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Astraada DRV-28 Series, Operation Manual

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Astraada DRV-28 Series Operation Manual Download Page 22

Communication extension card 

 

 

-19- 

Frame 

header

 

Arbitration field 

 

 

 

 

 

 

 

 

 

1 bit  

11 bits  

1 bit  

6 bits

0

–

8 bytes

 

15 bits  

1 bit  

1 bit

1 bit  

7 bits  

 

 

Function code 

Node identification (communication address) 

 

9  

8  

7  

6  

5  

4  

3  

2  

1  

0  

1 0

Identifier of the 

communication object 

(COB-ID)

Remote 

transmission 

request

Control 

field

Data field

CRC 

sequence

CRC 

delimiter

Response 

delimiter

Response 

interver

Frame 

footer

 

 

Figure 3-2 Packet structure

 

Communication 

object 

Function code 

(binary) 

COB-ID (hexadecimal) 

NMT 

0 

0x00 

SYNC 

1 

0x80 

EMERGENCY 

1 

0x81

–

0xFF 

PDO1 Tx 

11 

0x181

–

0x1FF 

PDO1 Rx 

100 

0x201

–

0x27F 

PDO2 Tx 

101 

0x281

–

0x2FF 

PDO2 Rx 

110 

0x301

–

0x37F 

PDO3 Tx 

111 

0x381

–

0x3FF 

PDO3 Rx 

1000 

0x401

–

0x47F 

PDO4 Tx 

1001 

0x481

–

0x4FF 

PDO4 Rx 

1010 

0x501

–

0x57F 

SDO Tx 

1011 

0x581

–

0x5FF 

SDO Rx 

1100 

0x601

–

0x67F 

Node protection 

1110 

0x701

–

0x77F 

 

COB-IDs vary according to communication address, but for one command, the COB-IDs are within a certain 
range. 

Note:

 The commands described in this manual are all data frames if it is not specified that they are remote 

frames. 

 

3.4.2

 

CANopen state transition 

The  start sequence defined  in the CANopen communication protocol is supported. 

Figure  3-3

 shows the 

NMT state transition diagram. 

Summary of Contents for DRV-28 Series

Page 1: ...Operation Manual The owner of Astraada brand is ASTOR Sp z o o Astraada DRV 28 Communication extension card ...

Page 2: ...our neglect of the safety precautions described in this manual and the VFD operation manual our company shall not be held liable You need to open the housing of the VFD when installing or removing the communication card Therefore you must disconnect all power supplies of the VFD and ensure that the voltage inside the VFD is safe For details see the description in the VFD operation manual Severe ph...

Page 3: ...iguration and fault handling of a CAN network Object dictionary Stores information about all COBs identified by a device PDO Process data object a type of COBs used to transmit process data such as control command set values state values and actual values PDOn Tx PDO command transmitted by a slave station to the master station where n refers to 1 2 3 4 PDOn Rx PDO command transmitted by the master...

Page 4: ...33 3 5 4 PDO2 Tx 35 3 5 5 PDO3 Rx and PDO4 Rx 36 3 5 6 PDO3 Tx and PDO4 Tx 37 3 6 Monitoring process data through SDO commands 38 3 7 Baud rate and communication address setting 41 3 7 1 Baud rate setting 41 3 7 2 Communication address setting 41 3 7 3 Function codes related to transmitted and received PZD 41 Chapter 4 PROFINET communication card 44 4 1 Overview 44 4 2 Features 44 4 3 Electrical w...

Page 5: ...ne manual If the communication card is damaged a wrong model is delivered or some items are missing contact the supplier in a timely manner Obtain the ESD file of the communication card from ASTOR The file is named communication card model eds Confirm the environmental requirements for application Table 1 1 Environmental requirements Item Requirement Operation temperature 10 50 C Storage temperatu...

Page 6: ...e ranges from 9 6 kbit s to 12 Mbit s The maximum length of a fieldbus cable must be within the range of 100 m to 1200 m and the specific length depends on the selected transmission rate see the chapter of Technical Data in the VFD manual A maximum of 31 nodes can be connected to one PROFIBUS network segment when no repeater is used If repeaters are used a maximum of 127 nodes including the repeat...

Page 7: ...2 Mbit s Media Shielded or unshielded twisted pair cables depending on the EMC environmental conditions Number of stations 32 on each network segment without repeater a maximum of 127 with repeaters Plug connection 9 pin D type plug The following figure shows the pins of the connector 1 5 4 3 2 9 8 7 6 Figure 2 1 Plug of the connector Table 2 1 Connector pins Connector pin Description 1 Unused 2 U...

Page 8: ...d as stations Terminal Repeater Repeater 1 1 2 31 30 2 3 30 31 Figure 2 2 Repeaters 3 Transmission rates and maximum transmission distances The maximum length of a cable depends on the transmission rate Table 2 2 describes the transmission rates and corresponding transmission distances Table 2 2 Transmission rates and corresponding transmission distances Transmission rate kbps A type wire m B type...

Page 9: ...ong electromagnetic radiation you need to use cables with shielding layers The shielding layers can improve electromagnetic compatibility EMC 2 If shielding braid or shielding foil is used connect the two ends of it to the protective ground and cover an area as large as possible to ensure high conductivity In addition data cables need to be separated from high voltage cables 3 When the data transm...

