INVT Goodrive350 Series Operation Manual
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INVT Goodrive350 Series Operation Manual

Vfd, communication extension card
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Summary of Contents for INVT Goodrive350 Series

  • Page 2 Communication extension card Safety precautions 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, transmitted unit 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 Contents Contents ........................... 1 Chapter 1 Product confirmation .................... 1 Chapter 2 PROFIBUS communication card ................2 2.1 Overview ........................2 2.2 Features......................... 2 2.3 Electrical connection ...................... 3 2.4 Bus network connection ....................3 2.5 System configuration ..................... 6 2.6 PROFIBUS-DP communication ..................
  • Page 5 Communication extension card Contents 4.4 Communication ......................48 4.4.1 Packet format ...................... 48 4.4.2 PROFINET I/O communication ................49 Chapter 5 EtherNet/IP communication card ............... 56 5.1 Overview ........................56 5.2 Features........................56 5.3 Electrical wiring ......................58 5.4 Communication ......................59 5.4.1 Communication settings ..................

  • Page 6: Contents

    If the communication card is damaged, a wrong model is delivered, or some items are missing, contact the supplier in a timely manner. • Obtain the ESD file of the communication card from INVT. The file is named communication card model.eds. •...

  • Page 7: Chapter 2 Profibus Communication Card

    Communication extension card PROFIBUS communication card Chapter 2 PROFIBUS communication card 2.1 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 8: Electrical Connection

    Communication extension card PROFIBUS communication card The PROFIBUS protocol is described in details in the EN50170 standard. For more information about PROFIBUS, refer to the EN50170 standard. 2.3 Electrical connection Node selection The node address of a device is unique on a PROFIBUS bus. The node address is set through the function parameter P15.01, and the value ranges from 0 to 127.
  • Page 9 Communication extension card PROFIBUS communication card Table 2-1 Connector pins Connector pin Description Unused Unused B-Line Data+ (twisted-pair wire 1) Transmitting requests GND_BUS Isolation ground +5V BUS Isolated 5 V DC power supply Unused A-Line Data- (twisted-pair wire 2) Unused Housing SHLD PROFIBUS cable shielding wire...
  • Page 10 50 m; and the other is glass fiber conductors that can be used when the transmission distance is shorter than 1 km. PROFIBUS bus connection diagram PROFIBUS INVT inverter INVT inverter master station CH-PA01 adapter CH-PA01 adapter...

  • Page 11: System Configuration

    PROFIBUS bus. The GSD file is used to describe the characteristics of the PROFIBUS-DP device. The software we provide for users includes information about the GSD file of the VFD. You can obtain the type definition files (GSD files) of various masters from INVT. Table 2-4 Communication card configuration parameters Parameter...

  • Page 12: Profibus-Dp Communication

    You can obtain the type definition files (GSD files) of various masters from INVT's official website and copy the GSD files to the corresponding subdirectories on the configuration tool software.
  • Page 13 Communication extension card PROFIBUS communication card 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 14 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 Goodrive350 series VFD CWs. Table 2-5 Goodrive350 series VFD CWs Name Value State to be entered/description...
  • Page 15 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 Goodrive350 series VFD. Table 2-6 Settings of Goodrive350 series VFD...
  • Page 16 1 and then to 0) Response packet (VFD -> master station) SW: The first word in a PZD response packet is a VFD SW. Table 2-7 describes the VFD SWs. Table 2-7 Goodrive350 series VFD SWs Name Value...
  • Page 17 Communication extension card PROFIBUS communication card values. The main actual frequency values are provided by the main actual value signal source. Table 2-8 Actual state values of Goodrive350 series VFD Function Default Word Value range code value P15.13 Transmitted PZD2 0: Invalid 1: Running frequency (×100, Hz)
  • Page 18 Communication extension card PROFIBUS communication card writing a parameter value) of a parameter between two communication ends. Structure of the PKW zone Parameter Process data identification (PKW) PZD2 PKW1 PKW2 PKW3 PKW4 PZD2 Request Parameter Parameter Parameter value error address value Response Figure 2-5 Parameter identification zone...
  • Page 19 Communication extension card PROFIBUS communication 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) 3 or 4 [modifying the value only on RAM] Modifying a parameter value (two words)
  • Page 20 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 INVT 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 21 Communication extension card PROFIBUS communication card P15.14. This operation sets the parameter forcibly. The setting remains until the parameter is set to another option. Response (VFD -> master station) PKW1 PKW2 PKW3 PKW4 PZD2 PZD3 … PZD12 Response xx xx xx xx xx xx xx xx xx xx xx xx 00 0A …...

