KEBCO COMBIVERT CONTROL G6 VARAN Owner's manual

COMBIVERT G6
PROGRAMMING MANUAL | CONTROL G6 VARAN
Translation of the original manual
Document 20099381 EN 01

3
PREFACE
Preface
The described hard- and software are developments of the KEB Automation KG. The
enclosed documents correspond to conditions valid at printing. Misprint, mistakes and
technical changes reserved.
Signal words and symbols
Certain operations can cause hazards during the installation, operation or thereafter.
There are safety informations in the documentation in front of these operations. Security
signs are located on the device or machine. A warning contains signal words which are
explained in the following table:
DANGER Dangerous situation, which will cause death or serious injury in case of
non-observance of this safety instruction.
WARNING Dangerous situation, which may cause death or serious injury in case of
non-observance of this safety instruction.
CAUTION Dangerous situation, which may cause minor injury in case of non-ob-
servance of this safety instruction.
NOTICE Situation, which can cause damage to property in case of non-obser-
vance.
RESTRICTION
Is used when certain conditions must meet the validity of statements or the result is
limited to a certain validity range.
Is used when the result will be better, more economic or trouble-free by following
these procedures.
More symbols
► Thisarrowstartsanactionstep.
• / - Enumerations are marked with dots or indents.
=> Cross reference to another chapter or another page.
Note to further documentation.
www.keb.de/service/downloads

4
PREFACE
Laws and guidelines
KEBAutomationKGconrmswiththeECdeclarationofconformityandtheCEmarkon
the device nameplate that it complies with the essential safety requirements.
The EC declaration of conformity can be downloaded on demand via our website. Fur-
therinformationisprovidedinchapter"Certication".
Warranty and liability
The warranty and liability on design, material or workmanship for the acquired device is
given in the general sales conditions.
Hereyouwillndourgeneralsalesconditions.
www.keb.de/terms-and-conditions
Furtheragreementsorspecicationsrequireawrittenconrmation.
Support
Through multiple applications not every imaginable case has been taken into ac-
count. If you require further information or if problems occur which are not treated de-
tailed in the documentation, you can request the necessary information via the local
KEB Automation KG agency.
The use of our units in the target products is outside of our control and therefore
lies exclusively in the area of responsibility of the customer.
Theinformationcontainedinthetechnicaldocumentation,aswellasanyuser-specic
advice in spoken and written and through tests, are made to best of our knowledge and
information about the intended use. However, they are regarded as being only informal
and changes are expressly reserved, in particular due to technical changes. This also
applies to any violation of industrial property rights of a third-party. Selection of our units
in view of their suitability for the intended use must be done generally by the user.
Tests can only be done within the intended end use of the product (application) by
the customer. They must be repeated, even if only parts of hardware, software or
the unit adjustment are modied.
Copyright
The customer may use the instructions for use as well as further documents or parts
from it for internal purposes. Copyrights are with KEB Automation KG and remain valid
in its entirety.
This KEB product or parts thereof may contain third-party software, including free and/
or open source software. If applicable, the license terms of this software are contained
in the instructions for use. The instructions for use are already available to you, can be
downloaded free of charge from the KEB website or can be requested from the respec-
tive KEB contact person.
Other wordmarks or/and logos are trademarks (™) or registered trademarks (®) of their
respective owners.

5
TABLE OF CONTENTS
Table of Contents
Preface ....................................................................................................................................................3
Signal words and symbols .............................................................................................................3
More symbols.................................................................................................................................3
Laws and guidelines.......................................................................................................................4
Warranty and liability......................................................................................................................4
Support ........................................................................................................................................4
Copyright........................................................................................................................................4
Table of Contents ................................................................................................................................... 5
1 Basic Safety Instructions.............................................. 6
1.1 Target group.....................................................................................................................................6
1.1 Validity of this manual.....................................................................................................................6
1.2 Electrical connection ...................................................................................................................... 7
1.3 Start-up and operation ....................................................................................................................7
2 Product Description ...................................................... 8
2.1 Product features .............................................................................................................................. 8
2.2 Overview of functions ..................................................................................................................... 8
3 Dual Port Memory.......................................................... 9
3.1 DPM mapping...................................................................................................................................9
3.2 Parameterization data (asynchronous objects).......................................................................... 11
3.3 Process data (isochronous objects)............................................................................................12
4 Process Data Mapping ................................................ 13
4.1 Output process data (manager =>client)....................................................................................13
4.2 Input process data (client =>manager).......................................................................................17
5 Synchronization on VARAN Fieldbus ........................ 20
6 Fieldbus Watchdog...................................................... 22
7 Operator Parameters................................................... 23
8 Light-emitting Diodes.................................................. 30
8.1 Status LEDs of VARAN plugs.......................................................................................................30
8.2 Network status LED.......................................................................................................................30
9 Revision History .......................................................... 31

