INVT SV-DA200 Series Quick start guide

INVT SV-DA200 EtherCAT Technical Guide
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Technical Guide
SV-DA200 Series
AC Servo Drive
——EtherCAT
October 31, 2017

INVT SV-DA200 EtherCAT Technical Guide
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Content
Content .................................................................................................................................................... 1
1 Hardware configuration ...................................................................................................................... 3
1.1 Terminal wiring ................................................................................................................................. 3
1.2 Drive wiring ...................................................................................................................................... 3
1.3 CN1 Terminal Definition and Wiring ................................................................................................. 4
2 Software configuration ....................................................................................................................... 7
2.1 Basic setup of EtherCAT application ................................................................................................ 7
2.2 EtherCAT communication ................................................................................................................ 8
2.2.1 CANopen over EtherCAT (CoE) reference model ...................................................................... 8
2.2.2 EtherCAT slave information ........................................................................................................ 9
2.2.3 EtherCAT state machine ............................................................................................................. 9
2.2.4 PDO process data mapping ..................................................................................................... 10
2.2.5 Network synchronization based on distributed clock ................................................................ 11
2.2.6 Emergency Messages .............................................................................................................. 12
2.3 Compatible communication protocol .............................................................................................. 13
3 CiA402 device protocol ..................................................................................................................... 14
3.1 CANopen over EtherCAT(CoE) state machine .............................................................................. 14
3.1.1 Detail of Control word (0x6040) ................................................................................................ 14
3.1.2 Detail of Status word (0x6041) ................................................................................................. 15
3.2 Profile Position Mode ..................................................................................................................... 16
3.2.1 Basic description ...................................................................................................................... 16
3.2.2 Operation mode ........................................................................................................................ 16
3.2.3 Other objects ............................................................................................................................ 17
3.2.4 Mode-related object list ............................................................................................................ 17
3.2.5 Control word (0x6040) of Profile Position Mode ....................................................................... 18
3.2.6 Status word (0x6041) of Profile Position Mode ......................................................................... 18
3.2.7 Application examples ................................................................................................................ 18
3.3 Cyclic Synchronous Position Mode ................................................................................................ 20
3.3.1 Basic description ...................................................................................................................... 20
3.3.2 Operation mode ........................................................................................................................ 20
3.3.3 Mode-related objects list ........................................................................................................... 20
3.3.4 Application examples ................................................................................................................ 20
3.4 Homing Mode ................................................................................................................................ 20
3.4.1 Basic description ......................................................................................................................
20
3.4.2 Operation mode ........................................................................................................................ 20
3.4.3 Mode-related objects list ........................................................................................................... 21
3.4.4 Application examples ................................................................................................................ 21
3.4.5 Status word of homing mode .................................................................................................... 21
3.4.6 Introduction to homing mode .................................................................................................... 21
3.5 Profile Speed Mode........................................................................................................................ 23
3.5.1 Basic description ...................................................................................................................... 23
3.5.2 Operation mode ........................................................................................................................ 23
3.5.3 Other objects ............................................................................................................................ 23
3.5.4 Mode-related objects list ........................................................................................................... 23
3.5.5 Application examples ................................................................................................................ 23
3.6 Cyclic Synchronous Speed Mode .................................................................................................. 23
3.6.1 Basic description ...................................................................................................................... 23
3.6.2 Operation mode ........................................................................................................................ 23
3.6.3 Other objects ............................................................................................................................ 24
3.6.4 Mode-related objects list ........................................................................................................... 24
3.6.5 Application examples ................................................................................................................ 24
3.7 Cyclic Synchronous Torque Mode .................................................................................................. 24
3.7.1 Basic description ...................................................................................................................... 24
3.7.2 Operation mode ........................................................................................................................ 24