  • Page 22: Chapter 3 Canopen Communication Card

    Chapter 3 CANopen communication card 3.1 Overview Thanks for choosing INVT 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 23: Electrical Wiring

    Communication extension card CANopen communication card • Supports boot-up.  Supports SYNC (1–240).  Supports asynchronous transmission of 254 and 255.  Supports disabled time.  Supports event timers.  Supports manufacturer-defined object dictionary. You can use SDOs to control and obtain the actual parameter values of a VFD in real time.

  • Page 24: Communication

    Communication extension card CANopen communication card CANH 120Ω terminal CANL resistor CANG Shielding wire EC-TX105 EC-TX105 EC-TX105 Figure 3-1 Electrical wiring diagram 3.4 Communication 3.4.1 Packet format CAN2.0A packets are used to transmit data between the master station and bus nodes through data frames.

  • Page 25: Canopen State Transition

    Communication extension card CANopen communication card COB-IDs vary according to communication address, but for one command, the COB-IDs are within a certain range. Note: The commands described in this manual are all data frames if it is not specified that they are remote frames.

  • Page 26: Management Service Command (Nmt)

    Communication extension card CANopen communication card Different services are supported in different states, as described in Table 3-3. Table 3-3 Services supported in various NMT states Pre-operation Service Operation state Stopped state state PDOs SDOs SYNC packets Emergency packets Network management Error control 3.4.3 Management service command (NMT) This function is used by the master station to control the NMT states of slave station nodes.

  • Page 27: Node Protection (Nmt Node Guarding)

    Communication extension card CANopen communication card COB-ID Byte0 Byte1 0x000 0x01 0x00 3.4.4 Node protection (NMT Node Guarding) By using the node protection service, the NMT master node can detect the current state of each node.  Command Request: Master station (remote frame) –> slave station COB-ID No data 0x700 + Node-ID...

  • Page 28: Heartbeat Packet (Heartbeat Producer)

    Communication extension card CANopen communication card value of bit 7 is alternated to 0. 3.4.5 Heartbeat packet (Heartbeat Producer) In some cases, the master station requires that a slave station automatically transmits a frame of heartbeat packets at an interval, so that it can learn the state of the slave station in real time. The interval parameter (data length: 16 bits;...

  • Page 29: Synchronous Packet Object (Sync)

    Communication extension card CANopen communication card 3.4.7 Synchronous packet object (SYNC) Generally, SYNC signals are transmitted by the CANopen master station cyclically. A SYNC signal does not contain any data and is used mainly to request PDO Tx of a slave station node of the synchronous transmission type.
  • Page 30 Communication extension card CANopen communication card Emergency error code (hex) Code function description 22xx Current error inside the device 23xx Current error on the device output side 30xx Voltage error 31xx Mains voltage 32xx Voltage inside the device 33xx Output voltage 40xx Temperature 41xx...

  • Page 31: Service Data Object (Sdo)

    Communication extension card CANopen communication card For example, if the "inverter unit phase U protection (OUT1)" fault occurs on the Goodrive350 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 32 Communication extension card CANopen communication card Response codes indicating successful reading vary according to the character length of items in the object dictionary, and the response code indicating successful writing are 0×60. The response codes indicating reading failure and writing failure are both 0x80. See Table 3-9. Table 3-8 SDO request codes and requested data Requested data Request...
  • Page 33 Communication extension card CANopen communication card Interruption code Code function description length 0604 0043 Common parameter incompatibility 0604 0047 Common internal incompatibility of the device 0606 0000 Object access failure caused by hardware error 0607 0010 Data type not matched; service parameter length not matched 0609 0011 Subindex cannot be found in the object dictionary 0609 0030...

  • Page 34: Process Data Object (Pdo)

    Communication extension card CANopen communication card the following read operation command. Request Object index Subindex Requested data code COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x603 0x40 0x01 0x18 0x03 0x00 0x00 0x00 0x00 After receiving the command transmitted by the master station, the slave station transmits the following command response if the current disabled time of PDO2 Tx is 1000 ms.

  • Page 35: Triggering Mode Of Pdo Tx

    Communication extension card CANopen communication card 3.5.1 Triggering mode of PDO Tx Each PDO Tx is defined with a transmission type, disabled time, and event timer. The corresponding subindex of the transmission type is 0x02, that of the disabled time is 0x03, and that of the event timer is 0x05.

  • Page 36: Pdo1

    A parameter address is two bytes. Byte2 is the LSB, and Byte3 is the MSB. It indicates the address of the parameter to be read or modified. Goodrive350 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.
  • Page 37 Communication extension card CANopen communication card Table 3-14 Goodrive350 series VFD parameter addresses Function Default Name Detailed parameter description Modify code v alue 0: Stops after running once Simple PLC 1: Keeps running in the final value P10.00 ○ mode...
  • Page 38 Communication extension card CANopen communication card command is responded, the response data is the data to be read. An error code is two bytes. Byte2 is the LSB, and Byte3 is the MSB. Error codes are valid only when the response code is 3. An error code indicates the reason why it fails to respond to PDO1 Rx.

