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82-ETHCAT-CC EtherCat Interface Quick Start Guide Iss 1.00.docx
EtherCAT Interface
User Guide
Overview
This option module is specifically designed to be used with the Optidrive P2
and Optidrive HVAC range of variable speed drive products and is intended for
professional incorporation into complete equipment or systems. If installed
incorrectly it may present a safety hazard. Before commencing installation
and commissioning, the user should ensure they are fully familiar with the
Optidrive P2, and in particular have read the important safety information and
warnings contained in the Optidrive P2 / Optidrive HVAC User Guide.
Note
This User Guide is intended to be used with Optidrive P2 & HVAC firmware
version 1.20 or later. The firmware version of the drive can be displayed in
parameter P0-28. Previous versions of firmware can be upgraded using
Optitools Studio PC software. Contact your local Invertek Sales Partner for
further Information.
Available Functions
The EtherCAT Interface is intended to be installed in the Optidrive option slot,
and allows the Optidrive to be connected to an EtherCAT network. The
interface offers the following functionality :-
CANopen over Ethernet
DS301 Compliant
Fast Cyclic I/O data transfer
XML File
An EtherCat Slave Interface Identification XML file for the interface can be
obtained from www.invertekdrives.com
IP Address Configuration
If it is desired to change the IP Address, an IP address configuration tool is
available for download from www.invertekdrives.com
Compatibility
This Option is suitable for use on the following product ranges:
Optidrive P2 (ODP-2-.... Drives)
Optidrive HVAC (ODV-2-... Drives)
Model Code
OPT-2-ETHCAT-CC
Invertek Drives Ltd
Offa’s Dyke Business Park
Welshpool
Powys, UK
SY21 8JF
Layout
Item
❶
RUN LED
❷
ERROR LED
❸
EtherCAT Port 1
❹
EtherCAT Port 2
❺
Port 1 Activity LED
❻
Port 2 Activity LED
RUN LED
State
Indication
Off
INIT : Init State (or no power)
Green
OPERATIONAL : CoE Device in Operational State
Green Blinking
PRE-OPERATIONAL State
Green Single Flash
SAFE-OPERATIONAL State
Red
Fatal Error
ERROR LED
State
Indication
Off
No Power / Error
Red Blinking
Invalid Configuration
Red Double Flash
Application Watchdog Timeout
Red
Module Exception State
Link / Port Activity LEDs
Off
No Link
Green
Link Established, no communication
Green Flickering
Lint Established & Communicating
Installation
Ensure the drive power is
removed prior to installing the
option module
Remove the blanking cover from
the option module slot
Carefully slide the option
module into the slot, ensuring
that the locating tabs are
correctly aligned. Do not use
excessive force
Tighten the 2 clamping screws to
secure the module in place
PLC Configuration
Configuration of the PLC varies between different systems.
Refer to information on the specific PLC system in use for further guidance.
Optidrive Setup
Set the drive to Fieldbus control mode by setting parameter P1-12 = 4
Ensure Advanced Parameter Access is enabled on the drive by setting P1-
14 = 101
By default, the module supports DHCP, and the IP address will be
automatically configured. If a fixed IP address is desired, this can be
configured using the IP address configuration tool available from
www.invertekdrives.com
www.invertekdrives.com
82-ETHCAT-CC EtherCat Interface Quick Start Guide Iss 1.00.docx
Data Mapping
For simple control, Optidrive P2 & Optidrive HVAC support a 4 word cyclic process data exchange. The format and data contained in each of these words are
detailed below.
Input Data (PDI) Telegram
This part of the memory contains the real-time drive commands sent from the network master to the Optidrive, allowing the Optidrive to be controlled. The
functions of the first two data words (PDI 1 and PDI 2) are fixed, to allow basic control over the drive operation and output frequency to be achieved. The
configuration of the remaining two words can be adjusted by the user.
PDI Word 1: Fixed Function : Drive Control Word
A 16 Bit control word is used to control the behaviour of the drive when P1-12 = 4. The bits function as follows :-
Bit
Name
Description
0
Drive Run
0 : Drive Stop
1 : Drive Run
For normal operation, Bit 3 has the highest priority, bit 0 has the lowest priority
(bit 3>bit 1>bit 0). For normal run/stop control, Bit 0 only should be used.
Note that the start/stop (bit 0), fast stop (bit 1) and coast stop (bit 3) can only
be used to control the drive when P2-31= 0 to 3. If P2-37 > 3, the start/stop
function is controlled directly by the drive control terminals. The Reset
function (bit 2) will operate providing that the drive is set for Fieldbus control
P1-12 = 4.
