Inovance MD500-ECAT User Manual
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Inovance MD500-ECAT User Manual

Inovance MD500-ECAT User Manual

Ethercat communication expansion card
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Summary of Contents for Inovance MD500-ECAT

  • Page 2: Preface

    How to Obtain This guide is not delivered with the product. You can obtain the PDF version in the following way: www.inovance.com Visit , go to Services and Support > Download, search by keyword, and then download the PDF file.

  • Page 3: Table Of Contents

    Table of Contents T T a a b b l l e e o o f f C C o o n n t t e e n n t t s s Preface ................1 Safety Precautions .

  • Page 4: Safety Precautions

    Malfunction or component damage caused by improper usage is not covered by warranty. 4. Inovance shall take no responsibility for any personal injuries or property loss caused by noncompliance with this guide or improper use of this product. Safety Levels and Definitions indicates that failure to comply with the notice will result in severe personal injuries or even death.
  • Page 5 Safety Precautions Before unpacking, check whether the packing is intact without damage, water seepage, ● damp, and deformation. Unpack the package in sequence. Do not hit the package with force. ● Check the surface of the equipment and accessories for any damage or rust. ●...
  • Page 6 Safety Precautions Read through the user guide and safety precautions before installation. ● Do not install this product in places subject to strong electric field or strong ● electromagnetic wave interference. Before installation, make sure that the installation position is mechanically strong ●...
  • Page 7 Safety Precautions Never connect the power cable to an output terminal. Failure to comply may result in ● product damage or even fire. When connecting a drive with the motor, ensure that the phase sequences of the drive ● and motor are consistent to prevent motor reverse rotation. Ensure that the diameter and shielding of the cables used meet corresponding ●...
  • Page 8 Safety Precautions Never touch the product shell, fan, or resistor to check the temperature. Failure to ● comply may result in burn. Prevent metal or other objects from falling into the product during operation. Failure to ● comply may result in product damage or fire. Maintenance Do not allow non‑professionals to perform equipment installation, wiring, maintenance, ●...
  • Page 9 Safety Precautions Disposal Scrap the equipment or product in accordance with relevant national regulations and ● standards. Failure to comply may result in property damage, personal injury, or even death. Recycle retired equipment by observing industry waste disposal standards to avoid ●...

  • Page 10: Product Information

    Product Information Product Information Introduction The MD500‑ECAT card is an EtherCAT fieldbus adapter card, which can be used on the industrial field ultra‑high speed I/O network and the I/O layer. This card features high efficiency, flexible topology, and easy operation. It is installed in the MD series AC drive to improve the communication efficiency and implement the AC drive networking function, which enables the AC drive to be a slave controlled by the field bus master station.

  • Page 11: Dimensions

    Product Information Dimensions Figure 1‑2 Dimensions (unit: mm) of the MD500–ECAT card Terminals and Indicators Terminal and indicator layout The following figure describes terminals and indicators of the MD500‑ECAT card. The pin header J7 on the back of the MD500‑ECAT card is used to connect the AC drive. The MD500‑ECAT card provides two network ports J4 and J6 for communication with the master station (or previous slave station) and the next slave station (if any).
  • Page 12 Product Information Descriptions of terminals and indicators Table 1–1 Descriptions of terminals and indicators Description Terminal Mark Terminal Name Pin header Used to connect the AC drive. The MD500‑ECAT card provides two standard Ethernet RJ45 network ports J4 and J6 for communication with the Network port master station (or previous slave station) and the next slave station (if...
  • Page 13 Master station Check whether the master station and disconnected or Steady off network port are connected correctly. working in the Initial mode Steady off Normal Contact Inovance or the agent for Steady red ESC internal fault technical support. ‑ ‑...

  • Page 14: Installation And Wiring

    Installation and Wiring Installation and Wiring Installation The MD500‑ECAT card is installed inside the MD500 series AC drive. Before installation, de‑energize the AC drive and wait about 10 minutes until the charging indicator on the AC drive becomes off. Then, insert the MD500‑ECAT card into the AC drive and fasten the screws to prevent the signal socket between boards from being damaged by external signal cable tension.

  • Page 15: Wiring

    Installation and Wiring Do not remove or install the card with power ON. Wiring 2.2.1 EtherCAT Connection Topology EtherCAT supports various topological structures including star, bus, and tree topologies and their combinations. This enables flexible and convenient equipment connection and wiring. The following figure shows the bus topology. Figure 2‑3 EtherCAT bus topology 2.2.2 EMC Routing Instructions During installation and commissioning on site, route communication signal cables...

