INVT Goodrive350 Series Operation Manual Download Page 115

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Communication extension card

EtherCAT object dictionary

-110-

Index

Subindex

Description

Access

permission

Data
type

Default value

1C00h

SM communication type

Max. sub-index

UINT8

SM0

communication

type

UINT8

0x01

SM1

communication

type

UINT8

0x02

SM2

communication

type

UINT8

0x03

SM3

communication

type

UINT8

0x04

1C12h

RxPDO assignment

Max. sub-index

UINT8

RxPDO

assigned object

index

UINT16

0x1600

1C13h

TxPDO assignment

Max. sub-index

UINT8

TxPDO

assigned object

index

UINT16

0x1A00

1C32h

SM synchronization output parameter

0x00

Max. sub-index

UINT8

0x20

0x01

Synchronization

mode

UINT16

0x02

Cycle time

UINT32

0x03

Switching time

UINT32

0x04

Supported

synchronization

type

UINT16

0x4006

0x05

Min. periodic

time

UINT32

0x0003D090

0x06

Calculation and

replication time

UINT32

0x07

Reserved

UINT32

Summary of Contents for Goodrive350 Series

Page 1: ......

Page 2: ...e device caused due to your 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 in...

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 co...

Page 4: ...NMT Node Guarding 22 3 4 5 Heartbeat packet Heartbeat Producer 23 3 4 6 Start packet NMT Boot up 23 3 4 7 Synchronous packet object SYNC 24 3 4 8 Emergency packet object EMCY 24 3 4 9 Service data ob...

Page 5: ...Chapter 6 EtherCAT communication card 80 6 1 Overview 80 6 2 Features 80 6 3 Electrical wiring 82 6 4 Communication 83 6 4 1 CoE reference model 83 6 4 2 EtherCAT slave station information 84 6 4 3 Et...

Page 6: ...crew and one 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...

Page 7: ...mode and is generally used for periodic data exchange between VFD devices PRNV PROFIBUS DP adapter modules support only the PROFIBUS DP protocol 3 The transmission media of a PROFIBUS field bus are t...

Page 8: ...or first module on the network the bus terminator must be set to ON When a PROFIBUS D sub connector with a built in terminator is used you must disconnect the communication card from the terminator 2...

Page 9: ...by using the RTS pin In regular application only the A Line B Line and SHLD pins are used It is recommended that you use the standard DB9 connectors manufactured by Siemens If the communication baud...

Page 10: ...ce km 110 Wire core diameter mm 0 64 0 53 Sectional area of wire core mm2 0 34 0 22 Besides the shielded twisted pair copper cables you can also use optical fibers for transmission in a PROFIBUS syste...

Page 11: ...han 500 kbit s do not use short stub Use the plugs available in the market Data input and output cables can be directly connected to those plugs and the plug of the communication card can be connected...

Page 12: ...S 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...

Page 13: ...3 PKW4 CW SW PZD2 PZD3 PZD2 PZD3 PZD12 PZD12 Fixed zone Figure 2 4 PROFIBUS DP information frame data structure Parameter zone PKW1 Parameter identification PKW2 Array index number PKW3 Parameter valu...

Page 14: ...ale of an integer transmitted as an actual value from the VFD device to the master depends on the set function For more description see the related VFD operation manual Note A VFD device always checks...

Page 15: ...n 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...

Page 16: ...VFD master station SW The first word in a PZD response packet is a VFD SW Table 2 7 describes the VFD SWs Table 2 7 Goodrive350 series VFD SWs Bit Name Value State to be entered description 0 7 Runnin...

Page 17: ...minal 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...

Page 18: ...t word PKW 1 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 wor...

Page 19: ...the value only on both RAM and EEPROM 2 3 or 4 The requests 2 3 and 5 are not supported currently Table 2 11 Response identification flag PKW1 Response No from a slave to the master Response No Funct...

Page 20: ...to 4 and PKW2 to 10 to modify a frequency set through keypad the address of the frequency set through keypad is 10 and the value to be modified 50 00 is in PKW4 Request master station VFD PKW1 PKW2 PK...

Page 21: ...ting process data to a VFD device In this example PZD3 is set to 2 PID reference through the VFD parameter P15 03 The parameter specified in each request frame is updated with the information containe...

