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Megmeet MV800 Series User Manual

Communication options, platform drive
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MV800 Series Platform Drive
Communication Options User Manual
Document Version:
V1.0
Archive Date:
BOM Code:
Shenzhen Megmeet Electrical Co., Ltd. provides comprehensive technical support for
our valued customers. Please contact your nearest Megmeet office or service center,
or connect directly with Megmeet headquarters if any assistance is needed.
Shenzhen Megmeet Electrical Co., Ltd.
All rights reserved. The contents in this document are subject to change without
notice.
Address: 5th Floor, Block B, Unisplendour Information Harbor, Langshan Road,
Nanshan District, Shenzhen, 518057, China
Website: www.megmeet.com
Tel: +86-755-86600500
Fax: +86-755-86600562
Service email: driveservice@megmeet.com
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Summary of Contents for Megmeet MV800 Series

  • Page 1 BOM Code: Shenzhen Megmeet Electrical Co., Ltd. provides comprehensive technical support for our valued customers. Please contact your nearest Megmeet office or service center, or connect directly with Megmeet headquarters if any assistance is needed. Shenzhen Megmeet Electrical Co., Ltd.

  • Page 2: Foreword

    Megmeet has conducted strict inspections during the manufacturing and packaging of the product. If any parts are found missing or damaged when unpacking the product, please contact our company or your supplier for further assistance.

  • Page 3: Safety Precautions

    Item Specifications Vibration/Shock 5.9 m/s (0.6g) for 9 to 200 Hz sine vibration Safety precautions • It is required to remove the drive enclosure/cover when installing/removing the option. Make sure the drive is completely powered off and the internal voltage is safe before installing/removing the option.

  • Page 4: Table Of Contents

    Contents Foreword ......................................2 Chapter 1 EtherCAT Communication Option ........................7 1.1 Overview ..................................7 1.2 EtherCAT communication option features ....................... 7 (1) Functions ..................................7 (2) Services ................................... 7 (3) EtherCAT synchronous cycle ........................... 7 (4) Communication interface ..........................8 (5) Status indicator ..............................
  • Page 5 2.5.2 Establish the connection ..........................37 2.5.2.1 Start a new program ........................38 2.5.2.2 Install the GSD file .......................... 39 2.5.2.3 Configuration ........................... 41 2.5.2.4 Set IP address ..........................49 2.5.2.5 Compile and download .........................51 2.5.2.6 Watch ..............................57 2.6 Integrated PN communication application ....................58 Chapter 3 CANopen Communication Option .......................
  • Page 6 4.3 Electrical connection ............................. 76 4.4 Modbus TCP communication ..........................77 4.4.1 Modbus TCP data frame structure ....................... 77 4.4.2 Parameter setting for Modbus TCP network connection .............79 4.4.3 Mutable mapping application of address ..................80 4.5 Fault diagnosis ................................ 81 4.5.1 LED indicator description and fault diagnosis .................. 81 Appendix I EtherCAT Object Dictionary ..........................83 Appendix II CANopen Object Dictionary ........................

  • Page 7: Chapter 1 Ethercat Communication Option

    Chapter 1 EtherCAT Communication Option 1.1 Overview Thank you for choosing Megmeet MV810-ECAT02 communication option. This manual provides information of the product functions, specifications, installation guidelines, basic operations, and settings, as well as an introduction to the EtherCAT 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 8: Communication Interface

    Item Value 8 ms 4 ms Synchronous cycle 2 ms 1 ms (4) Communication interface EtherCAT adopts the standard RJ45 connector. This option offers two RJ45 interfaces that differ in transmission directions. The interface is shown in Figure 1-1. The IN terminal represents the EtherCAT input interface and the OUT terminal represents the output interface.
  • Page 9 LED1 (red) status Description Action Normal power supply for Steady on No need for actions ECAT option No power supply for ECAT Check whether the ECAT option is properly option connected to the drive LED2 (green) status Description Action Check whether the ECAT option is properly State machine in Init state connected to the host controller State machine in Pre-OP...

  • Page 10: 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. 1.4.2 Function code setting...

