Astraada DRV-28 Series User manual

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

Safety precautions
The extension card can be installed and operated only by people who have taken partin professional training
on electrical operation and safety knowledge, obtained the certification, and been familiar with all steps and
requirements for installing, performing commissioning on, operating, and maintaining the device, and are
capable of preventing all kinds of emergencies.
Before installing, removing, or operating the communication card, read the safety precautions described in
this manual and the variable-frequency drive (VFD) operation manual carefully to ensure safe operation.
For any physical injuries or damage to the 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 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 physical injuries or even
death may be caused if you do not follow the instructions.
⚫Store the communication card in a place that is dustproof and dampproof without electric shocks or
mechanical pressure.
⚫The communication card is electrostatic sensitive. Take measurements to prevent electrostatic discharge
when performing operations involving it.
⚫Tighten the screws up when installing the communication card. Ensure that it is firmly fixed and properly
grounded.

Communication extension card Terminology and abbreviations
i
Terminology and abbreviations
CAN
Controller Area Network
COB
Communication object, a transmitted unit on a CAN network.
Communication objects (COBs) carry data and can be transmitted
through the whole network. A COB is part of a CAN message frame.
EDS
Electronic datasheet, an ASCII file for node configuration, required
when a CANopen network is configured. An EDS file contains
general information about nodes and their dictionary objects
(parameters).
NMT
Network management, one of the CAN application-layer service
elements in the CAN reference model. It is used for the initialization,
configuration, 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 station and received by a
slave station, where n refers to 1, 2, 3, 4.
SDO
Service data object, a type of COB, used to transmit non-time key
data, such as parameter values.
RO
Indicates read-only access.
RW
Indicates the read and write access.
SYNC
Indicates synchronous transmission.
Node-ID
Node ID, that is, address of a communication card.
0x
Indicates that a number with this prefix is a hexadecimal value, for
example, 0x10 indicates the decimal value 16.

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Contents
Chapter 1 Product confirmation............................................................................................2
Chapter 2 PROFIBUS communication card..........................................................................3
2.1 Overview........................................................................................................................3
2.2 Features ........................................................................................................................3
2.3 Electrical connection......................................................................................................3
2.4 Bus network connection ................................................................................................4
2.5 System configuration.....................................................................................................6
2.6 PROFIBUS-DP communication.....................................................................................7
Chapter 3 CANopen communication card..........................................................................17
3.1 Overview......................................................................................................................17
3.2 Features ......................................................................................................................17
3.3 Electrical wiring............................................................................................................18
3.4 Communication............................................................................................................18
3.4.1 Packet format......................................................................................................18
3.4.2 CANopen state transition....................................................................................19
3.4.3 Management service command (NMT) ..............................................................21
3.4.4 Node protection (NMT Node Guarding)..............................................................21
3.4.5 Heartbeat packet (Heartbeat Producer) .............................................................22
3.4.6 Start packet (NMT Boot-up)................................................................................23
3.4.7 Synchronous packet object (SYNC) ...................................................................23
3.4.8 Emergency packet object (EMCY) .....................................................................24
3.4.9 Service data object (SDO)..................................................................................26
3.5 Process data object (PDO)..........................................................................................29
3.5.1 Triggering mode of PDO Tx................................................................................29
3.5.2 PDO1..................................................................................................................30
3.5.3 PDO2 Rx.............................................................................................................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 wiring............................................................................................................46
4.4 Communication............................................................................................................46
4.4.1 Packet format......................................................................................................46
4.4.2 PROFINET I/O communication...........................................................................47
EtherCAT communication card............................................................................................54
4.5 Overview......................................................................................................................54
4.6 Features ......................................................................................................................54
4.7 Electrical wiring............................................................................................................56
4.8 Communication............................................................................................................56
4.8.1 CoE reference model..........................................................................................56
4.8.2 EtherCAT slave station information ....................................................................57
4.8.3 EtherCAT state machine.....................................................................................57
4.8.4 PDO mapping .....................................................................................................58
4.8.5 DC-based network synchronization....................................................................59
A.1 CiA402 device protocol...............................................................................................59
4.8.6 CoE state machine .............................................................................................60
4.8.7 Device running mode..........................................................................................63
4.9 Function code modification..........................................................................................64
Appendix B CANopen object dictionary.............................................................................66
Appendix C EtherCAT object dictionary.............................................................................72
Appendix D Related function codes....................................................................................78

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Chapter 1 Product confirmation
Check the following after receiving a communication extension card product:
•Whether the communication card is damaged.
•Whether the received communication card is the one you purchase according to the bar code label on
the PCB.
•Whether all the following items are contained in the product package:
•One communication card, one tie wrap, one tie, one M3 screw, 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 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 temperature
-20–+60°C
Relative humidity
5%–95%
Other weather
conditions
No condensation, ice, rain, snow, or hail;
solar radiation < 700 W/m2
Air pressure
70–106 kPa
Vibration and
impact
5.9m/s2(0.6g) at the sine vibration of 9 Hz to 200 Hz