Page 22: ...n a VFD that supports CANopen communication 4 The CANopen communication of this communication card supports access to VFDs through process data objects PDOs and service data objects SDOs PDOs and SDOs...

Page 23: ...orted specification Address 1 127 decimal Baud rate 1000 kbps 800 kbps 500 kbps 250 kbps 125 kbps 100 kbps 50 kbps 20 kbps Note To enable the CANopen functions except the CANopen communication timeout...

Page 24: ...unction 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 delim...

Page 25: ...eset application Reset communication Stopped Pre operation Operation 1 15 16 2 11 10 9 12 13 14 7 5 4 3 6 8 Figure 3 3 NMT state diagram Table 3 2 NMT state transition State transition Required trigge...

Page 26: ...mand specifier CS Node ID Node ID Description In this command the COB ID is 0 00 If Node ID is set to 0 the command is broadcast to all CANopen slave stations and each slave station must execute the N...

Page 27: ...0 to 6 indicate the state of the slave station Table 3 5 describes the state values and their corresponding state Table 3 5 State values and their corresponding states State value Byte0 Bits 0 6 Stat...

Page 28: ...ion response frames The difference between them is that no triggering bit alternation is performed for heartbeat packets the triggering bit is always 0 Table 3 5 describes the state values Example For...

Page 29: ...Byte3 Byte4 Byte5 Byte6 Byte7 0x80 Node ID Emergency error code Error register VFD error code LSB MSB bit7 0 bit15 8 bit23 16 bit31 24 bit39 32 Description An emergency error code is two bytes Byte0 i...

Page 30: ...software 62xx User software 63xx Data set 70xx Additional modules 80xx Monitoring 81xx Communication error 8110 CAN overrun 8120 Error passive 8130 Life guard Error or heartbeat error 8140 Recovered...

Page 31: ...ger faulty COB ID Emergency error code Error register VFD error code Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x83 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 3 4 9 Service data object SDO SDOs are...

Page 32: ...7 0 bit15 8 bit23 16 bit31 24 0x4B Reads 2 byte data bit7 0 bit15 8 0x4F Reads 1 byte data bit7 0 Write 0x60 Writing succeeds Read write 0x80 Reading writing fails Interruption error code bit7 0 bit15...

Page 33: ...the device 0800 0023 Error occurs dynamically on the object dictionary or object dictionary cannot be found Example For example slave station 3 reads data from and writes data to the object whose inde...

Page 34: ...on transmits the following read write error command response COB ID Response code Object index Subindex Response data Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x583 0x80 0x00 0x60 0x00 0x00 0x0...

Page 35: ...ponding PDO Tx data changes and the transmission interval is subject to the disabled time A PDO Tx packet can be transmitted only once in the disabled time which effectively reduces the load of the bu...

Page 36: ...ed data 0x2100 00 0x2100 01 0x2100 02 Description A request code is two bytes Byte0 is the LSB and Byte1 is the MSB The manufacturer defines the index 0x2100 and subindex 0x00 for the request codes Ta...

Page 37: ...ested data is two bytes Byte4 is the LSB and Byte5 is the MSB It indicates the data to be modified When the command is transmitted for reading data the requested data is not used Note The data domain...

Page 38: ...f the to be transmitted bytes is invalid 03H Invalid data value The received data domain contains a value that is not allowed The value indicates the error of the remaining structure in the combined r...

Page 39: ...yte4 Byte5 0x203 0x02 0x00 0x0D 0x0F 0x01 0x00 If the VFD parameter is successfully modified the following PDO1 Tx command is returned COB ID Response code Error code Response data Byte0 Byte1 Byte2 B...

Page 40: ...2 and setting 3 correspond to received PZD2 received PZD3 and received PZD4 respectively To set the function of setting 1 to Set frequency you need only to set Received PZD2 to 1 Set frequency The sa...

Page 41: ...Tx is transmitted once data corresponding to a SW or returned value changes Command Slave station master station COB ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x280 NODEID SW Returned value...

Page 42: ...the VFD is a Goodrive350 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 Outp...

Page 43: ...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...

Page 44: ...o 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 bytes Received PZD3 5 Setting 3 RW...

