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Megmeet MV810-ECAT02 User Manual

Mv800 platform drive communication option
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MV800 Platform Drive
Communication Options
User Manual
Document version:
V1.0
Shenzhen Megmeet Electrical Co., Ltd. provides full technical support for our
customers. You can contact local Megmeet offices or service centers, or directly
contact Megmeet headquarters.
Shenzhen Megmeet Electrical Co., Ltd.
Address: 5th Floor, Block B, Unisplendour Information Harbor, Langshan Road,
Shenzhen, 518057, China
Website: www.megmeet.com
Tel: +86-755-86600500
Fax: +86-755-86600562
Service email: driveservice@megmeet.com
All rights reserved. The contents in this document are subject to change without prior
notice.
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Summary of Contents for Megmeet MV810-ECAT02

  • Page 1 Document version: V1.0 Shenzhen Megmeet Electrical Co., Ltd. provides full technical support for our customers. You can contact local Megmeet offices or service centers, or directly contact Megmeet headquarters. Shenzhen Megmeet Electrical Co., Ltd. Address: 5th Floor, Block B, Unisplendour Information Harbor, Langshan Road, Shenzhen, 518057, China Website: www.megmeet.com...

  • Page 2: Foreword

    Foreword Thank you for choosing the MV800 platform drive communication options of Shenzhen Megmeet Electrical Co., Ltd. The personnel responsible for installing and operating the option must undergo professional electrical training and safety training, be qualified through examinations, be adequately familiarized with the installation, commissioning, operation, and maintenance procedures and requirements of the product, and be able to prevent various emergency situations.
  • Page 3 Unpacking inspection and precautions When the customer receives this communication option product, please verify the following:  Check whether any damage occurred to this communication option;  Check whether the product is the right one using the bar code label on the PCB; ...

  • Page 4: Table Of Contents

    Contents Foreword ......................................2 Contents ......................................4 Chapter 1 EtherCAT Communication Option ........................6 1.1 Overview ..................................6 1.2 EtherCAT option features ............................6 1.3 Electrical connection ..............................8 1.4 EtherCAT communication ............................8 1.4.1 EtherCAT slave device description file ....................8 1.4.2 Function code setting ..........................
  • Page 5 2.4.2 PROFINET I/O communication ........................ 27 Chapter 3 CANopen Communication Option ....................... 33 3.1 Overview ..................................33 3.2 Features ..................................33 3.3 Electrical wiring and transmission distance ....................33 3.4 Parameter settings for CANopen network connection ................34 3.5 Communication ............................... 35 3.5.1 Communication object COB-ID .......................

  • Page 6: Chapter 1 Ethercat Communication Option

    Detailed information about the EtherCAT protocol is not included herein. If you would like to learn more about the EtherCAT protocol, please refer to the professional articles or reference materials. The MV810-ECAT02 is defined as an EtherCAT slave communication option that can be used with drives supporting EtherCAT communication.
  • Page 7 Not connected (5) Status indicator MV810-ECAT02 has five LED indicators on the PCBA of the expansion box and in the communication interface. LED indicators on the PCBA of the expansion box indicate the function status and the power supply status. The LED indicator of the communication interface indicates the communication connection status of MV810-ECAT02.

  • Page 8: Electrical Connection

    EtherCAT slave device description file (XML file) is used to configure the master and slave through reading by the master. The file contains the information necessary for the EtherCAT communication setting. Megmeet provides a file MV800_ECAT2_CoE_V1.00.xml for the EtherCAT communication option.

