KEBCO COMBICOM Manuale utente

02/2008

CT.F5.0E0-K100

COMBICOM

Instruction Manual EtherCAT

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GB - 4

Table of Contents

1. Introduction ......................................................................................................................5

1.1 Preface ............................................................................................................................................... 5

1.2 Product description .......................................................................................................................... 5

1.3 List of literature ................................................................................................................................. 5

2. Hardware ..........................................................................................................................6

3. Software ...........................................................................................................................8

3.1 Fundamentals of the EtherCAT interface connection ................................................................... 8

3.1.1 EtherCAT Conﬁguration (EEPROM) ................................................................................................... 8

3.1.2 Mailbox communication ...................................................................................................................... 8

3.1.2.1 Parameter addressing by 16 bit index plus 8 bit subindex ...................................................... 8

3.1.2.2 Set-addressing with subindex ................................................................................................... 8

3.1.3 Process data communication .............................................................................................................. 9

3.1.4 Distributed clocks ................................................................................................................................ 9

3.2 Functions ........................................................................................................................................... 9

3.2.1 Process data mapping ........................................................................................................................ 9

3.2.2 Synchronous mode ........................................................................................................................... 10

3.2.3 Emergency ........................................................................................................................................ 10

3.2.4 Field bus watchdog ........................................................................................................................... 10

4 Operator Parameters .....................................................................................................11

5. DSP402-Parameter ........................................................................................................16

6. Annex ............................................................................................................................18

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Preface

1. Introduction

1.1 Preface

We welcome you as a customer of the Karl E. Brinkmann GmbH and congratulate you to the aquisition of this

product. You have chosen a product on highest technical standard.

This manual as well as the speciﬁed hardware and software are developments of the Karl E. Brinkmann

GmbH. The Karl E. Brinkmann GmbH have prepared the documentation, hardware and software to the

best of their knowledge, however, no guarantee is given that the speciﬁcations will provide the efﬁciency ai-

med at by the user. Karl E. Brinkmann GmbH reserves itself the right to change/adapt speciﬁcations and

technical data without previous notiﬁcation. Errors and ommissions excepted!

The safety and warning directions in this manual as well as in further documentation must be observed for a safe

operation. The safety and warning directions speciﬁed in this manual is not exhaustive.

The pictographs used in this manual have following meaning:

Danger

Warning

Caution

Attention

observe at

all costs

Information

Help

Tip

The information contained in the technical documentation, as well as any user-speciﬁc advice in spoken and writ-

ten and through tests, are made to best of our knowledge and information about the application. However, they

are considered for information only without responsibility. This also applies to any violation of industrial property

rights of a third-party.

Inspection of our units in view of their suitability for the intended use must be done generally by the user. Inspec-

tions are particulary necessary, if changes are executed, which serve for the further development or adaption of

our products to the applications (hardware, software or download lists). Inspections must be repeated completely,

even if only parts of hardware, software or download lists are modiﬁed.

Application and use of our units in the target products is outside of our control and therefore exclusively

in the area of responsibility of the user.

1.2 Product description

KEB develop, produce and sell static frequency inverters worldwide in the industrial power range. The inverters of

the type F5 can be equipped optionally with a EhterCAT slave interface. The F5 EtherCAT operator is integrated

into the FI housing by simple plug-in and ﬁts into all F5-units. Here it concerns to an intelligent interface which

controls the data transfer from EtherCAT to the FI control and reverse.

1.3 List of literature

[1]: ESC10/20 Hardware Data Sheet V1.0 v. 8.3.2005

[2]: CANopen Application Layer and Communication Proﬁle DS301 V4.02

[3]: Application manual of the implemented inverter

[4]: CANopen Device proﬁle drives and motion control DSP402 V2.0

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Hardware

2. Hardware

X6B

X6C

X6D

Diagnose

EtherCAT

FUNC

START

ENTER

STOP

EtherCAT-Mailbox aktiv

Prozessdaten aktiv

EtherCAT-RUN

FU-Error

EtherCAT-Error

IN OUT

Link Link

Speed Speed

Component Description

EtherCAT Mailbox active: Flashes as long as a mailbox command is carried out.

ProcessData active: Flashes as long as there is process data communication from and to the inverter.