6
BASIC SAFETY INSTRUCTIONS
1.1 Validity of this manual
This manual describes the control part VARAN of the COMBIVERT G6.
The manual
• contains only supplementary safety instructions.
• is only valid in connection with the power unit manual of COMBIVERT G6.
1 Basic Safety Instructions
The COMBIVERT is designed and constructed in accordance with state-of-the-art tech-
nology and the recognised safety rules and regulations However, the use of such de-
vices may cause functional hazards for life and limb of the user or third parties, or dama-
ges to the system and other material property.
The following safety instructions have been created by the manufacturer for the area of
electric drive technology. They can be supplemented by local, country- or application-
specic safety instructions. This list is not exhaustive. Non-observance of the safety
instructions by the customer, user or other third party leads to the loss of all resulting
claims against the manufacturer.
NOTICE Hazards and risks through ignorance.
►Read the instructions for use !
►Observe the safety and warning instructions !
►If anything is unclear, please contact KEB Automation KG !
1.1 Target group
This instruction manual is determined exclusively for electrical personnel. Electrical per-
sonnelforthepurposeofthisinstructionmanualmusthavethefollowingqualications:
• Knowledge and understanding of the safety instructions.
• Skills for installation and assembly.
• Start-up and operation of the product.
• Understanding of the function in the used machine.
• Detection of hazards and risks of the electrical drive technology.
• Knowledge of DIN IEC 60364-5-54.
• Knowledge of national safety regulations (e.g. DGUV regulation 3).

7
BASIC SAFETY INSTRUCTIONS
1.2 Electrical connection
DANGER Voltage at the terminals and in the device !
Danger to life due to electric shock !
►For any work on the unit switch off the supply voltage and secure it
against switching on.
►Wait until the drive has stopped in order, that perhaps regenerative
energy can be generated.
►Wait untill the DC-Link capacitors are discharged (5 minutes). Verify
by measuring the DC voltage at the terminals.
►Never bridge upstream protective devices (also not for test purpos-
es).
For a trouble-free and safe operation, please pay attention to the following instructions:
• The electrical installation shall be carried out in accordance with the relevant re-
quirements.
• Cable cross-sections and fuses must be dimensioned by the user accordly to the
speciedminimum/maximumvaluesfortheoperation.
• Within systems or machines the person installing electrical wiring must ensure that
on existing or new wired safe ELV circuits the EN requirement for safe insulation is
still met!
• For drive converters that are not isolated from the supply circuit (in accordance with
EN 61800-5-1) all control lines must be included in other protective measures (e.g.
double insulation or shielded, earthed and insulated).
• When using components without isolated inputs/outputs, it is necessary that equi-
potential bonding exists between the components to be connected (e.g. by the equi-
potential line). Disregard can cause destruction of the components by equalizing
currents.
1.3 Start-up and operation
The drive converter must not be started until it is determined that the installation com-
plies with the machine directive; Account is to be taken of EN 60204-1.
WARNING Software protection and programming !
Hazards caused by unintentional behavior of the drive!
►Check especially during initial start-up or replacement of the drive
converter if parameterization is compatible to application.
►Securing a unit solely with software-supported functions is not suf-
cient.Itisimperativetoinstallexternalprotectivemeasures(e.g.
limit switch) that are independent of the drive converter.
►Secure motors against automatic restart.