  • Page 9: Function Code Setting

    PDO enables real-time reading and modification of the drive data by the master, as well as the cyclic data exchange between the master and the drive. The PDO data description of the MV810-ECAT02 option is shown in the following table. For more detailed information, please refer to the XML file of the equipment.
  • Page 10 Bit7: Emergency stop 0: Disabled; 1: Enabled 0.0 to 300.0% Drive torque Read/ 2100h/0 Unit: 0.1% (corresponding to 0 to upper limit Write 3000) Braking torque Read/ 2101h/0 Unit: 0.1% 0.0 to 300.0% upper limit Write 0.00 to 599.00 Hz Read/ 2102h/0 frequency...
  • Page 11 Bit0: Forward running 0: Disabled; 1: Enabled Bit1: Reverse running 0: Disabled; 1: Enabled Bit2: Stop 0: Disabled; 1: Enabled Bit3: Fault 0: Disabled; 1: Enabled Bit4: Power failure 0: Disabled; 1: Enabled Bit5: Ready status 0: Not ready; 1: Ready Read 6041h/0 Status word...
  • Page 12 65535) Read Actual position 220Ah/0 Null Null value only For detailed 0: No error generated information, please 1: Overcurrent during refer to MV810 acceleration (OC1) High-Performance 2: Overcurrent during Vector Control Drive deceleration (OC2) User Manual 3: Overcurrent during operation at constant speed (OC3) 4: Overvoltage during acceleration (OV1)

  • Page 13: Sdo Data Description

    22: Reserved 23: Braking resistor overcurrent (brOC) 24: Auto-tuning fault (tUN) 25: Reserved 26: Profinet communication timeout (E-Pn) 27: I/O card communication timeout (E-Io) 28: Modbus TCP communication timeout (E-TCP) 29 to 32: Reserved 33: Short-to-ground fault (GdF) 34: Speed deviation fault (dEv) 35 to 38: Reserved 39: Motor overheat (OH3)

  • Page 14: Function Code Reading/Writing Fault

    EtherCAT mailbox data SDO is used to transmit non-cyclic data, including communication parameter settings, drive function code parameter settings, etc. This option enables function code reading/writing via SDO communication. The drive function code group (P00 to P98) is mapped to the section (0x2000 to 0x2062) in the EtherCAT object dictionary, with an addition of 1 to the number on the last digit of each function code to form its sub-index in the dictionary.

  • Page 15: Scan Beckhoff Plc

    1.5.2 Scan Beckhoff PLC Double click “SYSTEM” on the left project bar. Click “Choose Target...” in the pop-up window. Choose “Search (Ethernet)...”, and click “Broadcast Search” to scan the PLC master.
  • Page 16 When the scanning finishes (as shown in the following image), choose “IP Address” and click “Add Route”.
  • Page 17 Enter the password (password set as 1 by default for Beckhoff PLC), and click “OK”. The “x” symbol as shown in the following image indicates a successful connection with the PLC. Then choose “Close”. Choose the connected PLC device, and click “OK”.

  • Page 18: Add A Plc Project

    Click “Yes” in the pop-up window. When the PLC model shows on the status bar, it indicates that the communication between the PC and the PLC has been successfully established. 1.5.3 Add a PLC project Right-click “PLC” as shown in the following image, and choose “Add new project...”.
  • Page 19 Choose “Standard PLC Project”, edit “Name” and “Location”, and click “Add”. Write your own PLC program in “MAIN (PRG)”. Click “Build” as shown in the following image to start PLC programming.

  • Page 20: Scan The Drive Slave And Configure Pdo Parameters

    1.5.4 Scan the drive slave and configure PDO parameters Before scanning the slave, it is required to copy the MV800 EtherCAT XML file into the TwinCAT installation directory. ● TwinCAT2 directory: TwinCAT\IO\EtherCAT ● TwinCAT3 directory: TwinCAT\3.1\config\IO\EtherCAT Right-click “Devices”, and choose “Scan”. Click “OK”.
  • Page 21 Click “Yes”. When the scanning finishes, double click the parameter in “TxPDO Mapping 1” and “RxPDO Mapping 1”, taking “Control_Word” as an example, as shown in the following image. Establish the link between the MV800 drive PDO parameters and the PLC variables in the pop-up window.

  • Page 22: Download Plc Program

    1.5.5 Download PLC program Click “Activate Configuration”. Click “OK”.
  • Page 23 Click the Login button as shown in the following image to finish the downloading of the PLC program.

