Invertek Drives Optidrive E3 ODE-3 Series User Manual
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Invertek Drives Optidrive E3 ODE-3 Series User Manual

Invertek Drives Optidrive E3 ODE-3 Series User Manual

Fieldbus
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FIELDBUS User Guide
FIELDBUS User Guide
About This Document
About This Document
Fieldbus Connectivity
Fieldbus Connectivity
Parameter Configuration
Parameter Configuration
Parameter Configuration
for Fieldbus Operation
for Fieldbus Operation
Modbus RTU
Modbus R
Ethernet Connection
Ethernet Connection
Internal Webserver
Ethernet/IP Communication
Modbus TCP
Fieldbus Gateways
Control & Status Registers
Technical Data (External Interface)
1
2
3
4
5
CAN
CAN
6
7
8
9
10
11
12

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Summary of Contents for Invertek Drives Optidrive E3 ODE-3 Series

  • Page 1 FIELDBUS User Guide FIELDBUS User Guide About This Document About This Document Fieldbus Connectivity Fieldbus Connectivity Parameter Configuration Parameter Configuration Parameter Configuration for Fieldbus Operation for Fieldbus Operation Modbus RTU Modbus R Ethernet Connection Ethernet Connection Internal Webserver Ethernet/IP Communication Modbus TCP Fieldbus Gateways Control &...

  • Page 2: Table Of Contents

    1. About This Document ..... . 8. Ethernet/IP Communication ....1.
  • Page 3 Fieldbus Guide Issue 02 (10/21) Invertek Drives Ltd adopts a policy of continuous improvement and whilst every effort has been made to provide accurate and up to date information, the information contained in this User Guide should be used for guidance purposes only and does not form the part of any contract.

  • Page 4: About This Document

    For information regarding installation and technical data, refer to the relevant Installation Guide document. Invertek Drives Ltd adopts a policy of continuous improvement and whilst every effort has been made to provide accurate and up to date information, the information contained in this User Guide should be used for guidance purposes only and does not form the part of any contract.

  • Page 5: Fieldbus Connectivity

    2. Fieldbus Connectivity 2.1. Overview The following fieldbus networks are supported: Requires Option Fieldbus Supported Refer to Section For Optidrive For Optidrive Network Communication Type Compact 2 E3 IP20 E3 IP66 Modbus RTU Built In R/W Holding Registers 4. Modbus RTU Built In 2 x PDO &...

  • Page 6: Parameter Configuration For Fieldbus

    3. Parameter Configuration for Fieldbus Operation 3.1. Overview The following parameters are used to configure any fieldbus connection. Refer to the Programming Guide for further information. Parameters are explained more fully in the Programming Guide. 3.1.1. Parameter P-12: Control Source The fieldbus interfaces may be used to monitor information from the drive regardless of where the control commands originate.
  • Page 7 Index 3 Function: Modbus RTU Communication Loss Detection Communication loss protection for Modbus RTU is selected here. For CAN, refer to the Fieldbus Guide for information. Setting Display Timeout Action Disabled t 30 30ms t 100 100ms Trip (Coast Stop) t 1000 t 3000 r 30...

  • Page 8: Modbus Rtu

    4. Modbus RTU 4.1. Overview Modbus RTU communication is supported using Function Codes 03 Read Holding Registers and 06 Write Single Holding Register. All internal registers are Holding registers. There are no other register types present within the drive. Registers 1 to 4 only support Function Code 16 Write multiple Holding Registers. Modbus RTU communication is enabled by default for Read access.
  • Page 9 4.2.3. Optidrive Compact 2 Basic Suitable Motor Types Optidrive Compact 2 Basic drives also include the RJ45 connector with the same layout as Optidrive E3 units shown above. Additionally, the Modbus RTU interface is also present on terminals as follows: Terminal 7: 0V Terminal 10: Modbus RTU + Terminal 1 1: Modbus RTU -...

  • Page 10: Modbus Rtu Configuration Parameter

    4.3. Modbus RTU Configuration Parameter Refer to section 3. Parameter Configuration for Fieldbus Operation on page 6. 4.4. Modbus RTU Status & Control Holding Registers Modbus RTU status holding registers are shown in section 1 1. Control & Status Registers on page 54. Holding Register 1 –...

  • Page 11: Can

    5. CAN 5.1. Overview The CAN communication profile is implemented according to the specification DS301 version 4.02 of CAN in automation (www.can-cia.de). Specific device profiles such as DS402 are not supported. CAN communication is enabled by default however to use any control functions parameter P-12 must be set to 7 or 8. Refer to the Programming Guide for further Information.