  • Page 39: Pdo2 Rx

     Example of PDO1 The VFD is a Goodrive350 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...
  • Page 40  Example Assume that the VFD is a Goodrive350 series VFD, the slave station address is 3, you control the running of the VFD through CANopen communication, and you want to set the running frequency to 50 Hz through CANopen communication.

  • Page 41: 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 Goodrive350 series VFD SWs. For VFD of other series, see the corresponding VFD operation manual. Table 3-18 Goodrive350 series VFD SWs...

  • Page 42: Pdo3 Rx And Pdo4 Rx

     Example Assume that the VFD is a Goodrive350 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 43: Pdo3 Tx And Pdo4 Tx

    Communication extension card CANopen communication 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...
  • Page 44 Communication extension card CANopen communication card read the manufacturer-defined object dictionary. For the definition and application of the CWs, SWs, settings, and returned values in the manufacturer-defined object dictionary, see the PDO description section. For application of SDOs, see the SDO description section. Do not try to use SDOs to read and write VFD parameters.
  • Page 45 Communication extension card CANopen communication card Index Subindex Access Data Corresponding Function (hexadecimal) (hexadecimal) permission length Response data (do not 2 bytes use it) Returned Transmitted 2 bytes value 1 PZD2 Returned Transmitted 2 bytes value 2 PZD3 Returned Transmitted 2 bytes value 3 PZD4...

  • Page 46: Baud Rate And Communication Address Setting

    Communication extension card CANopen communication card is defined as "Set frequency". To set the frequency to 50.00 Hz (that is, setting 1=0x1388), the master station transmits the following SDO command. Request Object index Subindex Requested data code COB-ID Byte0 Byte1 Byte2 Byte3 Byte4...

  • Page 47: Communication Address Setting

    Communication extension card CANopen communication card description of function code addresses, see the VFD operation manual. Table 3-21 describes the values of the function parameter and their corresponding baud rates. Table 3-21 Baud rate setting Function Baud rate (bit/s) parameter value 1000 k 800 k 500 k...
  • Page 48 Communication extension card CANopen communication card Function Default Word Value range code value PZD11 S2, and S1 in sequence) 10: Virtual output terminal command, 0x00–0x0F (corresponding to RO2, RO1, HDO, and Y1 in sequence) 11: Voltage setting (for V/F separation) (0–1000, in which 1000 corresponds to 100.0% of the rated voltage of the motor) 12: AO output setting 1 (-1000–+1000, in which 1000...
  • Page 49 Communication extension card CANopen communication card Function Default Word Value range code value 18: PID reference (×100, %) 19: PID feedback (×100, %) 20: Rated torque of the motor 21: MSB of position reference (signed number) 22: LSB of position reference (unsigned number) 23: MSB of position feedback (signed number)

  • Page 50: Chapter 4 Profinet Communication Card

    Chapter 4 PROFINET communication card 4.1 Overview Thanks for choosing INVT 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 51 Communication extension card PROFINET communication card communication can further shorten the processing time of the communication stack software, synchronizing data transmission of the program and device. The transmission delay is less than 1 ms, and the jitter is less than 1 μs. The typical application is motion control.

  • Page 52: Electrical Wiring

    Communication extension card PROFINET communication card Color State Description LED3 PROFINET diagnosis enabled (System fault PROFINET diagnosis disabled indicator) TPS-1 communication stack started LED4 Green Blinking TPS-1 waits for the initialization of MCU (Slave ready indicator) TPS-1 communication stack not started LED5 Defined by the manufacturer, depending (Maintenance state...

  • Page 53: Communication

    Communication extension card PROFINET communication card Slave station Slave station Slave station device 1 device 2 device n Master station device RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 Switch Figure 4-3 Electrical wiring diagram of the star-shaped network topology 4.4 Communication 4.4.1 Packet format Table 4-3 describes the structure of an RT frame (non-synchronous).

