Related Manuals for Xinje VH5 Series
Summary of Contents for Xinje VH5 Series
- Page 1 VH5/VH6 series EtherCAT communication User manual Wuxi XINJE Electric Co., Ltd. Data No.: INV C 08 20220623 1.1...
- Page 2 Basic description Thank you for purchasing Xinje VH5 series frequency converter. Please read this product manual carefully before carrying out relevant operation. The manual mainly provides users with relevant guidance and instructions for the correct use and maintenance of the frequency converter. The manual involves the functions of the frequency converter communication expansion card, usage, installation and maintenance, etc.
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Page 3: Table Of Contents
8. Independent protocol object ............................20 9. CiA402 protocol object ..............................22 10. EtherCAT use case ..............................26 10.1 XINJE XDH series PLC and VH5/VH6 ........................ 26 10.1.1 System topology ............................. 26 10.1.2 Physical wiring ............................... 26 10.1.3 System configuration ............................26... - Page 4 10.1.5 Instruction read / write ............................33 10.2 Omron series PLC and VH5/VH6(CiA402 protocol) ....................35 10.2.1 System configuration ............................35 10.2.2 Parameter setting .............................35 10.2.3 Setup steps ..............................35 10.3 Beckhoff series PLC (TWINCAT ) and VH5/VH6 ....................45 10.3.1 System configuration ............................45 10.3.2 Parameter setting .............................45 10.3.3 Setup steps ..............................
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Page 5: Product Confirmation
1. Product confirmation Thank you for using XINJE VH5 / VH6 series frequency converter and selecting EtherCAT expansion card. Please confirm the following when receiving the product: Check whether the Ethercat expansion card is damaged. Confirm whether the received card is correct through the label on the board, refer to Fig1. -
Page 6: Summary
2. Summary This manual provides functional specifications, installation, basic operation and settings, as well as a brief introduction to the contents of EtherCAT protocol. To ensure the correct installation and operation of this product, please carefully read this manual and the communication protocol of the frequency converter before using this communication card. -
Page 7: Communication Card Components
Master station send PDO data(RxPDO 0x1600) Fixed RxPDO Variable RxPDO Functional vl target Modes of Target position Controlword Target torque parameters of VFD velocity operation 607A h 6040h 6071h can be changed in 6042h 6060h (reserved) real time None RxPDO1 RxPDO2 RxPDO3 RxPDO4... -
Page 8: Vh6-Cc100Communication Card Components & Indicator Description
The expansion card is disconnected from the Normally OFF frequency converter VFD communication status The connection between the expansion card 1Hz flashing indicator and the frequency converter is normal The expansion card is establishing connection Normally ON with the frequency converter 4.2 VH6-CC100communication card components &... -
Page 9: Installation
5. Installation 5.1 Install VH5-CC100 communication card 1. Disconnect all power inputs of frequency converters to ensure that the internal voltage of the frequency converter is safe. 2. Disassemble the frequency converter cover plate and find the control board. 3. Install the hexagon stud at the corresponding position of the board, and tighten the M3 single head hexagon stud on the drive plate. -
Page 10: Install Vh6-Cc100 Communication Card
5.2 Install VH6-CC100 communication card 1. Disconnect all power inputs of VFD to ensure that the internal voltage of the frequency converter is safe. 2. Remove the C card cover plate of the VFD. 3. Align the communication card pin with the control board expansion card slot and insert it firmly. 4. -
Page 11: Coe Object Dictionary
6. CoE Object dictionary 6.1 Object dictionary area assignment CoE Object dictionary VHX-CC100 object dictionary Index Content Index Content 0000h~0FFFh Data type area 0000h~0FFFh Data type area DS301 object dictionary (CANopen protocol 1000h~1FFFh COE communication area 1000h~1C33h communication area) Factory parameter display Internal parameter mapping... - Page 12 Index Sub-index Name Data type Access 3rd receive PDO mapped UINT32 4th receive PDO mapped UINT32 … 11th receive PDO mapped UINT32 12th receive PDO mapped UINT32 Receive PDO mapping 3 Number of entries UINT8 1st receive PDO mapped UINT32 2nd receive PDO mapped UINT32 1602h...