Page 45: ...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 46: ...yte4 Byte5 Byte6 Byte7 0x583 0x4B 0x01 0x20 0x00 0x01 0x01 0x00 0x00 Example 4 Assume that the address of the VFD slave station is 3 and the function of setting 1 is defined as Set frequency To set th...

Page 47: ...nce 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...

Page 48: ...position feedback can be set only after this flag is set to 1 and then to 0 P15 12 Received PZD12 0 Table 3 23 Transmitted PZD Function code Word Value range Default value P15 13 Transmitted PZD2 0 I...

Page 49: ...value 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...

Page 50: ...opology 5 The communication card supports 32 inputs outputs to read and write process data read state data and read and write function parameters of a VFD 4 2 Features 1 Supported functions Supports t...

Page 51: ...1 shows the ports and Table 4 1 describes the functions of the ports Figure 4 1 Two standard RJ45 ports Table 4 1 Standard RJ45 port pins Pin Name Description 1 TX Transmit Data 2 TX Transmit Data 3...

Page 52: ...PC PLC through a network cable Off PROFINET communication card not connected to the PC PLC LED8 9 Network port communication indicator Green On PROFINET communication card communicating with the PC P...

Page 53: ...Frame identifier RT user data Period counter Data state Transmission state FCS 2 bytes 2 bytes 2 bytes 2 bytes 36 1440 bytes 2 bytes 1 byte 1 byte 4 bytes 0x8100 0x8892 VLAN flag APDU state Data heade...

Page 54: ...le 4 5 SW State word transmitted from a slave to the master For description see Table 4 7 PZD Process data defined by users When the process data is output by the master to a slave it is a reference v...

Page 55: ...ter station VFD CW The first word in a PZD task packet is a VFD CW Table 4 5 describes Goodrive350 series VFD CWs Table 4 5 Goodrive350 series VFD CWs Bit Name Value Description 0 7 Communication base...

Page 56: ...FF 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...

Page 57: ...eat 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...

Page 58: ...osition feedback unsigned number 25 State word 26 HDIB frequency value 100 kHz 0 PKW zone PKW zone parameter identification flag PKW1 numerical zone The PKW zone describes the processing mode of the p...

Page 59: ...est Table 4 9 Task identification flag PKW1 Request No from the master to a slave Response signal Request No Function Acceptance Rejection 0 No task 0 1 Requesting the value of a parameter 1 2 3 2 Mod...

Page 60: ...cation card 55 Response No from a slave to the master Response No Function 3 Invalid data value 4 Operation failure 5 Password error 6 Data frame error 7 Parameter read only 8 Parameter cannot be modi...

Page 61: ...a read state data and read and write function parameters of a VFD 5 2 Features 1 Supported functions Supports the EtherNet IP protocol and supports EtherNet IP devices Provides two EtherNet IP ports a...

Page 62: ...indicate its states Table 5 2 describes the state indicators Table 5 2 State indicators LED Color State Description LED1 Green On The card is shaking hands with the VFD Blinking 1Hz The card and VFD c...

Page 63: ...topologies Figure 5 2 Figure 5 3 and Figure 5 4 show the electrical wiring diagrams for different topologies Use CAT5 CAT5e and CAT6 network cables for electrical wiring When the communication distanc...

Page 64: ...e control mode to EtherNet IP communication control To be specific set P00 01 2 communication as the running command channel and set P00 02 3 EtherNet IP communication channel to control VFD start and...

Page 65: ...ate and read write the function parameters of the VFD For specific operations see the following description Parameter zone PKW1 Parameter identification PKW2 Array index number PKW3 Parameter value 1...

Page 66: ...h VFD parameters The conversion scale of an integer transmitted as an actual value from the VFD device to the master depends on the set function For more description see the related VFD operation manu...

Page 67: ...8 Forward jogging 0x10 Jog reversely 0x20 Stop jogging 0x40 1 Run forward 1 Bit 1 of a communication based control command 0 Decelerate to stop 1 Run reversely 2 Bit 2 of a communication based control...

Page 68: ...back 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...

Page 69: ...master station SW The first word in a PZD response packet is a VFD SW When P16 56 0 EtherNetIP control words are defined by byte Table 5 8 describes Goodrive350 series VFD SWs defined by byte Table 5...