  • Page 12: Pdo Default Mapping

    5.4. PDO Default Mapping Objects Mapped For information Length Mapped Function Transmission Type Object on the values 2000h Unsigned 16 Control word Refer to section 1 1. 1 . 2001h Integer 16 Frequency setpoint Control Registers on PDO1 Valid immediately 2003h Unsigned 16 User ramp reference...

  • Page 13: Parameter Access

    Index Sub Index Function Access Type PDO Map Default Value Consumer Heartbeat Time No. of entries 1016h Consumer Heartbeat Master Node & Time 1017h Producer Heartbeat Time (1ms) Identity Object No. Of entries Vendor ID 0x0000031A 1018h Product Code Drive Dependent Revision Number x.xx Serial Number...

  • Page 14: Ethernet Connection

    6. Ethernet Connection 6.1. Available Interface Options Ethernet interfaces are optionally available for Optidrive E3 and Optidrive Compact 2 products which support either Ethernet/IP protocol or Modbus TCP protocol. Part numbers for these interfaces are shown in the table below. The correct interface should be selected according to the drive type.
  • Page 15 6.2.3. Mechanical Installation  The Ethernet IP interface is intended for mounting inside a control cabinet adjacent to the drive.  The unit should be mounted in a vertical position only, on a flat, flame resistant, vibration free mounting.  The unit must be installed in a pollution degree 1 or 2 environment only.  Use the module as a template to mark the locations for drilling the mounting screws.

  • Page 16: Internal Interface For Ip66 Drives

    6.2.4. Electrical Installation WARNING! Do not connect Ethernet devices to ports D1 or D2. They may be damaged! Power supply to the module is provided from the connected drive via the RJ45 connection. WARNING! Do not use cross over cables! Cables must be pin to pin connected! WARNING! One device only on this port! External Keypad...

  • Page 17: Optional Interface For Compact 2 Basic Drives

    6.4. Optional Interface for Compact 2 Basic Drives 6.4.1. Installation The Ethernet/IP interface is mounted underneath the control pod.  Remove the control pod as described in the Compact 2 installation guide.  Locate the Ethernet/IP interface in the slot below the control pod.  Refi...

  • Page 18: Internal Webserver

    7. Internal Webserver 7.1. Overview A web server interface is present in all Ethernet based fieldbus interfaces and can be accessed using the IP address or host name.  Default IP address: 192. 1 68. 1 .253.  Hostname: OPCxxxxxxxxxx, where xxxxxxxxxx = ‘PR ID’ value shown on the top product label as described in section 6.2.2. Labelling on page 14 or 6.3.2.
  • Page 19 7.3.3. Network (IP Address and Network Settings) Information about network adapter configuration is displayed. 7.3.4. DiagLink (Ethernet Configuration Message) 7.3.4. DiagLink (Ethernet Configuration Message) Information about the serial communication settings to the drive are displayed. Information about the serial communication settings to the drive are displayed. 7.3.5.

  • Page 20: Changing The Ip Address

    7.4. Changing the IP Address Go to Network settings screen: The IP address can be assigned to the module manually by the User (Fixed or Static IP Address) or automatically by the DHCP Server. The IP address can be assigned to the module manually by the User (Fixed or Static IP Address) or automatically by the DHCP Server. The default configuration method is Fixed IP address.

  • Page 21: Creating An Additional User Account For Limited

    7.4.2. Manually Assigned IP Address To manually set up the module IP address, please select Fixed mode in the Configuration Method, type new values in required fields in column New Value as shown below and confirm changes by clicking APPLY NEW VALUES. NOTE A power cycle is necessary after changing the network settings.

  • Page 22: Ethernet/Ip Communication

    8. Ethernet/IP Communication 8.1. Overview The Ethernet/IP interface is a CIP Modbus Translator Device (CIP Type 29) providing access to a virtual Modbus device (CIP Type 28h) defined according to CIP Volume 7 specification. 8.2. Operation COMM COMM COMM ERROR ERROR ERROR Modbus RTU Network...