1
Fast Stop Select
0 : No Function
1 : Drive Stop with Deceleration Ramp 2
2
Fault Reset
0 : No Function
1 : Rising Edge fault reset request
3
Coast Stop
0 : No Function
1 : Drive Coasts to stop. Overrides bit 0
4 - 15
Not Used
PDI Word 2: Fixed Function : Frequency Setpoint
This word is used to transfer the frequency setpoint to the Optidrive. The input data is a 16bit signed integer including one decimal place. For example, a value of
500 represents a frequency setpoint to the Optidrive of 50.0Hz, value 123 gives 12.3Hz. For a negative (reverse) speed reference, a negative value can be
transferred to the drive, where the MSB of the high byte must be 1. For example, -1(0xFFFF) gives -0.1Hz. -234(0xFF16) gives -23.4Hz.
The allowed input value range is from -5000 to +5000; however the drive output speed will be limited by the maximum speed set by P1-01.
PDI Word 3 : User Defined Function
The function of this data word can be selected by the user using drive parameter P5-14. The possible setting options are shown below :0: Torque limit/reference (Optidrive P2 Only) – This option must be selected if the drive output torque limit / setpoint is to be controlled from the fieldbus. This
also requires setting P4-06 = 3. The input data is a 16bit unsigned integer including one decimal place. For example, a value of 500 represents a torque setpoint to
the Optidrive of 50.0%, value 123 gives 12.3%.
The allowed input value range is from 0 to +2000; however the drive output torque will be limited by the maximum limit set by P4-07.
1: User PID reference register – This option allows the setpoint to the PID controller to be received from the Fieldbus. In order for this option to be used, P9-38
must be set to 1, and the PID User setpoint must not be utilised within the drive PLC function.
2: User register 3 - The value received by the drive in PDI 3 is transferred to User Register 3. This option allows the function of the process data word to be
defined in Parameter Group 9. In this case, User Register 3 should not be written to within any PLC function code, although the value can be read.
PDI Word 4: User Defined Function
The function of this data word can be selected by the user using drive parameter P5-13. The possible setting options are shown below :0: Fieldbus Ramp Control – This option must be selected if the drive acceleration and deceleration ramps are to be controlled from the fieldbus. P5-07 must also
be set to 1 to enable this function.
1: User register 4 – The value received by the drive in PDI 4 is transferred to User Register 4. This option allows the function of the process data word to be
defined in Parameter Group 9. In this case, User Register 3 should not be written to within any PLC function code, although the value can be read.
Output Data
This part of the memory contains the real-time drive data returned from the Optidrive to the network master. The function of the first two data words (PDO 1
and PDO 2) is fixed. The configuration of the remaining two words can be adjusted by the user.
PDO Word 1: Fixed Function : Drive Status & Error Code :
This word contains 2 bytes with information as follows :-
High byte : Gives the drive error (fault) code. (Valid when the drive is tripped)
Low byte : Gives the drive status information, 8 bits which function as follows :-
Bit
Logic 0
Logic 1
Notes
0
Drive Stopped
Drive Running
Indicates when the output to the motor is enabled
1
Drive Healthy
Drive Fault (Tripped)
Indicates when the drive has tripped. The fault code is
2
Auto Control Mode
Hand Control Mode
Optidrive HVAC Only. Indicates when Hand control is selected
3
OK
Inhibit
Indicates the status of the STO / Hardware Inhibit circuit
4
OK
Maintenance Time Reached
Indicates that the programmable System Maintenance Time Interval has expired
5 – 7
Not Used
No Function Assigned
8 - 15
Last / Current Fault Code
Indicates the last or current fault code. For further fault code information, refer to the
Optidrive User Guide
PDO Word 2 : Fixed Function : Output Frequency
This word gives the real time drive output frequency information. The data is a 16bit signed integer with one decimal place. E.g. value 123 means 12.3Hz. Value 234 (0xFF16) means -23.4Hz.
PDO Word 3 : Output Current
Data to be transferred in this word can be selected by the User in drive parameter P5-12. The possible settings are as follows :-
0: Motor current – Output current to 1 decimal place, e.g. 100 = 10.0 Amps
1: Power (x.xx kW) Output power in kW to two decimal places, e.g. 400 = 4.00kW
2: Digital input status – Bit 0 indicates digital input 1 status, bit 1 indicates digital input 2 status etc.
3: Analog Input 2 Signal Level - 0 to 1000 = 0 to 100.0%
4: Drive Heatsink Temperature – 0 to 100 = 0 to 100°C
5: User register 1 – User Defined Register 1 Value
6: User register 2– User Defined Register 1 Value
7: P0-80 value – User Selected data value.
PDO Word 4 : User Defined
Data to be transferred in this word can be selected by the User in drive parameter P5-08. The possible settings are as follows :-
0 : Output Torque (Optidrive P2 Only) – 0 to 2000 = 0 to 200.0%
1 : Output Power – Output power in kW to two decimal places, e.g. 400 = 4.00kW
2 : Digital Input Status – Bit 0 indicates digital input 1 status, bit 1 indicates digital input 2 status etc.
3 : Analog Input 2 Signal Level – 0 to 1000 = 0 to 100.0%
4 : Drive Heatsink Temperature – 0 to 100 = 0 to 100°C
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