CARLO GAVAZZI NRG EtherCAT User manual

NRG EtherCAT User Manual
Operating instructions
Manuale d’istruzioni
Betriebsanleitung
Manuel d’instructions
Manual de instrucciones
Brugervejledning

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Table of Contents
1. Introduction ...............................................................................................................................................................................................................2
1.1 Foreword..........................................................................................................................................................................................................2
1.2 Scope ...............................................................................................................................................................................................................2
1.3 Disclaimer ........................................................................................................................................................................................................2
1.4 Warning notice system ..................................................................................................................................................................................2
1.5 Qualified personnel........................................................................................................................................................................................ 2
1.6 Abbreviations and acronyms.......................................................................................................................................................................3
1.7 Other documents...........................................................................................................................................................................................3
1.8 Disposal............................................................................................................................................................................................................3
2. Description.................................................................................................................................................................................................................4
2.1 System overview.............................................................................................................................................................................................4
2.2 System components ......................................................................................................................................................................................4
3. Installation..................................................................................................................................................................................................................6
3.1 System configuration ..................................................................................................................................................................................... 6
3.2 Connection diagram.....................................................................................................................................................................................7
3.3 Load connection diagrams..........................................................................................................................................................................8
3.4 Auto-addressing ............................................................................................................................................................................................. 9
3.5 Grounding .....................................................................................................................................................................................................10
4. EtherCAT Configuration.........................................................................................................................................................................................11
4.1 Installing the ESI file in TwinCAT ..................................................................................................................................................................11
4.2 Integrating the NRG in TwinCAT.................................................................................................................................................................11
4.3 Configuration of the NRG bus chain in TwinCAT..................................................................................................................................... 13
4.4 Start-up Parameters .....................................................................................................................................................................................14
5. Communication ..................................................................................................................................................................................................... 17
5.1 Process data (PDO) ..................................................................................................................................................................................... 17
5.2 Object Dictionary (SDO) .............................................................................................................................................................................18
6. Functions..................................................................................................................................................................................................................22
6.1 Functions overview ......................................................................................................................................................................................22
6.2 Switching modes ..........................................................................................................................................................................................22
6.3 Measurements ..............................................................................................................................................................................................26
7. Alarms and Diagnostics.........................................................................................................................................................................................28
7.1 LED indications – NRG Controller ...............................................................................................................................................................28
7.2 LED indications – RG..N................................................................................................................................................................................ 28
7.3 Alarms – NRG Controller..............................................................................................................................................................................29
7.4 Alarms – RG..N ..............................................................................................................................................................................................30
8. Service and Maintenance.................................................................................................................................................................................... 33
8.1 Internal bus communication check ..........................................................................................................................................................33
8.2 Replacing an RG..N .....................................................................................................................................................................................33
8.3 Using the NRG system without ‘REF’ terminal connection..................................................................................................................... 34