Page 70: ...running state None None 8 Bus voltage establishment 1 Ready to run 0 Not ready to run 9 10 Motor group feedback 0 Motor 1 1 Motor 2 11 Motor type feedback 1 Synchronous motor 0 Asynchronous motor 12...

Page 71: ...LSB of position feedback unsigned number 25 State word 26 HDIB frequency value 100 kHz P16 44 Transmitted PZD3 0 P16 45 Transmitted PZD4 0 P16 46 Transmitted PZD5 0 P16 47 Transmitted PZD6 0 P16 48 Tr...

Page 72: ...ing data to a slave the master uses a request number and the slave uses a response number to accept or reject the request Table 5 11 Task identification flag PKW1 Request No from the master to a slave...

Page 73: ...llowing describes how the PLC 1769_L36ERMS communicates with the EtherNet IP adapter module using Studio 5000 as the configuration tool 1 Obtain the EDS file of the EtherNet IP communication card The...

Page 74: ...Communication extension card EtherNet IP communication card 69 Click Register an EDS file s and then Next in the window that appears Select the EDS file and click Next...

Page 75: ...card EtherNet IP communication card 70 Click Next After the EDS file is registered successfully the device can be used in the PLC project 3 Perform configuration on the RSLinx Open the RSLinx as shown...

Page 76: ...Communication extension card EtherNet IP communication card 71 From the menu choose Communications Configure Drivers...

Page 77: ...rivers window that appears choose EtherNet IP Driver from the Available Driver Types drop down list box and click Add New Click OK in the Add New RSLinx Classic Driver window that appears In the Confi...

Page 78: ...ick the RSWho icon at the upper left corner Under the AB_ETHIP 2 Ethernet node there are PLC parameters as shown in the following figure Configuration on the RSLinx is complete 4 Perform configuration...

Page 79: ...Communication extension card EtherNet IP communication card 74 Select the correct PLC number enter a project name and click Next Expand IO Configuration right click Ethernet and choose New Module...

Page 80: ...cation card 75 Select ETHERNET MODULE and then click Create Perform configuration in the window that appears You can set Name and IP based on the actual situation but you must use the settings shown i...

Page 81: ...uested packet interval to 50ms If you want to use unicast connection select Use Unicast Connection over EtherNet IP Click OK The slave module is created successfully Note Set the slave module number a...

Page 82: ...nd at least two EtherNet IP communication cards the suggested number is 32 at most in a DLR ring network For details about the connection method see Figure 5 4 Electrical wiring diagram for a ring net...

Page 83: ...such as Beacon Interval and Beacon Timeout in the window that appears Note When there are four or less EtherNet IP slaves you are recommended to set Beacon Interval to 400 s and Beacon Timeout to 400...

Page 84: ...extension card EtherNet IP communication card 79 Check on Studio 5000 Ensure that each communication card is normal If a communication card is abnormal a warning icon is displayed as shown in the fol...

Page 85: ...es or books 3 EC TX508 communication card is defined as an EtherCAT slave station communication card and is used on a VFD that supports EtherCAT communication 4 The EtherCAT communication of this comm...

Page 86: ...nnected 6 RX Receive Data 7 n c Not connected 8 n c Not connected 5 State indicators The EtherCAT communication card provides four LED indicators and four net port indicators to indicate its states Ta...

Page 87: ...on is not established On Indicates that Ethernet connection is established successfully Green Off Without connection On Wilth connection but inactive Blinks With connection and active 6 3 Electrical w...

Page 88: ...data and PDO mapping configuration information PDOs are composed of the objects in the object dictionary that can perform PDO mapping The content in PDO data is defined by PDO mapping PDO data is peri...

Page 89: ...igure 6 4 EtherCAT state machine flowchart Table 6 5 EtherCAT state machine description State Description Init Both SDO and PDO communication are unavailable Init to Pre Op The master station configur...

Page 90: ...O mapping PDO mapping configuration is located in the range of 1600h 1603h RxPDOs receiving PDOs and range of 1A00h 1A03h TxPDOs sending PDOs in the object dictionary The PDO mapping method is shown i...