  • Page 23: Operation

    8.4. Operation Cyclic control and monitoring of the drive is achieved by a Class 1 connection to the mapped Modbus PDI and PDO parameters. This can be achieved using one of the following methods. 8.4.1. Configuration The interface supports the following Ethernet/IP classes:  0x01 Identity  0x02 Message Router  0x06 Connection manager...
  • Page 24 8.6.2. Installing EDS files using Allen Bradley (Rockwell) Studio 5000 Logix Design Step 1. Step 2. Open the EDS Hardware Installation Tool from Tools Tab Starting the EDS Wizard Step 3. Step 3. Step 4. Step 4. Select ‘Register EDS file(s)’ option Select ‘Register EDS file(s)’...
  • Page 25 Step 7. Step 8. Confirm the Graphic Images Confirm the Final Task Summary Step 9. Finish the EDS Wizard Finish the EDS Wizard www.invertekdrives.com Version 1.02 | Fieldbus Guide | 25...
  • Page 26 8.6.3. Setting up the communication between the Rockwell Master and the Drive with Ethernet/IP Interface 8.6.3.1. Invertek’s Standard Telegram (4 Words In / 4 Words Out) 8.6.3.1.1. For use with OPT-2-ETHEG-IN (ODE-3 IP20 & IP66 Outdoor without Ethernet/IP interface) & OPT-2-ETHIG-IN plug in option for Compact 2 Step 1.
  • Page 27 Step 7. Step 8. Confi rm INT as the selected data type (Optional) Adjust the RPI time in the Connection tab Click OK button to save your settings Step 9. Step 10. Step 10. Close the Select Module Type Window Close the Select Module Type Window OPC-2-ETHIG-IN device will be added to the project OPC-2-ETHIG-IN device will be added to the project...
  • Page 28 8.6.3.1.2. For use with ODE-3 IP66 Outdoor drives with built-in Ethernet/IP interface (Drive model code +“EiP“). Step 1. Step 2. Add the New Module to the Ethernet/IP network Search for Invertek devices in the Catalog View Click the right button on the Ethernet (under the I/O Select the OPT-3-ETHIG-IN device from the list Confi...
  • Page 29 Step 7. Step 8. Confi rm INT as the selected data type (Optional) Adjust the RPI time in the Connection tab Click OK button to save your settings Step 9. Step 10. Step 10. Close the Select Module Type Window Close the Select Module Type Window OPT-3-ETHIG-IN device will be added to the project OPT-3-ETHIG-IN device will be added to the project...
  • Page 30 8.6.3.2. ODE-3 Extended Status Information (4 Words In / 16 Words Out) 8.6.3.2.1. For use with OPT-2-ETHEG-IN (ODE-3 IP20 & IP66 Outdoor without Ethernet/IP interface) & OPT- 2-ETHIG-IN plug in option for Compact 2. Step 1. Step 2. Add the New Module to the Ethernet/IP network Search for Invertek devices in the Catalog View Click the right button on the Ethernet (under the I/O Select the OPC-2-ETHIG-IN device from the list...
  • Page 31 Step 7. Step 8. Change the data type Select INT data type from the drop list Click the left button on the SINT fi eld under the Size Tab Step 9. Step 10. Step 10. Confi rm INT as the selected data type Confi...
  • Page 32 Step 13. Drive tags created in the Controller Tags Window 8.6.3.2.2. For use with ODE-3 IP66 Outdoor drives with built-in Ethernet/IP interface (Drive model code +“EiP“) 8.6.3.2.2. For use with ODE-3 IP66 Outdoor drives with built-in Ethernet/IP interface (Drive model code +“EiP“) Step 1.
  • Page 33 Step 5. Step 6. Change the Connection type Select ODE3 Extended Telegram form the drop list as the Connection Click the left button under the Name tab on the Standard Telegram fi eld Step 7. Step 8. Step 8. Change the data type Change the data type Select INT data type from the drop list Select INT data type from the drop list...
  • Page 34 Step 11. Step 12. Close the Select Module Type Window OPT-3-ETHIG-IN device will be added to the project Step 13. Step 13. Drive tags created in the Controller Tags Window Drive tags created in the Controller Tags Window 34 | Fieldbus Guide | Version 1.02 www.invertekdrives.com...
  • Page 35 8.6.4. Generic device confi guration NOTE This method of connection and operation without using the EDS fi le is only possible when working with PLC’s which support message routing through a Modbus Translator device. Consult your PLC supplier for confi rmation. 8.6.4.1.
  • Page 36 Step 5. Step 6. Add the ‘New Module’ under the ‘CIP Bus’ Select the ‘CIP-Module’ from the list Click the right button on the CIP Bus (under the ETHERNET- BRDIGE) and add the New Module Step 7. Step 7. Step 8. Step 8.
  • Page 37 Confi guration for Assembly Instances and Size for Standard Telegram (4 Words In & 4 Words Out) are as below: Device Settings Data Type 16-bit Address Connection Parameters Assembly Instance Size Input Output Confi guration NOTE 1. Assembly Instance is the Modbus Register number which can be found in the drive Parameter List / Programming guide document. 1.
  • Page 38 Step 3. Step 4. Assign the device Name and the IP Address to the Drive Ethernet-Bridge device will be added to your project (Default IP Address of the module is 192. 1 68. 1 .253) The Modbus Translator will be added to your Ethernet/IP network represented as an “ETHERNET-BRIDGE”...
  • Page 39 Step 7. Step 8. Assign the drive name, confi gure the Assembly Instances and Device should be added under the CIP Bus sizes for ODE3 Extended Telegram Step 9. Tags for the ODE3 drive are created int the Controller Tags window Tags for the ODE3 drive are created int the Controller Tags window Confi...