  • Page 11: Pdo Data Mapping

    Drive parameter Value Function description P02.02 Set the operation command channel to communication control P02.03 Set the communication command channel to EtherCAT P02.05 Set the main frequency source to EtherCAT P40.01 0 to 10.0 EtherCAT disconnection detection time (measured in second) 1.4.3 PDO data mapping MV810-ECAT02 communication option adopts the following PDO mapping by default (the maximal number of configurable data for 0x1600 and 0x1A00 is 10):...
  • Page 12 Index/ Indication Description Value range Access rights Sub-index Bit6: Fault reset 0: Disabled; 1: Enabled Bit7: Emergency stop 0: Disabled; 1: Enabled Drive torque 0.0 to 300.0% 2100h/0 Unit: 0.1% Read/Write upper limit (corresponding to 0 to 3000) Braking torque 2101h/0 Unit: 0.1% 0.0 to 300.0%...
  • Page 13 TxPDO (sent by the slave, and received by the master): 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;...
  • Page 14 Index/ Access Indication Description Value range Sub-index rights Bit0: DO1 terminal 0: Disabled; 1: Enabled Bit1: DO2 terminal 0: Disabled; 1: Enabled Read 2207h/0 DO state only Bit2: DO3 terminal 0: Disabled; 1: Enabled Bit3: RO terminal 0: Disabled; 1: Enabled -300.0 to 300.0% Read 2208h/0...
  • Page 15 Index/ Access Indication Description Value range Sub-index rights 13: AC drive overload (OL1) 14: Motor overload (OL2) 15: External fault (EF) 16: EEPROM read/write fault (EEP) 17: 485 communication error (CE) 18: EtherCAT communication timeout (E-CAt) 19: Current detection error (ItE) 20: CANopen communication timeout (E-CAN)

  • Page 16: Sdo Data Description

    Index/ Access Indication Description Value range Sub-index rights overload (24OL) 42 to 45: Reserved 46: Board-level communication error (bCE) 47: Reserved 48: BootLoader failure (bLt) 49: Power board software version mismatching (vEr) 50: Parameter upload and download timeout (UPdnE) 51: AI1 current input overcurrent (AIOC) 52: Reserved 53: Fan locked-rotor (FAn)

  • Page 17: Communication Example Of Beckhoff Plc Controlling Mv800

    bits indicating a writing error and low 8 bits indicating a reading error. The data corresponding to the sub-index 2 indicate the index of the function code with reading/writing errors. For example, 0x0200 indicates that there is an error of reading/writing the function code P02.00. Types of fault codes are shown below: Fault Fault code...

  • Page 18: 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.
  • Page 19 Choose “Search (Ethernet)...”, and click “Broadcast Search” to scan the PLC master. When the scanning finishes (as shown in the following image), choose “IP Address” and click “Add Route”.
  • Page 20 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”.

  • Page 21: Add A Plc Project

    Choose the connected PLC device, and click “OK”. 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”...
  • Page 22 Choose “Standard PLC Project”, edit “Name” and “Location”, and click “Add”. Write your own PLC program in “MAIN (PRG)”.

  • Page 23: Scan The Drive Slave And Configure Pdo Parameters

    Click “Build” as shown in the following image to start PLC programming. 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. ●...
  • Page 24 Click “OK”. 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.

  • Page 25: Download Plc Program

    Establish the link between the MV800 drive PDO parameters and the PLC variables in the pop-up window. 1.5.5 Download PLC program Click “Activate Configuration”.
  • Page 26 Click “OK”. Click the Login button as shown in the following image to finish the download of the PLC program.

  • Page 27: Chapter 2 Profinet Communication Option

    Chapter 2 PROFINET Communication Option 2.1 Overview Thank you for choosing Megmeet Profinet02 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 28 Figure 2-1 Two standard RJ45 interfaces Table 2-1 RJ45 interface pin definitions Name Description Transmit Data+ Transmit Data Receive Data+ Not connected Not connected Receive Data- Not connected Not connected (4) Status indicator This MV810-PNET02 option has LED indicators arranged at 3 locations: LED4 and LED5 on the light guide columns of the expansion box;...

  • Page 29: Profinet Network Connection

    Protocol stack LED Color Status Function description Ready for connection; no communication with the Flashing PROFINET I/O controller. The PROFINET I/O controller has an active communication link to this PROFINET I/O device. Communication port LED description: LED status Description Action Green light on Normal connection No need for actions...