8
PRODUCT DESCRIPTION
2 Product Description
2.1 Product features
These instructions for use describe the parameterization of the following devices:
Device series: COMBIVERT G6
Hardware: VARAN
2.2 Overview of functions
The control provides the following functions:
• Hardware-installed supply of digital and analog inputs and outputs
• Diagnostic interface
• Ethernet-basedeldbusinterface(EtherCAT/VARAN)
• CANeldbusinterface
• KTY interface
• Brake control
• STO functionality
• Status LEDs

3 Dual Port Memory
A Dual Port Memory (DPM) is a RAM memory, whereupon read or write access is pos-
sible from two sides simultaneously.
Theentirebusistreatedlikea4GBmemory,adenedmemoryareaisassignedtoeach
client.This allows the CPU of the control to access on the participants with simple save,
read and write commands.
Thisdenedmemoryareaaddressedarangeinadualportmemory(DPM)onwhichthe
applicationlayerofthecontrolcardrmwarecanalsoaccess.
Available commands:
Memory read: Reads data from the memory of a bus participant. The command con-
tains the start address and the number of bytes to read.The client responds with the
requested data.
Memory write: Writes data from the memory of a bus participant. The command con-
tainsthestartaddressandthedatatobewritten.Theclientsendsanconrmation.
Thesersttwocommandscanbecombinedtoformasharedmemoryread/writecom-
mand.
Global write: All bus participants are addressed simultaneously. This command is used
to global reset of the bus participants and for transmission of SYNC.
3.1 DPM mapping
The following shows the mapping of the DPM. Separated areas for the isochronous
Objects (PDO) and the asynchronous Objects (SDO) are available. The byte order for
alldataobjectsis"Leastsignicant(LS)Byterst".
Address [dec (hex)] Size [Byte] Description Access
3)
0 (0x00) 16 CongurableisochronousinputPDOdata
(Client => Manager)
ro
16 (0x10) 16 Reserved area -
32 (0x20) 16 CongurableisochronousoutputPDOdata
(Manager => Client)
rw
48 (0x30) 16 Reserved area -
64 (0x40) 4 Acyclic request data rw
68 (0x44) 2 Acyclic request index rw
70 (0x46) 1 Acyclic request subindex
(format CANopen DS301)
rw
71 (0x47) 1 Acyclic request Cmd/MsgID 1) rw
72 (0x48) 4 Acyclic response data ro
76 (0x4C) 1 Acyclic response error code 2) ro
77 (0x4D) 1 Acyclic response Cmd/MsgID 1) ro
9
DUAL PORT MEMORY

1) Cmd/MsgID
c c c c i m m m
• cccc...command ID
0...invalid
1...read
2...write
3...initialization (all i and m bits are 1)
• i…initialization bit (set during initialization command with all the m-bits)
Must be sent once after every switch on to transfer the device from status "init"
to status "operational".
• mmm…message ID = counter from 0 to 7 (the response message uses the same ID
as the corresponding request)
2) SDO response error codes
Value [dec (hex)] Description
0 (0x00) OK, no error
1 (0x01) Device not ready
2 (0x02) Invalid address or password
3 (0x03) Invalid data
4 (0x04) Parameter write protected
5 (0x05) BCC error
6 (0x06) Device busy
7 (0x07) Service not supported
8 (0x08) Invalid password
9 (0x09) Telegram frame error
10 (0x0A) Transmission error
11 (0x0B) Invalid set or subindex
12 (0x0C) Invalid language
13 (0x0D) Invalid index
14 (0x0E) Invalid operation
3) ro: read only, rw: read write
10
DUAL PORT MEMORY

3.2 Parameterization data (asynchronous objects)
ItisnotnecessarythattheCOMBIVERTG6hassynchronizedtotheeldbuscycleto
receive asynchronous requests and respond.
The parameter data are communicated via the handshaking shown in chapter „Output
process data (manager => client)“. The VARAN master has to write on to the area "acy-
clicrequest"attheDPM.Thearea"acyclicrespond"islledbythedevicewithvaliddata
and can be read by the master.
The format of the subindex adressing is also described in chapter „Output process data
(manager => client)“.
Examples of the byte Cmd/MsgID:
Initialisation:
0 0 1 1 1 1 1 1
(3Fh)
Read access:
0 0 0 1 0 0 0 0
(10h)
Write access:
0 0 1 0 0 0 0 1
(21h)
The number of successfull asynchronous communication accesses are shown in the
following parameters.
Id-Text Name Parameter index
fb20 Master write event counter 0x2194
Meaning Number of asynchronous write accesses
Type Variable
Data length 16 bit
Access read / write
Coding 0...65535
Standard value: 0
Note -
11
DUAL PORT MEMORY