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Chapter 2 PROFIBUS communication card
2.1 Overview
PROFIBUS communication cards are optional accessories for VFDs. They can be used to connect VFDs to
PROFIBUS networks. On a PROFIBUS network, VFDs are slave devices. The following functions can be
performed by using a PROFIBUS communication card:
•Transmit control commands (such as start, stop, and fault reset) to a VFD.
•Transmit speed or torque reference signals to a VFD.
•Obtain state values and actual values from a VFD.
•Modify parameter values of a VFD.
2.2 Features
1. PROFIBUS is an international open fieldbus standard that can implement data exchange between
various automation components. It is widely applicable to automation in various industries, such as
the manufacturing, process, building, transportation, and power industries. It provides effective
solutions for implementing integrated automation and intelligentization of field devices.
2. PROFIBUS consists of three mutually compatible components, namely PROFIBUS-Decentralised
Peripherals (DP), PROFIBUS-Process Automation (PA), and PROFIBUS-Fieldbus Message Specification
(FMS). It adopts the master-slave 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 twisted pairs (complying with the RS-485 standard),
paired cables, or optical cables. The baud rate 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 repeaters and master stations) can be connected.
4. In PROFIBUS communication, tokens are transmitted between master stations or by master stations to
slave stations. Single-master or multi-master systems are supported. The node to respond to the
command of a master is selected by the master station, generally a programmable logic controller (PLC).
For cyclic master-slave user data transmission and non-cyclic master-master data transmission, a
master can also transmit commands to multiple nodes in broadcast mode. When the broadcast mode
is adopted, the nodes do not need to transmit feedback signals to the master. On PROFIBUS networks,
nodes cannot communicate with each other.
5. The PROFIBUS protocol is described in details in the EN50170 standard. For more information about
PROFIBUS, refer to the EN50170 standard.
2.3 Electrical connection
1. Node selection
The node address of a device is unique on a PROFIBUS bus. The node address is set through the function
parameter P15.01, and the value ranges from 0 to 127.
2. Fieldbus terminator
Each fieldbus segment is configured with two bus terminators, one on each end, to prevent operation
errors. Bus terminators can protect the fieldbus signal against electrical reflections. The dual in-line

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package (DIP) switch on the printed circuit board (PCB) of a communication card is used to connect to
the fieldbus terminator. If the communication card is the last 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.
2.4 Bus network connection
1. Bus communication interfaces
The most common PROFIBUS transmission mode is the shielded twisted-pair copper cable transmission,
in which shielded twisted-pair copper cables (complying with the RS-485 standard) are used.
The basic characteristics of this transmission technology are described as follows:
•Network topology: Linear bus with one active fieldbus terminal resistor on each end
•Transmission rate: 9.6 kbit/s–12 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
-
Unused
3
B-Line
Data+ (twisted-pair wire 1)
4
RTS
Transmitting requests
5
GND_BUS
Isolation ground
6
+5V BUS
Isolated 5 V DC power supply
7
-
Unused
8
A-Line
Data- (twisted-pair wire 2)
9
-
Unused
Housing
SHLD
PROFIBUS cable shielding wire
The +5V and GND_BUS pins are used for bus terminators. Optical transceivers (RS-485) and some other
devices may need to obtain external power supplies through these pins.
For some devices, the transmission direction is determined 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

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communication baud rate is required to be higher than 187.5 kbps, strictly follow the wiring standards
stipulated by Siemens.
2. Repeaters
A maximum of 32 stations (including the master station) can be connected to each fieldbus segment. If
the number of stations to be connected to a fieldbus segment exceeds 32, you need to use repeaters
to connect the fieldbus segments. Generally, the number of repeaters connected in series cannot
exceed 3.
Note: No station address is provided for repeaters, but they are calculated as stations.
Terminal
Repeater
Repeater
1
1
2
31302
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 wire (m)
9.6
1200
1200
19.2
1200
1200
93.75
1200
1200
187.5
1000
600
500
400
200
1500
200
-----
12000
100
-----
Table 2-3 Transmission wire parameters
Parameter
A-type wire
B-type wire
Impedance (Ω)
135–165
100–130
Capacitance of a unit length (pF/m)
< 30
< 60
Circuit resistance (Ω/km)
110
--------
Wire core diameter (mm)
0.64
> 0.53
Sectional area of wire core (mm2)
> 0.34
> 0.22