INVT SV-DA200 EtherCAT Technical Guide
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3.7.3 Other objects ............................................................................................................................ 24
3.7.4 Mode-related objects list ........................................................................................................... 24
3.7.5 Application examples ................................................................................................................ 25
3.8 Touch Probe Function .................................................................................................................... 25
3.8.1 Basic description ...................................................................................................................... 25
3.8.2 Mode-related objects list ........................................................................................................... 26
3.8.3 Description of control word & status word ................................................................................ 26
3.8.4 Application examples (Single trigger mode) ............................................................................. 26
4 Object dictionary ............................................................................................................................... 27
4.1 Object specification ........................................................................................................................ 27
4.1.1 Object type ............................................................................................................................... 27
4.1.2 Data type .................................................................................................................................. 27
4.2 Overview of Object Group 1000h ................................................................................................... 27
4.3 Overview of Object Group 6000h ................................................................................................... 27
4.4 Overview of Object Group 2000h- 4000h ........................................................................................ 28
4.5 Encoder Feedback ......................................................................................................................... 28
4.6 Drive parameters ........................................................................................................................... 29
5 Fault and diagnosis ........................................................................................................................... 30
5.1 EtherCAT communication faults and remedies .............................................................................. 30
5.2 SV-DA200 servo faults and fault codes .......................................................................................... 30
5.3 Give instructions without action ..................................................................................................... 37
6 Reference ........................................................................................................................................... 38
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INVT SV-DA200 EtherCAT Technical Guide
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1 Hardware configuration
1.1 Terminal wiring
The EtherCAT communication card of SV-DA200 servo drive adopts external connection mode. The
front view of the communication card is shown as below. CN3 terminal is the connection terminal of
EtherCAT. The Line connecting mode of CN3 terminal is top-in and bottom-out.
CHARGE
MODE
SET
L3
L1 C
L2 C
L2
L1
C
N
4
C
N
3
C
N
1
C
N
2
B2
B3
U
V
W
-
+
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Pins assignment of RJ45 connectors
Pin no. Signal name Abbreviation Signal direction
1 Send data+ TD+ Output
2 Send data- TD- Output
3 Receive data+ RD+ Input
4 - NC* -
5 - NC -
6 Receive data- RD- Input
7 - NC -
8 - NC -
*:NC is unused.
1.2 Drive wiring
EtherCAT network is normally comprised of one master (IPC or CNC) and multiple slaves (servo drive or
bus extension terminal). Each EtherCAT slave carries two standard Ethernet interfaces. The wiring
diagram is shown below:

INVT SV-DA200 EtherCAT Technical Guide
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1.3 CN1 Terminal Definition and Wiring
The IO of the DA200 EtherCAT type is different from the standard type, the pin of the medium power
range (7.5kW~22kW) CN1 terminal (DB44) is defined as follows (red font for the difference to the
standard type), the CN1 terminal pin 1 of the small power range (0.1kW~5.5kW) of the EtherCAT type is
reserved,the other pins are in agreement with the medium power range.
引脚号 符号 功能名称 引脚号 符号 功能名称
1 AD1 Analog input 1 23 - （Reserved）
2 COM+ DI input common port 24 - （Reserved）
3 DO1+ Digital output 1+ 25 AO2 Analog output 2
4 DO1- Digital output 1- 26 OCZ Open collector output of Z phase
5 GND Analog signal ground 27 OZ- Differential output - of Z phase
6 GND Analog signal ground 28 OZ+ Differential output + of Z phase
7 AD3 Analog input 3 29 - （Reserved）
8 GND Analog signal ground 30 OCB Open collector output of B phase
9 DO3+ Digital output 3+ 31 - （Reserved）
10 DO3- Digital output 3- 32 - （Reserved）
11 DO4+ Digital output 4+ 33 - （Reserved）
12 COM- DO output common port 34 DI5 Digital input 5
13 DO2- Digital output 2- 35 GND Analog signal ground
14 DO2+ Digital output 2+ 36 OCA Open collector output of A phase
15 DO4- Digital output 4- 37 DI2 Digital input 2
16 DI1 Digital input 1 38 - （Reserved）
17 DI6 Digital input 6 39 DI4 Digital input 4
18 DI3 Digital input 3 40 +24V Internal 24V power supply
19 GND Analog signal ground 41 OB+ Differential output + of B phase
20 AD2 Analog input 2 42 OB- Differential output - of B phase
21 AO1 Analog output 1 43 OA- Differential output - of A phase
22 DI7 Digital input 7 44 OA+ Differential output + of A phase