- Page 13 Index Sub-index Name Data type Access 11th transmit PDO mapped UINT32 12th transmit PDO mapped UINT32 Transmit PDO mapping 4 Number of entries UINT8 1st transmit PDO mapped UINT32 2nd transmit PDO mapped UINT32 1A03h 3rd transmit PDO mapped UINT32 4th transmit PDO mapped UINT32 …...
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Page 14: Vfd Internal Parameter Mapping Area (Manufacturer Defined Area)
Index Sub-index Name Data type Access Calc and copy Time UINT32 Get cycle time UINT16 Delay time UINT32 Sync0 cycle time UINT32 SM-Event Missed UINT16 Cycle time too small UINT16 Sync error UINT8 Note: Items marked with "-" in the table indicate that there are no related attributes in the object dictionary. 6.3 VFD Internal parameter mapping area (manufacturer defined area) The object dictionary in the user-defined area of the manufacturer corresponds to the panel parameters of VFD one by one. -
Page 15: Independent Protocol
Index Sub-index Parameter Index Sub-index Parameter 241B P4-27 2F08h PF -08 2500h P5-00 3000h A0-00 2501h P5-01 3001h A0-01 2502h P5-02 3002h A0-02 2503h P5-03 3003h A0-03 2532 P5-50 3009 A0-09 2600h P6-00 3100h A1-00 2601h P6-01 3101h A1-01 2602h P6-02 3102h A1-02... -
Page 16: Cia402 Object(Driver Profile Area)
Cycle time UINT16 Note: the 5200hex is used to observe the communication status between the expansion card and the frequency converter and does not participate in the actual control. 6.5 CiA402 object(Driver profile area) Index Sub-index Object Type Name Data Type Access 603F Error code... -
Page 17: State Control
7. State control 7.1 VFD status control 7.1.1 State machine The operation state transition of VFD is shown in the figure below. Each box represents a state, and the serial number 2-10,15 represents the state control command. Note: quick stop command is not supported. If the master station executes quick stop command, it will execute the command of conversion 9 (free shutdown). -
Page 18: Status Description
7.1.2 Status description Status Description Not ready to switch on Power on the power supply and execute the initialization procedure Switch on disabled Initialization end Ready to switch on Waiting to enter the Switch On state, the motor is not excited Switch on VFD is ready, main loop power supply is normal Operation enabled... -
Page 19: Operating Mode
7.2 Operating mode The operation mode supports speed mode and torque mode, which are set by parameter PF-00: Speed mode: PF-00=0. Torque mode: PF-00=1. The operation mode supported by the frequency converter is displayed by "Supported drive modes (6502 hex)". This mode supports clock synchronization mode (DC sync) and periodic synchronization mode (SM sync). -
Page 20: Independent Protocol Object
8. Independent protocol object The independent protocol object enables the master station to directly operate the VFD remotely, and all performance parameters directly use the parameters of the original frequency converter. 5000 hex Command Range: 0000 ~ FFFF hex Unit:- Default value: 0000 hex Size: 2byte(U16) Access: RW... - Page 21 8-15 Fault code Refer to the VH5/VH6 frequency inverter manual or appendix 5110 hex Output Frequency Range: 0000 ~ FFFF hex Unit : 0.1Hz Default value: 0000 hex Size: 2byte(INT16) Access: RO PDO map: Possible 5200 hex Communicate State Sub-index 0:Number of entries Range: - Unit : - Default value: 0006hex...
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Page 22: Cia402 Protocol Object
9. CiA402 protocol object 603Fhex Error code Range: 0000 ~ FFFF hex Unit : - Default value: 0000 hex Size:2byte(U16) Access: RO PDO map: Possible This object displays the latest error or alarm code of the equipment. Object name Data type Description 603F hex... - Page 23 Remote 0:Control from Controlword is diabled 1:Indicates that being performed by Controlword 10-15 Reserved Not used 6042hex vl target velocity Range : -32768-32767 Unit: 0.01% Default value: 0 Size: 2byte(INT16) Access:RW PDO map:Possible This object corresponds to the percentage of the maximum output frequency P0-13, namely: Data Maximum output...