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Besides the shielded twisted-pair copper cables, you can also use optical fibers for transmission in a
PROFIBUS system. When a PROFIBUS system is applied in an environment with strong electromagnetic
interference, you can use optical fiber conductors to increase the high-speed transmission distance. Two
types of optical fiber conductors can be used. One is low-cost plastic fiber conductors that can be used when
the transmission distance is shorter than 50 m; and the other is glass fiber conductors that can be used when
the transmission distance is shorter than 1 km.
4. PROFIBUS bus connection diagram
Figure 2-3 PROFIBUS bus connection
Figure 2-3 shows the terminal wiring. The cables are standard PROFIBUS cables, each consisting of a twisted
pair and shielding layer. The shielding layers of PROFIBUS cables are directly grounded on all nodes. You can
select a proper grounding mode based on the actual situation on site.
Note:
1. When connecting the stations, ensure that the data cables are not twisted together. For systems to be
used in environments with strong 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 transmission rate is higher than 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 or disconnected at any time without interrupting data
communication of other stations.
2.5 System configuration
1. System configuration
After the communication card is properly installed, you need to configure the master station and VFD
to enable the communication between the master station and communication card.
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 software we
provide for users includes information about the GSD file of the VFD. You can obtain the type definition
files (GSD files) of various masters from ASTOR.

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Table 2-4 Communication card configuration parameters
Paramet
er No.
Parameter
name
Setting options
Default setting
0
Module type
Read-only
PROFIBUS-DP
1
Node address
0–99
2
2
Baud rate
setting
kbit/s
0: 9.6
6
1: 19.2
2: 45.45
3: 93.75
4: 187.5
5: 500
Mbit/s
6: 1.5
7: 3
8: 6
9: 9
10: 12
3
PZD3
0–65535
0
4
PZD4
0–65535
0
…
…
0–65535
0
10
PZD12
0–65535
0
2. Module type
This parameter displays the model of the communication card detected by the VFD. You cannot modify
the value of this parameter. If the parameter is not defined, communication between the
communication card and VFD cannot be established.
3. Node address
On the PROFIBUS network, each device corresponds to one unique node address. The node address is
set through P15.01.
4. 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 definition files (GSD files) of various masters from ASTOR's official website and
copy the GSD files to the corresponding subdirectories on the configuration tool software. For details
about the operation and how to configure the PROFIBUS system, see the instructions for the related
system configuration software.
2.6 PROFIBUS-DP communication
1. PROFIBUS-DP
PROFIBUS-DP is a distributed input/output (I/O) system. It enables a master to use a large number of
peripheral modules and on-site devices. Data transmission is periodic: The master reads information

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input by a slave and transmits a feedback signal to the slave.
2. SAP
The PROFIBUS-DP system uses the services at the data link layer (Layer 2) through service access points
(SAPs). Functions of each SAP are clearly defined. For more information about SAPs, see the related
PROFIBUS master user manuals, that is, PROFIdrive––PROFIBUS models or EN50170 standards
(PROFIBUS protocol) for variable-speed drives.
3. PROFIBUS-DP information frame data structure
The PROFIBUS-DP system allows fast data exchange between the master and VFD devices. For VFD
devices, data is always read and written in the master/slave mode. VFDs always function as slave
stations, and one address is clearly defined for each slave station. PROFIBUS transmits 16-bit packets
periodically. Figure 2-4 shows the structure of the packet.
Parameter
identification (PKW) Process data
(PZD)
Distributable zone
PKW1 PKW2 PKW3 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 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 to a slave, it is a reference value; and when the process data
is input by a slave to the master, it is an actual value.)
PZD zone (process data zone): The PZD zone in a communication packet is designed for controlling and
monitoring a VFD. The master and slave stations always process the received PZD with the highest priority.
The processing of PZD takes priority over that of PKW, and the master and slave stations always transmit
the latest valid data on the interfaces.
CWs and SWs
Using CWs is the basic method of the fieldbus system to control VFDs. A CW is transmitted by the fieldbus
master station to a VFD device. In this case, the AS28PBS0001 communication card functions as a gateway.
The VFD device responds to the bit code information of the CW and feeds state information back to the

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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 AS28PBS0001
communication cards). To enable the control over VFD devices through PROFIBUS, you need to set the
communication module as the controller of the VFD device.
Actual value: An actual value is a 16-bit word that includes information about VFD device operation. The
monitoring function is defined through 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 manual.
Note: A VFD device always checks the bytes of a CW and reference 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
Fault reset
8
Jogging stopped
8
Enabling writing
1
Enabling writing (mainly through PKW1
to PKW4)
9–
10
Motor group setting
00
Motor 1
01
Motor 2
11
Control mode switching
1
Enabling the switching between torque
control and speed control
0
No switching
12
Resetting power
consumption to zero
1
Enabling the function for resetting
power consumption to zero
0
Disabling the function for resetting
power consumption to zero
13
Pre-excitation
1
Enabling pre-excitation
0
Disabling pre-excitation
14
DC braking
1
Enabling DC braking
0
Disabling DC braking
15
Heartbeat reference
1
Enabling heartbeat
0
Disabling heartbeat