EtherCAT RUN Green RUN-Led according to the speciﬁcation of ‚RUN Indicator‘ in the EtherCAT

speciﬁcation ([1]):

Flashing Actual condition

Constantly OFF INIT

Cyclically blinking with ON(200ms) / OFF(200ms) PRE-OPERATIONAL

Single ﬂash with ON(200ms) / OFF(1000ms) SAFE-OPERATIONAL

Constantly ON OPERATIONAL

further on next side

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Hardware

Component Description

EtherCAT ERROR Red Led according to speciﬁcation of ‚ERR Indicator‘ in the EtherCAT speciﬁcation

([1]):

Flashing Description

Constantly OFF No Error

Cyclically blinking with ON(200ms) /

OFF(200ms)

General conﬁguration errror

Single ﬂash with ON(200ms) /

OFF(1000ms)

The application of the slave device has

automatically changed the communication

state

Double Flash with ON(200ms)

/ OFF(200ms) / ON(200ms) /

OFF(1000ms)

The application watchdog has responded.

Constantly ON The process data watchdog has respon-

ded. The host controller of the application

does not respond any more.

FI error Red Led as a repeater of the Error-Led of the FI control:

Flashing Description

Constantly OFF No power supply on the FI control board

Blinking FI control board in error status

Constantly ON Operating condition OK

Link Yellow Led in Ethernet connector:

Flashing Description

Constantly OFF No Ethernet link present

Constantly ON Ethernet link present

Blinking Ethernet communication active

Speed Green Led in Ethernet connector: Displays, whether the Ethernet communication

is running with 100Mbit/s (LED = constantly ON) or not.

X6B RJ45 connector of the diagnostic interface.

Attention !!! In order to avoid a destruction of the PC interface, the diagnostic in-

terface may only be connected to the serial interface of the PC by a special HSP5

cable with voltage adaption.

X6C, X6D Standard Ethernet-RJ45 connector according to IEEE 802.3 100Base-T

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Software

3. Software

3.1 Fundamentals of the EtherCAT interface connection

The KEB F5 EtherCAT operator contains a EtherCAT slave controller for time-critical operations of the EtherCat

communication. By using this EtherCAT controller it is guaranteed that basic communication is compatible to the

EtherCAT speciﬁcation.

3.1.1 EtherCAT Conﬁguration (EEPROM)

All values are saved in intel format (LSbyte ﬁrst) into the EEPROM. The following table only lists the main features

of the KEB-F5-EtherCAT-EEPROM.

Byte Offset Description Value

0 PDI-Control 0009h

2 PDI-Conﬁg 0400h

4 SyncImpulseLength 000Ah

3.1.2 Mailbox communication

The KEB F5 EtherCAT operator supports the mailbox communication. All

parameters of the FI control and the operator can be read out or preset itself via this mailbox by using the CANo-

verEtherCAT.

Buffer size of the receive mailbox Minimum Maximum

16 Byte 50 Byte

Buffer size of the transmit mailbox Minimum Maximum

16 Byte 50 Byte

Supported mailbox protocols CANoverEtherCAT(CoE)

Supported CoE services Initiate SDO download expedited in server mode,

Initiate SDO upload expedited in server mode,

Emergency as client

3.1.2.1 Parameter addressing by 16 bit index plus 8 bit subindex

The following table shows parameter grouping according to [2]:

1.Index Last index Description

1000h 1FFFh Communication parameter according to [2]

2000h 5E00h Parameter of the FI control with index = KEB-Parameter-Address + 2000h(*1). The

subindex is used for set-addressing

5F00h 5FFFh Parameter of the EtherCAT operator

6000h 9FFFh Device proﬁle parameters according to [4]

(*1): The KEB parameter address can be found in the application manual of the used FI.

3.1.2.2 Set-addressing with subindex

For KEB parameters (Index = 2000h...5FFFh) the subindex is used for set-addressing. Thereby the following

coding is used:

Subindex Description

0 Indirect set-addressing: The set to be addressed depends on the value of parameter Fr.09 in

the FI control.

1 Direct addressing of set 0

2 Direct addressing of set 1

4 Direct addressing of set 2

8 Direct addressing of set 3

16 Direct addressing of set 4

32 Direct addressing of set 5

64 Direct addressing of set 6

128 Direct addressing of set 7

By use of this bit-coding it is possible to address more than one parameter-set simultaneously. However this

should not be used for parameter-reading, because an error message is returned if not all values in the addressed

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Software

sets are the same. This mechanism can also be used to map PDO-Rx-data simultaneously to the parameters in

several sets of the inverter.

3.1.3 Process data communication

Through the process data channel it is possible to preset non-addressed setpoints to the KEB-F5 and actual

values can be requested. Data communication of the process data between application and EtherCAT slave con-

troller occurs via 3-buffer mechanism. The maximum of process data that can be transferred is 8 byte each per

direction.