Page 91: ...ual Value 0x60F4 Mode of Operation Display 0x6061 Error Code 0x603F Touch Probe Value 0x60BA 6 4 5 DC based network synchronization The DC distributed clock can enable all EtherCAT devices to use the...

Page 92: ...6 4 5 11 16 8 9 10 12 13 14 15 Figure 6 7 CANopen over EtherCAT state machine Status Description Not Ready to Switch On The drive is in the initialization process Switch On Disabled Drive initializati...

Page 93: ...5 11 10 9 8 7 6 4 3 2 1 0 Factor y define Reserve d Suspen d Faul t rese t Operatio n mode Servo runnin g Quic k stop Switc h on main circuit Serv o bein g runn ing O O O M O M M M M MSB LSB BITS 0 3...

Page 94: ...abling the drive Otherwise the drive will stop When a fault occurs if bit 7 of the control word is set to 1 the reset command is enabled 6041h status word includes 1 Current status bit of drive 2 Stat...

Page 95: ...control modes When this bit is 1 in cyclic synchronous position mode it indicates that target position is reached while in cyclic synchronous velocity mode it indicates that reference speed is reached...

Page 96: ...de of operations to 6 homing mode 2 Set P22 00 Bit0 1 to enable the spindle positioning and set P22 03 P22 06 3 Set 6040h Control word to enable the drive set it to 0x0F for enabling Homing operation...

Page 97: ...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 10 SDO op...

Page 98: ...ss 0x0003 illegal data value 0x0007 read only parameter 0x0008 the parameter is unchangeable during running 6 7 Example for TwinCAT2 application This example shows how to use TwinCAT2 as the main stat...

Page 99: ...le Devices pop up a dialog box as shown in the following figure select the local area network card and click Install After the network card is installed successfully it will shown under the menu Insta...

Page 100: ...card EtherCAT communication card 95 6 Scan device Select I O Devices menu and right click to select Scan Devices to scan the device Pop up the following dialog box and select OK Pop up the following d...

Page 101: ...d 96 Pop up the following dialog box and select Yes Pop up the following dialog box and select Yes Then the device enters the free running mode The following figure shows Box3 which is the slave devic...

Page 102: ...utput Select DO Outputs menu and there are data sent from the master station to the VFD which can be used to set commands and rotation speed Select DI Intputs menu and there are data sent from the VFD...

Page 103: ...Read the VFD function code parameters through index 0x2000 and double click 0x2000 to pop up a dialog box Write the parameter address in the dialog box and click OK The returned results are stored in...

Page 104: ...Communication extension card EtherCAT communication card 99...

Page 105: ...hronous window RW Unsigned32 1008 0 Manufacturer defined device name CONST String INVT CANopen 1009 0 Manufacturer defined hardware version CONST String V1 00 100A 0 Manufacturer defined software vers...

Page 106: ...ned8 1 COB ID Client server Rx RO Unsigned32 2 COB ID Server client Tx RO Unsigned32 3 Node ID of server SDO RO Unsigned8 1400 PDO1 Rx communication parameters 0 Supported Max number of subindexes RO...

Page 107: ...ubindexes RO Unsigned8 1 COB ID used by PDO RW Unsigned32 2 Transmission type RW Unsigned8 3 Unsigned16 4 Unsigned8 5 Event timer RW Unsigned16 1600 PDO1 Rx mapping parameters 0 Number of application...

Page 108: ...Second mapped object RW Unsigned32 0x21000710 3 Third mapped object RW Unsigned32 0x21000810 4 Fourth mapped object RW Unsigned32 0x21000910 1603 PDO4 Rx mapping parameters 0 Number of application pro...

Page 109: ...Unsigned8 5 Event timer RW Unsigned16 0 1802 PDO3 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...

Page 110: ...ct RW Unsigned32 0x20010010 2 Second mapped object RW Unsigned32 0x20000310 3 Third mapped object RW Unsigned32 0x20000410 4 Fourth mapped object RW Unsigned32 0x20000510 1A02 PDO3 Tx mapping paramete...

Page 111: ...ictionary 106 Index hexadecimal Subindex Description Access permission Data type Default value object 2 Second mapped object RW Unsigned32 0x20000b10 3 Third mapped object RW Unsigned32 0x20000c10 4 F...

