Inovance EtherCAT MD800 How to use

2021
INOVANCE TECHNOLOGY EUROPE
V1.1
MD800
EtherCAT Starting Guide

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MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
TABLE OF CONTENTS
1General data ............................................................................................................................................ 3
2Purpose of this document......................................................................................................................... 3
3Overview..................................................................................................................................................4
4Installing the SI-ECAT card ........................................................................................................................ 5
4.1 Hardware layout .............................................................................................................................. 6
4.2 Network topology ............................................................................................................................ 8
5Quick Start Commissioning....................................................................................................................... 9
5.1 Target Frequency mode ................................................................................................................. 10
5.2 CiA402 Velocity Mode.................................................................................................................... 11
5.3 CiA402 Cyclic Synchronous Mode (CSV).......................................................................................... 12
6Parameters: Definition, Storage, and Access ........................................................................................... 13
6.1 Introduction to Parameters............................................................................................................ 13
6.2 Memory Areas and Communication Addresses............................................................................... 13
6.2.1 EEPROM memory access............................................................................................................ 13
6.2.2 RAM memory access.................................................................................................................. 14
6.3 ETHERCAT communication ............................................................................................................. 15
6.3.1 Ethercat communication address ............................................................................................... 15
6.3.2 PDO Area data ........................................................................................................................... 15
6.3.3 SDO Mailbox data ...................................................................................................................... 18
6.3.4 Related Parameters.................................................................................................................... 19
6.4 CiA402 protocol ............................................................................................................................. 21
6.4.1 Velocity Mode............................................................................................................................ 21
6.4.2 Cyclic Synchronous Velocity Mode (CSV) .................................................................................... 22
6.4.3 CiA402 Object Dictionary ........................................................................................................... 23
7Project Examples.................................................................................................................................... 40
7.1 InoProShop project (Inovance’s AM/AC series controllers).............................................................. 40
7.2 Beckhoff's Controller...................................................................................................................... 42
7.2.1 Configure PDO parameters......................................................................................................... 48
8MD800 brief description......................................................................................................................... 54
8.1 KEYPAD.......................................................................................................................................... 54
8.2 Inverter module LEDs..................................................................................................................... 55
8.3 Rectifier module display................................................................................................................. 55
8.3.1 Related parameters ................................................................................................................... 56
8.4 Digital I/O configuration................................................................................................................. 60

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8.4.1 Drives digital I/O configurration ................................................................................................. 60
9PC Tools ................................................................................................................................................. 69
9.1 InoDriverShop................................................................................................................................ 69
9.2 MD800 firmware update................................................................................................................ 72
9.2.1 Using InoLoader software .......................................................................................................... 73
9.2.2 Using SOP-20 Keypad................................................................................................................. 74
10 Notes ..................................................................................................................................................... 77

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MD800 EtherCAT Starting Guide_EN_v1.1_20211109.docx
1GENERAL DATA
Date: 09.11.2021
Hardware: MD800, SI-ECAT card
Software: InoDriverShop for AC drives 3.6.1.16
Info: MD800 EtherCAT communication procedure
2PURPOSE OF THIS DOCUMENT
The purpose of this document is to facilitate the commissioning of EtherCAT communications on the MD800
drives. To perform this procedure, an MD800 and an optional SI-ECAT communications card are required.

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3OVERVIEW
Thank you for using Inovance's MD800 series AC drives and SI-ECAT communication expansion card.
The SI-ECAT card is an EtherCAT fieldbus adapter card, which can be used in the ultra-high speed I/O network.
The protocol is applicable on the I/O layer.
This card features high efficiency, flexible topology, and easy operation. It is installed in the MD800 series AC
drive to increase the communication efficiency and implement the AC drive networking function, which
enables the AC drive to be a slave controlled by the field bus master station.
SI-ECAT accepts the fieldbus master station control. EtherCAT communication supports a minimum
synchronization cycle of 500µs. The internal bus between SI-ECAT, rectifier and inverter units have a
communication cycle of 40ms.
NOTE The SI-ECAT supports the CiA402 Velocity and Cyclic Synchronous Velocity (CSV) modes which are
suitable for the MD800 open loop (sensorless) operation. MD800 does not support encoder feedback.
This manual requires that the corresponding SI-ECAT card software version is 1.08 or above (after the card is
installed and powered on, the function code can be checked in the rectifier FD‑91), the associated device
description XML file is named "MD800_9Axis_EtherCAT_XML_Vn.nn.xml" (n.nn is the version number, use
version above V0.16).
CiA402 Velocity and Cyclic Synchronous Velocity (CSV) modes require the below software version:
•Rectifier software version:
U05.00 and above (checked by parameter: F0-02 = 05.00)
•Inverter software version:
U80.03 and above (checked by parameter: F7-10 = 80.03)
•SI-ECAT card:
V01.15 and above (checked by rectifier parameter: FD-91 = 01.15)
Before using the product, read this user guide thoroughly.