  • Page 54: Profinet I/O Communication

    Communication extension card PROFINET communication card 4.4.2 PROFINET I/O communication The PROFINET communication card supports 16-word input/output. Figure 4-4 shows the packet format for transmitting data with a VFD. Parameter Process data identification (PKW) (PZD) Fixed Distributable zone zone PZD2 PZD3 PZD12 PKW1 PKW2...
  • Page 55 Disable 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 Goodrive350 series VFD. -50-...
  • Page 56 Communication extension card PROFINET communication card Table 4-6 Settings of Goodrive350 series VFD Function Default Word Value range code value Received 0: Invalid P16.32 PZD2 1: Set frequency (0–Fmax, unit: 0.01 Hz) 2: PID reference (0–1000, in which 1000 corresponds to Received P16.33...
  • Page 57 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 Goodrive350 series VFD Function...
  • Page 58 Communication extension card PROFINET communication card Function Default Word Value range code value 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) 16: Terminal input state 17: Terminal output state...
  • Page 59 Communication extension card PROFINET communication card First word PKW1 (16 bits) 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) Bits 15–00 Value (most significant word) of a parameter or error code of the returned value Fourth word PKW4 (16 bits) Bits 15–00...
  • Page 60 Communication extension card PROFINET communication card Response No. (from a slave to the master) Response No. Function 3: Invalid data value 4: Operation failure 5: Password error 6: Data frame error 7: Parameter read only 8: Parameter cannot be modified during VFD running 9: Password protection -55-...

  • Page 61: Chapter 5 Ethernet/Ip Communication Card

    Chapter 5 EtherNet/IP communication card 5.1 Overview Thanks for choosing INVT EtherNet/IP 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 62 Communication extension card EtherNet/IP communication card cable into the port without regard to its direction. Figure 5-1 shows the ports, and Table 5-1 describes the port pins. Figure 5-1 Two standard RJ45 ports Table 5-1 Standard RJ45 port pins Name Description Transmit Data+ Transmit Data-...

  • Page 63: Electrical Wiring

    Communication extension card EtherNet/IP communication card Color State Description Link indicator, indicating successful Ethernet connection. Net port Yellow indicator Link indicator, indicating Ethernet connection not established. ACK indicator, indicating data interchange being performed. Net port Green indicator ACK indicator, indicating data interchange not be performed.

  • Page 64: Communication

    Communication extension card EtherNet/IP communication card Slave device 1 Slave device 2 Slave device n Master device EC-Tx510 EC-Tx510 EC-Tx510 (PLC) Figure 5-4 Electrical wiring diagram for a ring network 5.4 Communication 5.4.1 Communication settings The EtherNet/IP communication card can function as only the EtherNet/IP slave station. Before communication, set Goodrive350 function codes, including: IP address and subnet mask for the card The default IP address and subnet mask for each communication card are 192.168.0.1 and...

  • Page 65: Ethernet/Ip Communication

    Communication extension card EtherNet/IP communication card Table 5-4 Structure of a UDP communication packet IP-layer MAC-layer UDP-layer packet Valid data Packet trailer packet header packet header header 14 bytes 20 bytes 20 bytes 0-1488 bytes 4 bytes 5.4.3 EtherNet/IP communication The EtherNet/IP communication card supports 16-word input/output.
  • Page 66 CW: The first word in a PZD task packet is a VFD CW. When P16.56=0, EtherNetIP control words are defined by byte. Table 5-5 describes Goodrive350 series VFD CWs defined by byte. Table 5-5 Goodrive350 series VFD CWs defined by byte...
  • Page 67 Enable Heartbeat reference Disable When P16.56=1, EtherNetIP control words are defined by bit. Table 5-6 describes Goodrive350 series VFD CWs defined by bit. Table 5-6 Goodrive350 series VFD CWs defined by bit Name Value Description Remarks Bit 0 of a...
  • Page 68 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 5-7 describes the settings of Goodrive350 series VFD. Table 5-7 Settings of Goodrive350 series VFD...
  • Page 69 Response packet (VFD -> master station) SW: The first word in a PZD response packet is a VFD SW. When P16.56=0, EtherNetIP control words are defined by byte. Table 5-8 describes Goodrive350 series VFD SWs defined by byte. Table 5-8 Goodrive350 series VFD SWs defined by byte...
  • Page 70 Communication extension card EtherNet/IP communication card When P16.56=1, EtherNetIP control words are defined by bit. Table 5-9 describes Goodrive350 series VFD SWs defined by bit. Table 5-9 Goodrive350 series VFD SWs defined by bit Name Value Description None Bit 0 of running state...
  • Page 71 Communication extension card EtherNet/IP communication card Function Default Word Value range code value PZD2 1: Running frequency (×100, Hz) 2: Set frequency (×100, Hz) Transmitted P16.44 3: Bus voltage (×10, V) PZD3 4: Output voltage (×1, V) Transmitted P16.45 5: Output current (×10, A) PZD4 6: Actual output torque (×10, %) Transmitted...
  • Page 72 Communication extension card EtherNet/IP communication card In periodic communication, the PKW zone consists of four 16-bit words. The following table describes the words. First word PKW1 (16 bits) Bits 15–00 Task or response identification flag 0–7 Second word PKW2 (16 bits) Bits 15–00 Basic parameter address 0–247...