Page 112: ...g Software version depended 1018h ID object 0 Included max sub index RO UINT8 4 1 Supplier ID RO UINT32 0x000004D8 2 Product code RO UINT32 0x00009252 3 Revision number RO UINT32 0x00000001 4 Serial n...

Page 113: ...RW UINT32 0x607A0020 1602h RX PDO3 mapping parameter 0 Number of supported mapping objects RW UINT8 2 1 First mapping object RW UINT32 0x60400010 2 Second mapping object RW UINT32 0x607A0020 1603h RX...

Page 114: ...Eighth mapping object RW UINT32 0x60BA0020 1A01h TX PDO2 mapping parameter 0 Number of supported mapping objects RW UINT8 8 1 First mapping object RW UINT32 0x60410010 2 Second mapping object RW UINT...

Page 115: ...C12h RxPDO assignment 0 Max sub index RW UINT8 1 1 RxPDO assigned object index RW UINT16 0x1600 1C13h TxPDO assignment 0 Max sub index RW UINT8 1 1 TxPDO assigned object index RW UINT16 0x1A00 1C32h S...

Page 116: ...synchronization input 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 typ...

Page 117: ...060h 0 Operation mode RW UINT16 0 6061h 0 Operation mode display RO UINT16 0 6062h 0 Position command RO DINT32 0 6063h 0 Position feedback RO DINT32 0 6064h 0 Position feedback RO DINT32 0 6065h 0 Po...

Page 118: ...32 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...

Page 119: ...ault value zero phase speed 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...

Page 120: ...re extension functions that require corresponding extension cards 0 5 0 P00 06 Frequency A command setting mode 0 Keypad 1 8 Reserved 9 PROFIBUS CANopen DeviceNet communication 10 Ethernet communicati...

Page 121: ...Setting mode of upper limit of electromotive torque 0 Keypad P03 20 1 5 Reserved 6 PROFIBUS CANopen DeviceNet communication 7 Ethernet communication 8 Reserved 9 EtherCAT PROFINET EtherNetIP communic...

Page 122: ...0 Running frequency 1 15 Reserved 16 PROFIBUS CANopen DeviceNet communication setting 1 17 PROFIBUS CANopen DeviceNet communication setting 2 18 Ethernet communication setting 1 19 Ethernet communica...

Page 123: ...ult E CAT 67 BACnet communication fault E BAC 68 DeviceNet communication fault E DEV 69 CAN slave fault in master slave synchronous communication S Err 70 EtherNetIP communication timeout E EIP P07 28...

Page 124: ...d 0 10 0 P15 01 Module address 0 127 0 127 2 P15 02 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...

Page 125: ...inal 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 to 100 0 of the rated voltage of the motor 12 AO output se...

Page 126: ...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 val...

Page 127: ...ime 0 0 invalid 300 0s 0 0 300 0 0 0s P15 32 Displayed node baud rate 0 0 0 P15 33 Enable polling 0 1 0 1 1 P15 34 Output instance in polling 19 INVT VFD output 20 ODVA basic speed control output 21 O...

Page 128: ...ended speed control output 22 ODVA speed and torque control output 23 ODVA extended speed and torque control output 24 INVT basic speed control output 25 INVT extended speed control output 26 INVT spe...

Page 129: ...4 10M half duplex 0 4 0 P16 02 IP address 1 0 255 0 255 192 P16 03 IP address 2 0 255 0 255 168 P16 04 IP address 3 0 255 0 255 0 P16 05 IP address 4 0 255 0 255 1 P16 06 Subnet mask 1 0 255 0 255 255...

Page 130: ...Extension card identification time of slot 1 0 0 600 0s When this parameter is set to 0 0 identification fault detection is not performed 0 0 600 00 0 0 P16 25 Extension card identification time of sl...

Page 131: ...g of the upper limit of forward 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...

Page 132: ...ng 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...

Page 133: ...0 31 0 P16 53 Transmitted PZD12 0 31 0 P16 54 EtherNet IP communication timeout time 0 5 60 0s 0 5 60 0s 0 0s P16 55 EtherNet IP communication rate setting 0 Self adaption 1 100M full duplex 2 100M ha...

Page 134: ...d 11 PROFINET communication 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 communica...

Page 135: ...66001 00600 202004 V1 2...

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