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1. Introduction
1.1 Foreword
The NRG described hereafter is a sub-system made up of a number of solid state relays intended for the switching of
heaters in a machine. The solid state relays in this system are able to communicate with the main controller through
an NRG controller that facilitates communication between the solid state relays and the main controller. The NRG
controller is available with various communication interfaces including EtherCAT, EtherNet/IPTM and Modbus RTU.
Through this communication, it is possible for the main controller to control each solid state relay, read measurements
related to each specific solid state relay and to identify specific failure modes related to the solid state relay or its
associated heater load.
1.2 Scope
This manual is intended to provide information about the functionalities that are provided by the NRG system, explains
set-up and configuration procedures, provides recommendations for use and gives a troubleshooting guide.
Should there be any problems that cannot be solved with the information provided in this guide, contact your Carlo
Gavazzi sales representative for further assistance.
1.3 Disclaimer
Carlo Gavazzi accepts no liability for any consequence resulting from inappropriate, negligent, incorrect installation
or adjustment of parameters of the equipment. Nor can Carlo Gavazzi assume liability for recommendations that
appear or are implied in the following description. The information in this document is not considered binding on any
product warranty.
The contents of this guide are believed to be correct at the time of publishing. In the interests of commitment to a
policy of continuous development and improvement, Carlo Gavazzi reserves the right to change the specification
of the product or its performance, or the contents of this guide without prior notice.
1.4 Warning notice system
The symbols indicated below are used throughout this guide to indicate a particularly important subject or information
on safety instructions, configuration and installation of the products covered by this guide.
It is strongly recommended that this guide is read thoroughly before using the products and that safety related
recommendations are followed.
Danger
Indicates that death, severe personal injury or property damage will result if proper precautions are not taken.
Warning
Indicates actions that if not observed may lead to damage of the products.
Information
Indicates general information related to the proper use of the products.
1.5 Qualified personnel
The product / system described in this documentation may be operated only by personnel qualified for the specific
task that are also capable of identifying risks and avoid potential hazards when working with these products.
The NRG system features dangerous voltages and consequently failure to observe the instructions contend in this user
manual may cause serious harm to people and damage to property.

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1.6 Abbreviations and acronyms
Acronyms
RG..N /
RG..CM..N
End-device
NRG Solid state relays
RGx1A..CM..N
NRG zero cross switching solid state relay
RGx1P..CM..N
NRG proportional switching solid state relay
NRGC..
NRG Controller
COM
Common
PLC
Programmable Logic Controller
SSR
Solid State Relay
1.7 Other documents
Datasheets, installation guide, certificates and other relevant documentation can be found online at www.
gavazziautomation.com
1.8 Disposal
Information for users on the correct handling of waste of electrical and electronic equipment (WEEE)
With reference to European Union directive 2002/96/EC issued on 27 January 2003 and the related national
legislation, please note that:
•WEEE cannot be disposed of as municipal waste and such waste must be collected and disposed of
separately
•the public or private waste collection systems defined by local legislation must be used. In addition, the
equipment can be returned to the distributor at the end of its working life when buying new equipment
•the equipment may contain hazardous substances: the improper use or incorrect disposal of such may
have negative effects on human health and on the environment
•the symbol (crossed-out wheelie bin) shown on the product or on the packaging and on the instruction
sheet indicates that the equipment has been introduced onto the market after 13 August 2005 and that
it must be disposed of separately
•in the event of illegal disposal of electrical and electronic waste, the penalties are specified by local
waste disposal legislation.

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2. Description
2.1 System overview
The NRG is a sub-system that consists of one or more BUS chains that interact with the main controller or PLC in the
machine through an EtherCAT communication interface. The communication link in the NRG systems can either be
used to control the solid state relay, monitor various parameters, and diagnose faults in real time.
An NRG BUS chain is made up of a minimum 1x NRG controller and a minimum of 1x NRG solid state relay (also
referred to as end-device). The NRG bus chain can have a maximum of 32 end devices. The communication link
between the NRG controller and the end-devices is the Internal BUS.
When more solid state relays are needed in a system, multiple BUS chains can be utilised. Each BUS chain connects
to another BUS chain in a line topology via the NRG controllers of the respective BUS chains or in a star topology via
an ethernet switch.
2.2 System components
The following system components are required for an NRG bus chain:
Description
Part number
Notes
NRG controller
NRGC..
NRGC
NRG Controller with Modbus RTU.
NRGC-PN
NRG controller with PROFINET.
NRGC-EIP
NRG controller with Ethernet/IPTM.
NRGC-ECAT
NRG controller with EtherCAT.
1x RGN-TERMRES is included in the NRGC..
packaging. The RGN-
TERMRES is to be
mounted on the last RG..N on the bus
chain.
NRG solid state relays
RG..CM..N
RGx1A..CM..N
NRG zero cross switching solid state relay
RGx1P..CM..N
NRG proportional switching solid state relay
NRG Internal bus cables
RGCR-GN-xx
Proprietary cables terminated at both ends
with micro USB connector
Figure 1: NRG bus chain
NRGC-ECAT
RG..N

