KEBCO COMBIVERT G6 series Owner's manual

COMBIVERT
Programming Manual Control circuit
EtherCAT
Translation of the original manual
Document Part Version
20099835 GBR 00
X2B
X2A
X4AX4BX4C
LED1
LED2
Network Status

3
Table of Contents
1. Preface............................................................................................................. 4
1.1 Information on special measures.......................................................................................4
1.2 Documentation.....................................................................................................................4
1.3 Validity and liability .............................................................................................................4
1.4 Copyright..............................................................................................................................5
1.5 Speciedapplication...........................................................................................................5
1.6 Product description.............................................................................................................6
1.6.1 Overview of functions ............................................................................................................6
1.6.2 Safety function .......................................................................................................................6
1.6.3 Corresponding documentation...............................................................................................7
1.7 Type code .............................................................................................................................7
2. EtherCAT interface ......................................................................................... 9
2.1 Identication ........................................................................................................................9
2.2 Addressingintheeldbus................................................................................................ 11
2.3 Status and Error Messages .............................................................................................. 11
3. Process Data Mapping ................................................................................. 13
3.1 Output process data (manager =>client)........................................................................13
3.2 Input process data (client =>manager)...........................................................................17
4. Sync manager ............................................................................................... 20
5. Fieldbus Watchdog....................................................................................... 23
6. General control card parameters (operator functionality)........................ 24
7. Light-emitting diodes ................................................................................... 31
7.1 Status LEDs of EtherCAT plugs .......................................................................................31
7.2 Network status LED...........................................................................................................31
7.3 XML description (ESI)........................................................................................................31
Table of Contents

4
Preface
1. Preface
The described hardware and software are developments of the Karl E. Brinkmann GmbH.
The enclosed documents correspond to conditions valid at printing. Misprint, mistakes and
technical changes reserved.
1.1 Information on special measures
The used pictograms have following signicance:
Danger Is used, when death or serious bodily injury may be the consequence
of non-observance of the measure.
Warning Is used, when bodily injury and/or substantial property damage may
be the consequence of non-observance of the measure.
Caution Is used, when property damage may be the consequence of non-ob-
servance of the measure.
Attention Is used, when noise sensitive or unrequested operation may be the
consequence of non-observance of the measure.
Info Is used, when a better or simpler result can be the consequence of the
measure.
For a special case the instructions can be supplemented by additional pictograms and text.
1.2 Documentation
Before working with the unit the user must become familiar with it. This includes especially
the knowledge and observance of the safety and operating instructions.
Attention Observe safety and operating instructions
Precondition for all further steps is the knowledge and observance of the
safety and operating instructions. This is provided accompanied by the de-
vice or by the download site of www.keb.de.
Non-observance of the safety and operating instructions leads to the loss of any liability
claims. The warnings and safety instructions in this manual work only supplementary. This
list is not exhaustive.
1.3 Validity and liability
The use of our units in the target products is beyond of our control and therefore exclu-
sively the responsibility of the machine manufacturer, system integrator or 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 application. However, they are considered for information only without responsibil-
ity. This also applies to any violation of industrial property rights of a third-party.

5
Preface
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 application by the machine manufacturer. They must
be repeated, even if only parts of hardware, software or the unit adjustment are mod-
ied.
Danger by tamper from unauthorized personnel
Unauthorised opening and tampering may lead to death, bodily injury, prop-
erty damage and malfunctions. Modication or repair is permitted only by
KEB authorized personnel. Infringement will annul the liability for resulting
consequences.
The suspension of liability is especially valid also for operation interruption loss, loss of prot,
data loss or other damages. The disclaimer will void the warranty. This is also valid, if we
referred rst to the possibility of such damages.
If single regulations should be or become void, invalid or impracticable, the effectivity of all
other regulations or agreements is not affected.
Through multitude applications not each possible case of installation, operation or mainte-
nance can be considered. If you require further information or if special problems arise which
are not treated in detail in the documentation, you can request the required information from
the local agency of the company Karl E.Brinkmann GmbH.
1.4 Copyright
The customer may use the instruction manual as well as further documents or parts from it for
internal purposes. Copyrights are with KEB and remain valid in its entirety.
KEB®, COMBIVERT®, COMBICONTROL®and COMBIVIS®are registered trademarks of Karl
E. Brinkmann GmbH.
Other wordmarks or/and logos are trademarks (™) or registered trademarks (®) of their re-
spective owners and are listed in the footnote on the rst occurrence.
When creating our documents we pay attention with the utmost care to the rights of third
parties. Should we have not marked a trademark or breach a copyright, please inform us in
order to have the possibility of remedy.
1.5 Speciedapplication
The COMBIVERT G6 serves exclusively for the control and regulation of three-phase motors.
The operation of other electric consumers is prohibited and can lead to the destruction of the
unit. Frequency inverter are components which are intended for the installation in electric
systems or machines.
Die bei KEB eingesetzten Halbleiter und Bauteile sind für den Einsatz in industriellen Produk-
ten entwickelt und ausgelegt. If the KEB COMBIVERT F5 is used in machines, which work
under exceptional conditions or if essential functions, life-supporting measures or an extraor-
dinary safety step must be fullled, the necessary reliability and security must be ensured by
the machine builder.