  • Page 40: Advanced Connection Methods

    8.6.4.2. Generic device confi guration with Enabled Routing (Other PLC type) Communication as a Generic deice is also possible with PLC’s that support routing through a CIP Modbus Translator. For detailed information please refer to the programming documentation of the PLC. A typical example confi...

  • Page 41: Parameter Data Transfer

    The following connection setting will establish a Class 1 connection to transfer Drive PDI/PDO Modbus registers Connection setting Value Path 20 04 24 01 2C 01 2C 06 Min 50ms Timeout Multiplier Recommend x32 Trigger Cyclic Transport type Exclusive owner O->T Size Connection Type...
  • Page 42 8.8.2. Explicit Messaging Explicit messaging can be used to read or write a parameter setting. All drives parameter variables have the data type INT (16 bit, 2-byte objects). The device parameters and the PLC program variables must have the same data lengths. Accessing drive parameters Explicit messaging must be confi...

  • Page 43: Trouble Shooting

    Cofi guration Settings Message Type CIP Generic Service Type Get Attribute Single (0x0E) Class ID 0x0F Instance The relevant Modbus RTU Register Number (For ODE-3 i.e.: P-01 = 129 [128+01], P-02 = 130 [128+02]) Attribute Source Length 2 Bytes Destination Element Must be a 16-bit data type ‘Device Name or IP Address, 3, 1’...
  • Page 44 Network Status (NS) Indicator State Ethernet/IP Steady Off Not powered No IP address Steady Green Online One or more connections active or message received Online Flashing Green No connections active or no messages received Flashing Red Connection timeout Steady Red Duplicate IP Flashing Green and Red Self-test...

  • Page 45: Modbus Tcp

    9. Modbus TCP 9.1. Overview The OPT-3-MTPEG-IN device operates as a Modbus TCP to Modbus RTU converter and communicates to the drive using the Modbus RTU protocol. For drives with factory fitted interface, the operating principle remains the same. 9.2. Usage Requirement  When using the Modbus TCP to control the drive it is necessary to ensure that the amount of data and frequency of data exchange does not exceed the amount of data which can be successfully exchanged on the Modbus sub-network within the permitted time.
  • Page 46 Module Status (MS) Indicator State Indication Steady Off No power Steady Green Operating in normal condition Flashing Green Drive not configured Flashing Red Minor fault - Recoverable fault Steady Red Major fault - Unrecoverable fault Flashing Green / Red Self-test COMM State Indication...

  • Page 47: Fieldbus Gateways

     If an alternative number of slaves are required, configuration files to suit between one and 4 slaves may be downloaded from the Invertek Drives website. The user may then load the desired slave configuration to the gateway as follows: o Connect the gateway to the PC via the configuration cable.

  • Page 48: Subnetwork Connection

    Optidrive. For a network of multiple drives, the network can be easily constructed using suitable RJ45 cables and splitters available from your Invertek Drives Sales Partner. 10.4.1. Single Drive Network Example The gateway is connected to the drive using the supplied Blue Male DB9-RJ45 Subnetwork Connection Cable.

  • Page 49: Gateway Memory Mapping

    10.5. Gateway Memory Mapping The PLC programmer can read/write the PLC memory mapping to gateway memory to monitor/control drives in the sub network. 10.5.1. Input Memory This part of the memory contains the real-time drive information that can be read by the PLC. Modbus Register Drive Modbus Data...

  • Page 50: Controlling The Optidrive(S)

    10.5.2. Output Memory This part of the memory contains the real-time drive information that can be read by the PLC. Modbus Register Drive Modbus Data Start Address Data Length (Refer to section 11 for RTU Address further information) Control command 0x0200 16 bits Speed reference in HZ...