- Page 24 This object sets the acceleration time. Read / write delta time will be associated with VFD parameter P0-18. 6049hex vl velocity deceleration Sub-index 0:Number of entries Range :- Unit:- Default value: 02hex Size:1 byte(U8) Access: RO PDO map: Not possible Sub-index 1: the maximum output frequency P0-13 Range :0 –...
- Page 25 6071hex Target torque Range :-32768 -32767 Unit: 0.01% Default value: 0 Size:2 byte(INT16) Access: RW PDO map: Possible 6077hex Torque actual value Range :-32768 -32767 Unit:0.01% Default value: 0 Size:2 byte(INT16) Access: RO PDO map: Possible This object displays the torque command fed back by the frequency converter. ...
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Page 26: Ethercat Use Case
VH5 and VH6 EtherCAT expansion cards are connected to PLC master station and frequency converter slave station according to the series topology shown in the figure below. 10.1.2 Physical wiring Take Xinje XDH series PLC and VH5 as an example, the physical wiring is shown in the figure: 10.1.3 System configuration 10.1.3.1 Parameter setting... - Page 27 Note: When using the CiA402 protocol for control, other parameters of the frequency converter can be factory parameters. If the master station supports automatic reading of the slave station number (e.g. Xinje bus type PLC), P9-12 does not need to be set.
- Page 28 (1) Double click "Internet Protocol Version 4 (TCP/IPV4)". (2) Select "use the following IP address". (3) Set IP address: 192.168.6.xxx, "xxx" can be set arbitrarily (except 6). Note: The last digit of the computer address and the IP address of the PLC device cannot be set repeatedly. 2.PLC configuration After checking the wiring and Ethernet configuration,open XDPPRO programming tool→click communication configuration→double click Ethernet-Xnet.
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Page 29: Control Under Cia 402 Protocol And Independent Protocol
Click OK after configuration and select " in use" for corresponding status. After the communication connection is successful, find the "PLC configuration" column, click "EtherCAT" to open the configuration interface, click "Scan", and then the page will display the scanned slave station and master station. - Page 30 Note: If you need to use the function module: Servo Module, please ensure that the PLC firmware is 3.7.2 and above, and update the PLC programming software to version 3.7.14b or above. Use A_ PWR instruction to control the start and stop of frequency conversion. 10.1.4.2 CiA402 protocol control 1) Enter the Expert process data and click “Input”...
- Page 31 3)VFD operation (function module selection: User define & speed mode: PF-00=0 as an example) Set【6060h: Mode of operations】to 2 (speed mode). Set【6040h: Control word】to start / stop the frequency converter. For example, when 15 is written, the VFD starts. Write the value other than 15, and the VFD stops. Write 128 to clear the VFD alarm.
- Page 32 ②Parameters in torque mode Parameter Name Access Range Explanation value Runtime read 0: Speed control Torque PF-00 Torque control only 1: Torque control control communicati Upper limit source of Runtime read PF-01 driver torque only on setting Torque control forward communicati Can be modified PF-03...
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Page 33: Instruction Read / Write
(2) View the register address of the control word through IO mapping Note: the specific IO address value shall be used according to the actual display setting of PLC. (3) VFD Operation Set【6060h:Mode of operations】to 2 (speed mode) Set【5000h:Command】to control the frequency converter. For example, if 257 is written, the frequency converter will run forward. - Page 34 Example ②: Read the deceleration time P0-19 through SDO reading instruction. According to chapter 6.3, write the object index of deceleration time P0-19: H2013. Note: ①The first slave station ID is 0, not 1. ②For instructions, please refer to XDHXLH motion control manual.
