Kostal INVEOR Operating Manual
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Kostal INVEOR Operating Manual

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EtherCAT fieldbus
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Summary of Contents for Kostal INVEOR

  • Page 1 INVEOR EtherCAT fieldbus Operating manual Distributor for:...
  • Page 2 EPA Drives Thank you for choosing to work with EPA! EPA - your competent partner for KOSTAL when it comes to individual service & comprehensive services. If you have any questions about the product, please feel free to call us: Tel: +49 (0)6181 – 9704 – 0 You can find the latest information about us and our products at www.epa.de.
  • Page 3 Exclusion of liability All names, trade names, product names or other designations used in this manual may be legally protected even if not indicated as such (e.g. as a trademark). KOSTAL assumes no liability for their free usage. The illustrations and texts have been compiled with great care. However, the possibility of errors cannot be ruled out.

  • Page 4: Table Of Contents

    Software components ....................18 Installation ....................... 19 Configuring drive controller for EtherCAT..............19 INVEOR bus address ....................19 Installing the INVEOR XML file ..................19 Accessing data via EtherCAT ................. 20 Cyclic data access – Process data Out ............... 20 4.1.1 Structure of Process data Out ..................
  • Page 5 C o n t e n t s Error detection and troubleshooting ..............38 Error word of application side ..................38 Error word of power side .................... 39 Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN...

  • Page 6: General Information

    They contain important information for operating the INVEOR with fieldbus. We assume no liability for any damage resulting from non-observance of this manual. This manual is an integral part of the product and applies exclusively to the INVEOR with EtherCAT from KOSTAL Industrie Elektrik GmbH.

  • Page 7: Notes In This Manual

    G e n e r a l i n f o r m a t i o n 1.2 Notes in this manual 1.2.1 Warnings The warnings refer to life-threatening dangers. Serious injuries possibly resulting in death may occur. Each warning consists of the following elements: DANGER! Risk of death due to electrical shock! Death or serious injury!

  • Page 8: Warning Symbols Used

    G e n e r a l i n f o r m a t i o n 1.2.2 Warning symbols used Symbol Explanation Danger Danger due to electrical shock and discharge Danger due to burns Danger due to electromagnetic fields 1.2.3 Signal words Signal words are used to identify the severity of the danger.

  • Page 9: Information Notes

    G e n e r a l i n f o r m a t i o n 1.2.4 Information notes Information notes contain important instructions for the installation and problem-free operation of the drive controller. These must be followed at all times. The information notes also point out that failure to observe can result in damage to property or financial damages.

  • Page 10: Symbols Used In This Manual

    Item Chapter 1.4 Qualified staff You will find the "Qualified staff" chapter in the operating manual for the INVEOR. 1.5 Proper use You will find the "Proper use" chapter in the operating manual for the INVEOR. Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN...

  • Page 11: Responsibility

    Customers can find technical and general information on the following website: www.kostal-industrie-elektrik.com 1.8 Safety instructions You will find the "Safety instructions" chapter in the operating manual for the INVEOR. Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN...

  • Page 12: Device And System Description

    If connecting the last participant, the "Out" socket should be left free – there is no need for a terminal resistor. Fig.: 4 Wiring and bus connection 2.1.1 Master / slave operation The INVEOR should only be operated as an EtherCAT slave. Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN...

  • Page 13: Scope Of Delivery

    D e v i c e a n d s y s t e m d e s c r i p t i o n 2.2 Scope of delivery The scope of delivery of the drive controller is described in the INVEOR basic documentation. The EtherCAT interface forms part of the INVEOR.

  • Page 14: Type Code For Ethercat (Most Recent)

    D e v i c e a n d s y s t e m d e s c r i p t i o n 2.3.2 Type code for EtherCAT (most recent) Example of an INVEOR EtherCAT item description: Drive controller series: INVEOR Application printed circuit board: AP06–...

  • Page 15: Hardware Components

    D e v i c e a n d s y s t e m d e s c r i p t i o n 2.4 Hardware components The following hardware components are required for connecting the INVEOR to an EtherCAT bus system:...

  • Page 16: Interfaces On The Drive Controller

    D e v i c e a n d s y s t e m d e s c r i p t i o n 2.4.1 Interfaces on the drive controller The following connections can be found on the INVEOR with EtherCAT interface. Size A: Size A “EtherCAT” connections EtherCAT "Out"...
  • Page 17 D e v i c e a n d s y s t e m d e s c r i p t i o n Sizes B - C Sizes B - C “EtherCAT” connections Blind plug Control line EtherCAT "Out"...
  • Page 18 D e v i c e a n d s y s t e m d e s c r i p t i o n Size D: Size D “EtherCAT” connections Cable screw connection with blind plug Control line EtherCAT "Out"...

  • Page 19: Pin Assignment For Interfaces

    2.5 Software components What software do I require to operate and configure the drive controller with EtherCAT. The INVEOR drive controller can be parameterised using the INVEORpc tool and MMI (see operating manual) as well as the EtherCAT master. Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN...

  • Page 20: Installation

    Parameterisation via EtherCAT master 3.3 Installing the INVEOR XML file A "device-specific information file" in XML format is required to use the INVEOR drive controller with EtherCAT. Download the "EtherCAT fieldbus for INVEOR" ZIP file from the download area on our website: www.kostal-industrie-elektrik.com...

