INVT Goodrive350 Series User manual

Communication extension card Safety precautions
i
Safety precautions
The extension card can be installed and operated only by people who have taken part in
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
ii
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.

Communication extension card Contents
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Contents
Contents ...................................................................................................................................1
Chapter 1 Product confirmation ............................................................................................1
Chapter 2 PROFIBUS communication card ..........................................................................2
2.1 Overview........................................................................................................................2
2.2 Features.........................................................................................................................2
2.3 Electrical connection......................................................................................................3
2.4 Bus network connection ................................................................................................3
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............................................................................................................19
3.4.1 Packet format......................................................................................................19
3.4.2 CANopen state transition....................................................................................20
3.4.3 Management service command (NMT) ..............................................................21
3.4.4 Node protection (NMT Node Guarding)..............................................................22
3.4.5 Heartbeat packet (Heartbeat Producer)..............................................................23
3.4.6 Start packet (NMT Boot-up)................................................................................23
3.4.7 Synchronous packet object (SYNC) ...................................................................24
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................................................................................30
3.5.2 PDO1 ..................................................................................................................31
3.5.3 PDO2 Rx.............................................................................................................34
3.5.4 PDO2 Tx .............................................................................................................36
3.5.5 PDO3 Rx and PDO4 Rx .....................................................................................37
3.5.6 PDO3 Tx and PDO4 Tx ......................................................................................38
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 .........................................................................42
3.7.3 Function codes related to transmitted and received PZD...................................42
Chapter 4 PROFINET communication card ........................................................................45
4.1 Overview......................................................................................................................45
4.2 Features.......................................................................................................................45
4.3 Electrical wiring............................................................................................................47

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4.4 Communication............................................................................................................48
4.4.1 Packet format......................................................................................................48
4.4.2 PROFINET I/O communication...........................................................................49
Chapter 5 EtherNet/IP communication card .......................................................................56
5.1 Overview......................................................................................................................56
5.2 Features.......................................................................................................................56
5.3 Electrical wiring............................................................................................................58
5.4 Communication............................................................................................................59
5.4.1 Communication settings .....................................................................................59
5.4.2 Packet format......................................................................................................59
5.4.3 EtherNet/IP communication ................................................................................60
5.4.4 Communication with the PLC .............................................................................68
Chapter 6 EtherCAT communication card ..........................................................................80
6.1 Overview......................................................................................................................80
6.2 Features.......................................................................................................................80
6.3 Electrical wiring............................................................................................................82
6.4 Communication............................................................................................................83
6.4.1 CoE reference model ..........................................................................................83
6.4.2 EtherCAT slave station information ....................................................................84
6.4.3 EtherCAT state machine.....................................................................................84
6.4.4 PDO mapping .....................................................................................................85
6.4.5 DC-based network synchronization ....................................................................86
6.5 CiA402 device protocol................................................................................................86
6.5.1 CoE state machine .............................................................................................87
6.5.2 Device running mode..........................................................................................90
6.6 Function code modification..........................................................................................92
6.7 Example for TwinCAT2 application .............................................................................93
Appendix A CANopen object dictionary............................................................................100
Appendix B EtherCAT object dictionary ...........................................................................107
Appendix C Related function codes .................................................................................. 115

Communication extension card Product confirmation
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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 INVT. 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

Communication extension card PROFIBUS communication card
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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.

Communication extension card PROFIBUS communication card
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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 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

Communication extension card PROFIBUS communication card
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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 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

Communication extension card PROFIBUS communication card
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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
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
PROFIBUS
master station INVT inverter INVT inverter
AB BGND SHLD SHLDA B
CH-PA01 adapter
A
CH-PA01 adapter
Figure 2-3 PROFIBUS bus connection

Communication extension card PROFIBUS communication card
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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 INVT.
Table 2-4 Communication card configuration parameters
Parameter
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

Communication extension card PROFIBUS communication card
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Parameter
No.
Parameter
name
Setting options
Default setting
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 INVT'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 input by a slave and transmits a feedback signal to the
slave.
2. SAP

Communication extension card PROFIBUS communication card
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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

Communication extension card PROFIBUS communication card
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the fieldbus master station to a VFD device. In this case, the EC-TX-103 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 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 EC-TX-103 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 Goodrive350
series VFD CWs.
Table 2-5 Goodrive350 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

Communication extension card PROFIBUS communication card
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Bit
Name
Value
State to be entered/description
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
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 Goodrive350 series VFD.
Table 2-6 Settings of Goodrive350 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
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
0

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Function
code
Word
Value range
Default
value
PZD12
(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)
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 Goodrive350 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

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values. The main actual frequency values are provided by the main actual value signal source.
Table 2-8 Actual state values of Goodrive350 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, %)
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
26: HDIB frequency value (×100, kHz)
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
P15.21
Transmitted PZD10
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
2

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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)
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 1 and PKW2 to 10 to read a frequency set through keypad (the address

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of the frequency set through keypad is 10), and the value is returned in PKW4.
Request (master station -> VFD)
PKW1
PKW2
PKW3
PKW4
CW
PZD2
PZD3
...
PZD12
Request
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
Request
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 INVT 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
5000: Parameter value in address
004: Parameter value to be modified