  • Page 16: Communication

    Communication Communication EtherCAT Communication Protocol In the DC mode, the DC synchronous mode period must be at least 1 ms but shorter then 100 ms. Otherwise, an EtherCAT communication fault will occur. PDO data description The PDO data is used for the master station to modify and read AC drive data in real time and perform periodic data exchange.
  • Page 17 Communication Data sent by the master station RPDO Sent by the Master Station AC drive command word (command source set to "communication") 01: Forward 02: Reverse 03: Forward jog 04: Reverse jog running running RPDO1 06: Stop according to F6‑10 (Stop 05: Coast to stop 07: Fault reset mode)
  • Page 18 Communication Data responded by the AC drive TPDO Responded by the AC Drive AC drive running state AC drive running states are determined by the bits as follows: Bit 0 ● ■ 0: Stop ■ 1: Running Bit 1 ● ■...

  • Page 19: Parameters Related To Communication

    Communication SDO response ● TxPDO ● RxPDO ● Remote TxPDO transmission request ● Remote RxPDO transmission request ● SDO information ● Currently, the AC drive supports SDO requests and responses. For details about SDO‑ related parameters, see the MD500 and MD290 user guides. Parameters Related to Communication Communication Card Setting for the AC Drive The AC drive software version needs to meet the following requirements:...
  • Page 20 Communication Parame Parameter Value Range Setpoint Description Name Select the special communication card Serial 0: Modbus protocol network bridge as communica 1: Communication card F0‑28 the serial tion protocol network bridge protocol communication protocol. Alias of EtherCAT slave, which is 1 by default (It does not To be need to be specified...
  • Page 21 Communication Parameter Value Range Parameter Index Sub‑index Name –15000 RPM to +15000 RPM (The value range is also Speed related to the number of U3‑23 16#2073 16#18 control motor pole pairs and the frequency range.) AC drive parameters (frequently used) Maximum F0‑10 50.00 Hz to 500.00 Hz...
  • Page 22 Communication Parameter Value Range Parameter Index Sub‑index Name Current U0‑24 ‑ 16#2070 16#19 speed Encoder ‑ U0‑38 16#2070 16#27 position 2001H DO control ‑ 16#2020 16#02 8000H Current fault ‑ 16#2080 16#01 The AC drive parameter indexes are described as below: Each object within the dictionary shall be addressed uniquely by using an index ●...
  • Page 23 Communication Parameter Parameter Unit Index Sub‑index Name U0‑07 DI state 16#2070 16#08 U0‑08 DO state 16#2070 16#09 AI1 voltage (V) U0‑09 0.01 V 16#2070 16#0A AI2 voltage (V) U0‑10 0.01 V 16#2070 16#0B AI3 voltage (V) U0‑11 0.01 V 16#2070 16#0C U0‑12 Count value...
  • Page 24 Communication Parameter Parameter Unit Index Sub‑index Name Any memory U0‑32 16#2070 16#21 address Synchronous motor rotor U0‑33 0.1° 16#2070 16#22 position Motor U0‑34 1℃ 16#2070 16#23 temperature Target torque U0‑35 0.1% 16#2070 16#24 Resolver U0‑36 16#2070 16#25 position Power factor U0‑37 0.1°...
  • Page 25 Communication Parameter Parameter Unit Index Sub‑index Name Torque upper U0‑65 0.1% 16#2070 16#42 limit 100: CANopen 200: PROFIBUS Expansion card U0‑66 16#2070 16#43 300: CANlink model 400: PROFINET 500: EtherCAT Expansion card U0‑67 0.01 16#2070 16#44 version U0‑68 16#2070 16#45 AC drive state Running U0‑69...

  • Page 26: Communication Instances

    Communication Parameter Parameter Unit Index Sub‑index Name Maximum error count of EtherCAT data U0‑88 16#2070 16#59 frame processing unit per unit time Maximum link loss of the U0‑89 16#2070 16#5A EtherCAT port per unit time When the MD500‑ECAT card is used, the read PDO1 and PDO2 are mapped to U0‑68 and U0‑69 respectively by default.
  • Page 27 Communication 2. Import the EtherCAT configuration file of the MD500. If the configuration file of other version exists, delete the existed configuration file before importing a new one, as shown below. ‑ ‑...
  • Page 28 Communication 3. Add the MD500 AC drive slave station. Open the network configuration, drag the device in the network device list to add the AC drive slave station. 4. Configure PDO parameters. In the device process data interface, add the TPDO mapping as required. ‑27‑...
  • Page 29 Communication Note: Control Command of the RPDO and Inverter State of the TPDO cannot be changed and must be set as the first items. Otherwise, an exception will occur during operation. 5. Scan the H5U. Click Tools(T). In the Communication Settings dialog box, select Ethernet or USB for the communication type between the PC and the PLC, and scan the PLC.