  • Page 73: Communication With The Plc

    You can request the EDS file from your supplier or download the file GD350_EthernetIP_V1.10.eds from www.invt.com. Use Studio 5000 to add the EDS file to the PLC.
  • Page 74 Communication extension card EtherNet/IP communication card Click Register an EDS file(s) and then Next in the window that appears. Select the EDS file and click Next. -69-...
  • Page 75 Communication extension card EtherNet/IP communication card Click Next. After the EDS file is registered successfully, the device can be used in the PLC project. Perform configuration on the RSLinx. Open the RSLinx, as shown in the following figure. -70-...
  • Page 76 Communication extension card EtherNet/IP communication card From the menu, choose Communications > Configure Drivers. -71-...
  • Page 77 Communication extension card EtherNet/IP communication card In the Configure Drivers window that appears, choose EtherNet/IP Driver from the Available Driver Types drop-down list box, and click Add New. Click OK in the Add New RSLinx Classic Driver window that appears. In the Configure driver window that appears, select the computer network adapter, and click OK.
  • Page 78 Communication extension card EtherNet/IP communication card Click the RSWho icon at the upper left corner. Under the AB_ETHIP-2, Ethernet node, there are PLC parameters, as shown in the following figure. Configuration on the RSLinx is complete. Perform configuration on Studio 5000. Open Studio 5000, right-click File, and choose New.
  • Page 79 Communication extension card EtherNet/IP communication card Select the correct PLC number, enter a project name, and click Next. Expand IO Configuration, right-click Ethernet, and choose New Module. -74-...
  • Page 80 Communication extension card EtherNet/IP communication card Select ETHERNET-MODULE and then click Create. Perform configuration in the window that appears. You can set Name and IP based on the actual situation, but you must use the settings shown in the following figure for Connection Parameters.
  • Page 81 Communication extension card EtherNet/IP communication card On the Connection tab, set the requested packet interval to 50ms. If you want to use unicast connection, select Use Unicast Connection over EtherNet/IP. Click OK. The slave module is created successfully. Note: Set the slave module number according to the actual slave data. (You are not recommended to create more than 32 slave stations.) -76-...
  • Page 82 Communication extension card EtherNet/IP communication card Perform ring network configuration. The following describes how to implement a ring network between the PLC and EtherNet/IP communication card. After device installation in the ring network, at least one monitoring node must be configured. You can perform configuration on Studio 5000.
  • Page 83 Communication extension card EtherNet/IP communication card Note: The ring network monitoring function can be used only when the PLC is in programming mode. Click Advanced... and then set DLR parameters (such as Beacon Interval and Beacon Timeout) in the window that appears. Note: When there are four or less EtherNet/IP slaves, you are recommended to set Beacon Interval to 400μs and Beacon Timeout to 4000μs.
  • Page 84 Communication extension card EtherNet/IP communication card Check on Studio 5000. Ensure that each communication card is normal. If a communication card is abnormal, a warning icon is displayed, as shown in the following figure. -79-...

  • Page 85: Chapter 6 Ethercat Communication Card

    Chapter 6 EtherCAT communication card 6.1 Overview Thanks for choosing INVT 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 86 Communication extension card EtherCAT communication card Communication ports Standard RJ45 ports are used in EtherCAT communication. The communication card provides two RJ45 ports with transmission direction defined. Figure 6-1 shows the ports. IN (indicating input) and OUT (indicating ouput) are EtherCAT wiring network ports. Table 6-2 describes the port pins.

  • Page 87: Electrical Wiring

    Communication extension card EtherCAT communication card Item Color Function description 3.3V power indicator Off: Indicates that Ethernet connection is not established. Yellow Indicates that Ethernet connection established Net port successfully. indicator Off: Without connection (IN) Green On: Wilth connection but inactive Blinks: With connection and active Off: Indicates that Ethernet connection is not established.

  • Page 88: Communication

    Communication extension card EtherCAT communication card 6.4 Communication 6.4.1 CoE reference model GD350 application Object dictionary (OD) EtherCAT state machine PDO mapping Register Mail box Process data EtherCAT data link layer EtherCAT physical layer Figure 6-3 CoE reference model CoE network reference model consists of the data link layer and application layer. The data link layer is responsible for EtherCAT communication protocol.

  • Page 89: 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. INVT provides this file EC-TX508_100.xml. 6.4.3 EtherCAT state machine EtherCAT state machine is used to describe the states and state change of slave station applications.

  • Page 90: Pdo Mapping

    Communication extension card EtherCAT communication card State Description SDO communication is available. Safe-Op Communication of receiving PDOs is available, but that of sending PDOs is unavailable, in the Safe state. Safe-Op to Op The master station requests the jump to the Op state. Both SDO and PDO communication are available.