  • Page 30: Communication

    Figure 2-3 Electrical wiring in star type topology 2.4 Communication 2.4.1 Message format Structure of RT frame (non-synchronous) is shown in Table 2-2. Table 2-2 RT frame structure Data Ethernet Ethernet Frame RT user Cycle Data Transmission VLAN head type type identifier data...
  • Page 31 Figure 2-4 Message structure The 32 I/O explained above facilitate the reference parameter setting and the status value detection of the drive, as well as sending the control command, inspecting the operational status, and reading/writing the function code parameters of the drive. Detailed information of these operations are provided below.
  • Page 32 Note: The drive device always checks the bytes of the control word and the reference value. SN station number (master to drive) The SN station number area is defined by one word. The low byte (Byte0): Target station number (the drive station number visited by the PN master).
  • Page 33 and the slave uses the response number as the positive or negative confirmation. Table 2-3 Definition of task identification mark PKW1 Request (master to slave) Request Function No task Read a parameter Modify a parameter value (single word) [Modification of both RAM and EEPROM] Modify a parameter value (single word) [Modification of RAM only] Table 2-4 Definition of response identification mark PKW1 Response number (slave to master)
  • Page 34 PZD area (master to drive) Control word (CW): The first word in a PZD task message is a drive CW. Table 2-7 describes the CW of the MV800 series (Byte8: high-byte command word. Byte9: low-byte command word) Table 2-7 MV800 series CW...
  • Page 35 PZD area (drive to master) Status word (SW): The first word in a PZD response message is a drive SW. The definition of the drive SW is explained below: (Byte8: high-byte SW. Byte9: low-byte SW) Table 2-9 MV800 series SW Name Value...
  • Page 36 Actual value (ACT): The second to twelfth words in a PZD task message are the main actual words ACT. These 11 words (PZD13 to PZD23) serve to read the drive internal parameters. The parameters can be set by the function codes (P43.02 to P43.12). Table 2-10 MV800 series status value available for reading Function code Word...

  • Page 37: Communication Example Of Siemens Plc Controlling Mv800

    Function code Word Range Default 19: AO output value（0 to 100.0%） 20: HDO1 output value（0 to 50.000 kHz） 21: HDO2 output value（0 to 50.000 kHz） 22: PID reference（-100.0% to 100.0%） 23: PID feedback（-100.0% to 100.0%） 24: PID deviation（-100.0% to 100.0%） 25: PID output（-100.0% to 100.0%）...

  • Page 38: Start A New Program

    acquisition of the GSDML file. 2.5.2.1 Start a new program Open the TIA Portal software, start a new program, enter a program name, select a save path, and click the “Create” button. Click “Open the project view.”...

  • Page 39: Install The Gsd File

    2.5.2.2 Install the GSD file Select the save path for “GSDML-V2.32-MEGMEET-MV800-20230830.xml.”...
  • Page 40 Select the file, and click the “Install” button. After a few seconds, the system prompts “Installation was completed successfully.” Click the “Close”...

  • Page 41: Configuration

    button. 2.5.2.3 Configuration Click the “Devices & networks” button. In the “Hardware catalog” on the right sidebar, select the PLC model in actual use. For this example, “1511-1-PN” is used in configuration. Double click the “6ES7 511-1AK02-0AB0” icon. Note: The number combination of the icon shall be identical with that on the back of the PLC unit. Otherwise, it will report an error when downloading the program to the PLC in the following process.
  • Page 43 Set the data privacy rights as needed. The following steps of the example are based upon full access open for all users.
  • Page 46 PLC is now successfully added to the network, as shown below: Double click “MV800PN” to add the slave to the network.
  • Page 47 Double click the slave icon to enter the interface as shown below. Configure the slave in the interface. Custom telegram refers to the message customized by the user, and its length is available for configuration. The default selection is “Custom telegram 32Byte IN/OUT.” Standard telegram refers to the standard message 1.
  • Page 48 Click “Devices & networks”, “Unassigned”, and “PLC_1_PROFINET interface_1” in sequence to enter the following interface.