  • Page 51: Profibus Dp Gateway Features - Od-Profb-In

    10.7. Profibus DP Gateway Features – OD-PROFB-IN  Complete PROFIBUS-DP slave functionality according to IEC 61 158.  Supports all common baud rates up to 12 Mbit (detected automatically).  Up to 64 bytes of I/O data in each direction, allowing up to 8 Optidrives to be connected to a single gateway.  Galvanically isolated bus electronics.

  • Page 52: Devicenet Gateway Features - Od-Devnt-In

    10.7.2. Profibus Master Configuration The latest applicable GSD file may be downloaded from the HMS website, www.anybus.com. The actual configuration process will differ for different Profibus Master Systems and is not possible to explain in this document. Example configurations for Siemens PLC are provided on the HMS website. When configuring the communication between the Master System and the gateway, 4 words of Input Process Data and 4 words of Output Process Data should be allocated per drive connected the gateway, up to a maximum of 32 Input and Output words.

  • Page 53: Diagnostics And Troubleshooting

    10.8.1.3. Configuration Switches – MAC ID MAC ID Switch 3 Switch 4 Switch 5 Switch 6 Switch 7 Switch 8 3-62 DeviceNet Connector Pin no Description Bottom View PC Connector: RS232 Rx (Not Used) CAN L 1. GND 2. GND RS232 Tx (Not Used) Shield 3.

  • Page 54: Control & Status Registers

    11. Control & Status Registers 11.1. Control Registers When controlling the drive through any fieldbus network it is recommended to use the registers below. These registers support the Modbus RTU Function Code Write Multiple Registers and so all registers can be set in a single transaction greatly speeding up the drive control. These registers are pre-mapped to the CAN RX PDO1 and are also used in the EDS file for Ethernet/IP communication.

  • Page 55: 1.2. Standard Status Registers

    11.1.3. PID Setpoint, Analog Output Control PDO2 This word may optionally be used for the following functions:  To set the setpoint to the PID controller o Requires P-44 = 2 o The value range is 0 – 4096 = 0 – 100.0 o Values >...

  • Page 56: 1.3. Extended Status Registers

    11.3. Extended Status Registers Modbus Parameter Upper Lower Open Format Type Scaling Index Number byte Byte Register Index 2001 Status Word 2 WORD See Below 2002 Motor Output Speed 1dp, e.g. 100 = 10.0Hz 2003 Motor Output Current 1dp, e.g. 100 = 10.0A 2004 Motor Output Power 2dp, e.g.

  • Page 57: Data - Control & Monitoring

    11.3.2. IO Status Word - Register 2005 This register provides an extended status indication of drive input and output signal status. Definition Bit is HIGH under the following conditions: DI1 Status DI1 ON DI2 Status DI2 ON DI3 Status DI3 ON DI4 Status DI4 ON 4, 5...
  • Page 58 Modbus Parameter Open Upper byte Lower Byte Format Type Scaling Index Number Register Index P0-30 Drive Serial Number 4 See Below P0-30 Drive Serial Number 3 P0-30 Drive Serial Number 2 P0-30 Drive Serial Number 1 2017h Relay Output Status WORD Bit 0 Indicates Relay Status 1 = Relay Contacts Closed...
  • Page 59 Modbus Parameter Open Upper byte Lower Byte Format Type Scaling Index Number Register Index 27DEh P0-23 Time Heatsink > 85 C – Hours 1 = 1 Hour 27DFh P0-23 Time Heatsink > 85 C - 100 = 100 Seconds Seconds 27E0h P0-24 Time Internal >...
  • Page 60 Modbus Parameter Open Upper byte Lower Byte Format Type Scaling Index Number Register Index 280Ch P0-18 DC Ripple Log 1 1 = 1 Volt 280Dh P0-18 DC Ripple Log 2 1 = 1 Volt 280Eh P0-18 DC Ripple Log 3 1 = 1 Volt 280Fh P0-18...

  • Page 61: Technical Data (External Interface)

    12. Technical Data (External Interface) 12.1. Environmental Ambient Temperature Storage and Transportation -40 … 60◦C / -40 … 140◦F Operating -10 … 50◦C / 14 … 122◦F UL approved 40 … 50◦C / 104 … 122◦F Without UL approval Altitude Operating =<1000m UL approved...
  • Page 62 Invertek Drives Ltd. Offa's Dyke Business Park, Welshpool, Powys SY21 8JF United Kingdom Tel: +44 (0)1938 556868 Fax: +44 (0)1938 556869 www.invertekdrives.com...

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