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Reference value (REF): The second to twelfth words in a PZD task packet are the main settings. The main
frequency settings are provided by the main setting signal source. Table 2-6 describes the settings of
Astraada DRV-28 series VFD.
Table 2-6 Settings of Astraada DRV-28 series VFD
Function
code
Word
Value range
Default
value
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 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 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
(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 to 100.0% of
the rated voltage of the motor)
12: AO output setting 1 (-1000–+1000, in which
1000 corresponds to 100.0%)
13: AO 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)
0
P15.03
Received
PZD3
0
P15.04
Received
PZD4
0
P15.05
Received
PZD5
0
P15.06
Received
PZD6
0
P15.07
Received
PZD7
0
P15.08
Received
PZD8
0
P15.09
Received
PZD9
0
P15.10
Received
PZD10
0
P15.11
Received
PZD11
0
P15.12
Received
PZD12
0

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Response packet (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 Astraada DRV-28 series VFD SWs
Bit
Name
Value
State to be entered/description
0–7
Running state
1
In forward running
2
In reverse running
3
Stopped
4
Faulty
5
POFF
6
In pre-excitation
8
Bus voltage established
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
Overload pre-alarm
feedback
1
Overload pre-alarm generated
0
No overload pre-alarm generated
13
Run/Stop 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 VFD
Function
code
Word
Value range
Default
value
P15.13
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, %)
0
P15.14
Transmitted PZD3
0
P15.15
Transmitted PZD4
0
P15.16
Transmitted PZD5
0
P15.17
Transmitted PZD6
0
P15.18
Transmitted PZD7
0
P15.19
Transmitted PZD8
0
P15.20
Transmitted PZD9
0

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Function
code
Word
Value range
Default
value
P15.21
Transmitted PZD10
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 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 2
26: HDIB frequency 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 ends.
Parameter
identification (PKW) Process data
PKW1 PKW2 PKW3 PKW4 CW
SW PZD2
PZD2
Request
No.
Response
No.
Parameter
address Parameter
value error
No. Parameter
value
Structure of the PKW zone
Figure 2-5 Parameter identification zone
In the periodic PROFIBUS-DP communication, the PKW zone consists of four 16-bit words.
Table 2-9 describes each word in the PKW zone.
Table 2-9 Each word in the PKW zone
First word PKW 1 (16 bits)

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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 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 reject the request. Table 2-10 describes the request and response
functions.

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Table 2-10 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
Modifying a parameter value (one
word) [modifying the value only on
RAM]
1
3 or 4
3
Modifying a parameter value (two
words) [modifying the value only on
RAM]
2
3 or 4
4
Modifying a parameter value (one
word) [modifying the value on both
RAM and EEPROM]
1
3 or 4
5
Modifying a parameter value (two
words) [modifying 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.
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 failure
5: Password error
6: Data frame error
7: Parameter read only
8: Parameter cannot be modified during VFD running
9: Password protection
PKW examples
Example 1: Reading the value of a parameter
You can set PKW1 to 1and PKW2 to 10 to read a frequency set through keypad (the address of the frequency
set through keypad is 10), and the value is returned in PKW4.
Request (master station -> VFD)

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PKW1
PKW2
PKW3
PKW4
CW
PZD2
PZD3
...
PZD12
Reques
t
00
01
00
10
00
00
00
00
xx
xx
xx
xx
xx
xx
...
xx
xx
0001: Requesting to read a parameter value
0010: Parameter address
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
5000: Parameter value in address 10
0001: Response (parameter value updated)
Example 2: Modifying the value of a parameter (on both RAM and EEPROM)
You can set PKW1 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
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 codes, see the related ASTRAADA VFD operation manual.
Example 1: Reading the process data of a VFD
In this example, PZD3 is set to "8: Rotating speed of the running" through the VFD parameter P15.14. This
operation sets the parameter forcibly. The setting remains until the parameter is set to another option.
Response (VFD -> master station)
PKW1
PKW2
PKW3
PKW4
CW
PZD2
PZD3
…
PZD12
5000: Parameter value in address
004: Parameter value to be modified

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Response
xx
xx
xx
xx
xx
xx
xx
xx
xx
xx
xx
xx
00
0A
…
xx
xx
Example 2: Writing 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 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 specified.

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Chapter 3 CANopen communication card
3.1 Overview
1. Thanks for choosing ASTRAADA 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 communicationof this communication cardsupports 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.
•Supports boot-up.
➢Supports SYNC (1–240).
➢Supports asynchronous transmission of 254 and 255.
➢Supports disabled time.
➢Supports event timers.