  • Page 49: Set Ip Address

    Configuration is completed. 2.5.2.4 Set IP address Set the IP address to ensure that the PLC address, slave address, and the PC address are in the same network segment. Set the IP address of the PC to 192.168.1.12.
  • Page 50 Click “Devices & networks”, and double click the PLC icon and the network interface. Set the IP address of PLC to 192.168.1.5. Double click “Devices & networks”, click the slave icon, and double click the network interface. Set the slave address to 192.168.1.6, and uncheck “Generate PROFINET device name automatically.” Enter the name “mv800pn.”...

  • Page 51: Compile And Download

    2.5.2.5 Compile and download Click “Save project.” Right click PLC_1, left click “Compile”, “Hardware and software (only changes)” to compile the project. If the compilation error is 0, there is no wrong setting in the previous configuration. Download to compile.
  • Page 52 Click “Download.”...
  • Page 53 Select the option in the red frame as shown below, and click “Start search.”...
  • Page 54 Select PLC in the search result table, and click “Load.”...
  • Page 55 Follow the steps below.

  • Page 57: Watch

    Click “Finish” to complete the downloading. 2.5.2.6 Watch Click “Go online.”...

  • Page 58: Integrated Pn Communication Application

    Display of green icons indicates normal PN communication. 2.6 Integrated PN communication application A single communication option is capable of controlling up to 5 drives, applicable for extruders, printing, and packaging machines, as shown below. PN communication self-defined message can be divided into two types: General PN communication This is the traditional communication mode for controllers and PN devices.
  • Page 59 P43.01 = 1 (0 is the standard message 1, and 1 is the self-defined message) Function codes (P43.02 to P43.12) are used to set the parameters modifiable by the controller. Function codes (P43.13 to P43.23) are used to set the parameters available for reading by the controller. PN to 485 (one PN option controlling up to 5 drives) In this mode, only one drive is installed with the PN option, which can transmit the PLC messages to other drives through 485.
  • Page 60 reading and writing before the controller receives the corresponding data and response, which makes the device applicable only for application with low requirement in real-time performance.

  • Page 61: 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 62: Parameter Settings For Canopen Network Connection

    would be added to the master station and the last slave station on the sequence. For the MV800-Canopen option, turn the terminal resistor switch 1 and switch 2 to ON position. The transmission distance of CAN bus is directly correlated with the baud rate and the communication cable properties.

  • Page 63: Communication

    Drive parameter Value Function description (measured in second) P40.20 1 to 127 CANopen station number 0: 1 Mbps/s 1: 800 Kbps/s 2: 500 Kbps/s 3: 250 Kbps/s P40.21 4: 125 Kbps/s 5: 100 Kbps/s CAN communication baud rate 6: 50 Kbps/s 7: 20 Kbps/s 8: 10 Kbps/s 3.5 Communication...

  • Page 64: Sync Message

    COB-ID Data0 Data1 0x000 Command word Node-ID Command word types are shown below: Command word Description 0x01 Start remote node 0x02 Stop remote node 0x80 Enter pre-operational state 0x81 Reset node 0x82 Reset communication 3.5.3 SYNC message 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).

  • Page 65: Pdo Mapping

    would send a TxPD01 message every 200 ms. When the event timer is set to 0, every time the corresponding TxPDO data changes, the slave would send a TxPDO message; however, the time interval is restricted by the inhibit time, which means the same PDO message would be sent once only in the range of the inhibit time, so the burden of the bus would be minimized.
  • Page 66 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 67 0: Disabled; 1: Enabled Bit6: Fault reset Bit7: Emergency stop 0: Disabled; 1: Enabled 0.0 to 300.0% Drive torque 2100h/0 Unit: 0.1% Read/ Write upper limit (corresponding to 0 to 3000) Braking torque 2101h/0 Unit: 0.1% 0.0 to 300.0% Read/ Write upper limit 0.00 to 599.00 Hz FWD frequency...
  • Page 68 TxPDO (sent by the slave, and received by the master): 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;...