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Page 35: Omron Series Plc And Vh5/Vh6(Cia402 Protocol)
10.2 Omron series PLC and VH5/VH6(CiA402 protocol) 10.2.1 System configuration Name Model Quantity Explanation Upper Sysmac Studio Omron upper computer software computer Controller OMRON NJ501-1500 series Communication VHX-CC100(V2.0) card For connection between computer and Network cable JC-CB-3 some PLC and between PLC and VFD 10.2.2 Parameter setting The frequency converter slave station needs to be configured as EtherCAT communication mode, and the parameters to be modified are as follows:... - Page 36 2) Add XML file For initial use, customers need to add XML files to the library. Double click “EtherCAT”, pop up the EtherCAT configuration screen. Right click master device and select “Display ESI Library”. Then in the pop-up ESI library, we need to add the XML file of VHX-CC100. Select “this folder” to display the path of the storage folder, where the “VHX-CC100”...
- Page 37 The installation is completed as shown below: 3)Scan and add devices When using the device, ensure that P9-12 is set. The station number can be increased from 1 in actual connection sequence. After modification, it needs to be powered on again. If the controller is online, right-click the master device to compare and merge the configurations with those of the physical network.
- Page 38 The actual connection is shown in the following figure:...
- Page 39 4)Add Group U parameters to the PDO. After adding a node, select the node with the cursor to display the current node PDO configuration. Select “Edit PDO mapping settings”. The pop-up interface displays the current output PDO mapping on the left and PDO entries on the right.
- Page 40 port settings→ TCP/IP settings. In the configuration interface, you can view the fixed IP address set by the current project. For a new program, the default IP address is 192.168.250.1. Select Controller - Communicate setting Select "Ethernet - Direct connection" in the "communication setting" interface, and then click "OK" to close the interface.
- Page 41 6)Synchronous Download Select synchronize in the toolbar, and a pop-up window will pop up to compare the local project with the project in the controller. The local project is different from the project in the controller and “out of sync” is displayed . If you click transfer to controller, the local project will be downloaded and the original project of the controller will be overwritten.
- Page 42 After synchronization is completed, click recomparsion to view the synchronization of the entries of the local project and the controller project. When the subsequent modified projects are synchronized again, the entries different from the controller project will be marked in detail. 7)PDO data read/write(enable and speed setting ) PDO object data can monitor real-time changing values through "IO mapping".
- Page 43 Set【6040h: Control word】: write 6 → 7 → 15 enable. 15 → 7 turn off enable. Write 128 to clear the frequency conversion alarm. Set【6042h:vl target velocity】 , for example, write 1000, P0-13=50Hz. The frequency converter operates with 5Hz forward rotation, writes -1000, and the frequency converter operates with 5Hz reverse rotation. 8)SDO data read/write Variable definition and assignment:...
- Page 44 Programming: The contacts are connected, and the input object dictionaries are read and written respectively. Abortcode is displayed as 0 after reading and writing is successful.
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Page 45: Beckhoff Series Plc (Twincat ) And Vh5/Vh6
10.3 Beckhoff series PLC (TWINCAT ) and VH5/VH6 10.3.1 System configuration Name Model Quantity Explanation Upper TwinCAT Beckhoff upper computer software computer Controller CX5120 Communication VHX-CC100 card Network cable JC-CB-3 some For connection between devices 10.3.2 Parameter setting The frequency converter slave station needs to be configured as EtherCAT communication mode, and the parameters to be modified are as follows: Parameter Name... - Page 46 3)Master station connection configuration: Connection complete. At this time, if the controller is not in config mode, you need to click this icon to switch the controller to config mode first, and then right-click Device and click Scan to scan the slave station of EtherCAT.
- Page 47 The scanning results are as follows: 4)Configure activation Click ,Activate configuration Click online, and the current state is the running state, indicating that the activation is correct.
- Page 48 5)Add Group U parameters to the PDO. As shown in the following figure: click Drive 1 (VH5-CC100), select Process Data, click 0x1A00 in PDO list, and right-click in PDO content to insert U0-00 parameter. In config mode, add PDO data. As shown in the above figure, it was added successfully. 6) PDO data read/write(enable and speed setting ) As shown in the figure below, the object words 6040h and 6042h are written successfully.