Page 10: ...GSD file One device description file named GSD file is required for each PROFIBUS slave station on the PROFIBUS bus The GSD file is used to describe the characteristics of the PROFIBUS DP device The GSD file includes all parameters defined for the device including the supported bard rate supported information length input output data amount and definitions of diagnosis data You can obtain the type...

Page 11: ...ion frame data structure Parameter zone PKW1 Parameter identification PKW2 Array index number PKW3 Parameter value 1 PKW4 Parameter value 2 Process data CW Control word transmitted from the master to a slave For description see Table 2 5 SW State word transmitted from a slave to the master For description see Table 2 7 PZD Process data defined by users When the process data is output by the master...

Page 12: ...e value Task packet master station VFD CW The first word in a PZD task packet is a VFD CW Table 2 5 describes Astraada DRV 28 series VFD CWs Table 2 5 Astraada DRV 28 series VFD CWs Bit Name Value State to be entered description 0 7 Communication based control command 1 Forward running 2 Reverse running 3 Forward jogging 4 Reverse jogging 5 Decelerating to stop 6 Coasting to stop emergency stop 7 ...

Page 13: ...of the motor 8 Upper limit of the brake torque 0 3000 in which 1000 corresponds to 100 0 of the rated current of the motor 9 Virtual input terminal command 0x000 0x3FF corresponding to S8 S7 S6 S5 HDIB HDIA S4 S3 S2 and S1 in sequence 10 Virtual output terminal command 0x00 0x0F corresponding to RO2 RO1 HDO and Y1 in sequence 11 Voltage setting for V F separation 0 1000 in which 1000 corresponds t...

Page 14: ...mode 0 Keypad based control 1 Terminal based control 14 2 Communication based control 3 Reserved 15 Heartbeat feedback 1 Heartbeat feedback 0 No heartbeat feedback Actual value ACT The second to twelfth words in a PZD task packet are the main actual values The main actual frequency values are provided by the main actual value signal source Table 2 8 Actual state values of Astraada DRV 28 series VF...

Page 15: ...quency value 100 kHz 0 P15 22 Transmitted PZD11 0 P15 23 Transmitted PZD12 0 PKW zone parameter identification flag PKW1 numerical zone The PKW zone describes the processing mode of the parameter identification interface A PKW interface is not a physical interface but a mechanism that defines the transmission mode such reading and writing a parameter value of a parameter between two communication ...

Page 16: ...urth word PKW4 16 bits Bits 15 00 Value least significant word of a parameter 0 65535 Note If the master station requests the value of a parameter the values in PKW3 and PKW4 of the packet that the master station transmits to the VFD are no longer valid Task request and response When transmitting data to a slave the master uses a request number and the slave uses a response number to accept or rej...

Page 17: ... and 5 are not supported currently Table 2 11 Response identification flag PKW1 Response No from a slave to the master Response No Function 0 No response 1 Transmitting the value of a parameter one word 2 Transmitting the value of a parameter two words 3 The task cannot be executed and one of the following error number is returned 1 Invalid command 2 Invalid data address 3 Invalid data value 4 Ope...

Page 18: ...W4 Request master station VFD PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 PZD12 Reques t 00 04 00 10 00 00 50 00 xx xx xx xx xx xx xx xx Response VFD master station PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 PZD12 Response 00 01 00 10 00 00 50 00 xx xx xx xx xx xx xx xx 0001 Response parameter value updated PZD examples The transmission of the PZD zone is implemented through VFD function code settings For the function...

Page 19: ...er P15 03 The parameter specified in each request frame is updated with the information contained in PZD3 until another parameter is specified Request master station VFD PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 PZD12 Response xx xx xx xx xx xx xx xx xx xx xx xx 00 00 xx xx Subsequently the information contained in PZD3 is used as tractive force reference in each request frame until another parameter is sp...

Page 20: ...his communication card supports access to VFDs through process data objects PDOs and service data objects SDOs PDOs and SDOs are used to read the object dictionary defined by the manufacturer 3 2 Features 1 Supported functions Supports the CAN2 0A protocol Supports CANopen DS301 2 Supported CANopen services PDO Supports four pairs of PDO services PDO1 TX to PDO4 TX and PDO1 RX to PDO4 RX where the...

Page 21: ...he CANopen communication timeout fault time and baud rate you need only to select the related PROFIBUS channels If modification is made on the VFD operation manual the operation is subject to the CANopen channel without prior notice in this manual 3 3 Electrical wiring Use shielding wires in the bus cable if possible It is recommended that you connect the shielding wire to the CANG terminal of the...

Page 22: ... SYNC 1 0x80 EMERGENCY 1 0x81 0xFF PDO1 Tx 11 0x181 0x1FF PDO1 Rx 100 0x201 0x27F PDO2 Tx 101 0x281 0x2FF PDO2 Rx 110 0x301 0x37F PDO3 Tx 111 0x381 0x3FF PDO3 Rx 1000 0x401 0x47F PDO4 Tx 1001 0x481 0x4FF PDO4 Rx 1010 0x501 0x57F SDO Tx 1011 0x581 0x5FF SDO Rx 1100 0x601 0x67F Node protection 1110 0x701 0x77F COB IDs vary according to communication address but for one command the COB IDs are within...