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NRG controller
The NRG controller handles the communication with the higher-level controller and with the NRG solid
state relays. It has to be supplied with a 24VDC supply and provides the power supply to the connected
NRG solid state relays via the internal bus cables. A termination resistor (RGN-TERMRES) provided with
every NRG controller has to be fitted on the last solid state relay of the NRG bus chain. The NRG
controller is also capable of performing internal operations to setup and maintain the internal bus.
Various NRG Controller variants are available which facilitate communication via different
communication protocols. These are identified via the part numbers. The NRG controller with an
EtherCAT communication interface is the NRGC-ECAT.
NRG solid state relays
The RG..N solid state relays are the switching components in the NRG system.
They are available with and without heatsink. For a reference of the variants
available refer to the RG..N datasheet. The RG..CM..N utilises the
communication system for switching, measurement and diagnostic thus
minimising the number of components required in the system. There are 2
variants of the RG..CM..N, the RGx1A..CM..N is the zero cross relay including
various switching modes such as ON/OFF, Burst, Distributed full cycle and
Advanced full cycle modes. The RGx1P..CM..N is the proportional control
variant which on top of the aforementioned switching modes includes also
phase angle switching and soft starting features. For more information on the
functions of each variant refer to Section 6.
Through the internal BUS, the main controller can read measurement
parameters and diagnostics information related to the RG..N and its load. The RG..N is also capable of detecting
certain fault conditions. A fault condition is indicated through a red LED available on the façade of the RG..N. The type
of fault can be identified through a specific flash rate of the red LED and identified via the communication system.
Since the main controller needs to address each specific RG..N individually, each RG..N needs to be uniquely
identifiable. It is not required to physically set the ID for each RG..N. This can be done through an auto-addressing
function which occurs automatically on the first start up; whereby each RG..N on the bus chain will automatically be
assigned an ID with respect to its physical placement on the internal bus.
NRG internal cables
The RCRGN-xxx-2 is a 5-way proprietary cable used for the internal BUS, i.e., between the NRG
controller and the first RG..N on the BUS chain and between respective RG..Ns on the BUS. This
internal BUS cable though terminated with a micro-USB plug is not a standard USB cable. Apart
from the data and supply lines, the RCRGN-xxx-2 are equipped with an additional wire utilised
for the auto-addressing of the RG..Ns on the NRG bus chain. These cables are available in
various lengths from Carlo Gavazzi.
For further technical information on each NRG system component please refer to the respective product datasheets:
System
component
Datasheet
QR Codes
NRGC-ECAT
http://gavazziautomation.com/docs/mt_gh/SSR_NRGC_ECAT.pdf
RG..CM..N
http://gavazziautomation.com/docs/mt_gh/SSR_RG_CM_N.pdf
RCRGN-xxx-2
http://gavazziautomation.com/docs/mt_gh/SSR_RG_CM_N.pdf

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3. Installation
Installation general requirements
Avoid installing the device in environments with the following characteristics:
•relative humidity higher than 95% or with condensation;
•strong vibrations or shocks;
•exposure to water sprays;
•exposure to aggressive and polluting atmospheres (e.g.: sulphur and ammonia fumes, saline mist, smoke)
to avoid corrosion and/or oxidation
•strong magnetic and/or radio frequency interference (thus avoid installation near transmitting antennae)
•exposure of the devices to direct sunlight and the elements in general.
3.1 System configuration
The NRG bus chain consists of 1 NRG controller and up to 32 NRG solid state relays. The NRG controller is the interface
to the main controller via the 2xRJ45 shielded communication ports. The connection between the NRG controller and
the solid state relays is through the internal bus cables. Each RG..N is equipped with 2x micro USB ports to allow looping
between one RG..N and another using the RGCGN-xx-2 bus cables from Carlo Gavazzi. The RGN-TERMRES supplied
with each NRG controller has to be connected to the last RG..N on the NRG bus chain.
The NRG controller has to be supplied with a 24VDC via the supply input plug (Us-, Us+). Power to the RG..Ns on the
bus chain is provided via the internal bus cables through the NRG controller.
The RG..Ns require a mains reference connection with respect to the load (neutral or another phase) through the
‘Ref’ connector to provide voltage and power measurements. The Ref connector has 2x internally shorted terminals
to allow for looping of the mains reference onto various RG..Ns. Refer to ‘Load connection diagrams’ section for more
information.
Figure 2 NRG bus chain configuration