- Page 49 Set【6040h: Control word】: write 6 → 7 → 15 enable. 15 → 7 turn off enable. Write 128 to clear the frequency conversion alarm. Set【6042h:vl target velocity】 , for example, write 1000, P0-13=50Hz. The frequency converter operates with 5Hz forward rotation, writes -1000, and the frequency converter operates with 5Hz reverse rotation. 7)SDO data read/write As shown in the following figure, the COE object dictionary 10F1 is read and written.
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Page 50: Inovance Am600 (Codesys) And Vh5/Vh6
10.4 Inovance AM600 (CODESYS) and VH5/VH6 10.4.1 System configuration Name Model Quantity Explanation Upper InoProShop Inovanceupper computer software computer Controller AM600 Communication VHX-CC100 card JC-CB-3 For connection between computer and Cable some PLC and between PLC and VFD 10.4.2 Parameter setting The frequency converter slave station needs to be configured as EtherCAT communication mode, and the parameters to be modified are as follows: Parameter... - Page 51 2)Hardware configuration Double click the "CPU rack" item on the left to enter the hardware configuration screen of PLC mainframe: ① Double click to enter the local expansion module configuration interface. ② Expansion module component library. ③ Select the position on the right side of the CPU unit on the installation slot, and in the expansion module component library, double-click to select the required IO modules and place them in order.
- Page 52 ② Install through menu tools. Choose Tool-Device library Select "Install" in the pop-up dialog box. Select the "EtherCAT XML device description configuration file" item in the pop-up "install device description"...
- Page 53 dialog box, select the slave device description file saved in the local path, and open the corresponding XML file. 4)Add master device It is recommended to use the scanning function and follow the【hot reset】 - 【 log out】 - 【 scanning device】process. Preparation conditions: The PC and PLC are correctly connected through the gateway, search the PLC in the same network segment, and click OK after finding it.
- Page 54 5)Set master station parameters 6)Scan slave station After the configuration information of the background configuration port is consistent with the actual PLC connection port, scan the EtherCAT slave device.
- Page 55 The scanning results are shown in the figure below. Click Copy scanned device to add all the scanned slave stations to the project. The network configuration is shown as follows: 7)Configure activation Compile and download the configuration in turn, log in and run the PLC.
- Page 56 Click online, and the current state is the running state, indicating that the activation is correct. 8)Add Group U parameters to the PDO.
- Page 57 Add PDO data without login. As shown in the above figure, it is added successfully. 9)PDO data read/write(enable and speed setting ) As shown in the figure above, the object words 6040h and 6042h are written successfully. Set【6040h: Control word】: write 6 → 7 → 15 enable. 15 → 7 turn off enable. Write 128 to clear the frequency conversion alarm.
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Page 58: Inovance H5U And Vh5/Vh6
10.5 Inovance H5U and VH5/VH6 10.5.1 System configuration Name Model Quantity Explanation Upper AutoShop Inovance upper computer software computer Controller Communication VHX-CC100 card JC-CB-3 For connection between computer and Cable some PLC and between PLC and VFD 10.5.2 Parameter setting The frequency converter slave station needs to be configured as EtherCAT communication mode, and the parameters to be modified are as follows: Parameter... - Page 59 2)Add XML file 3) Master station connection configuration...
- Page 60 4)Add slave station If the controller is not in the monitoring state , the frequency converter does not support automatic scanning of the slave station at present, and it needs to be added manually. If you need to automatically add an axis, please check the following operation to automatically create an axis and associate the slave when creating a new slave station.
- Page 61 5)Activate configuration ① Click compile to confirm whether the configuration and program are wrong, then download the configuration and run it, and then monitor it ② Click status to confirm that all slave state machines are in OP status.
- Page 62 6) Add Group U parameters to the PDO. 7) PDO data read/write(enable and speed setting) Click IO function mapping to perform relevant operations on the required values. Clear alarm:...
