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Communication extension card

CANopen communication card

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Chapter 3 CANopen communication card

3.1 Overview

1. Thanks for choosing INVT CANopen communication cards. This manual describes the

function specifications, installation, basic operation and settings, and information about
the network protocol. To ensure that you install and operate the product properly, read
this manual and the communication protocol section in the VFD operation manual
carefully before you use the product.

2. This manual only describes how to operate the CANopen communication card and the

related commands but does not provide details about the CANopen protocol. For more
information about the CANopen protocol, read the related specialized articles or books.

3. This communication card is defined as a CANopen slave station communication card and

is used on 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
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 PDO1 pair is used to read and write parameters of a VFD,
and the PDO2 to PDO4 pairs are used to control and obtain the actual parameter
values of the VFD in real time.



SDO: SDO information adopts the "client/server" mode and is used to configure slave

nodes and provide access to the object dictionary of each node.



Supports the emergency service.



Supports node protection (NMT Node Guarding).



Supports heartbeat packets (Heartbeat Producer).



Supports network management (NMT).

•

Supports NMT module control.

•

Supports NMT broadcast addresses.

•

Supports NMT error control.

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Содержание Goodrive350 Series

Страница 1: ......

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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