Page 23: ...nd of the NMT master station for entering the pre operation state 5 8 Command of the NMT master station for entering the stopped state 9 10 11 Command of the NMT master station for resetting a remote node 12 13 14 Command of the NMT master station for resetting a remote node communication parameter Different services are supported in different states as described in Table 3 3 Table 3 3 Services su...

Page 24: ...arts a slave station device 0x02 Stops a slave station device 0x80 Enables a slave station to enter the pre operation state 0x81 Resets a slave station 0x82 Resets communication of a node Example For example the command to enable EC TX105 whose node ID is 3 to enter the pre operation state is described as follow COB ID Byte0 Byte1 0x000 0x80 0x03 For another example the command to start all EC TX1...

Page 25: ...ode protection command transmitted by the master station the slave station transmits the following command response to the master station COB ID Byte0 state value 0x703 0x85 In the command bit 7 of Byte0 is 1 and the state value is 0 05 indicating that slave station 3 is in the operation state If receiving another node protection command the slave station transmits a command frame in which the sta...

Page 26: ...cannot be used simultaneously 3 4 6 Start packet NMT Boot up After being initialized booted up the communication card transmits a start packet Command Slave station master station COB ID Byte0 0x700 Node ID 0x00 Example For example after being initialized the communication card whose node ID is 3 transmits the following start packet COB ID Byte0 0x703 0x00 3 4 7 Synchronous packet object SYNC Gene...

Page 27: ...s the type of the current error You can determine the error type indicated by the current emergency packet according to the value stored in the register Table 3 7 describes the indication of the bits of the error register For information about the VFD error codes see the VFD operation manual The function code P07 27 in Appendix B describes the errorcodes of Astraada DRV 28 VFD Table 3 6 Emergency ...

Page 28: ... For example if the inverter unit phase U protection OUT1 fault occurs on the Astraada DRV 28 VFD whose node ID is 3 and the fault type is 1 that is the VFD error code is 1 the communication card transmits the following emergency packet COB ID Emergency error code Error register VFD error code Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x83 0x00 0x30 0x04 0x01 0x00 0x00 0x00 0x00 As you can s...

Page 29: ...Subindex Response data LSB MSB bit7 0 bit15 8 bit23 16 bit31 24 Description An object index is two bytes Byte1 is the LSB and Byte2 is the MSB For information about the indexes and subindexes see the object dictionary in the appendix Request codes include request codes for reading and those for writing Request codes for writing vary according to the character length of items in the object dictiona...

Page 30: ...r codes Table 3 10 Interruption error codes Interruption code Code function description 0503 0000 Triggering bit not alternated 0504 0000 SDO protocol times out 0504 0001 Invalid or unknown client server 0504 0002 Invalid block size 0504 0003 Invalid sequence number 0504 0004 CRC error 0504 0005 Memory overflow 0601 0000 No access to the object 0601 0001 Attempts to read a write only object 0601 0...

Page 31: ...eration example To modify the disabled time of PDO2 Tx to 1000 ms the master station transmits the following write operation command COB ID Request code Object index Subinde x Requested data Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x603 0x2B 0x01 0x18 0x03 0xe8 0x03 0x00 0x00 After receiving the command transmitted by the master station the slave station transmits the following command res...

Page 32: ...r station command PDO Tx is a PDO command transmitted by a slave station to the master station The CW SW setting and return value of each PDO of the communication card are all defined with a manufacturer defined object dictionary In this way the process data of a VFD can be monitored not only through PDOs but also through SDOs For more information see the next chapter Each PDO command is labeled w...

Page 33: ... For example after receiving a PDO2 Rx command the slave station transmits a PDO2 Tx command Table 3 11 Triggering modes supported by the communication card Triggering mode Transmission type decimal Event triggering PDO1 TX PDO2 TX PDO3 TX PDO4 TX Synchronou s 1 240 Non supported Support ed Support ed Support ed Asynchrono us 254 Event timer Non supported Support ed Support ed Support ed Disabled ...

Page 34: ...ber behind the dot mark Take P10 01 as an example the number before the dot mark is 10 that is the MSB of the parameter address is 0 0A and the number behind the dot mark is 01 that is the LSB is 0 01 Therefore the function code address is 0 0A01 Table 3 14 Astraada DRV 28 series VFD parameter addresses Function code Name Detailed parameter description Default value Modify P10 00 Simple PLC mode 0...

Page 35: ...data to be modified and when a read command is responded the response data is the data to be read An error code is two bytes Byte2 is the LSB and Byte3 is the MSB Error codes are valid only when the response code is 3 An error code indicates the reason why it fails to respond to PDO1 Rx Table 3 16 describes the definitions of the error codes Table 3 16 Error codes Code Name Definition 00H No error...

Page 36: ...rd is set and the master station does not provide the password to unlock the system when performing a read or write operation The error of system locked is reported Example of PDO1 The VFD is a Astraada DRV 28 series VFD and the slave station address is 3 Assume that you want to set the function code P15 13 of the VFD to 1 Command analysis The parameter address of P15 13 is 0 0F0D According to the...