  • Page 24: Chapter 2 Profinet Communication Option

    Chapter 2 Profinet Communication Option 2.1 Overview Thank you for choosing Megmeet Profinet communication option. This manual provides information of the product functions, specifications, installation guidelines, basic operations, and settings, as well as an introduction to the network protocol. To ensure correct installation and operation of this product, please carefully read this manual and the communication protocol section of the drive user manual before using this communication option.
  • Page 25 (3) Communication interface Profinet adopts the standard RJ45 connector. This option offers two RJ45 interfaces that do not differ in transmission directions and can be used interchangeably. The interface is shown in Fig. 2-1, and the description is shown in Table 2-1. Fig.

  • Page 26: Profinet Network Connection

    communication indicator) Profinet option and PC/PLC not in communication 2.3 Profinet network connection Profinet adopts the standard RJ45 connector. The network can be structured in linear or star type topology. The electrical wiring is shown in Fig. 2-2 and Fig. 2-3. The applicable network cable types for electrical wiring include CAT5, CAT5e, and CAT6.

  • Page 27: Profinet I/O Communication

    VLAN identifier APDU status Data head 6-byte source MAC 6-byte destination MAC 7-byte preamble 1-byte synchronization address address Structure of IRT protocol and IRT frame (synchronous) is shown in Table 2-4: Table 2-4 IRT frame structure Ethernet Ethernet Frame IRT user Data head VLAN type...
  • Page 28 PZD is higher than that for processing PKW. Only the latest valid data on the interface would be transmitted. Control word (CW) and status word (SW) Control word provides the basic method for the fieldbus system to control the drive device, which is sent by the fieldbus master station to the drive device, with the adaptor module functioning as the gateway.
  • Page 29 Reference value: the words from the second to the twelfth of the PZD message are the main reference values. The source signal of the main frequency reference is set by the main reference value. Reference values for MV800 are listed in Table 2-6. Table 2-6 MV800 reference value Function Word...
  • Page 30 Motor 2 feedback Synchronous motor Motor type feedback Asynchronous motor Overload warning Overload warning feedback No overload warning Keypad control Run/Stop mode Terminal control 13 to 14 Communication control Reserved Heartbeat feedback Heartbeat feedback No heartbeat feedback Actual value: the words from the second to the twelfth of the PZD task message are the main reference values.
  • Page 31 25: PID output (-100.0% to 100.0%) PKW area PKW area (parameter identification mark PKW1 - data area): PKW area describes the processing method of the parameter identification interface. PKW interface is defined as a mechanism instead of a physical interface. It determines the parameter transmission method between two communication partners, including parameter reading/writing.
  • Page 32 [modification of RAM and EEPROM] Note: request number 2, request number 3, and request number 5 are currently not available. Table 2-10 Definition of response identification mark PKW1 Response number (from the slave to the master) Confirmation number Function No response Transmitting parameter value (single-word) Transmitting parameter value (double-word) Task execution failure, error number returned as below:...

  • Page 33: Chapter 3 Canopen Communication Option

    Chapter 3 CANopen Communication Option 3.1 Overview Thank you for choosing Megmeet CANopen communication option. This manual provides information of the product functions, specifications, installation guidelines, basic operations, and settings, as well as an introduction to the network protocol. To ensure correct installation and operation of this product, please carefully read this manual and the communication protocol section of the drive user manual before using this communication option.

  • Page 34: Parameter Settings For Canopen Network Connection

    The transmission distance of CAN bus is directly correlated with the baud rate and the communication cable. The relation between the maximum bus length and the baud rate is shown in the table below: Baud rate (bps) Length (m) 500k 250k 125k 100k...

  • Page 35: Communication

    8: 10 Kbps/s 3.5 Communication 3.5.1 Communication object COB-ID CANopen provides multiple communication objects, each of which possesses different features (refer to the standard CANopen protocol for detailed information) and suits different applications. This expansion card adopts predefined COB-ID. The rules are shown below: 1) NMT object: 0x000 ◆...