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4INSTALLING THE SI-ECAT CARD
The SI-ECAT card is designed to be used as an expansion card embedded in the MD800 series drive. The SI-ECAT
expansion card is located on the rectifier module.
Please turn off the inverter power supply before installation and wait for about 10 minutes
After that, the inverter charging indicator light is completely extinguished before installation.
After the SI-ECAT card is inserted into the inverter, please check whether it is securely
inserted to prevent the signal socket between the boards from being damaged by the pulling
force of the external signal cable.
Before replacement, make sure that the network cable has been removed from the terminal
of the expansion card.
1. Disassembly
oInsert a flat-blade screwdriver into the groove of the expansion card, and pry out the
expansion card to the left with proper force.
2. Installation
oPlease install it in the reverse order of the above disassembly process.

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4.1 HARDWARE LAYOUT
Figure 1 -SI-ECAT card terminal distribution
The SI-ECAT card uses a standard Ethernet RJ45 socket, which is connected to the EtherCAT master station, and
its pin signal definition is the same as that of the standard Ethernet
The pins of the network are the same, cross-wire and straight-wire are both possible.
SI-ECAT card terminal function description:
Terminal
symbol
Terminal name
Description
EC IN
Input port
After installation, EC IN is on the left and EC OUT is on
the right when facing to the RJ45 interface. The two
interfaces must be connected correctly.
The Cat5e shielded twisted pair (STP) network cable
must be used for ensuring stability.
To improve the anti‑interference capability of
communication, it is recommended to install it in the
expansion card slot 2.
EC OUT
Output port
SI-ECAT card indicator description:
Indicator light
Status description
Approach
RUN/ERR
The green light is
always on
The communication is
normal
None
The red light is
always on
SI-ECAT card and
node communication
timeout
Check the connector to see if there is
interference.
Red light flashes
slowly
SI-ECAT card and
rectifier
communication
timeout
1. Check whether the communication card
is installed correctly.
2. Check whether the rectifier module is
normal.
Red light flashes
quickly
SI-ECAT card failure
Check malfunction according to the FAULT
code of the rectifier display panel.

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EC RUN
Green light off
EtherCAT state
machine status:
INIT=initialization
None
Green light flashes
quickly
EtherCAT state
machine status:
PREOP=Pre-operation
None
Green light flashes
slowly
EtherCAT state
machine status:
SAFEOP=safe
operation
None
Steady green
EtherCAT state
machine state: OP=
run
None
EC ERR
Red light off
EtherCAT
communication is
trouble-free
None
Red light is always
on
EtherCAT
communication is
faulty
Check the fault code displayed on the
rectifier panel
EC LA
Yellow light off
Nothing with the
previous EtherCAT
device
connection
None
Yellow light is always
on
Already connected
with the previous
EtherCAT device
connection
None
Green light off
No data interaction
on the network port
None
Flashing green
Data exchange
through the network
port
None

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4.2 NETWORK TOPOLOGY
The AC drive supports EtherCAT bus. It adopts the standard RJ45 network port and standard connector. The Cat
5e shielded twisted pair cable with iron shell injection molding must be used to connect with the Ethernet
master station properly. With relevant communication setting, the communication with the EtherCAT master
station can be realized, thus realizing the networking function of the AC drive.
The topological structures supported by EtherCAT include bus, star, and tree topologies. Various networking
can be realized by using switches correctly.
Bus topology:
Star topology:
NOTE For this type of topology it is necessary to use a special switch such as the Inovance’s GR10-EC-6SW 6-
Port EtherCAT Branch Module.