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3.2 Connection diagram
The NRG bus chain can be connected to the ethernet network via the pair of RJ45 connectors located on the NRG
controller. The NRG can be configured in any network topology. If more than 32 solid state relays are required in an
application, multiple bus chains can be utilised. These can be configured in a line or star topology as deemed fit for
the application. The most favourable topologies for an EtherCAT network are line and ring. Wiring between EtherCAT
devices should follow the standard EtherCAT cabling guidelines (max. 100m).
Figure 3 NRG bus chains connected in an EtherCAT network

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3.3 Load connection diagrams
Figure 4 Loads connected between phase and neutral. The Ref connections can be looped from
one RG..CM..N to another since all the loads have
the same return path
Figure 5 Loads connected between phases. Reference connection (Ref) should always follow
the return path of the load
Figure 6 The NRG solid state relay can be utilised with 3-phase loads having a star with neutral
configuration. The reference connections (Ref) can be looped from one RG..CM..N to another

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3.4 Auto-addressing
The RG..Ns on the bus chain are automatically addressed upon the initial start-up of the system. The RG..Ns are
addressed based on their position on the bus chain.
Figure 7 SSRs in NRG bus chain are automatically addressed based on their position on the bus
In case of an RG..N replacement, or any changes to the NRG bus chain, the RG..Ns have to be re-addressed. Follow
the procedure below (Figure 8) to re-address the RG..Ns on the NRG bus chain manually. Alternatively, auto-
addressing can also be performed digitally, check Communications section for further information.
Figure 8 Manual auto-addressing procedure
STEP 1: Hold the blue button while inserting the power supply plug of the NRGC-ECAT
STEP 2: Release the blue button once the Alarm LED turns ON
STEP 1
STEP 2

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3.5 Grounding
Connecting the protective ground for the NRG Controller
The NRG controller is equipped with a metal contact clip at the back of the product to provide functional grounding
via the Din Rail. The Din Rail must be conductive and grounded. Shielded Cat 5e cables fitted with an outer metallic
shell should be used. The shell should be connected to the wire screen of the cable.
Figure 9 Metal din clip on NRG controller for functional grounding
Connecting the protective earth for the NRG solid state relays
The heatsink of the RGC..Ns has to be earthed via the connection provided using an M5 screw. Note that the M5
Protective Earth (PE) screw is not provided with the RG..N.
Figure 10 RG..N connection for Protective Earth

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4. EtherCAT Configuration
4.1 Installing the ESI file in TwinCAT
The ESI file is required for the configuration of the NRGC-ECAT. Obtain the xml file from
https://gavazziautomation.com/images/PIM/OTHERSTUFF/ESI/ESI_NRGC-ECAT.zip
and relocate it in the TwinCAT
default directory C:\TwinCAT\3.1\Config\Io\EtherCAT.
4.2 Integrating the NRG in TwinCAT
Launch TwinCAT in configuration mode and reload device descriptions as shown in Figure 11.
Figure 11 Reload Device Descriptions
Right click on EtherCAT Master and click ‘Add New Item…’
Figure 12 Add New Item