3.1.4 Distributed clocks

The function distributed clocks is used for the synchronous operating mode (see above) in the KEB-F5-EtherCAT

operator. In this mode the interrupt cycles of the FI control is synchronized to the EtherCAT distributed clock-cyc-

les. With this a very precise synchronization of several KEB-F5 inverters is possible. Does the EtherCAT master

not support distributed clocks or are the distributed clocks not activated, then the KEB-F5-EtherCAToperator is

working completely asynchronous to the EtherCAT cycle.

3.2 Functions

3.2.1 Process data mapping

Which parameters of the inverter control concern to the process data is determined by the process data assign-

ment. The default process data assignment for this is:

Process output data (EtherCAT-Master  KEB-Slave):

Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

SY.43: Control word (long) SY.52: Set speed IN.22: User Parameter 1

LSByte MSByte LSByte MSByte LSByte MSByte

Process input data (KEB-Slave  EtherCAT-Master):

Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

SY.44: Status word (long) SY.53: Actual Speed IN.22: User Parameter 1

LSByte MSByte LSByte MSByte LSByte MSByte

The process data assignment can be adapted by CANopen parameters with index = 1600h and index = 1A00h.

The default process data assigment has the following meaning:

Index Subindex Value

1600h 0 3

1600h 1 202B0120h

1600h 2 20340110h

1600h 3 2E160110h

1A00h 0 3

1A00h 1 202C0120h

1A00h 2 20350110h

1A00h 3 2E160110h

IMPORTANT !!! For synchronous operating mode the process data assignment has to follow the form 1*32-Bit +

1-2times 16-Bit for both data directions.

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Software

3.2.2 Synchronous mode

In synchronous mode the SYNCO interrupt preset by the EtherCat slave controller is used as synchronisation

signal for the internal communication. Synchronous operating mode is only possible for the F5-EtherCAT operator,

if SYNC0 signals are activated by the EtherCAT master and the process data assignment is preset in both data

directions according to the above mentioned rules (1 time 32-Bit + 1-2 time 16-Bit).

In synchronous mode the operator displays constantly the following output:

This special operating mode includes some restrictions. As mentioned above the display is static. Furthermore

inputs via keyboard are also no longer possible. The diagnostic interface continues to operate. But the processing

speed of all services heavy depends on the synchronous cycle time. The cycle time is preset as multiple of 1 ms,

the minimum possible value is 1 ms. During each SYNCO cycle the actual process output data are transferred to

the FI control and the actual process intput data are read from it.

If the synchronous operating mode is activated, but no SYNC0 interrupts are released, the F5-EtherCAT operator

switches in automatic synchronous mode at default setting which can be identiﬁed in the following display string:

Herein the operator simulates the SYNC0 interrupts time controlled according to the conﬁgured sync0 cycle time.

In the following the SYNCO interrupt is meant if we speak from ‚SYNC event‘. The SYNC timeout time is four

times of the adjusted SYNC cycle time (see Com_Cycle).

3.2.3 Emergency

If this function is activated via parameter EmergencyCycle, the EtherCat operator reads cyclically parameter

RU.00 from the FI control. The operator starts an emergency message via CoE channel of the mailbox commu-

nication if an error status is recognized .This is also done if the error is no longer present. The message contains

8 bytes of data. The ﬁrst 3 bytes of this data are deﬁned by [2], the last 5 bytes can be assigned manufacturer-

speciﬁc. The KEB-F5-EtherCAT operator ﬁlls the emergency message as follows:

Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

ErrorCode Error register InverterState (ru.00) 00h (KEB) 00h (KEB) 00h (KEB)

LB HB LB HB

3.2.4 Field bus watchdog

The ﬁeld bus watchdog is a function in the EtherCAT operator. It serves to set the FI control into error (E.BUS)

or warning (A.BUS), if certain events on the ﬁeld bus do not occur cyclically within an adjustable cycle-time. Two

operator parameters (Watchdog inhibit, Watchdog activation) exist for activating the ﬁeld bus watchdog. Addi-

tionally the parameters Pn.05,Pn.06 have to be set in the FI control to deﬁne the cycle time and the reaction on

the timeout.

The EtherCAT operator monitors the occurance of the conﬁgured ﬁeld bus events. Different events can cause the

reset of the watchdog. Does the timeout-time expire without one of the conﬁgured events occur, then the operator

triggers the watchdog event via the serial interface to the FI. If and how the FI control reacts on this, is determined

by the responded parameters in the FI control of the inverter.

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