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5QUICK START COMMISSIONING
After installing the SI-ECAT card on the MD800 series AC drive, complete configuration to enable the
communication between them.
The following parameters must be set to enable normal communication between the SI-ECAT card and MD800
series AC drive and connect the SI-ECAT card to the EtherCAT fieldbus network.
The table also shows the basic configuration of the single axis motor map and the different autotune modes.
For a more detailed description of the autotune process, consult the MD800 commissioning manual.
Parameter
Description
Setting Range
Value
Rectifier communication
FD-10
Communication
protocol
selection
1：CANopen
2：CANlink
3：Optional communications card
3
Inverter communication
F0-02
Command
source selection
0: External LCD panel/Commissioning software
1: Terminal I/O control
2: Communication control
2
F0-03
Main frequency
source X
selection
0: Digital setting (initial value F0-08 can be modified by
terminal UP/DOWN, non-retentive at power failure)
1: Digital setting (initial value F0-08 can be modified by
terminal UP/DOWN, retentive at power failure)
2: AI1
3: AI2
4: (Reserved)
5: Pulse reference (DIO1)
6: Multi-reference
7: Simple PLC
8: PID
9: Communication setting
10: Synchronization control
9
Inverter motor configuration
F0-01
1st motor
control mode
0: Sensorless vector control (SVC)
1: Feedback vector control (FVC)
2: Voltage/Frequency control (V/F control)
1
F0-10
Maximum
frequency
5.00 to 590.00 Hz
50Hz
F1-00
Motor type
selection
0: Common asynchronous motor
1: Variable frequency asynchronous motor
2: Synchronous motor
1
F1-01
Rated motor
power
0.1 to 1000.0 kW
0.55kW
F1-02
Rated motor
voltage
1 to 2000 V
380V
F1-03
Rated motor
current
0.01 A to 655.35 A (drive power ≤ 55 kW)
0.1 A to 6553.5 A (drive power > 55 kW)
1.3A
F1-04
Rated motor
frequency
0.01 Hz to maximum frequency (F0-10)
50Hz

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F1-05
Rated motor
rotation speed
1 RPM to 65535 RPM
3000RPM
F1-37
Autotuning
Dynamic no-load auto-tuning F1-37 (Auto-tuning
selection):
0: No operation
1: Asynchronous motor static auto‑tuning
2: Asynchronous motor complete auto‑tuning
3: Asynchronous motor with‑load complete auto‑tuning
4: Reserved
11: Synchronous motor no‑load partial auto‑tuning
(back EMF exclusive)
12: Synchronous motor dynamic no‑load auto‑tuning
13: Synchronous motor complete static auto‑tuning
14: Reserved
2
5.1 TARGET FREQUENCY MODE
By default, when inserting the XML file that describes the MD800 drive, the following PDOs are added in the
EtherCAT master configuration:
Data received from the EtherCAT master in the inverter:
RPDO
EtherCAT
address
Inverter
Parameter
Description
RPDO1
Index: 2073
SubIndex: 12
Data type: UINT
U3-17
Inverter command word (command source needs to be set to
communication F0-02=2)
0: Stop according to the stop mode F6-10
1: Forward running
2: Reverse operation
3: Forward jog
4: Reverse jog
5: Free stop
6: Decelerate to stop
7: Fault reset
RPDO2
Index: 2073
SubIndex: 11
Data type: UINT
U3-16
Inverter target frequency (the frequency source needs to be
set to communication, ie F0-03=9)
The function code F8-64 can be used to set whether the
writing unit is Hz or rpm. If F8-64 is set to 0, the unit is Hz.
The decimal point is the same as F0-22, such as: write ten The
hexadecimal number is 1000, F0-22=2, that is, the frequency
setting is 10.00Hz.
If F8-64 is set to 1, the writing unit is rpm. Such as: write the
decimal number 1000, that is, the speed is given It is
1000rpm.
Data transmitted from the inverter to the EtherCAT master:
TPDO
EtherCAT
address
Inverter
Parameter
Description
TPDO1
Index: 2070
SubIndex: 45
Data type: UINT
U0-00
Inverter running status information The operating status
information of the inverter is defined by bits, as follows:
Bit0: 0 inverter stops, 1 inverter runs
Bit1: 0 forward running, 1 reverse running
Bit2: 0 no fault, 1 inverter fault