  • Page 36: Process Data Object (Pdo)

    The SYNC message is sent by the NMT master station with the purpose of facilitating the synchronization of PDO transmission in the entire network when the PDO transmission type is set to SYNC (1 to 240). The structure of the message is shown below: COB-ID 0x80 3.5.4 Process data object (PDO)
  • Page 37 RxPDO2 RxPDO3 RxPDO4 Default TxPDO mapping is shown below: TxPDO Mapping Status word Output frequency TxPDO1 TxPDO2 TxPDO3 TxPDO4 Users can configure the PDO mapping to access the following data. For detailed information, refer to the MV800_Canopen.eds file. RxPDO (sent by the master, and received by the slave): Index/ Access Indication...
  • Page 38 Bit4: Stop 0: Disabled; 1: Enabled 0: Disabled; 1: Enabled Bit5: Coast to stop 0: Disabled; 1: Enabled Bit6: Fault reset Bit7: Emergency stop 0: Disabled; 1: Enabled 0.0 to 300.0% Read/ Drive torque 2100h/0 Unit: 0.1% (corresponding to 0 to upper limit Write 3000)
  • Page 39 Index/ Access Indication Description Value range Sub-index rights Bit0: Forward running 0: Disabled; 1: Enabled Bit1: Reverse running 0: Disabled; 1: Enabled Bit2: Stop 0: Disabled; 1: Enabled Bit3: Fault 0: Disabled; 1: Enabled Bit4: Power failure 0: Disabled; 1: Enabled Bit5: Ready status 0: Not ready;...

  • Page 40: Sdo Reading/Writing Operation

    0.0 to 6553.5 kW Read 2209h/0 Power output Unit: 0.1 kW (corresponding to 0 to only 65535) Read Actual position 220Ah/0 Null Null value only Refer to the Drive fault information in section Read 603Fh/0 Error code 3.5.6 Emergency only message 3.5.5 SDO reading/writing operation 3.5.5.1 Drive function code mapping...
  • Page 41 DATA0 Command specifier (CS) DATA1 Low-byte index DATA2 High-byte index DATA3 Sub-index DATA4 Response data bit0 to 7 DATA5 Response data bit8 to 15 DATA6 Response data bit16 to 23 DATA7 Response data bit24 to 31 Types of the command specifier in the request/response message is shown below: Command specifier Description Command specifier...

  • Page 42: Emergency Message

    allow visit. exist. The object for Reading visit out of 0x06010001 0x06090030 reading is write only. parameter value range Data can not be transmitted or saved to The object for 0x06010002 0x08000022 the application due to writing is read only. the current device status.

  • Page 43: Node Guard Message

    speed (OV3) 23: Braking resistor 49: Power board software 7: Undervoltage fault (Uv) overcurrent (brOC) version mismatching (vEr) 8: Input phase loss (SPI) 24: Auto-tuning fault (tUN) 50: Parameter upload and 9: Output phase loss (SPO) 25: Reserved download timeout (UPdnE) 10: Power module 26: Profinet communication 51: AI1 current input...

  • Page 44: Fault Diagnosis

    COB-ID Data0 0x700+Node-ID Status word Bit7 of the heartbeat message status word is set to 0 and does not allow changes. The definitions of bit0 to bit6 are the same with the definitions of bit0 to bit6 in the status word of the node guard response frame.

  • Page 45: Function Code Reading/Writing Fault

    Diagnosis: If the value of P50.08 is greater than 0 and continues to increase, it indicates a case of existing interference with or improper configuration of the network, and that an action is needed for troubleshooting. Methods for troubleshooting: Check whether all the nodes have the same baud rate, and whether the addresses have the same setting.