  • Page 21: Accessing Data Via Ethercat

    4. Accessing data via EtherCAT Data can be accessed via EtherCAT both cyclically and non-cyclically (see chapter 4.3). Cyclic data is known as a process image. It is made up of data sent by the EtherCAT master to the drive controller and from the drive controller to the EtherCAT master. The cyclic data sent from the EtherCAT master to the drive controller is known as "Process data In".
  • Page 22 A c c e s s i n g d a t a v i a E t h e r C A T Frame Data Address Designation Unit Description type 0x0000 WORD* Status word (see 4.1.2) cannot be parameterised 0x0004 REAL*** Actual frequency...

  • Page 23: Structure Of Inveor Status Word

    A c c e s s i n g d a t a v i a E t h e r C A T 4.1.2 Structure of INVEOR status word The meanings of the individual bits of the INVEOR status word are described in the following table. Value Meaning...
  • Page 24 Parameter 6.070 / 6.071 Nominal/actual value deviation outside tolerance range Control from AG INVEOR is parameterised for activation via fieldbus No control from AG Target frequency reached Actual frequency > = reference value (Parameter 6.072) Target frequency fallen below Actual frequency <...

  • Page 25: Process Data Out Which Can Be Parameterised

    A c c e s s i n g d a t a v i a E t h e r C A T 4.1.3 Process data Out which can be parameterised The remaining 8 process variables can be selected using the INVEORpc tool, MMI or EtherCAT master by configuring parameters 6.080 to 6.087.
  • Page 26 A c c e s s i n g d a t a v i a E t h e r C A T Consec Available Data . no. in SW Designation Unit Description type vers. REAL Reserved Reserved REAL Reserved Reserved REAL...

  • Page 27: Cyclic Data Access - Process Data In

    A c c e s s i n g d a t a v i a E t h e r C A T 4.2 Cyclic data access – Process data In The process data listed below is sent from the EtherCAT master to the drive controller. The data is made up of 6 process variables.

  • Page 28: Structure Of Inveor Control Word

    A c c e s s i n g d a t a v i a E t h e r C A T 4.2.1 Structure of INVEOR control word The meanings of the individual bits of the INVEOR control word are described in the following table. IMPORTANT INFORMATION The control word is only accepted if bit 10 (control from AG) is set, otherwise the control word is rejected.
  • Page 29 A c c e s s i n g d a t a v i a E t h e r C A T Value Meaning Description JOG (left) Not implemented Not implemented Control from AG Management via interface, control word valid Control word is rejected Device-specific Device-specific...

  • Page 30: Process Data In Which Can Be Parameterised

    Access for both reading and writing is possible. IMPORTANT INFORMATION You will find detailed information about the parameters in the "Parameters" chapter of the "INVEOR drive controller" operating manual. Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN...

  • Page 31: Non-Cyclic Data

    Changing a parameter value via the fieldbus includes direct EEPROM write access. IMPORTANT INFORMATION All parameters are of the data type "REAL" INFORMATION The data below is listed sorted in ascending order by "Number*". EtherCAT INVEOR parameter EtherCAT Index Number* Accepted Name in German...
  • Page 32 A c c e s s i n g d a t a v i a E t h e r C A T EtherCAT INVEOR parameter EtherCAT Index Number* Accepted Name in German Minimum Maximum Unit index (hex) 0x3551 1.132...
  • Page 33 A c c e s s i n g d a t a v i a E t h e r C A T EtherCAT INVEOR parameter EtherCAT Index Number Accepted Name in German Minimum Maximum Unit index (hex) PID fixed nominal 0x3580 3.064...
  • Page 34 A c c e s s i n g d a t a v i a E t h e r C A T EtherCAT INVEOR parameter EtherCAT Index Number Accepted Name in German Minimum Maximum Unit index 0x351F 4.054...
  • Page 35 A c c e s s i n g d a t a v i a E t h e r C A T EtherCAT INVEOR parameter EtherCAT Index Number Accepted Name in German Minimum Maximum Unit index 0x3542 4.211...
  • Page 36 A c c e s s i n g d a t a v i a E t h e r C A T EtherCAT INVEOR parameter EtherCAT Index Number Accepted Name in German Minimum Maximum Unit index 0x354C 5.106 2: Always Techn.param.7...
  • Page 37 A c c e s s i n g d a t a v i a E t h e r C A T EtherCAT INVEOR parameter EtherCAT Index Number Accepted Name in German Minimum Maximum Unit index 0x3571 6.081...
  • Page 38 A c c e s s i n g d a t a v i a E t h e r C A T EtherCAT INVEOR parameter EtherCAT Index Number Accepted Name in German Minimum Maximum Unit index 0x3648 33.111...
  • Page 39 5. Error detection and troubleshooting The errors from the application and power side can be output in the Process data Out (see Chapter 4.1.3 "Parametrierbare Prozessdaten Out" / serial no. 11, 13). 5.1 Error word of application side The following section contains a list of possible error messages of the application. Bit.
  • Page 40 Error det ection and troubleshooting 5.2 Error word of power side The following section contains a list of possible power side error messages. Bit. Error number Description Trip IGBT Overvoltage of intermediate circuit Undervoltage of intermediate circuit Excess motor temperature Power failure Excess IGBT module temperature Overcurrent...
  • Page 41 KOSTAL Industrie Elektrik GmbH Lange Eck 11 58099 Hagen Germany www.kostal-industrie-elektrik.com Service hotline: +49 (0)2331 80 40-848 Telephone: +49 (0)2331 80 40-800 Fax: +49 (0)2331 80 40-602...

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