  • Page 91: Dc-Based Network Synchronization

    Communication extension card EtherCAT communication card Object dictionary Sub- Index Object content index 1C13h 0x02 1C13h 0x1A00 1C13h 0x1A01 1C13h PDO_1 PDO_2 Index Object content 1A00h PDO_1 1A01h PDO_2 1A02h PDO_3 1A03h PDO_4 Figure 6-6 SM PDO assignment Default PDO mapping (Position, Velocity, Torque, Torque limit, Touch probe): Control Touch Target...

  • Page 92: Coe State Machine

    Communication extension card EtherCAT communication card current state of the drive by reading the status word (0x6041). The servo drive implements motor control based on master station control commands. 6.5.1 CoE state machine Power Fault Disabled Start Fault Reaction Active Not Ready to Switch On Fault...
  • Page 93 Communication extension card EtherCAT communication card Status Description manner, but the motor still has the exciting signal. The drive is in the faulty state, and the motor has Fault no exciting signal. 6040h control word includes: 1. Bit for status control; 2.
  • Page 94 Communication extension card EtherCAT communication card BITS 4, 5, 6 AND 8 (related to control mode) Operation mode Profile velocity Profile position mode Homing mode mode New set-point Reserved Homing operation start Change set immediately Reserved Reserved Abs/rel Reserved Reserved Halt Halt Halt...

  • Page 95: Device Running Mode

    Communication extension card EtherCAT communication card Description 12-13 Operation mode specific 14-15 Manufacturer specific BIT0–3, 5, AND 6 (related to control mode) Value(binary) State xxxx xxxx x0xx 0000 Not ready to switch on xxxx xxxx x1xx 0000 Switch on disabled xxxx xxxx x01x 0001 Ready to switch on xxxx xxxx x01x 0011...
  • Page 96 Communication extension card EtherCAT communication card target reached and internal limit active). 6. For function details, see function parameters in group P21 in GD350 and the specific function commissioning instructions in the basic operations in the manual. 6.5.2.2 Profile Position Mode 1.

  • Page 97: Function Code Modification

    Communication extension card EtherCAT communication card 6.5.2.5 Cyclic Synchronous torque Mode 1. Set 【6060h: Mode of operations】 to 10 (Cyclic synchronous torque mode). 2. Set the VFD to torque control (P03.32=1). 3. Set 【6040h: Control word】 to enable the drive (set it to 0x0F for enabling) and start the motor for running.

  • Page 98: Example For Twincat2 Application

    Communication extension card EtherCAT communication card Index Sub-index Description Permission Data type Default 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 6.7 Example for TwinCAT2 application...
  • Page 99 Communication extension card EtherCAT communication card Open the menu as shown in the above figure, select "Show Realtime Ethernet Compatible Devices…", pop up a dialog box as shown in the following figure, select the local area network card, and click "Install". After the network card is installed successfully, it will shown under the menu "Installed and ready to use devices".
  • Page 100 Communication extension card EtherCAT communication card 6. Scan device Select "I/O Devices" menu, and right-click to select "Scan Devices…" to scan the device. Pop up the following dialog box, and select "OK". Pop up the following dialog box, and select "OK". -95-...
  • Page 101 Communication extension card EtherCAT communication card Pop up the following dialog box, and select "Yes". Pop up the following dialog box, and select "Yes". Then the device enters the free running mode. The following figure shows "Box3" which is the slave device scanned, and view that the device enters the "OP"...
  • Page 102 Communication extension card EtherCAT communication card 7. Process data input and output Select "DO Outputs" menu, and there are data sent from the master station to the VFD, which can be used to set commands and rotation speed. Select "DI Intputs" menu, and there are data sent from the VFD to the master station, which can be used to return the statuses and and rotation speed.
  • Page 103 Communication extension card EtherCAT communication card 8. SDO data operation Select "CoE–Online" menu, as shown in the figure below. Read the VFD function code parameters through index 0x2000, and double click 0x2000 to pop up a dialog box. Write the parameter address in the dialog box, and click "OK".
  • Page 104 Communication extension card EtherCAT communication card -99-...