INVT SV-DA200 EtherCAT Technical Guide
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EtherCAT type have 3 analog inputs (AD1 is a 16 bit analog input, however, the small power range
does not have this input, so the pin 1 of the CN1 is reversed); 2 analog outputs; 7 adigital inputs; 4 4
groups of differential adigital output. The external wiring of the analog inputs/outputs and the adigital
inputs is similar to standard type,please refer to the 4.5 chapter of the DA200 manual for details.
The external wiring of the adigital inputs outputs is connected as follows, taking DO1 for example:
Connection diagram when the power supply is self-provided by user:


also connect as follows:

Connection method when the local power supply is used:

INVT SV-DA200 EtherCAT Technical Guide
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

also connect as follows:
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INVT SV-DA200 EtherCAT Technical Guide
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2 Software configuration
2.1 Basic setup of EtherCAT application
It is necessary to configure the following parameters before conducting EtherCAT application with
SV-DA200 servo drive:
1. Set P0.03[control mode] to 8 [EtherCAT mode] via LED panel or ServoPlorer;
2. Set P4.08 [EtherCAT synchronization type] via LED panel or ServoPlorer (0: Free-Run; 2: DC
Sync0);
3. Set P4.07 [EtherCAT synchronization cycle] via LED panel or ServoPlorer (0:250us; 1:500us;
2:1ms; 3:2ms; 4:4ms; 5:8ms);
4. Set P4.09 [EtherCAT fault detection time] via LED panel or ServoPlorer (Set the detection time of
offline fault or PDO data loss fault as needed);
5. Set P4.25 [EtherCAT control unit type] via LED panel or ServoPlorer (0: Manufacturer mode; 1:
CIA402 Unit; 2: CIA402 OMRON);
6. Set P4.26 [EtherCAT PDO input offset] via LED panel or ServoPlorer (0-63, unit: 125us);
7. Set P4.27 [compensation value of EtherCAT position interpolation mode] via LED panel or
ServoPlorer(0-10);
Note:
1. As the first four configuration parameters can only be effective at next startup, a re-power on or
soft reset is necessary after modification. The last three parameters are instantly effective;
2. When control mode (0x6040) is set to position Interpolation mode (8), P4.07 [EtherCAT sync
cycle] is the same with CNC interpolation cycle;
3. The meaning of P4.25 [EtherCAT control unit type]:
0: Manufacturer mode: support twincat NC function of Beckhoff;
Position unit is pulse, speed unit is rpm, acceleration unit is ms (the time needed for accelerating
from zero speed to rated motor speed);
Support the touch probe of z SIGNAL. The capture value of external IO is stored in manufacturer
parameters.
1: CIA402 Unit: support most of motion controllers eg. CodeSys, BaoYuan and ACS EtherCAT
master;
Position unit is pulse, speed unit is pulse/s and acceleration unit is pulse/s²;
Support touch probe of z signal and standard touch probe 1 IO capture.
2: CIA402 OMRON: support OMRON NJ controller;
Modify 0x6041 status word feedback parameters to satisfy OMRON NJ requirement on status
word.
4. The default pulse per revolution of DA200 is 10000, which can be modified by P0.22 [pulse per
revolution of motor] or by modifying P0.25 [numerator of electric gear ratio] and P0.26
[denominator of electric gear ratio] after setting P0.22 to 0. Please note that the modification of
P0.22 will be effective after reset and the value defined with P0.22 should not exceed the actual
resolution rate of the encoder.
5. P4.26 and P4.27 need to be modified only when master cycle is unstable or packet loss or other
problems occurred to communication;
6. P4.26 [EtherCAT PDO input offset] is used to adjust the time from receiving DC signal to
processing PDO, thus PDO input time can be in the middle of master cycle, reducing the data
loss caused by unstable master clock; this parameter needs to be set according to the cycle of
P4.07. If P4.07 is 1ms, then the range of P4.26 is 0-7; 0 means no offset; 7 means 7*125us
offset; the actual set value should be based on actual conditions with the purpose of achieving
stable data-receiving.
7. P4.27 [compensation value of EtherCAT position interpolation mode] is effective only when it is
under DC mode and control mode is position interpolation mode (8), this is to ensure that