Page 37: ...able 0 Disable 13 Pre excitation 1 Enable 0 Disable 14 DC braking 1 Enable 0 Disable 15 Heartbeat reference 1 Enable 0 Disable The function of each setting can be set through the corresponding function code of the VFD The setting method is the same as that for received PZD in PROFIBUS communication For details see the VFD operation manual Setting 1 setting 2 and setting 3 correspond to received PZ...

Page 38: ...1 returned value 2 and returned value 3 A SW is used to notify of the state of the VFD and returned values are used to transmit the real time running values of VFD such as running frequency The default transmission type of PDO2 Tx is 254 and therefore PDO2 Tx is transmitted once data corresponding to a SW or returned value changes Command Slave station master station COB ID Byte0 Byte1 Byte2 Byte3...

Page 39: ...Multiple returned values can be enabled simultaneously Example Assume that the VFD is a Astraada DRV 28 series VFD the slave station address is 3 the VFD is running and the running frequency is 50 00 Hz Returned value 1 is set to Running frequency returned value 2 is set to Output voltage and returned value 3 is set to no function Command analysis You need to set returned value 1 to the running fr...

Page 40: ...to the master station such as running frequency The default transmission type of PDO3 Tx and PDO4 Tx is 254 and therefore PDO3 Tx or PDO4 Tx is transmitted once data corresponding to a returned value in the same command changes PDO3 Tx command Slave station master station COB ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x380 NODEID Returned value 4 Returned value 5 Returned value 6 Returned...

Page 41: ... defined object dictionary Table 3 19 Objects with the control function in the manufacturer defined object dictionary Index hexadecimal Subindex hexadecimal Function Access permission Data length Corresponding to 2100 0 Request code do not use it RW 2 bytes 1 Parameter address do not use it RW 2 bytes 2 Requested data do not use it RW 2 bytes 3 Setting 1 RW 2 bytes Received PZD2 4 Setting 2 RW 2 b...

Page 42: ...tted PZD3 5 Returned value 3 RO 2 bytes Transmitted PZD4 6 Returned value 4 RO 2 bytes Transmitted PZD5 7 Returned value 5 RO 2 bytes Transmitted PZD6 8 Returned value 6 RO 2 bytes Transmitted PZD7 9 Returned value 7 RO 2 bytes Transmitted PZD8 A Returned value 8 RO 2 bytes Transmitted PZD9 B Returned value 9 RO 2 bytes Transmitted PZD10 C Returned value 10 RO 2 bytes Transmitted PZD11 D Returned ...

Page 43: ...nd COB ID Request code Object index Subindex Requested data Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x603 0x40 0x01 0x20 0x00 0x00 0x00 0x00 0x00 If the VFD is running forward the following SDO command is returned to the master station COB ID Request code Object index Subindex Requested data Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x583 0x4B 0x01 0x20 0x00 0x01 0x01 0x00 0x00 Examp...

Page 44: ...1 Baud rate setting Function parameter value Baud rate bit s 0 1000 k 1 800 k 2 500 k 3 250 k 4 125 k 5 100 k 6 50 k 7 20 k 3 7 2 Communication address setting The CANopen communication address is set through the function parameter P15 01 3 7 3 Function codes related to transmitted and received PZD Table 3 22 Received PZD Function code Word Value range Default value P15 02 Received PZD2 0 Invalid ...

Page 45: ... output setting 2 1000 1000 in which 1000 corresponds to 100 0 14 MSB of position reference signed number 15 LSB of position reference unsigned number 16 MSB of position feedback signed number 17 LSB of position feedback unsigned number 18 Position feedback setting flag position feedback can be set only after this flag is set to 1 and then to 0 P15 08 Received PZD8 0 P15 09 Received PZD9 0 P15 10 ...

Page 46: ...0 V 14 AI3 value 100 V 15 HDIA frequency 100 kHz 16 Terminal input state 17 Terminal output state 18 PID reference 100 19 PID feedback 100 20 Rated torque of the motor 21 MSB of position reference signed number 22 LSB of position reference unsigned number 23 MSB of position feedback signed number 24 LSB of position feedback unsigned number 25 State word 26 HDIB frequency value 100 kHz 0 P15 23 Tra...

Page 47: ...00 M full duplex operation Supports the linear network topology and star shaped network topology 2 Supported communication types Standard Ethernet channels Standard Ethernet channels are non realtime communication channels that use the TCP IP protocol and are mainly used for device parameterization and configuration and to read diagnosis data Real time RT communication channels RT channels are opt...

Page 48: ...ED1 Green 3 3 V power indicator LED2 Bus state indicator Red On Not connected through a network cable Blinking Connected to the PROFINET controller through a network cable but no communication established Off Communication established with the PROFINET controller LED3 System fault indicator Red On PROFINET diagnosis enabled Off PROFINET diagnosis disabled LED4 Slave ready indicator Green On TPS 1 ...

Page 49: ...igure 4 2 and Figure 4 3 show the electrical wiring diagrams Master station device Slave station device 2 RJ45 RJ45 Slave station device 1 RJ45 RJ45 Slave station device n RJ45 RJ45 Figure 4 2 Electrical wiring diagram of the linear network topology Note For the star shaped network topology you need to use a PROFINET switch Master station device Slave station device 2 RJ45 RJ45 Slave station devic...