  • Page 69: Sdo Reading/Writing Operation

    Position actual 220Ah/0 Null Null Read only value Refer to the Drive fault information in section 603Fh/0 Error code Read only 3.5.6 Emergency message 3.5.5 SDO reading/writing operation 3.5.5.1 Drive function code mapping This CANopen option enables access to the drive function codes via the quick SDO message. The drive function code group (P00 to P98) is mapped to the section (0x2000 to 0x2062) in the CANopen 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 70 Quick SDO response message is shown below (from the slave to the master): Description 11-bit ID 0x580+Node-ID 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...

  • Page 71: Sdo Exception Code

    3.5.5.3 SDO exception code When error occurs during SDO reading/writing, the command specifier in the SDO response message would be 0x80, and the response data would be the exception code shown in the table below: Exception code Description Exception code Description Data type mismatching;...

  • Page 72: Node Guard Message

    acceleration (OC1) (EEP) 39: Motor overheat (OH3) 2: Overcurrent during 17: 485 communication error (CE) 40: Reserved deceleration (OC2) 18: EtherCAT communication 41: 24 V power supply overload 3: Overcurrent during operation timeout (E-CAt) (24OL) at constant speed (OC3) 19: Current detection error (ItE) 42 to 45: Reserved 4: Overvoltage during 20: CANopen communication...

  • Page 73: Heartbeat Message

    Status word Description It is required to alternate bit7 between 0 and 1 in the setting each time. Status: 0: Initialized bit6 to bit0 4: Stop 5: Run 127: Pre-run 3.5.8 Heartbeat message The master station may occasionally require the slave station to initiate a heartbeat message at intervals so it can learn the real-time slave status.

  • Page 74: Function Code Diagnosis Information

    Check whether the CANopen option is Flashing State machine in Pre-OP state properly connected to the host controller Steady on State machine in OP state No need for actions Normal No need for actions CANopen station number LED3 Flashing Reset P40.20, power off and restart collision (Red) CANopen emergency...
  • Page 75 sub-index 2 indicate the index of the function code with reading/writing errors. For example, 0x0200 indicates that there is an error of reading/writing the function code P02.00. Types of fault codes are shown below: Fault Fault code Wrong password 0xF1 Index for operation does not exist 0xF4 Invalid parameter...

  • Page 76: Chapter 4 Modbus Tcp Communication Option

    Chapter 4 Modbus TCP Communication Option 4.1 Overview Thank you for choosing Megmeet Modbus TCP 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 77: Modbus Tcp Communication

    4.4 Modbus TCP communication 4.4.1 Modbus TCP data frame structure During Modbus TCP communication, only parameters in a word format can be read/written by the drive. The corresponding read command is 0x03; the write command is 0x06; the multiple write command is 0x10;...
  • Page 78 Theoretically, the host controller supporting reading of multiple sequential parameters (n up to 12) at a time. However, those sequential parameters shall not pass over the last parameter in the group; otherwise, response error may occur. The read response error code of slave station is 0x83; the write response error code is 0x86; the multi-write response error code is 0x90.

  • Page 79: Parameter Setting For Modbus Tcp Network Connection

    Data frame field description: 0x03 refers to the reading of slave parameters; 0x06 refers to the writing of Command code slave parameters; 0x10 refers to the multi-writing of slave parameters. It refers to the address of the drive internal parameter, indicated in a Function code hexadecimal format.

  • Page 80: Mutable Mapping Application Of Address

    Parameter Value Function P02.05 It serves to set the main frequency source to Modbus TCP. IP address setting (IP, subnet mask, and gateway) is shown below. Drive parameter Value Function P40.02 0 to 255 IP address 1 P40.03 0 to 255 IP address 2 P40.04 0 to 255...

  • Page 81: Fault Diagnosis

    485 parameter to the parameter address used in the message. (For example, the Mapped address 2 of actual operating address of PLC.) P30.02 0 to 0xFFFF the 485 parameter Used address 2 of the P30.03 0 to 0xFFFF 485 parameter Mapped address 3 of P30.04 0 to 0xFFFF...
  • Page 82 Normal No need for actions Communication timeout between the Check whether the MV810-TCP0 option Steady on master and the communication card is properly connected to the drive Description of LED on the communication port: LED status Description Action Normal connection with data Yellow light flashing No need for actions transmission available...