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Find the ‘NRGC-ECAT’in the EtherCAT device list under ‘Carlo Gavazzi Ltd’, ‘NRG Controller with EtherCAT’.
Figure 13 Find the NRGC-ECAT in the EtherCAT device list

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4.3 Configuration of the NRG bus chain in TwinCAT
The NRG bus chain configuration must be mirrored in TwinCAT device configuration. Each RG..N on the bus chain
shall occupy a slot according to its position on the NRG bus chain.
SLOT
1
2
3
4
…
32
SLOTS 1-32: a maximum of 32 RG..N solid state relays can be connected to 1 NRGC-ECAT
In the ‘Slots’ tab, populate the modules depending on which variant of the RG..N solid state relays will be installed in
the relevant slot (depending on its position on the NRG bus chain). For more information regarding the technical
specifications of the different variants of the RG..N solid state relay please refer to the RG..CM..N datasheet.
Note: ‘Download SlotCfg’ should always be ticked.
Figure 14 Slot configuration for the NRG bus chain in TwinCAT

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4.4 Start-up Parameters
The start-up parameters are directly assigned to the respective slots (RG..Ns) and are set during device configuration.
They are transferred automatically on start-up and during re-parameterization. The service data objects with a write
access in the object dictionary can be used during the start-up sequence. This is done by adding the required objects
as start-up parameters in the “Startup” tab of the device in TwinCAT, note that start-up parameters are not added
automatically. The value of the start-up parameters should be written in a little-endian format, i.e. if for example a
value of 660 decimal (02 94 hex) is required to be written, the value written should be 94 02.
Figure 15 Click new to add parameters (and their values) to the start-up sequence
The initialisation time of the NRGC-ECAT (from Pre-OP to OP) increases with the number of objects added to the start-
up sequence. Alternatively, all parameters can be assigned or re-assigned via a service data object. Check
‘Communications’ section for further information. If start-up parameters are left blank, the values saved internally in
the RG..Ns will be loaded.
The below parameters are available for all RG..Ns on the bus chain. The xx in the index represents the position (in hex)
of the solid state relay (RG..N) on the bus chain:
e.g 0x2011 -1st RG..N on the bus chain
0x2021 - 2nd RG..N on the bus chain
0x20A1 - 10th RG..N on the bus chain
0x2201 - 32nd RG..N on the bus chain
0x2xx1 - xx RG..N on the bus chain
Note: ‘TEACH Parameters’ and ‘Load Running Hours reset’ should not be included as part of start-up sequence.
Index
Description
Values
Alarm recovery
mode
0x2xx1:01
Set the alarm recovery mode
0

Automatic (default)
1Manual
Over voltage
limit (OVL)
0x2xx1:02
Set the over and under voltage limit if desired
which will trigger an alarm if the voltage reading is
beyond the range
0 – 660V & > UVL value
Default (660V)
Under voltage
limit (UVL)
0x2xx1:03
0 – 660V & < OVL value
Default (0V)
Over current limit
(OCL)
0x2xx1:04
Set the over and under current limit if desired
which will trigger an alarm if the current reading is
beyond the range
0 –RG..N model
dependent &
> UCL value
Default (RG..N model
dependent)