Page 50: ... 6 byte source MAC address 6 byte destina tion MAC addres s 2 bytes 2 bytes 2 bytes 2 bytes 36 1440 bytes 4 bytes 4 4 2 PROFINET I O communication The PROFINET communication card supports 16 word input output Figure 4 4 shows the packet format for transmitting data with a VFD Parameter identification PKW Process data PZD Distributable zone PKW1 PKW2 PKW3 PKW4 CW SW PZD2 PZD3 PZD2 PZD3 PZD12 PZD12 ...

Page 51: ...s as a gateway The VFD device responds to the bit code information of the CW and feeds state information back to the master through an SW Reference value A VFD device may receive control information in multiple channels including analog and digital input terminals VFD control panel and communication modules such as RS485 and CH PA01 adapter modules To enable the control over VFD devices through PR...

Page 52: ...ettings of Astraada DRV 28 series VFD Function code Word Value range Default value P16 32 Received PZD2 0 Invalid 1 Set frequency 0 Fmax unit 0 01 Hz 2 PID reference 0 1000 in which 1000 corresponds to 100 0 3 PID feedback 0 1000 in which 1000 corresponds to 100 0 4 Torque setting 3000 3000 in which 1000 corresponds to 100 0 of the rated current of the motor 5 Setting of the upper limit of forward...

Page 53: ...signed number 16 MSB of position feedback signed number 17 LSB of position feedback unsigned number 18 Position feedback setting flag position feedback can be set only after this flag is set to 1 and then to 0 0 P16 42 Received PZD12 0 Response packet VFD master station SW The first word in a PZD response packet is a VFD SW Table 4 7 describes Astraada DRV 28 series VFD SWs Table 4 7 Astraada DRV ...

Page 54: ...nt 10 A 6 Actual output torque 10 7 Actual output power 10 8 Rotating speed of the running 1 RPM 9 Linear speed of the running 1 m s 10 Ramp frequency reference 11 Fault code 12 AI1 value 100 V 13 AI2 value 100 V 14 AI3 value 100 V 15 HDIA frequency 100 kHz 16 Terminal input state 17 Terminal output state 18 PID reference 100 19 PID feedback 100 20 Rated torque of the motor 21 MSB of position refe...

Page 55: ...definition of each word First word PKW1 16 bits Bits 15 00 Task or response identification flag 0 7 Second word PKW2 16 bits Bits 15 00 Basic parameter address 0 247 Third word PKW3 16 bits Bits 15 00 Value most significant word of a parameter or error code of the returned value 00 Fourth word PKW4 16 bits Bits 15 00 Value least significant word of a parameter 0 65535 Note If the master station re...

Page 56: ...t supported currently Table 4 10 Response identification flag PKW1 Response No from a slave to the master Response No Function 0 No response 1 Transmitting the value of a parameter one word 2 Transmitting the value of a parameter two words 3 The task cannot be executed and one of the following error number is returned 1 Invalid command 2 Invalid data address 3 Invalid data value 4 Operation failur...

Page 57: ...therCAT communication of this communication card supports two types of process data for reading data from and writing data to VFDs They are PDOs process data objects and SDOs service data objects for reading data from and writing data to the object dictionary defined by the manufacturer 4 6 Features 1 Supported functions Supports the EtherCAT COE 402 protocol Supports automatic network address set...

Page 58: ...tor indicates EtherCAT running state Init state It remains off Pre OP state It blinks off 0 2s and on 0 2s Safe OP state It blinks off 1s and on 0 2s OP state It remains on ALM Red The red indicator indicates EtherCAT fault state No fault It remains off Init or Pre OP state It blinks off 0 2s and on 0 2s Safe OP fault state It blinks off 1s and on 0 2s OP fault state It remains on PWR Red 3 3V pow...

Page 59: ...ave device n EC Tx508 IN OUT Figure 0 2 Electrical wiring diagram for a linear topology 4 8 Communication 4 8 1 CoE reference model Figure 0 3 CoE reference model CoE network reference model consists of the data link layer and application layer The data link layer is responsible for EtherCAT communication protocol CANopen drive Profile DS402 communication rules are embedded in the application laye...

Page 60: ... configuration This file contains mandatory information about EtherCAT communication settings ASTRAADA provides this file AS28ETC0001 xml 4 8 3 EtherCAT state machine EtherCAT state machine is used to describe the states and state change of slave station applications Generally the master station sends a state change request while the slave station responds The state change flow is shown in the fol...

Page 61: ...jects Each SM channel object describes the consistent area of the EtherCAT process data and includes multiple PDOs An EtherCAT slave station with the application control function shall support PDO mapping and reading of SM PDO assigned objects The master station can select objects from the object dictionary to perform PDO mapping PDO mapping configuration is located in the range of 1600h 1603h RxP...

Page 62: ...or Actual Value 0x60F4 Mode of Operatio n Display 0x6061 Error Code 0x603F Touch Probe Value 0x60BA 4 8 5 DC based network synchronization The DC distributed clock can enable all EtherCAT devices to use the same system time so as to control the synchronous execution of all device tasks In the EtherCAT network the clock with the DC function of the first slave station connected to the master station...

Page 63: ...e is preparing to enter the Switch On state but the motor is not excited Switched On The drive is in the ready state and the main circuit power supply is normal Operation Enable The drive is enabled and controls the motor based on the control mode Quick Stop Active The drive stops in the set manner Fault Reaction Active When detecting an alarm the drive stops in the set manner but the motor still ...