6
Preface
The operation of our products outside the indicated limit values of the technical data leads to
the loss of any liability claims.
1.6 Product description
The product family COMBIVERT G6 with safety function STO has been developed for the
use in safety-oriented applications. The basic standards as well as application and coun-
try-specic standards must be observed furthermore. The manual refer to standards that are
complementary to note!
This document is a description of the functions and parameters of the G6 - control card with
VARAN interface (Versatile Automation Random Access Network).
1.6.1 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
• Multi encoder interface
• KTY interface
• Brake control
• STO functionality
• Status LEDs
1.6.2 Safety function
The safety function STO according to IEC 61800-5-2 contains:
• Safe torque off (Safe Torque Off - STO)
The safety function meet the requirements in accordance with performance level e (ISO13849-
1) and SIL 3 (IEC 61508 and IEC 62061). In case of proper project design, installation and
operation the safety function protects people against mechanical damages.
Attention Validityofcerticates
The certication of controllers with safety technology is only valid if the mate-
rial number corresponds with the specied numerical code und the FS logo
is printed on the type plate.

7
Preface
1.6.3 Corresponding documentation
Attention Documentation via www.keb.de
Prior to performing any work on the unit, it is absolutely necessary to down-
load and read the documentation, especially the safety precautions and in-
structions for use. Follow these steps to get the documentation:
Step 1 Read the material number (Mat.No.) from nameplate
Step 2
Input the material number at "www.keb.de => Service => Downloads" and
click "search".
Downloads
Search for specific material numbers
Please enter a comlete (11-digit) material number.
Search for:
search
15G6DCD3510
Step 3
The entire documentation associated with the device will be displayed, in-
cluding the instruction manuals in German and English. If available, other
translations are also indicated. Make sure that the user understands the pro-
vided language.
Should you be unable to read or understand the documentation, do not
take any further steps. Please inform our support network for further
assistance.
1.7 Type code
xx G6 x x x - x x x x
Cooling (not valid for customer-/special version)
0Air-cooling/at Rear (housing A, B)
Air-cooling (housing C, E);
1 Flat rear
continued on the next page

8
Preface
xx G6 x x x - x x x x
Control/keyboard/display (not valid for customer-/special version)
A G6K-G Open-loop without key-
board/display 0 G6-G Open-loop without key- board/display
B G6K-G Open-loop with keyboard/
display 1 G6-G Open-loop with key- board/display
2 G6P-S SCL (Sensorless Closed Loop) without keyboard/display
3 G6P-S SCL (Sensorless Closed Loop) with keyboard/display
4 G6L-M ASCL (Asynchronous Sensorless Closed Loop)
without keyboard/display
5 G6L-M ASCL (Asynchronous Sensorless Closed Loop)
with keyboard/display
Switching frequency; short time current limit; overcurrent cut-off
(not valid at customer/special version)
02 kHz 125 % 150 % 14 kHz 125 % 150 %
28 kHz 125 % 150 % 316 kHz 125 % 150 %
42 kHz 150 % 180 % 54 kHz 150 % 180 %
68 kHz 150 % 180 % 716 kHz 150 % 180 %
82 kHz 180 % 216 % 94 kHz 180 % 216 %
A8 kHz 180 % 216 % B16 kHz 180 % 216 %
Voltage, connection
0 1-phase 230 V AC/DC 3 3-phase 400 V AC/DC
1 3-phase 230 V AC/DC 5 400 V DC
2 1/3-phase 230 V AC/DC 6 1-phase 230 V AC
A-Z Customer-/special version (rmware and download)
Housing type A, B, C, E
Variants
0without lter, without braking tran-
sistor, without safety function STO A like 0 with STO H like A with f=0Hz
1without lter, with braking transistor,
without safety function STO B like 1 with STO I like B with f=0Hz
2internal lter; without braking tran-
sistor, without safety function STO C like 2 with STO K like C with f=0Hz
3internal lter, with braking transistor,
without safety function STO D like 3 with STO L like D with f=0Hz
Control type
C Analog/digital (standard)
D CAN®1
E IO-Link®2
F EtherCAT®3
G PROFINET®4
H reserved for POWERLINK
I VARAN
G6 unit type
Inverter size