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Under current
limit (UCL)
0x2xx1:05
This parameter is in steps of 0.01, therefore a value
of 1745 = 17.45A
Check ‘Measurements’ section for more
information
0 – RG..N model
dependent &
< OCL value
Default (0A)
Over frequency
limit (OFL)
0x2xx1:06
Set the over and under current limit if desired
which will trigger an alarm if the current reading is
beyond the range
44 – 66Hz & > UFL value
Default (66Hz)
Under frequency
limit (UFL)
0x2xx1:07
44 – 66Hz & < OFL value
Default (44Hz)
Over
temperature
pre-warning
0x2xx1:08
Δ temperature from max at which the RG..N will
issue an alarm
0 – 50degC
Default (0dC)
Soft start ramping
time
(only for
RGx1P..N)
0x2xx2:01
Activate soft start with time whereby ramping will
vary linearly with the set time
0 -> soft start with time is disabled
0.1 – 25.5s -> soft start with time is abled with the
set time
This parameter is in steps of 0.1, therefore a value
of 11 = 1.1s
Note: soft start with time and soft start with current
limit are mutually exclusive
0 – 255 (0 – 25.5s)
Default (0s)
OFF time to soft
start
(only for
RGx1P..N)
0x2xx2:02
Set the non-firing time before soft start is
reactivated.
0-> soft start with occur on power up only
0.1 – 25.5s-> non firing time for soft start to be
reactivated
This parameter is in steps of 0.1, therefore a value
of 11 = 1.1s
0 – 255 (0 – 25.5s)
Default 50 (5s)
Soft start current
limit
(only for
RGx1P..N)
0x2xx2:03
Set the current limit to be utilised with Soft start
with current limit mode
0 -> soft start with current limit is disabled
0.1 – RG..N model dependent -> soft start with
current limit is enabled with the set current limit.
(Recommended 1.2 – 1.5 times the nominal
current)
This parameter is in steps of 0.01, therefore a value
of 6600 = 66A
Note: soft start with time and soft start with current
limit are mutually exclusive
0 – RG..N model
dependent
Default (0)
Output substitute
mode
0x2xx2:04
Set the output mode to be used in case of a
communication timeout
0

Clear Output
1 Hold Output (default)
2 Set Value
Output substitute
value
0x2xx2:05
Set the % control level to be used in case of a
communication timeout. (Only applicable for ‘Set
Value option’ for Output substitute mode)
0 (default) – 100%

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Switching mode
0x2xx2:06
Set the firing mode that the RG..N shall use at the
output
0

External (only for
RGx1A..N)
1 ON/OFF
2 Burst
3 Advanced full cycle
4 Distributed full cycle
5 Phase Angle (only for
RGx1P..N)
RGx1A..N default
(ON/OFF)
RGx1P..N default (Phase
Angle)
Time base
0x2xx2:07
Set the desired timebase. (only applicable for
burst firing mode)
This parameter is in steps of 0.1, therefore a value
of 11 = 1.1s
0.1 (default) - 10s
Voltage
compensation
(only for
RGx1P..N)
0x2xx2:08
Set the reference voltage used to compensate for
deviations in voltage when Voltage
Compensation is activated
0 -> Voltage compensation is disabled
42 – 600 V – reference voltage for voltage
compensation
0, 42 – 600V
Default (0)
RG..N commands
0x2xx3:01
Insert value to indicate the command that shall
be executed by the RG..N
1 -> start a TEACH
operation
4 -> store parameters
permanently in RG..N
8 -> clear Latched Alarms
in case latching of alarms
is activated
99 -> factory reset of
RG..N
In order for the values in the start-up parameters to be saved permanently in the RG..CM..N, a ‘Store permanently
command’ is required. This is done by including the ‘RG..N Commands’ (0x2xx3:01) at the end of the start-up
sequence and assigning a value of ‘4’.
Figure 16 Add RG..N Commands to the end of the start-up sequence and assign the value 4