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Bit3: 0 running frequency is not up to standard, 1 running
frequency is reached
TPDO2
Index: 2070
SubIndex: 1
Data type: UINT
U0-68
Inverter operating frequency (unit: 0.01Hz) Returns the
actual operating frequency of the current inverter, the
returned data value is 16bit unsigned data
5.2 CIA402 VELOCITY MODE
With this mode it can define the speed and acceleration ramps through the objects of the CiA402.
The following table shows the necessary settings to work with the speed mode of the CiA402 standard. The
configuration is for a motor with these characteristics:
•Max speed 1500 RPM
•Acceleration from 0 to 1500 RPM in 2.5 seconds
•Deceleration from 1500 to 0 RPM in 5 seconds
Index
(hex)
Sub-
index
(hex)
Drive
Parameter
Name
Unit
Value
FD-11
CANopen402 protocol
1 [Enabled]
F0-19
Acceleration/Deceleration time
unit
1 [0.1s]
F0-25
Acceleration/Deceleration time
base frequency
0 [F0-10 (maximum frequency)]
F8-64
7310H address data unit
1 [Speed (rpm)]
6060
00
Modes of operation
-
2 [velocity mode]
6042
00
vl target velocity
RPM
606C
00
Velocity actual value
RPM
6077
00
Torque actual value
%
6046
01
F0-14
vl velocity min amount
0
02
F0-10
vl velocity max amount
RPM
1500
6048
01
F0-17
vl velocity acceleration. Delta
Speed
0.1
RPM
15000
02
vl velocity acceleration. Delta
Time
0.1s
25
6049
01
F0-18
vl velocity acceleration. Delta
Speed
0.1
RPM
15000
02
vl velocity acceleration. Delta
Time
0.1s
50
NOTE See section 6.4.1 for more information on this mode.

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5.3 CIA402 CYCLIC SYNCHRONOUS MODE (CSV)
In this mode of operation, the host controller gives the target speed in 60FFh to the MD800 drive using PDOs
configuration. Speed control and torque control are performed by the drive.
The following table shows the necessary settings to work with the Cyclic Synchronous Mode of the CiA402
standard.
Index
(hex)
Sub-
index
(hex)
Drive
Parameter
Name
Unit
Value
FD-11
CANopen402 protocol
1 [Enabled]
F8-64
7310H address data unit
1 [Speed (rpm)]
6060
00
Modes of operation
-
9 [Cyclic Synchronous Mode]
60FF
00
Target velocity
RPM
606C
00
Velocity actual value
RPM
6077
00
Torque actual value
%
NOTE See section 6.4.2 for more information on this mode.

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6PARAMETERS: DEFINITION, STORAGE, AND ACCESS
6.1 INTRODUCTION TO PARAMETERS
Drive structures its parameters into two main categories: basic function parameters, and monitoring function
parameters. Each category is divided in different groups, and each group contains multiple parameters with a
related functionality.
Rectifier parameters:
MD800 rectifier
Basic function
parameters
Group F
RW
F0, F1, F4, F5, F7, FA, FD, FF, FP
Group A
RW
A0, A1, A3, AC, AE, AF
Monitoring
function
parameters
Status data
RO
U0,U2,U3,U4
Inverter parameters:
MD800 inverter
Basic function
parameters
Group F
RW
F0, F1, F2, F3, F4, F5, F6, F7, F8, F9, FA, FB, FC, FD,
FE, FF, FP
Group A
RW
A0, A1, A3, A5, A6, A9, AC, AD, AE, AF
Monitoring
function
parameters
Status data
RO
U0,U4,U5
Communication
control parameters
WO
U3
To access to a parameter, you must indicate the group to which it belongs, and the ID of the parameter. See
the sample below:
Group Description
Group number
Parameter ID
Parameter Name
F0 - Basic Power Supply Unit
F0
16
F0-16
AF - Process Data Address Mapping
AF
00
AF-00
U0 - Monitoring Parameters
U0
35
U0-35
6.2 MEMORY AREAS AND COMMUNICATION ADDRESSES
Drive has RAM and EEPROM memory. All parameters are placed in both areas in the drive: RAM memory, and
EEPROM memory when the drive is power-off.
Parameter communication addresses must be used to perform a read-write and other operations of MD800.
Each parameter has its own EPPROM communication address to be accessed.
Furthermore, in the case of Basic Function Parameters, to avoid an intensive use of the drive’s EEPROM
memory, also they can be accessed to the RAM memory using a particular communication address.
6.2.1 EEPROM MEMORY ACCESS
The communication address to access to the EEPROM memory of the parameter, is represented in hexadecimal
format.
Following the same way as the parameter name, the communication address is made up of two parts:
•The two most significant digits that represent the group to which the parameter belongs
•And the two least significant digits that represent the ID of the parameter