Page 64: ...k stop 0 X 0 1 X 7 10 1 1 Disable operation 0 0 1 1 1 5 Enable operation 0 1 1 1 1 4 16 Fault reset 0 1 X X X X 15 BITS 4 5 6 AND 8 related to control mode Bit Operation mode Profile position mode Profile velocity mode Homing mode 4 New set point Reserved Homing operation start 5 Change set immediately Reserved Reserved 6 Abs rel Reserved Reserved 8 Halt Halt Halt Control word is set to 0x0F for e...

Page 65: ...x xxxx x01x 0111 Operation enabled xxxx xxxx x00x 0111 Quick stop active xxxx xxxx x0xx 1111 Fault reaction active xxxx xxxx x0xx 1000 Fault BIT4 Voltage enable when this bit is 1 it indicates that the main circuit power supply is normal BIT9 Remote when this bit is 1 it indicates that the slave station is in the OP state and the master station can control the drive through PDO BIT10 Target reache...

Page 66: ...ord to enable the drive set it to 0x0F for enabling 4 Set 607Ah Target position to the target position unit user unit 5 Query for 6064h Position actual value to obtain actual position feedback of the motor 6 Query for 6041h Status word to obtain the status feedback of the drive following error target reached and internal limit active 7 For function details see function parameters in group P21 in D...

Page 67: ...5 Query 6041h Status word to obtain the status feedback of the drive Speed zero Max slippage error Target reached and Internal limit active 4 9 Function code modification Index Sub index Description Permission Data type Default 2000h 0 Read function codes RW UINT32 0 Bits 16 31 Read function code addresses Bits 00 15 No function Example of read operation Read the keypad set frequency value of P00 ...

Page 68: ...e Default response Bits 16 31 0x0001 write success Bits 00 15 Parameter value written by 2002h Bits 16 31 0x0003 write error Bits 00 15 Error codes 0x0002 illegal data address 0x0003 illegal data value 0x0007 read only parameter 0x0008 the parameter is unchangeable during running ...

Page 69: ...cturer defined device name CONST String ASTRAADA CANopen 1009 0 Manufacturer defined hardware version CONST String V1 00 100A 0 Manufacturer defined software version CONST String V1 00 100C 0 Protection time RW Unsigned16 0 100D 0 Life cycle factor RW Unsigned16 0 1016 Consumer heartbeat time 0 Number of subindexes RO Unsigned8 1 Consumer heartbeat time RW Unsigned32 1017 0 Producer heartbeat time...

Page 70: ...nt Tx RO Unsigned32 3 Node ID of server SDO RO Unsigned8 1400 PDO1 Rx communication parameters 0 Supported Max number of subindexes RO Unsigned8 1 COB ID used by PDO RW Unsigned32 2 Transmission type RW Unsigned8 3 Unsigned16 4 Unsigned8 5 Event timer RW Unsigned16 1401 PDO2 Rx communication parameters 0 Supported Max number of subindexes RO Unsigned8 1 COB ID used by PDO RW Unsigned32 2 Transmiss...

Page 71: ...d8 3 Unsigned16 4 Unsigned8 5 Event timer RW Unsigned16 1600 PDO1 Rx mapping parameters 0 Number of application program objects mapped in PDO RW Unsigned8 3 1 First mapped object RW Unsigned32 0x21000010 2 Second mapped object RW Unsigned32 0x21000110 3 Third mapped object RW Unsigned32 0x21000210 1601 PDO2 Rx mapping parameters 0 Number of application program objects mapped in PDO RW Unsigned8 4 ...

Page 72: ...Rx mapping parameters 0 Number of application program objects mapped in PDO RW Unsigned8 4 1 First mapped object RW Unsigned32 0x21000a10 2 Second mapped object RW Unsigned32 0x21000b10 3 Third mapped object RW Unsigned32 0x21000c10 4 Fourth mapped object RW Unsigned32 0x21000d10 1800 PDO1 Tx communication parameters 0 Supported Max number of subindexes RO Unsigned8 1 COB ID used by PDO RW Unsigne...

Page 73: ...nsigned8 254 3 Disabled time RW Unsigned16 500 4 Reserved RW Unsigned8 5 Event timer RW Unsigned16 0 1803 PDO4 Tx communication parameters 0 Supported Max number of subindexes RO Unsigned8 1 COB ID used by PDO RW Unsigned32 2 Transmission type RW Unsigned8 254 3 Disabled time RW Unsigned16 500 4 Reserved RW Unsigned8 5 Event timer RW Unsigned16 0 1A00 PDO1 Tx mapping parameters 0 Number of applica...

Page 74: ...2 PDO3 Tx mapping parameters 0 Number of application program objects mapped in PDO RW Unsigned8 4 1 First mapped object RW Unsigned32 0x20000610 2 Second mapped object RW Unsigned32 0x20000710 3 Third mapped object RW Unsigned32 0x20000810 4 Fourth mapped object RW Unsigned32 0x20000910 1A03 PDO4 Tx mapping parameters 0 Number of application program objects mapped in PDO RW Unsigned8 4 1 First map...