  • Page 30: Communication Instance When The Md500 Is Controlled By The Am600

    Communication You can view TPDO data and write RPDO data in real time through EtherCAT I/O mappings. 3.3.2 Communication Instance When the MD500 is Controlled by the AM600 This section describes how to configure the MD500‑ECAT card on the AM600 to enable the MD500 to communicate with the AM600.
  • Page 31 Communication 2. Add the MD500 AC drive slave station. Open the network configuration, import the EtherCAT configuration file of the MD500. If a configuration file of other version exists, delete the existed configuration file before importing a new one. Drag the device in the network device list to add the AC drive slave station, as shown below.
  • Page 32 Communication 3. Configure PDO parameters. Right‑click at the position indicated by the red rectangle in the following figure to add the TPDO mapping as required. Control Command of the RPDO and Inverter State of the TPDO cannot be changed and must be set as the first items. Otherwise, an exception will occur during operation.
  • Page 33 Communication Scan the devices. Download the project to the PLC. View TPDO data and write RPDO data in real time through EtherCAT I/O mappings. ‑ ‑...

  • Page 34: Communication Instance When The Md500 Is Controlled By The Beckhoff Controller

    Communication View and write parameter values through the online CoE. 3.3.3 Communication Instance When the MD500 Is Controlled by the Beckhoff Controller This section describes how to configure the MD500‑ECAT card on the TwinCAT master station of Beckhoff to enable the MD500 to communicate with the TwinCAT. ‑33‑...
  • Page 35 Communication The 100 M network card with the Intel chip must be selected. If the network card of other brands is used, the EtherCAT communication may fail. 1. Install the TwinCAT software. For Windows XP operating system, install tcat_2110_2230. ● For Windows 7 32‑bit operating system, install tcat_2110_2248.
  • Page 36 Communication 4. Install the TwinCAT network adapter driver. Go to TWINCAT > Show Real Time Ethernet Compatible Devices. Select the local connection under Incompatible devices, and then click Install. After installation is done, the network adapter installed will be displayed under Installed and ready to use devices(realtime capable).
  • Page 37 Communication 5. Search for devices. a. Create a project, right‑click Devices, and then select Scan to search for devices. ‑ ‑...
  • Page 38 Communication b. Click OK. c. Click OK. ‑37‑...
  • Page 39 Communication d. Click Yes. e. Click OK. f. Click No.The device search is completed. ‑ ‑...
  • Page 40 Communication 6. Configure PDO parameters. a. Configure the TPDO. Select 0x1A00 when configuring the TPDO. The first two items are set to TPDO by default and cannot be changed. Right‑click at the position indicated by the red arrow in the following figure to add the TPDO mapping as required. ‑39‑...
  • Page 41 Communication b. Configure the RPDO. Select 0x1600 when configuring the RPDO. The first two items are set to RPDO by default and cannot be changed. Right‑click at the position indicated by the red arrow in the following figure to add the RPDO mapping as required. c.
  • Page 42 Communication d. Activate the configuration and switch to the operation mode. Click . The following figure appears. Click OK. Click OK to enter the OP state. ‑41‑...
  • Page 43 Communication e. Control the AC drive through the PDO. Write corresponding values through the configured RPDO to control the AC drive. ‑ ‑...

  • Page 44: Communication Instance When The Md500 Is Controlled By The Omron Controller

    Communication 3.3.4 Communication Instance When the MD500 Is Controlled by the Om- ron Controller This section describes how to configure the MD500‑ECAT card on the NX1P2 master station of Omron to enable the MD500 to communicate with the NX1P2. 1. Create a project. Device: Set a device according to the actual controller model.
  • Page 45 Communication 3. Import the XML configuration file. Double‑click EtherCAT in the left pane. Right‑click the master device and select ESI Library. Click Install (File). Select the MD500‑ECAT card XML configuration file and import it. 4. Scan the devices. Switch the controller to the online and running mode. Check that the controller status in the lower right corner is online and running.
  • Page 46 Communication Scan the device and add the slave station. Go to Configurations and Setup > EtherCAT. Right‑click Master, and then select Compare and Merge with Actual Network Configuration to enable the controller automatically to scan all slave stations in the network. A fault will be reported if any station number is 0. After the scanning is complete, click Apply actual network configuration in the displayed dialog box to add the slave station.
  • Page 47 Communication 5. Configure parameters. Switch the controller to the offline mode. ‑ ‑...
  • Page 48 Communication Set the PDO mapping (I/O mapping distribution). 6. Edit the PLC program. ‑47‑...
  • Page 49 Communication 7. Download the program to the controller. After settings and programming are complete, switch to the online state, and download the program to the controller. ‑ ‑...
  • Page 50 Communication ‑49‑...

  • Page 51: Troubleshooting

    MD500‑ECAT card is grounded correctly. The AC drive suffers Eliminate the external interference. external interference. communi Contact the agent or Inovance for cation technical support if necessary. error The D4 Check the configuration. Check whether (Err16) is indicator the AC drive supports the MD500‑ECAT...
  • Page 52 Troubleshooting The MD500‑ECAT card can be replaced directly without reconfigurations only when a slave node is faulty caused by the MD500‑ECAT card failure. Prerequisites for directly replacing the MD500‑ECAT card are as follows: 1. Ensure that the wiring sequence of the network cable before and after replacing the MD500‑ECAT card is consistent.
  • Page 53 *19012212B00*...

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