  • Page 46: Appendix I Ethercat Object Dictionary

    Appendix I EtherCAT Object Dictionary Index Sub-index Description Access rights Data type Default value 1000h Device type UINT32 0x00000402 1001h Error register UINT8 1008h Manufacturer device name String MV800_ECAT_CoE Manufacturer hardware Determined by the 1009h String version hardware version Manufacturer software Determined by the 100Ah String...
  • Page 47 Number of supported UINT8 mapping objects The first mapping object UINT32 0x60410010 1A00h The second mapping object UINT32 0x603F0010 The third mapping object UINT32 0x22020010 The fourth mapping object UINT32 0x22000010 The fifth mapping object UINT32 0x22030010 The sixth mapping object UINT32 0x22040010 The seventh mapping object...
  • Page 48 0x07 Reserve UINT32 0x08 Learn cycle time UINT16 0x09 Delay time UINT32 0x0A Sync0 time UINT32 0x0B SM event loss counter UINT32 0x0C Loop timeout counter UINT32 Switching time too short 0x0D UINT32 counter 0x20 Sync error UINT8 Synchronized management of synchronously input parameters 0x00 The biggest sub-index UINT8...
  • Page 49 2018h P24 function code group 201Ah P26 function code group 2028h P40 function code group 2029h P41 function code group 202Bh P43 function code group 2032h P50 function code group 2061h P97 function code group 2062h P98 function code group Function code reading/writing error indication Number of sub-indexes UINT8...

  • Page 50: Appendix Ii Canopen Object Dictionary

    Appendix II CANopen Object Dictionary Index Sub-index Description Access rights Data type Default value 1000h Device type UINT32 0x00000320 1001h Error register UINT8 Error code register Number of errors UINT8 Error code UINT32 Error code UINT32 Error code UINT32 1003h Error code UINT32 Error code...
  • Page 51 Transmission type UINT8 0xFF Inhibit time UINT16 UINT8 Event timer UINT16 UINT8 RxPDO3 communication parameter Number of sub-indexes UINT8 COB-ID used by PDO UINT32 0x80000400+Node-ID Transmission type UINT8 0xFF 1402h Inhibit time UINT16 UINT8 Event timer UINT16 UINT8 RxPDO4 communication parameter Number of sub-indexes UINT8 COB-ID used by PDO...
  • Page 52 Inhibit time UINT16 UINT8 Event timer UINT16 UINT8 TxPDO2 communication parameter Number of sub-indexes UINT8 COB-ID used by PDO UINT32 0x80000280+Node-ID Transmission type UINT8 0xFF 1801h Inhibit time UINT16 UINT8 Event timer UINT16 UINT8 TxPDO3 communication parameter Number of sub-indexes UINT8 COB-ID used by PDO UINT32...
  • Page 53 The second mapping object UINT32 The third mapping object UINT32 The fourth mapping object UINT32 2000h P00 function code group 2001h P01 function code group 2002h P02 function code group 2003h P03 function code group 2004h P04 function code group 2005h P05 function code group 2006h...
  • Page 54 210Ah PID feedback value INT16 210Bh Position reference UINT16 210Ch Torque reference INT16 210Dh Frequency reference UINT16 2200h Output current UINT16 2201h Output current UINT16 2202h Output frequency UINT16 2203h Output torque INT16 2204h Bus voltage UINT16 2205h DI state 1 UINT16 2206h DI state 2...

  • Page 55: Appendix Iii Warranty And Service

    Megmeet rigorously adheres to the ISO 9001:2008 standard in manufacturing motor drive products. If any irregularities occur with our products, please contact the product supplier or the headquarters directly. Megmeet is committed to delivering comprehensive technical support services to all our clients. 1. Warranty period The warranty period for the product is 18 months from the date of purchase, but not exceeding 24 months after the manufacturing date recorded on the nameplate.
  • Page 56 Shenzhen Megmeet Electrical Co., Ltd. Shenzhen Megmeet Electrical Co., Ltd. Drive Warranty Bill Drive Warranty Bill Customer company: Customer company: Detailed address: Detailed address: Zip code: Contact: Zip code: Contact: Tel: Fax: Tel: Fax: Machine model: Machine model: Power: Machine No.: Power: Machine No.:...

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