  • Page 105: Appendix A Canopen Object Dictionary

    Error code Unsigned32 1005 COB-ID SYNC Unsigned32 Communication 1006 Unsigned32 cycle period Length of 1007 synchronous Unsigned32 window Manufacturer- INVT 1008 defined device CONST String CANopen name Manufacturer- 1009 defined hardware CONST String V1.00 version Manufacturer- 100A defined software...
  • Page 106 Communication extension card CANopen object dictionary Index Access Subindex Description Data type Default value (hexadecimal) permission Sequence No. Unsigned32 0x0000 0000 Servo SDO Number of Unsigned8 subindexes 1200 COB-ID Client -> Unsigned32 600H+Node ID server (Rx) COB-ID Server -> Unsigned32 580H+Node ID client (Tx) Number of...
  • Page 107 Communication extension card CANopen object dictionary Index Access Subindex Description Data type Default value (hexadecimal) permission Supported Max. number of Unsigned8 subindexes COB-ID used by Unsigned32 Transmission type Unsigned8 Unsigned16 Unsigned8 Event timer Unsigned16 PDO4 Rx communication parameters Supported Max. number of Unsigned8 subindexes...
  • Page 108 Communication extension card CANopen object dictionary Index Access Subindex Description Data type Default value (hexadecimal) permission object Third mapped Unsigned32 0x21000410 object Fourth mapped Unsigned32 0x21000510 object PDO3 Rx mapping parameters Number of application Unsigned8 program objects mapped in PDO First mapped Unsigned32 0x21000610...
  • Page 109 Communication extension card CANopen object dictionary Index Access Subindex Description Data type Default value (hexadecimal) permission Disabled time Unsigned16 Reserved Unsigned8 Event timer Unsigned16 PDO2 Tx communication parameters Supported Max. number of Unsigned8 subindexes COB-ID used by Unsigned32 1801 Transmission type Unsigned8 Disabled time Unsigned16...
  • Page 110 Communication extension card CANopen object dictionary Index Access Subindex Description Data type Default value (hexadecimal) permission First mapped Unsigned32 0x20000010 object Second mapped Unsigned32 0x20000110 object Third mapped Unsigned32 0x20000210 object PDO2 Tx mapping parameters Number of application Unsigned8 program objects mapped in PDO First mapped Unsigned32...
  • Page 111 Communication extension card CANopen object dictionary Index Access Subindex Description Data type Default value (hexadecimal) permission object Second mapped Unsigned32 0x20000b10 object Third mapped Unsigned32 0x20000c10 object Fourth mapped Unsigned32 0x20000d10 object -106-...

  • Page 112: Appendix B Ethercat Object Dictionary

    Access Data Index Subindex Description Default value permission type 1000h Device type UINT32 0x00000192 1001h Error register UINT8 Factory device 1008h String INVT-EtherCAT name Factory Hardware 1009h hardware String version version depended Factory Software 100Ah software String version version depended ID object Included max.
  • Page 113 Communication extension card EtherCAT object dictionary Access Data Index Subindex Description Default value permission type mapping Eighth mapping UINT32 0x60B80010 object RX PDO2 mapping parameter Number of supported UINT8 mapping objects 1601h First mapping UINT32 0x60400010 object Second UINT32 0x607A0020 mapping object RX PDO3 mapping parameter Number of...
  • Page 114 Communication extension card EtherCAT object dictionary Access Data Index Subindex Description Default value permission type Third mapping UINT32 0x606C0020 object Fourth mapping UINT32 0x60770010 object Fifth mapping UINT32 0x60F40020 object Sixth mapping UINT32 0x60610008 object Seventh UINT32 0x60B90010 mapping object Eighth mapping UINT32 0x60BA0020...
  • Page 115 Communication extension card EtherCAT object dictionary Access Data Index Subindex Description Default value permission type SM communication type Max. sub-index UINT8 communication UINT8 0x01 type communication UINT8 0x02 1C00h type communication UINT8 0x03 type communication UINT8 0x04 type RxPDO assignment Max.
  • Page 116 Communication extension card EtherCAT object dictionary Access Data Index Subindex Description Default value permission type Obtained 0x08 UINT16 periodic time 0x09 Delay time UINT32 0x0A Sync0 time UINT32 SM event loss 0x0B UINT32 counter Circulation 0x0C UINT32 timeout counter Counter of too 0x0D UINT32 short switching...
  • Page 117 Communication extension card EtherCAT object dictionary Access Data Index Subindex Description Default value permission type Read function 2000h UINT32 codes 2001h Read response UINT32 Write function 2002h UINT32 codes 2003h Write response UINT32 603Fh Error code UINT16 6040h Control word UINT16 6041h Status word...
  • Page 118 Communication extension card EtherCAT object dictionary Access Data Index Subindex Description Default value permission type 6079h Bus voltage UDINT32 607Ah Target position INT16 Position range limit Number of UINT8 sub-indexes 607Bh Min. position INT32 range limit Max. position INT32 range limit Coordinate 607Ch DINT32...
  • Page 119 Communication extension card EtherCAT object dictionary Access Data Index Subindex Description Default value permission type zero-phase speed 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...