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5. Communication
5.1 Process data (PDO)
Process data is the transmission of real time data between an EtherCAT slave and an EtherCAT controller. In the NRG
system, process data is exchanged between the EtherCAT Controller and the RG..N solid state relays. The data
includes parameters and diagnostics measured by each NRG solid state relay as well as the control level from the
PLC to control each solid state relay. Values are stored in a big endian format.
TxPDO - Input Process Data
Data
Data type
Status
uint16
Alarm
uint16
Voltage RMS Reading
uint16
Hold Current Reading
uint16
Current RMS Reading
uint16
Real Power Reading
uint16
The current measurements (Current RMS & Hold Current) is returned as scaled integers. Therefore, a current value of
16.81A will be received as 1681. The PLC program has to convert the numbers into floating point values. For further
information regarding the scaling of each measurement, refer to the Measurements section in this User Manual.
The bits in the Alarms and Status WORDs represent alarms and status flags present on the respective solid state relay.
Name
Description
Alarms
Bit 0 – Mains loss alarm Flag
Bit 1 – Load loss/SSR open circuit alarm Flag
Bit 2 – RG..N short circuit alarm Flag
Bit 3 – Voltage out of range alarm Flag
Bit 4 – Current out of range alarm Flag
Bit 5 – Frequency out of range alarm Flag
Bit 6 – Over-temperature pre warning alarm Flag
Bit 7 – Temperature out of range alarm Flag
Bit 8 – Load deviation alarm Flag
Bit 9 – Soft start current limit reached Flag
Bit 10 – Voltage compensation not possible Flag
Bits 11:15 - Not used. (shall be 0)
Status
Bit 0 – Device reset Flag
Bit 1 – Autoconfiguration Flag (for internal use)
Bit 2 – Internal Error Alarm Flag
Bit 3 – Communication Error Flag
Bits 4:7 – Not used
Bit 8: Alarm Status Flag
Bit 9: TEACH busy Flag
Bit 10: TEACH successful Flag
Bit 11: Ramping Flag
Bit 12: Voltage Compensation Active Flag
Bits 13:15 - Not used. (shall be 0)
Note: ‘Ref’ terminal connection is required for Voltage, Apparent Power and Real Power readings. Otherwise, the
readings of these parameters will be 0.
RxPDO – Output Process Data
Data
Data type
Control level (0 -100%)
uint8
In case of ON/OFF control mode, a control level < 100% shall indicate SSR output OFF and a control level of 100% shall
indicate SSR output ON.
For the Power control firing modes (Burst, Distributed full cycle, Advanced full cycle and Phase Angle) the % control
value shall be translate to % power of the SSR output. Refer to Section 6.2 for more information on Switching Modes.

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5.2 Object Dictionary (SDO)
Service Data Object (SDO) is used to transfer data that does not require continuous updates or is not critical to the
ongoing process. Any NRG parameter can be set via an SDO even if this is included in the start-up parameters.
Reading and writing is possible for all variables except for variables related the SSR history as indicated in the tables
below. The datatype of each index is uint16. The indexes are in a big endian format.
SDO - NRGC-ECAT
Index
Sub- Index
Description
Size
Valid Values
0x2001
0x2001:01
Auto-addressing
Command/Status
2 bytes
Writing:
1 -> Trigger an auto-addressing of the NRG bus chain
on the next NRGC-ECAT powerup.
0x2002
0x2002:01
NRG Controller
Status
2 bytes
Bit 0 – NRG Controller reset Flag
Bit 1 – Not used
Bit 2 – Internal error alarm Flag
Bit 3 – Not used
Bit 4 – Bus error Flag
Bit 5 – Device limit error Flag
Bit 6 – Device conflict error Flag
Bit 7 – Termination error Flag
Bits 8 – Device position error Flag
Bit 9 – Supply out of range error Flag
Bit 10 – Device Unconfigured error Flag
Bit 11 – Device Incompatible error Flag
Bits 12:15 – Not used (shall be 0)
0xF100
0xF100:xx
xx – RG..N
position on
bus chain
(in hex)
Device Status
1 byte
Bit 0 – Substitute submodule (Module type does not
match installed RG..N variant, communication is not
interrupted)
Bit 1 – Wrong submodule (Module type does not
match installed RG..N variant, communication is
interrupted)
Bit 2 – Not used
Bit 3 – Device not reachable
Bit 4 – Device position error
Bit 5 – Empty slot
Bit 6 – Device incompatible error,
Bit 7 – Not used
SDO - RG..Ns
The below parameters are available for all RG..Ns on the bus chain. The xx in the index represents the position (in hex)
of the solid state relay (RG..N) on the bus chain:
e.g 0x2011 -1st RG..N on the bus chain
0x2021 - 2nd RG..N on the bus chain
0x20A1 - 10th RG..N on the bus chain
0x2201 - 32nd RG..N on the bus chain
0x2xx1 - xx RG..N on the bus chain
Index
Description
Size
Parameters
0x2xx1
Alarm Parameters
16 bytes
Alarm recovery mode
Over voltage limit
Under voltage limit
Over current limit
Under current limit
Over frequency limit
Under frequency limit
Over temperature pre-warning
0x2xx2
Control Parameters
16 bytes
Soft start ramping time (only for RGx1P..N)
OFF time to soft start (only for RGx1P..N)
Soft start current limit mode (only for RGx1P..N)
Output substitute mode
Output substitute value
Switching mode
Time base (for Burst firing mode)
Voltage compensation (only for RGx1P..N)