Page 75: ...on number RO UINT32 0x00000001 4 Serial number RO UINT32 0x00000001 1600h RX PDO1 mapping parameter 0 Number of supported mapping objects RW UINT8 8 1 First mapping object RW UINT32 0x60400010 2 Second mapping object RW UINT32 0x607A0020 3 Third mapping object RW UINT32 0x60FF0020 4 Fourth mapping object RW UINT32 0x60710010 5 Fifth mapping object RW UINT32 0x60720010 6 Sixth mapping object RW UIN...

Page 76: ...nd mapping object RW UINT32 0x60640020 3 Third mapping object RW UINT32 0x606C0020 4 Fourth mapping object RW UINT32 0x60770010 5 Fifth mapping object RW UINT32 0x60F40020 6 Sixth mapping object RW UINT32 0x60610008 7 Seventh mapping object RW UINT32 0x60B90010 8 Eighth mapping object RW UINT32 0x60BA0020 1A01h TX PDO2 mapping parameter 0 Number of supported mapping objects RW UINT8 8 1 First mapp...

Page 77: ...ect index RW UINT16 0x1600 1C13h TxPDO assignment 0 Max sub index RW UINT8 1 1 TxPDO assigned object index RW UINT16 0x1A00 1C32h SM synchronization output parameter 0x00 Max sub index RO UINT8 0x20 0x01 Synchronization mode RW UINT16 0x02 0x02 Cycle time RO UINT32 0 0x03 Switching time RO UINT32 0 0x04 Supported synchronization type RO UINT16 0x4006 0x05 Min periodic time RO UINT32 0x0003D090 0x0...

Page 78: ...0 0x0A Sync0 time RW UINT32 0x0B SM event loss counter RO UINT32 0 0x0C Circulation timeout counter RO UINT32 0 0x0D Counter of too short switching RO UINT32 0 0x20 Synchronization error RO UINT8 0 2000h 0 Read function codes RW UINT32 0 2001h 0 Read response RO UINT32 0 2002h 0 Write function codes RW UINT32 0 2003h 0 Write response RO UINT32 0 603Fh 0 Error code RO UINT16 0 6040h 0 Control word ...

Page 79: ...0 Number of sub indexes RW UINT8 2 1 Min position range limit RW INT32 0 2 Max position range limit RW INT32 0 607Ch 0 Coordinate deviation RW DINT32 0 6081h 0 Speed in industrial regulations RW UDINT32 0 6083h 0 ACC in industrial regulations RW UDINT32 0 6084h 0 DEC in industrial regulations RW UDINT32 0 6091h Gear ratio 0 Number of sub indexes RW UINT8 2 1 Motor resolution RW UINT32 0x00000001 2...

Page 80: ...value 60B8h 0 Probe control RW UINT16 0 60B9h 0 Probe status RO UINT16 0 60BAh 0 Probe position rising edge RO INT32 0 60F4h 0 Position deviation RO INT32 0 60FDh 0 Digital input RO UINT32 0 60FEh 0 Digital output RO INT32 0 60FFh 0 Target speed RW INT32 0 6502h 0 Drive mode RO UINT32 0x000003A5 ...

Page 81: ...d 9 PROFIBUS CANopen DeviceNet communication 10 Ethernet communication 11 12 Reserved 13 EtherCAT PROFINET EtherNetIP communication 14 15 Reserved 0 15 0 P00 07 Frequency B command setting mode 0 15 2 P03 11 Torque setting mode 0 1 Keypad 2 7 Reserved 8 PROFIBUS CANopen DeviceNet communication 9 Ethernet communication 10 Reserved 11 EtherCAT PROFINET EtherNetIP communication 12 Reserved 0 12 0 P03...

Page 82: ...thernet communication 8 Reserved 9 EtherCAT PROFINET EtherNetIP communication 10 11 Reserved 0 11 0 P04 27 Voltage setting channel 0 Keypad P04 28 1 7 Reserved 8 PROFIBUS CANopen DeviceNet communication 9 Ethernet communication 10 Reserved 11 EtherCAT PROFINET EtherNetIP communication 12 13 Reserved 0 13 0 P06 01 Y1 output 0 Invalid 1 23 Reserved 24 PROFIBUS CANopen DeviceNet communication virtual...

Page 83: ...rved 27 EtherCAT PROFINET EtherNetIP communication setting 2 28 47 Reserved P07 27 Type of current fault 0 No fault 29 PROFIBUS communication fault E DP 30 Ethernet communication fault E NET 31 CANopen communication fault E CAN 57 PROFINET communication timeout fault E PN 58 CAN communication timeout fault ESCAN 60 Card identification failure in slot 1 F1 Er 61 Card identification failure in slot ...

Page 84: ...07 30 Type of 3rd last fault P07 31 Type of 4th last fault P07 32 Type of 5th last fault P08 31 Motor 1 and motor 2 switching channel 0x00 0x14 LED ones place Switching channel 0 Terminal 1 Modbus communication 2 PROFIBUS CANopen DeviceNet communication 3 Ethernet communication 4 EtherCAT PROFINET EtherNetIP communication LED tens place Switching in running 0 Disabled 1 Enabled 00 14 0x00 P09 00 P...