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In the case of groups U0 through U5, the group name is represented by 70 through 75, respectively.
Below, in the table, the addresses of all the drive parameters are represented.
Group number
Parameter IDs
EEPROM Address
F0～FE
00～FF
0xF000～0xFEFF
A0～AF
00～FF
0xA000～0xAEFF
U0～U5
00～FF
0x7000～0x75FF
6.2.2 RAM MEMORY ACCESS
Only Basic Function Parameters, that is group parameters F0 to FE, and A0 to AF, can be accessed through their
RAM communication address.
The communication address to access to the RAM memory of the parameter, is represented in hexadecimal
format.
The RAM memory address is based in the EEPROM memory address, but changing the most significant digit for
another value. See the correspondence below:
Parameter group number
EEPROM address
RAM address
F0～FE
0xF000～0xFEFF
0x0000～0x0EFF
A0～AF
0xA000～0xACFF
0x4000～0x4CFF
U0
0x7000～0x70FF
-
U3
0x7300 ~ 0x73ff
-
U4
0x7400 ~ 0x74ff
-
U5
0x7500 ~ 0x75ff
-

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6.3 ETHERCAT COMMUNICATION
6.3.1 ETHERCAT COMMUNICATION ADDRESS
Each MD800 parameter has an EtherCAT communication address associated with it, within the object
dictionary. This address allows external communication with that parameter via EtherCAT fieldbus. All
addresses in the object dictionary are made up of two parts:
•Object Dictionary Index –Related with the module type and the parameter group
•Object Dictonary Sub-Index –Related with the parameter ID
Each MD800 can control up to 8 Axes plus the rectifier. It is simple to determine the relation between any
MD800 parameter and the communication address by this method:
Module
type
Mapping relations
Rectifier
Object Dictionary Index = 0x2100 + Parameter Group
Object Dictionary Sub-Index = 0x1 + Parameter ID
Inverter
Object Dictionary Index = 0x2000 + Group Number + ( (Axis Number –0x1) * 0x800 )
Object Dictionary Sub-Index = 0x1 + Parameter ID
For example:
For axis 2 parameter F0-03 (Main frequency source X selection) and communication address 0xF003, the
corresponding object dictionary index and sub-index are 0x28F0 and 0x04, respectively.
6.3.2 PDO AREA DATA
The PDO data is used for the master station to read and write Drive data in real time and perform periodic data
exchange. Data communication addresses are directly configured by the Drive. It mainly includes:
1. Real-time setting of Drive control command and target frequency
2. Real-time reading of Drive current state and running frequency
3. Function parameter and monitor data real-time exchange between Drive and
EtherCAT master station
There are two types of PDO data:
•RPDO or RxPDO. These PDOs contain data received from the Master
•TPDO or TxPDO. These PDOs contain data transmitted by MD800
MD800 is a multi-axis device, therefore, it provides to the communications master with an independent set of
PDOs for each of its devices. A maximum of 16 RPDOs and 16 TPDOs can be configured for each device.

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The tables below indicate the base address for the PDOs of each element of the MD800.
RECTIFIER
Data PDO area transmitted by RECTIFIER (1A10h)
Bus Voltage
Module Temperature
Real-Time reading of rectifier parameters
TPDO1
TPDO2
TPDO3 ~ TPDO16
AXIS 1
PDO area received from Master (1601h)
PDO area transmitted by AXIS 1 (1A01h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
AXIS 2
PDO area received from Master (1602h)
PDO area transmitted by AXIS 2 (1A02h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
AXIS 3
PDO area received from Master (1603h)
PDO area transmitted by AXIS 3 (1A03h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
AXIS 4
PDO area received from Master (1604h)
PDO area transmitted by AXIS 4 (1A04h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
AXIS 5
PDO area received from Master (1605h)
PDO area transmitted by AXIS 5 (1A05h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
AXIS 6
PDO area received from Master (1606h)
PDO area transmitted by AXIS 6 (1A06h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16