  • Page 83: 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 84 The tenth mapping object UINT32 0x00000000 RX PDO2 mapping parameter Number of supported UINT8 mapping objects 1601h The first mapping object UINT32 0x60400010 The second mapping object UINT32 0x210B0010 RX PDO3 mapping parameter Number of supported UINT8 mapping objects 1602h The first mapping object UINT32 0x60400010...
  • Page 85 TX PDO2 mapping parameter Number of supported UINT8 mapping objects 1A01h The first mapping object UINT32 0x60410010 The second mapping object UINT32 0x220A0010 TX PDO3 mapping parameter Number of supported UINT8 mapping objects 1A02h The first mapping object UINT32 0x60410010 The second mapping object UINT32 0x22020010...
  • Page 86 0x00 The biggest sub-index UINT8 0x20 0x01 Sync mode UINT16 0x02 0x02 Cycle time UINT32 0x03 Switching time UINT32 Synchronization type 0x04 UINT16 0x4006 supported 0x05 The shortest cycle time UINT32 0x0003D090 0x06 Calculate/Copy time UINT32 0x07 Reserve UINT32 0x08 Learn cycle time UINT16 0x09...
  • Page 87 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 2000h P00 function code group 2001h P01 function code group 2002h P02 function code group 2003h P03 function code group 2004h...
  • Page 88 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 89 2200h Output current UINT16 2201h Output voltage UINT16 2202h Output frequency UINT16 2203h Output torque INT16 2204h Bus voltage UINT16 2205h DI state 1 UINT16 2206h DI state 2 UINT16 2207h DO state UINT16 2208h Motor power INT16 2209h Power output UINT16 220Ah Position actual value...

  • Page 90: 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 91 Product code UINT32 0x00000902 Revision number UINT32 0x00000200 Serial number UINT32 0x00000000 Server SDO Number of sub-indexes UINT8 1200h COB ID client to server UINT32 0x600+Node-ID COB ID server to client UINT32 0x580+Node-ID RxPDO1 communication parameter Number of sub-indexes UINT8 COB-ID used by PDO UINT32 0x200+Node-ID...
  • Page 92 UINT8 Event timer UINT16 UINT8 RxPDO4 communication parameter Number of sub-indexes UINT8 COB-ID used by PDO UINT32 0x80000500+Node-ID Transmission type UINT8 0xFF 1403h Inhibit time UINT16 UINT8 Event timer UINT16 UINT8 RxPDO1 mapping parameter Number of sub-indexes UINT8 The first mapping object UINT32 0x60400010 1400h...
  • Page 93 The fourth mapping object UINT32 RxPDO4 mapping parameter Number of sub-indexes UINT8 The first mapping object UINT32 1403h The second mapping object UINT32 The third mapping object UINT32 The fourth mapping object UINT32 TxPDO1 communication parameter Number of sub-indexes UINT8 COB-ID used by PDO UINT32 0x180+Node-ID...
  • Page 94 UINT8 Event timer UINT16 UINT8 TxPDO4 communication parameter Number of sub-indexes UINT8 COB-ID used by PDO UINT32 0x80000480+Node-ID Transmission type UINT8 0xFF 1803h Inhibit time UINT16 UINT8 Event timer UINT16 UINT8 TxPDO1 mapping parameter Number of sub-indexes UINT8 The first mapping object UINT32 0x60410010 1A00h...
  • Page 95 The fourth mapping object UINT32 TxPDO4 mapping parameter Number of sub-indexes UINT8 The first mapping object UINT32 1A03h 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...
  • Page 96 2017h P23 function code group 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...
  • Page 97 210Dh Frequency reference UINT16 2200h Output current UINT16 2201h Output voltage UINT16 2202h Output frequency UINT16 2203h Output torque INT16 2204h Bus voltage UINT16 2205h DI state 1 UINT16 2206h DI state 2 UINT16 2207h DO state UINT16 2208h Motor power INT16 2209h Power output...

  • Page 98: Appendix Iii Warranty And Service

    Megmeet. (2) In case of any abnormalities, please seek assistance by contacting the product supplier or Megmeet. (3) During the warranty period, any abnormalities caused by manufacturing and design defects will be repaired free of charge by our company.
  • Page 99 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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