9
EtherCAT interface
2. EtherCAT interface
An EtherCAT slave is implemented with an EtherCAT input and an EtherCAT output. Process
data (PDO) and parameter data (SDO) are supported for accessing the parameters of the
device. The device behaves conform to DS301.
2.1 Identication
By reading the EtherCAT EEPROMs the plaintext name and the manufacturer of the device
can be determined.
In addition, the following parameters are used to identify the device:
Id-Text Name Parameter index
co01 DeviceType 0x1000
Meaning Decribes the unit type according to CANopen communication prole.
Type Variable
Data length 32 bit
Access read
Coding MSB LSB
Additional information Device prole number
Mode bits Type
31 24 23 16 15 0
Standard value:0
Note -

10
EtherCAT interface
Id-Text Name Parameter index
co04 Identity object 0x1018
Type Structure
Subindex 0
Meaning Number of subindices of this object
Data length 8 bit
Access read
Coding 4
Standard value:4
Subindex 1
Name Customer-ID
Meaning Includes manufacturer id. assigned by the CiA
Data length 32 bit
Access read
Coding 20: KEB
Standard value:20
Subindex 2
Name Product code
Meaning Includes a unique value for this unit series.
Data length 32 bit
Access read
Coding 300000h...30FFFFh
Standard value:300000h : G6
Subindex 3
Name Revision number
Meaning Includes in the low word the revision number of the G6 power unit. In the
high word the revision number of the control.
Data length 32 bit
Access read
Coding 00000000h...FFFFFFFFh
Standard value:-
Subindex 4
Name KEB_device serial number
Meaning Includes the serial number of the unit.
Data length 32 bit
Access read
Coding 0...2147483647
Standard value:0

11
EtherCAT interface
2.2 Addressingintheeldbus
The G6 device is provided by the EtherCAT master at system startup with an address.
Alternatively a xed eldbus address can be stored by the master as a station alias for the hot
connect functionality in the EtherCAT EEPROM. If this address is not 0, it is taken and used
at power on of the device.
Id-Text Name Parameter index
co40 EtherCAT Address 0x1100
Meaning Displays the currently used address in the eldbus
Type Variable
Data length 16 bit
Access read
Coding 0...65535
Standard value:0
Note -
2.3 Status and Error Messages
Id-Text Name Parameter index
fb00 AL status 0x2180
Meaning Display of the application layer state
Type Variable
Data length 16 bit
Access read
Coding Status
Bitmask 0x000F
Name State
Sub-Denitions [5]
Init 1
Pre-operational 2
Boot 3
Saveoperational 4
OPERATIONAL 8
Error
Bitmask 0x0010
Name Error
Sub-Denitions [1]
Error 16
Type 1
Value 16
Name Error
Standard value:0

12
EtherCAT interface
Id-Text Name Parameter index
fb01 Communication state 0x2181
Meaning Display of the EtherCAT communication state
Type Variable
Data length 16 bit
Access read
Coding Decimal values (bit-coded):
1 Error
2 started
4 ready to start
8 mailbox run
16 PDinRun
32 PDoutRun
Standard value:0
Note -
Id-Text Name Parameter index
co02 ErrorRegister 0x1001
Meaning Indicates the error status of the EtherCAT user
Type Variable
Data length 8 bit
Access read
Coding Decimal values (bit-coded):
0 No error
1 Generioc error
2 Error overcurrent
4 Overvoltage or undervoltage error
Standard value:0
Note -

13
Process Data Mapping
3. 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 parameters (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 processed
by the G6 device.
3.1 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 parameter co08.
Data length 16 bit
Access read / write
Coding 0000h…FFFFh
Standard value:0000h
Note -

14
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. Position of the
value of the mapped parameter.
Data length 8 bit
Access read / write
Coding 0...15
Standard value:0
Note -

15
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 parameter.
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.

16
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.

17
Process Data Mapping
3.2 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 -

18
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. Position 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 parameter.
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 -

19
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.

20
Sync manager
4. Sync manager
This parameter indicates the communication type of the used SyncManager.
Id-Text Name Parameter index
co45 Sync Manager Communication Type 0x1C00
Type Structure
Subindex 0
Meaning Number of sync manager channels
Data length 8 bit
Access read
Coding 4
Standard value: 4
Subindex 1
Name Communication type sync manager 0
Meaning Communication type of the sync manager 0
Data length 8 bit
Access read
Coding 1
Standard value: 1
Subindex 2
Name Communication type sync manager 1
Meaning Communication type of the sync manager 1
Data length 8 bit
Access read
Coding 2
Standard value: 2
Subindex 3
Name Communication type sync manager 2
Meaning Communication type of the sync manager 2
Data length 8 bit
Access read
Coding 3
Standard value: 3
Subindex 4
Name Communication type sync manager 3
Meaning Communication type of the sync manager 3
Data length 8 bit
Access read
Coding 4
Standard value: 4