Id-Text Name Parameter index
fb21 Master write event counter 0x2195
Meaning Number of asynchronous read accesses
Type Variable
Data length 16 bit
Access read / write
Coding 0...65535
Standard value: 0
Note -
3.3 Process data (isochronous objects)
There are 16 bytes of process data available in both directions.
The process data can be accessed via the addresses described in chapter „DPM map-
ping“.
To activate the process data objects in the device, it is necessary to set the map-
ping of the process data via the parameters from the chapter „Process Data
Mapping“. In addition the application layer of the G6 control board must be
synchronized to the VARAN cycle. The description can be found in chapter
„Synchronization on VARAN Fieldbus“.
The number of successfull isynchronous communication accesses are shown in the
following parameters.
Id-Text Name Parameter index
fb22 PDO request counter 0x2196
Meaning Number of isochronous write accesses (PD out)
Type Variable
Data length 16 bit
Access read / write
Coding 0...65535
Standard value: 0
Note -
Id-Text Name Parameter index
fb23 PDO request counter 0x2197
Meaning Number of isochronous read accesses (PD in)
Type Variable
Data length 16 bit
Access read / write
Coding 0...65535
Standard value: 0
Note -
12
DUAL PORT MEMORY

4 Process Data Mapping
The setting of the process data assignment can be done in two different ways. One is
throughtheKEBspecicparameters(fb10-fb19),ontheotherhandabouttheparame-
ters(co08,c014)whicharedenedaccordingtotheCANDS301prole.
After successful adjustment of the process data mapping the process data can be pro-
cessed by the G6 device.
4.1 Output process data (manager =>client)
Id-Text Name Parameter index
fb10 PD out index 0x218A
Type Array
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 8
Standard value: 8
Note -
Subindex 1...8
Meaning Default up to 8 parameter addresses to be used as process
data. Only parameters may be used that are allowed as process
data. The value corresponds byte 2 and 3 of the DS301 param-
eter co08.
Data length 16 bit
Access read / write
Coding 0000h…FFFFh
Standard value: 0000h
Note -
13
PROCESS DATA MAPPING

Id-Text Name Parameter index
fb11 PD out subindex 0x218B
Type Array
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 8
Standard value: 8
Note -
Subindex 1...8
Meaning The value of the subindex determines the parameter set of the
selected PD parameter. The value corresponds byte 1 of the
DS301 parameter co08.
Data length 8 bit
Access read / write
Coding 1...8 for subindex 1...8 (or rather set 0..7)
Standard value: 1
Note -
Id-Text Name Parameter index
fb12 PD out offset 0x218C
Type Array
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 8
Standard value: 8
Note -
Subindex 1...8
Meaning Speciestheoffsetofoccupancyintheprocessdataeld.Posi-
tion of the value of the mapped parameter.
Data length 8 bit
Access read / write
Coding 0...15
Standard value: 0
Note -
14
PROCESS DATA MAPPING

Id-Text Name Parameter index
fb13 PD out type 0x218D
Type Array
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 8
Standard value: 8
Note -
Subindex 1...8
Meaning ThevaluespeciestheparametertypeoftheselectedPDpa-
rameter.
Data length 8 bit
Access read / write
Coding 0:off(noparametertypedened)
1: Long (32bit)
2: Word (16bit)
3: Byte (8 bit)
Standard value: 0
Note -
Id-Text Name Parameter index
fb14 PDO out count 0x218E
Meaning Sets the number of PD out objects
Type Variable
Data length 8 bit
Access read / write
Coding 0...8
Standard value: 0
Note Is automatically set to 0 when changing the parameters fb10...
fb13.
15
PROCESS DATA MAPPING

Id-Text Name Parameter index
co08 RPDO1 mapping 0x1600
Type Array
Subindex 0
Meaning Sets the number of mapped objects
Data length 8 bit
Access read / write
Coding 0...8
Standard value: 0
Note Successively, no gaps as on the fb-mapping parameters possible.
Subindex 1...8
Meaning Describesanobjectmapping.Theindex,subindexandtheobjectlengtharespecied
in bits.
Data length 32 bit
Access read / write
Coding Index
HB
Index
LB
Subindex Object length
B3 B2 B1 B0
Standard value: 00000100h
Note A writing of this parameter requires that the count (subindex 0) is set to 0.
16
PROCESS DATA MAPPING