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AXIS 7
PDO area received from Master (1607h)
PDO area transmitted by AXIS 7 (1A07h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
AXIS 8
PDO area received from Master (1608h)
PDO area transmitted by AXIS 8 (1A08h)
Fixed RPDO
Variable RPDO
Command
Target
Frequency
Function
parameters
Status
Operating
Frequency
Function
parameters
RPDO1
RPDO2
RPDO3 ~ RPDO16
TPDO1
TPDO2
TPDO3 ~ TPDO16
By default, when inserting the XML file that describes the MD800 drive, the following PDOs are added in the
EtherCAT master configuration: RPDO1, RPDO2, TPDO1, TPDO2.
6.3.2.1 RPDO –DESCRIPTION OF DATA RECEIVED FROM MASTER
Each of the devices of the MD800 receives information from the EtherCAT master in its own RPDO area. This
area is described below:
RPDO
EtherCAT
address
Inverter
Parameter
Data
Type
Description
RPDO1
Index:
0x2073
SubIndex:
0x12
U3-17
UINT
Inverter command word (command source needs to be set
to communication F0-02=2)
0: Stop according to the stop mode F6-10
1: Forward running
2: Reverse operation
3: Forward jog
4: Reverse jog
5: Free stop
6: Decelerate to stop
7: Fault reset
RPDO2
Index:
0x2073
SubIndex:
0x11
U3-16
UINT
Inverter target frequency (the frequency source needs to be
set to communication, ie F0-03=9)
The function code F8-64 can be used to set whether the
writing unit is Hz or rpm. If F8-64 is set to 0, the unit is Hz.
The decimal point is the same as F0-22, such as: write ten
The hexadecimal number is 1000, F0-22=2, that is, the
frequency setting is 10.00Hz.
If F8-64 is set to 1, the writing unit is rpm. Such as: write the
decimal number 1000, that is, the speed is given It is
1000rpm.

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6.3.2.2 TPDO –DESCRIPTION OF DATA TRANSMITTED FROM MD800
Each of the devices of the MD800 transmit information to the EtherCAT master in its own TPDO area. This area
is described below:
TPDO
EtherCAT
address
Inverter
Parameter
Data
Type
Description
TPDO1
Index:
0x2070
SubIndex:
0x45
U0-00
UINT
Inverter running status information. The operating status
information of the inverter is defined by bits, as follows:
Bit0: 0 inverter stops, 1 inverter runs
Bit1: 0 forward running, 1 reverse running
Bit2: 0 no fault, 1 inverter fault
Bit3: 0 running frequency is not up to standard, 1 running
frequency is reached
TPDO2
Index:
0x2070
SubIndex:
0x1
U0-68
UINT
Inverter operating frequency (unit: 0.01Hz) Returns the
actual operating frequency of the current inverter, the
returned data value is 16bit unsigned data
6.3.3 SDO MAILBOX DATA
EtherCAT SDO is used to transmit asynchronous data, such as communication, configuration and servo drive
running parameter configuration. The EtherCAT CoE service types include:
•Critical event message
•SDO request
•SDO response
•TxPDO
•RxPDO
•Remote TxPDO transmit request
•Remote RxPDO sending request
•SDO information
Currently, the AC drive supports SDO requests and responses. For details about SDO-related parameters, see
the MD800 user guides.

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6.3.4 RELATED PARAMETERS
The following table shows the rectifier parameters related to the SI-ECAT board.
Function
code
Name
Setting Range
Setting
Value
Meaning
FD‑10
Communication
protocol selection
1：CANopen
2：CANlink
3：Optional
communications
card
3
Set to 1, for CANopen communication.
Set to 2, for CANlink communication.
Set to 3, which is the communication
card mode. (SI-ECAT mode)
FD‑50
Missing station
start function
0: Disable
1: Enable
0
It can also be operated when the
mapping relationship is configured
without this station
Row.
FD‑70
EtherCAT slave
name
0–65535
0
Displays the station number assigned to
the slave by the master during EtherCAT
communication.
FD‑71
EtherCAT slave
alias
0–65535
0
Assigns a station number to the slave
during EtherCAT communication in case
of a master unable to assign the slave
station number automatically.
FD‑71 = 0: The master assigns the
station number automatically.
FD‑71 ≠0: Use the set station number,
with the one assigned by the master
deactivated.
FD‑72
Number of SYNC
interrupts
allowed by
EtherCAT
0–30
10
Defines the maximum number of master
signal loss events allowed by the slave.
FD‑73
EtherCAT-Port0
terminal
0–65535
0
FD‑74
EtherCAT-Port1
terminal
0–65535
0
FD‑75
EtherCAT port 0/1
Data forwarding
error
0–65535
0
FD‑76
EtherCAT
processing unit
And PDI error
0–65535
0
If data exchange error occurs between
ESC and internal MCU, keep the setpoint
to 0. If the counting value increases,
the internal anti-interference
performance of the board is abnormal.
FD‑77
Port 0/1 lost
counter
0–65535
0
If data link loss is detected by the ESC
port, the counting value of the
corresponding link loss counter
increases.
Such scenario may be caused by poor
contact or damaged cables.
FD‑78
SYNC mode setting
0–65535
0
0~1 0 Used to check for setting failure
(loss of synchronization) Testing
mechanism
FD‑79
EtherCAT
synchronization
0–1
0