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V1.0 | NRG EtherCAT User Manual | © 2022 | CARLO GAVAZZI LTD.
EN
0x2xx3
RG..N Commands
2 bytes
RG..N command
0x2xx4
TEACH Parameters
6 bytes
TEACH voltage reference
TEACH current reference
TEACH % load deviation
0x2xx5
Load Running Hours
2 bytes
Load Running hours
0x2xx6
SSR History
(read only)
6 bytes
Energy Reading (low)
Energy Reading (high)
SSR ON time
0x2xx7
Status
(read only)
4 bytes (RGx1P..N)
2 bytes (RGx1A..N)
Control level feedback (only for RGx1P..N)
General Status
A description of each parameter with an indication of the possible values is listed in the table below
Parameters
Index
Description
Values
Alarm recovery
mode
0x2xx1:01
Set the alarm recovery mode
0

Automatic
(default)
1Manual
Over voltage
limit (OVL)
0x2xx1:02
Set the over and under voltage limit if desired which
will trigger an alarm if the voltage reading is beyond
the range
0 – 660V & > UVL value
Default (660V)
Under voltage
limit (UVL)
0x2xx1:03
0 – 660V & < OVL
value
Default (0V)
Over current
limit (OCL)
0x2xx1:04
Set the over and under current limit if desired which will
trigger an alarm if the current reading is beyond the
range
This parameter is in steps of 0.01, therefore a value of
1745 = 17.45A
Check ‘Measurements’ section for more information
0 –RG..N model
dependent &
> UCL value
Default (RG..N model
dependent)
Under current
limit (UCL)
0x2xx1:05
0 – RG..N model
dependent &
< OCL value
Default (0A)
Over frequency
limit (OFL)
0x2xx1:06
Set the over and under current limit if desired which will
trigger an alarm if the current reading is beyond the
range
44 – 66Hz & > UFL
value
Default (66Hz)
Under
frequency limit
(UFL)
0x2xx1:07
44 – 66Hz & < OFL
value
Default (44Hz)
Over
temperature
pre-warning
0x2xx1:08
Δ temperature from max at which the RG..N will issue
an alarm
0 – 50degC
Default (0dC)
Soft start
ramping time
(only for
RGx1P..N)
0x2xx2:01
Activate soft start with time whereby ramping will vary
linearly with the set time
0 -> soft start with time is disabled
0.1 – 25.5s -> soft start with time is abled with the set
time
This parameter is in steps of 0.1, therefore a value of 11
= 1.1s
Note: soft start with time and soft start with current limit
are mutually exclusive
0 – 255 (0 – 25.5s)
Default (0s)
OFF time to soft
start
(only for
RGx1P..N)
0x2xx2:02
Set the non-firing time before soft start is reactivated.
1-> soft start with occur on power up only
1.1 – 25.5s-> non firing time for soft start to be
reactivated
This parameter is in steps of 0.1, therefore a value of 11
= 1.1s
0 – 255 (0 – 25.5s)
Default 50 (5s)