4.2 Input process data (client =>manager)
Id-Text Name Parameter index
fb15 PD in index 0x218F
Type Array
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 8
Standard value: 8
Note -
Subindex 1...8
Meaning Default up to 8 parameter addresses to be used as process data.
Only parameters may be used that are allowed as process data.
The value corresponds byte 2 and 3 of the DS301 parameter
co14.
Data length 16 bit
Access read / write
Coding 0000h…FFFFh
Standard value: 0000h
Note -
Id-Text Name Parameter index
fb16 PD in subindex 0x2190
Type Array
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 8
Standard value: 8
Note -
Subindex 1...8
Meaning The value of the subindex determines the parameter set of the
selected PD parameter. The value corresponds byte 1 of the
DS301 parameter co14.
Data length 8 bit
Access read / write
Coding 1...8 for subindex 1...8 (or rather set 0..7)
Standard value: 1
Note -
17
PROCESS DATA MAPPING

Id-Text Name Parameter index
fb17 PD in offset 0x2191
Type Array
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 8
Standard value: 8
Note -
Subindex 1...8
Meaning Speciestheoffsetofoccupancyintheprocessdataeld.Posi-
tion of the
value of the mapped parameter.
Data length 8 bit
Access read / write
Coding 0...15
Standard value: 0
Note -
Id-Text Name Parameter index
fb18 PD in type 0x2192
Type Array
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 8
Standard value: 8
Note -
Subindex 1...8
Meaning ThevaluespeciestheparametertypeoftheselectedPDpa-
rameter.
Data length 8 bit
Access read / write
Coding 0:off(noparametertypedened)
1: Long (32bit)
2: Word (16bit)
3: Byte (8 bit)
Standard value: 0
Note -
18
PROCESS DATA MAPPING

Id-Text Name Parameter index
fb19 PDO-in count 0x2193
Meaning Sets the number of PD-in objects
Type Variable
Data length 8 bit
Access read / write
Coding 0...8
Standard value: 0
Note Is automatically set to 0 when changing the parameters fb15...fb18.
Id-Text Name Parameter index
co14 TPDO1 mapping 0x1A00
Type Array
Subindex 0
Meaning Sets the number of mapped objects
Data length 8 bit
Access read / write
Coding 0...8
Standard value: 0
Note Successively, no gaps as on the fb-mapping parameters possible.
Subindex 1...8
Meaning Describes an object mapping. The index, subindex and the
objectlengtharespeciedinbits.
Data length 32 bit
Access read / write
Coding Index
HB
Index
LB
Subindex Object length
B3 B2 B1 B0
Standard value: 00000100h
Note A writing of this parameter requires that the count (subindex 0) is set to 0.
19
PROCESS DATA MAPPING

5 Synchronization on VARAN Fieldbus
In order to ensure the data consistency when accessing to the dual port memory, the
internal calculation cycle must be synchronized to the external VARAN cycle.
Forthis,theexternalcycletimeisdenedbytheparameterfb25.APLLshiftstheinternal
calculation grid accordingly. If the synchronization is completed successfully, the syn-
chronous operation is shown over the VARAN status LED. See „Light-emitting Diodes“.
Id-Text Name Parameter index
fb25 cycle time 0x2199
Meaning Defaultoftheexternaleldbuscycletime
Type Variable
Data length 16 bit
Access read / write
Coding 0...16000μs
Standardvalue:0μs
Note Value is not saved and always writing after switching on the unit.
Onlyintegermultiplesof1000μsareaccepted.
Id-Text Name Parameter index
fb26 set sync level 0x219A
Meaning Maximum permissible deviation of internal to external cycle time
for which the communication is rated to be synchronous.
Type Variable
Data length 16 bit
Access read / write
Coding 0...100μs[multiplier:1,divisor:10,offset:0]
Standardvalue:2μs
Note -
20
SYNCHRONIZATION ON VARAN FIELDBUS