Page 85: ...ward running frequency 0 Fmax unit 0 01 Hz 6 Setting of the upper limit of reverse running frequency 0 Fmax unit 0 01 Hz 7 Upper limit of the electromotive torque 0 3000 in which 1000 corresponds to 100 0 of the rated current of the motor 8 Upper limit of the brake torque 0 3000 in which 1000 corresponds to 100 0 of the rated current of the motor 9 Virtual input terminal command 0x000 0x3FF corres...

Page 86: ... Transmitted PZD2 0 Invalid 1 Running frequency 100 Hz 2 Set frequency 100 Hz 3 Bus voltage 10 V 4 Output voltage 1 V 5 Output current 10 A 6 Actual output torque 10 7 Actual output power 10 8 Rotating speed of the running 1 RPM 9 Linear speed of the running 1 m s 10 Ramp frequency reference 11 Fault code 12 AI1 value 100 V 13 AI2 value 100 V 14 AI3 value 100 V 15 HDIA frequency 100 kHz 16 Termina...

Page 87: ...P15 26 CANopen communicatio n timeout time 0 0 invalid 300 0s 0 0 300 0 0 0s P15 27 CANopen communicatio n baud rate 0 1000 kbps 1 800 kbps 2 500 kbps 3 250 kbps 4 125 kbps 5 100 kbps 6 50 kbps 7 20 kbps 0 7 0 P15 28 CAN communicatio n address 0 127 0 127 1 P15 29 CAN baud rate setting 0 50 kbps 1 125 kbps 2 250 kbps 3 500 kbps 4 1 Mbps 0 4 1 P15 30 CAN communicatio n timeout time 0 0 invalid 300 ...

Page 88: ... input 70 ODVA basic speed control input 71 ODVA extended speed control input 72 ODVA speed and torque control input 73 ODVA extended speed and torque control input 74 ASTRAADA basic speed control input 75 ASTRAADA extended speed control input 76 ASTRAADA speed and torque control input 77 ASTRAADA extended speed and torque control input 69 77 69 P15 36 Enable state change period 0 1 0 1 0 P15 37 O...

Page 89: ...d speed control input 76 ASTRAADA speed and torque control input 77 ASTRAADA extended speed and torque control input 69 77 69 P15 39 Output length of component 19 8 32 8 32 32 P15 40 Input length of component 19 8 32 8 32 32 P15 41 BACnet communicatio n mode setting 0 Enable P16 22 I_Am service 1 Enable P15 42 Baud rate of BACnet_MSTP 0 1 0 P15 42 Baud rate of BACnet_MSTP 0 5 0 5 0 P15 43 P15 69 R...

Page 90: ...rnet monitoring variable address 4 0x0000 0xFFFF 0000 FFFF 0x0000 P16 18 EtherCAT communicatio n timeout time 0 0 invalid 300 0s 0 0 300 0s 0 5s P16 19 Reserved P16 20 MSD of BACnet device number Independent code of BACnet device 0 4194303 0 4194 0 P16 21 LSD of BACnet device number 0 999 1 P16 22 BACnet I Am service setting 0 Transmission at power on 1 Continuous transmission 0 1 0 P16 23 BACnet ...

Page 91: ...00 0s 0 0 300 0 0 0s P16 32 Received PZD2 0 Invalid 1 Set frequency 0 Fmax unit 0 01 Hz 2 PID reference 0 1000 in which 1000 corresponds to 100 0 3 PID feedback 0 1000 in which 1000 corresponds to 100 0 4 Torque setting 3000 3000 in which 1000 corresponds to 100 0 of the rated current of the motor 5 Setting of the upper limit of forward running frequency 0 Fmax unit 0 01 Hz 6 Setting of the upper ...

Page 92: ...ce unsigned number 16 MSB of position feedback signed number 17 LSB of position feedback unsigned number 18 Position feedback setting flag position feedback can be set only after this flag is set to 1 and then to 0 19 31 Reserved P16 43 Transmitted PZD2 0 Invalid 1 Running frequency 100 Hz 2 Set frequency 100 Hz 3 Bus voltage 10 V 4 Output voltage 1 V 5 Output current 10 A 6 Actual output torque 1...

Page 93: ...51 Transmitted PZD10 0 31 0 P16 52 Transmitted PZD11 0 31 0 P16 53 Transmitted PZD12 0 31 0 P16 54 EtherNet IP communicatio n timeout time 0 5 60 0s 0 5 60 0s 0 0s P16 55 EtherNet IP communicatio n rate setting 0 Self adaption 1 100M full duplex 2 100M half duplex 3 10M full duplex 4 10M half duplex 0 4 0 P16 56 EtherNetIP control and state word definition method 0 Define by byte 1 Define by bit 0...

Page 94: ...munication card 12 Sine cosine PG card without CD signals 13 Sine cosine PG card with CD signals 14 Absolute encoder PG card 15 CAN master slave communication card 16 MODBUS communication card 17 EtherCat communication card 18 BacNet communication card 19 DeviceNet communication card 20 EtherNet IP communication card ...

Page 95: ...oleńsk 29 31 112 Kraków Poland www astor com pl produkty astor com pl Version 1 2 All rights reserved No part of this manual covered by copyrights hereon may be reproduced or transmitted in any form by any means without prior permission of ASTOR Sp z o o ...

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