Table Of Contents - INVT Goodrive350 Series Operation Manual

Communication extension card
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 ..................................................................................... 7
Chapter 3 CANopen communication card .......................................................................... 17
3.1 Overview ...................................................................................................................... 17
3.2 Features....................................................................................................................... 17
3.3 Electrical wiring ............................................................................................................ 18
3.4 Communication ............................................................................................................ 19
3.4.1 Packet format ...................................................................................................... 19
3.4.2 CANopen state transition .................................................................................... 20
3.4.3 Management service command (NMT) .............................................................. 21
3.4.4 Node protection (NMT Node Guarding) .............................................................. 22
3.4.5 Heartbeat packet (Heartbeat Producer).............................................................. 23
3.4.6 Start packet (NMT Boot-up) ................................................................................ 23
3.4.7 Synchronous packet object (SYNC) ................................................................... 24
3.4.8 Emergency packet object (EMCY) ...................................................................... 24
3.4.9 Service data object (SDO) .................................................................................. 26
3.5 Process data object (PDO) .......................................................................................... 29
3.5.1 Triggering mode of PDO Tx ................................................................................ 30
3.5.2 PDO1 .................................................................................................................. 31
3.5.3 PDO2 Rx ............................................................................................................. 34
3.5.4 PDO2 Tx ............................................................................................................. 36
3.5.5 PDO3 Rx and PDO4 Rx ..................................................................................... 37
3.5.6 PDO3 Tx and PDO4 Tx ...................................................................................... 38
3.6 Monitoring process data through SDO commands ..................................................... 38
3.7 Baud rate and communication address setting ........................................................... 41
3.7.1 Baud rate setting ................................................................................................. 41
3.7.2 Communication address setting ......................................................................... 42
3.7.3 Function codes related to transmitted and received PZD ................................... 42
Chapter 4 PROFINET communication card ........................................................................ 45
4.1 Overview ...................................................................................................................... 45
4.2 Features....................................................................................................................... 45
4.3 Electrical wiring ............................................................................................................ 47
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Contents