA extended speed control...
  • Page 90 Communication extension card Function Setting Default Name Parameter description code range value P16.07 Subnet mask 2 0–255 0–255 P16.08 Subnet mask 3 0–255 0–255 P16.09 Subnet mask 4 0–255 0–255 P16.10 Gateway 1 0–255 0–255 P16.11 Gateway 2 0–255 0–255 P16.12 Gateway 3 0–255...
  • Page 91 Communication extension card Function Setting Default Name Parameter description code range value 0.0–600.0s Extension card When this parameter is set to 0.0, 0.0– P16.26 identification identification fault detection is not 600.00 time of slot 3 performed. Extension card 0.0–600.0s communicatio When this parameter is set to 0.0, 0.0–...
  • Page 92 Communication extension card Function Setting Default Name Parameter description code range value S7, S6, S5, HDIB, HDIA, S4, S3, S2, and S1 in sequence) Virtual output terminal command, 0x00–0x0F (corresponding to RO2, RO1, HDO, and Y1 in sequence) Voltage setting (for separation) (0–1000,...
  • Page 93 Communication extension card Function Setting Default Name Parameter description code range value 12: AI1 value (×100, V) PZD9 Transmitted 13: AI2 value (×100, V) P16.51 0–31 PZD10 14: AI3 value (×100, V) Transmitted 15: HDIA frequency (×100, kHz) P16.52 0–31 PZD11 16: Terminal input state 17: Terminal output state...
  • Page 94 Communication extension card Function Setting Default Name Parameter description code range value 11: PROFINET communication card 12: Sine-cosine PG card without CD signals 13: Sine-cosine PG card with CD signals 14: Absolute encoder PG card master/slave communication card 16: MODBUS communication card 17: EtherCat communication card 18: BacNet communication card 19: DeviceNet communication card...
  • Page 95 Communication extension card ASTOR Sp. z o.o. ul. Smoleńsk 29 31-112 Kraków, Poland www.astor.com.pl produkty@astor.com.pl Version 1.2 All rights reserved. No part of this manual covered by copyrights hereon may be reproduced -92- or transmitted in any form by any means without prior permission of ASTOR Sp. z o.o.

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