  • Page 120: Appendix C Related Function Codes

    Communication extension card Related function codes Appendix C 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 PROFIBUS/CANopen/DeviceNet communication 2: Ethernet communication Communication EtherCAT/PROFINET/EtherNetIP channel of...
  • Page 121 Communication extension card Related function codes Function Setting Default Name Parameter description code range value 9: Reserved EtherCAT/PROFINET/EtherNetIP communication 11–12: Reserved 0: Keypad (P03.17) 1–6: Reserved Setting mode of PROFIBUS/CANopen/DeviceNet upper frequency communication P03.15 limit of reverse 8: Ethernet communication 0–12 running in torque 9: Reserved...
  • Page 122 Communication extension card Related function codes Function Setting Default Name Parameter description code range value 0: Invalid P06.01 Y1 output 0–63 1–23: Reserved P06.02 HDO output 0–63 PROFIBUS/CANopen/DeviceNet Relay output P06.03 0–63 communication virtual terminal output 25: Ethernet communication virtual terminal output 26–33: Reserved Relay output...
  • Page 123 Communication extension card Related function codes Function Setting Default Name Parameter description code range value 61: Card identification failure in slot 2 (F2-Er) 62: Card identification failure in slot 3 (F3-Er) 63: Card communication failure in slot 1 (C1-Er) 64: Card communication failure in slot 2 (C2-Er) 65: Card communication failure in slot 3 (C3-Er)
  • Page 124 Communication extension card Related function codes Function Setting Default Name Parameter description code range value LED tens place: Switching in running 0: Disabled 1: Enabled 0: Keypad (P09.01) 1–6: Reserved PROFIBUS/CANopen/DeviceNet communication PID reference 8: Ethernet communication P09.00 0–12 source 9: Reserved EtherCAT/PROFINET/EtherNetIP communication...
  • Page 125 Communication extension card Related function codes Function Setting Default Name Parameter description code range value 7: Upper limit of the electromotive torque (0–3000, which 1000 corresponds to 100.0% of the rated current of the motor) 8: Upper limit of the brake torque (0–3000, in which 1000 corresponds to 100.0% of the rated current of the motor)
  • Page 126 Communication extension card Related function codes Function Setting Default Name Parameter description code range value Transmitted 2: Set frequency (×100, Hz) P15.14 0–31 PZD3 3: Bus voltage (×10, V) 4: Output voltage (×1, V) Transmitted P15.15 0–31 PZD4 5: Output current (×10, A) 6: Actual output torque (×10, %) Transmitted P15.16...
  • Page 127 Output instance 23: ODVA extended speed and torque P15.34 19–27 in polling control output 24: INVT basic speed control output 25: INVT extended speed control output 26: INVT speed and torque control output 27: INVT extended speed and torque control output...
  • Page 128 73: ODVA extended speed and torque control input 74: INVT basic speed control input 75: INVT extended speed control input 76: INVT speed and torque control input 77: INVT extended speed and torque control input Enable state P15.36 0–1 0–1...
  • Page 129 Communication extension card Related function codes Function Setting Default Name Parameter description code range value Input length of P15.40 8–32 8–32 component 19 BACnet 0: Enable P16.22 (I_Am service) P15.41 communication Enable P15.42 (Baud rate 0–1 mode setting BACnet_MSTP) Baud rate of P15.42 0–5 0–5...
  • Page 130 Communication extension card Related function codes Function Setting Default Name Parameter description code range value Ethernet monitoring 0000–FF P16.17 0x0000–0xFFFF 0x0000 variable address EtherCAT 0.0–300. P16.18 communication 0.0 (invalid)–300.0s 0.5s timeout time P16.19 Reserved MSD of BACnet P16.20 0–4194 device number Independent code of BACnet device (0–4194303) LSD of BACnet P16.21...
  • Page 131 Communication extension card Related function codes Function Setting Default Name Parameter description code range value Extension card 0.0–600.0s communication When this parameter is set to 0.0, 0.0–600. P16.29 timeout time of disconnection fault detection is not slot 3 performed. P16.30 Reserved PROFINET 0.0–300.
  • Page 132 Communication extension card Related function codes Function Setting Default Name Parameter description code range value 11: Voltage setting (for V/F separation) (0–1000, in 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–+1000, in which 1000 corresponds to 100.0%)
  • Page 133 Communication extension card Related function codes Function Setting Default Name Parameter description code range value Transmitted 17: Terminal output state P16.52 0–31 PZD11 18: PID reference (×100, %) 19: PID feedback (×100, %) 20: Rated torque of the motor 21: MSB of position reference (signed number) 22: LSB of position reference (unsigned number)
  • Page 134 Communication extension card Related function codes Function Setting Default Name Parameter description code range value 10: WIFI card 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 15: CAN master/slave communication card 16: MODBUS communication card...
  • Page 135 66001- 00600 202004 (V1.2)

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