- Page 63 Set velocity: 8) SDO data reading and writing ① Operate in sequence according to the steps written in the figure, and then read and write according to the required parameters. ② Note: the trigger condition of the command is normally on / off. ③...
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Page 64: Keyence Plc Kv 7300 And Vh5/Vh6
10.6 KEYENCE PLC KV 7300 and VH5/VH6 10.6.1 System configuration Name Model Quantity Explanation Upper computer KV STUDIO Ver.9G Omron upper computer software Controller KV_7300 series Communication VHX-CC100(V2.0) card Network cable JC-CB-3 some For connection between PLC and slave USB cable For connection between computer and USB cable 10.6.2 Parameter setting... - Page 65 ③Pop up the confirm unit configuration setting interface, and click "yes". ④Click the icon in the upper left corner: obtain the unit configuration information connected to the PLC, double-click the model "KV-7300" to open the unit editor. 2)Get configuration information (master station connection) ①...
- Page 66 ②Click OK. 3)ESI file registration Click "axis composition setting" and "ESI file registration". Select the XML file .
- Page 67 After adding successfully, it is shown in the following figure: 4)Add slave configuration As shown in the figure below, double-click VH5 1.0 to add the first slave station, and a configuration interface will pop up after adding. Select the extension settings, as shown in the following figure:...
- Page 68 DC setting-choose DC mode Select the operation mode supported by the slave station of the EtherCAT connection object. 5)Add PDO mapping Add the required PDO parameters, including input and output, as shown in the figure below.
- Page 69 6)Activate configuration After adding the object dictionary, download the program . After downloading the program, power on the PLC again. When the lower computer PLC turns green, it indicates that the activation is successful. 7)Add Group U parameters to the PDO. 8)PDO data read/write(enable and speed setting) The following figure shows the register configuration of the object dictionary.
- Page 70 mode after configuration, as shown in the following figure: The following figure shows the mapping address of the object dictionary: Open the monitor , select the expansion unit buffer memory, find the mapping address, and directly operate the object dictionary. 9) SDO data read/write Read:...
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Page 71: Ethercat Communication Alarm Code
Write: 11. EtherCAT communication alarm code When the EtherCAT communication is abnormal, the frequency converter panel displays an alarm with error Err44, and the object word 603Fh displays the error code “8xx”,which can be queried through U0-73 on the frequency converter panel. After the fault is rectified, use the bit7 of Controlword to reset the fault. The following table lists the detailed fault causes. - Page 72 Alarm Description Reasons Solutions code ESM status after an error is reported: When the ESM status is Init, PreOP, or SafeOP, the ESM status remains. Change to SafeOP when the ESM status is OP ESC register AL Status Code:0011h Receive state transition requirements other than: Confirm whether the required 1:Request Init State...
- Page 73 Alarm Description Reasons Solutions code ESC register al status code:001bh delay value is too large. Confirm whether there is any problem with the wiring of EtherCAT communication cable and whether there is excessive noise on the cable. Syncmanager 2/3 SM2/3 is set to an incorrect value syncmanager2/3 /830 setting exception...
- Page 74 Alarm Description Reasons Solutions code protection setting The setting of DC is wrong. Confirm the setting of abnormal Bit2-0 of ESC register 0981h (activation) is set to protection a value other than the following: bit2-0=000b , bit2-0=011b ESM status after error reporting: PreOp ESC register al status code:0030h abnormal ESM status refers to the situation that the...
- Page 75 Alarm Description Reasons Solutions code communication establish communication successfully. foreign matters in the failure expansion card slot and whether the pins in the slot are intact. Inverter Check whether the responding parameters of the inverter are correct. Slave state When the frequency converter is running, the Check whether it enters machine error...
- Page 76 WUXI XINJE ELECTRIC CO., LTD. No.816, Jianzhu West Road, Binhu District, Wuxi City, Jiangsu Province, China Tel: 400-885-0136 Fax: 86-510-85111290 www.xinje.com Wechat ID...