INVT SV-DA200 EtherCAT Technical Guide
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position command smoothing effect can be achieved by adding position command forecast
function if one or multiple cycle position command are lost, with precondition that P4.26 is set
properly. If it is set to non-zero, compensation will be made based on previous position increment
when position command loss occurred, and the compensation cycle is equal to the value defined
with P4.27;
8. The torque limit parameters in PDO parameter list in EtherCAT xml configuration file of DA200, if
any, should be set to non-zero, otherwise the servo torque will be limited to 0 and cause
malfunction or alarm. For instance, the unit for positive torque limit, negative torque limit and max
torque is 1‰ of rated torque, when these parameters were set to 1000, it means 100% of rated
torque. Torque limit parameters are effective in all control modes.
9. The max profile speed parameter in EtherCAT xml configuration files of DA200, if any, means the
max speed limit under torque loop, and the unit is related to P4.25. For instance, the unit is rmp if
P4.25 is manufacturer unit and puu/s if P4.25 is set to other values. Set this parameter to a
non-zero value if torque loop operation is required.
10. Transceiving of PDO can be configured dynamically by the master, however, the max number of
each PDO parameter is 10, exceeds which the slave will be unable to enter op status.
11. The connecting mode of network cables should adopt top-in and bottom-out, otherwise some
nodes may be unable to enter op status;
12. This instruction manual applies to versions later than V2.53. Some functions are excluded in
previous versions.
2.2 EtherCAT communication
2.2.1 CANopen over EtherCAT (CoE) reference model
The network model of CANopen over EtherCAT (CoE) of DA200 drive is shown below.
Fig 2-1 CoE reference model
EtherCAT (CoE) network reference model consists of data link layer and application layer. Data link layer
is in charge of EtherCAT communication protocol while application layer is embedded with CANopen
drive Profile (DS402) communication protocol. The object dictionary in CoE contains parameters,
application data and PDO mapping configuration information.

INVT SV-DA200 EtherCAT Technical Guide
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Process data object (PDO) is constituted by objects which can conduct PDO mapping in object dictionary.
The content in PDO data is defined by PDO mapping. The R/W of PDO data is cyclic, thus removing the
need to look up the object dictionary; while service data object (SDO) is acyclic communication and
requires a look-up in object dictionary during R/W.
Note: It is necessary to configure FMMU and Sync Manager to ensure SDO and PDO data can be
properly analyzed in EtherCAT data link layer, as shown in the table below:
Sync Manager Assignment(Fixed) Size Start Address(Fixed)
Sync Manager 0 Assigned to Receive Mailbox 40 ~ 512Byte 0x1000
Sync Manager 1 Assigned to Transmit Mailbox 40 ~ 512Byte 0x1200
Sync Manager 2 Assigned to Receive PDO 1 ~ 128Byte 0x1400
Sync Manager 3 Assigned to Transmit PDO 1 ~ 128Byte 0x1480
FMMU setup
FMMU Settings
FMMU 0 Mapped to Receive PDO
FMMU 1 Mapped to Transmit PDO
FMMU 2 Mapped to Fill Status of Transmit Mailbox
2.2.2 EtherCAT slave information
EtherCAT slave information file (xml file) is used for master reading and building the configuration
between master and slave. XML file contains information required by EtherCAT communication setup.
INVT provides “INVT_DA200_CoE.xml” file for DA200 drive.
2.2.3 EtherCAT state machine
EtherCAT state machine is used to describe the state and state change of slave application. The request
of state change is usually initiated by master and responded by slave. The state transition mode is
shown as below:
Fig 2-2 Diagram of slave state machine
Table 2-2 State instruction
State Description
Init  Mail communication is unavailable
 PDO communication is unavailable
Init  Pre-Op
 Master configures link layer address and SM channel, and
initiates mail communication
 Master initializes DC clock synchronization
 Master requests transferring to Pre-Op state
 Master sets AL control register