KEBCO COMBIVERT F5 User manual

COMBIVERT
Instructions For Use COMBIVERT F5
F5 EtherCAT Operator
Translation of the original manual
Document Part Version
20103239 ENG 02

2

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.
ATTENTION 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/nc/search

4
Preface
Laws and guidelines
KEBAutomationKGconrmswiththeCEmarkandtheECdeclarationofconformity,
that our device complies with the essential safety requirements.
The CE mark is located on the name plate. The EC declaration of conformity can be
downloaded on demand via our website. Further information is provided in chapter
"Certication".
Warranty
The warranty on design, material or workmanship for the acquired device is given in the
current terms and conditions.
Hereyouwillndourcurrenttermsand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 beyond of our control and therefore
exclusively 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 responsibility. 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 gener-
ally 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 modied.
Copyright
The customer may use the instruction manual as well as further documents or parts
from it for internal purposes. Copyrights are with KEB Automation KG and remain valid
in its entirety.
Other wordmarks or/and logos are trademarks (™) or registered trademarks (®) of their
respectiveownersandarelistedinthefootnoteontherstoccurrence.

5
Table of Contents
Table of Contents
Preface ....................................................................................................................................................3
Signal words and symbols .............................................................................................................3
More symbols.................................................................................................................................3
Laws and guidelines.......................................................................................................................4
Warranty .......................................................................................................................................4
Support .......................................................................................................................................4
Copyright........................................................................................................................................4
Table of Contents ...................................................................................................................................5
List of Figures.........................................................................................................................................6
List of Tables ..........................................................................................................................................6
1 Basic Safety Instructions.............................................. 7
1.1 Target group.....................................................................................................................................7
1.2 Validity of this manual.....................................................................................................................7
1.3 Electrical connection ......................................................................................................................8
1.4 Start-up and operation ....................................................................................................................8
2 Product Description ...................................................... 9
2.1 Specied application.......................................................................................................................9
2.1.1 Residual risks .......................................................................................................................9
2.2 Improper use....................................................................................................................................9
2.3 List of literature ...............................................................................................................................9
3 Hardware ...................................................................... 10
3.1 Overview of the operating elements............................................................................................ 10
3.2 Meaning of the LEDs on the operator.......................................................................................... 11
3.3 Diagnostic interface X6B ..............................................................................................................12
3.4 EtherCAT interface X6C, X6D ....................................................................................................... 12
3.4.1 Description of the LEDs in the RJ45 socket.......................................................................12
4 Software........................................................................ 13
4.1 Software conditions ......................................................................................................................13
4.2 Fundamentals of the EtherCAT interface connection................................................................13
4.2.1 EtherCATConguration(EEPROM) .................................................................................. 13
4.2.2 Mailbox communication...................................................................................................... 13
4.2.2.1 Parameter addressing by 16 bit index plus 8 bit subindex ............................................. 13
4.2.2.2 Set addressing with subindex up to software V2.0..........................................................14
4.2.2.3 Set-addressing with subindex from software V2.3 ..........................................................15
4.2.3 Process data communcation..............................................................................................15
4.2.4 Distributed clocks ...............................................................................................................15
4.3 Functions .......................................................................................................................................15

6
List of Figures
List of Figures
4.3.1 Process data mapping........................................................................................................15
4.3.1.1 Different coding of the PD mapping subindex.................................................................16
4.3.2 Extension of the maximum process data length in the "ExtendedPDMode" from
software V2.3................................................................................................................16
4.3.3 Synchronous mode ............................................................................................................17
4.3.4 Emergency .........................................................................................................................19
4.3.5 EtherCAT-Watchdog...........................................................................................................20
4.3.6 Fieldbus watchdog .............................................................................................................20
5 Operator parameters ................................................... 21
6 DSP402-Parameter....................................................... 35
7 Annex............................................................................ 37
7.1 Overview of operator parameters ................................................................................................37
7.2 Unit desciption by XML les.........................................................................................................39
Figure 1: Overview of the EtherCAT operator ................................................................................. 10
Figure 2: RJ 45 socket of the EtherCAT operator ...........................................................................12
Figure 3: Operator display: Synch...................................................................................................17
Figure 4: Operator display: Saut0 ...................................................................................................18
List of Tables
Table1: LEDashing..................................................................................................................... 11
Table 2: EtherCAT interface X6C, X6D..........................................................................................12
Table 3: Operator parameter overview ..........................................................................................38

7
BASIC SAFETY INSTRUCTIONS
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 devic-
es may cause functional hazards for life and limb of the user or third parties, or damages
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 applica-
tion-specicsafetyinstructions.Thislistisnotexhaustive.Non-observancewillleadto
the loss of any liability claims.
Attention Hazards and risks through ignorance.
►Read the instruction manual !
►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).
1.2 Validity of this manual
This manual describes the control part of the COMBIVERT F6 EtherCAT.
The manual
• contains only supplementary safety instructions.
• is only valid in connection with the power unit manual of COMBIVERT F6.

8
BASIC SAFETY INSTRUCTIONS
1.3 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 no regenerative energy
can be generated.
►Await capacitor discharge time (5 minutes) if necessary, measure
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 according to the design of
themachinemanufacturer.Speciedminimum/maximumvaluesmaynotbefallen
below /exceeded.
• With existing or newly wired circuits the person installing the units or machines must
ensure the EN requirements are 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.
1.4 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.

9
Product Description
2 Product Description
KEB develop, produce and sell static frequency inverters worldwide in the industrial
power range. The inverters of the type F5 can be equipped optionally with a EhterCAT
slave interface. The F5 EtherCAT operator is integrated into the FI housing by simple
plug-inandtsintoallF5-units.Hereitconcernstoanintelligentinterfacewhichcon-
trols the data transfer from EtherCAT to the frequency inverter control and reverse.
2.1 Specied application
The COMBIVERT serves exclusively for the control and regulation of three-phase mo-
tors. It is intended for installation in electrical systems or machines.
Technical data and information for connection conditions shall be taken from the type
plate and from the instruction manual and must be complied with.
Die bei KEB eingesetzten Halbleiter und Bauteile sind für den Einsatz in industriellen
Produkten entwickelt und ausgelegt.
Restriction
If the KEB COMBIVERT F5 is used in machines, which work under exceptional condi-
tions or if essential functions, life-supporting measures or an extraordinary safety step
mustbefullled,thenecessaryreliabilityandsecuritymustbeensuredbythemachine
builder.
2.1.1 Residual risks
In spite of proper use, the drive converter can assume unpredictable operating condi-
tions in error case, at incorrect parameterisation, by wrong cabling or unauthorized
interventions and repairs. This can be:
• Wrong direction of rotation
• Motor speed too high
• Motor is running into limitation
• Motor can also be under current at standstill
• Automatic restart
2.2 Improper use
The operation of other electric consumers is prohibited and can lead to the destruction
of the unit. The operation of our products outside the indicated limit values of the techni-
cal data leads to the loss of any liability claims.
2.3 List of literature
[1]: ESC10/20 Hardware Data Sheet V1.0 v. 8.3.2005
[2]:CANopenApplicationLayerandCommunicationProleDS301V4.02
[3]: Application manual of the implemented inverter
[4]:CANopenDeviceproledrivesandmotioncontrolDSP402V2.0

3 Hardware
3.1 Overview of the operating elements
Overview No. Description
1
2
34
5
6
1 EtherCAT Link_IN
2EtherCAT-Mailbox ac-
tive
3 EtherCAT-Run
4 EtherCAT-ERR
5 Inverter ERR
6 EtherCAT Link_OUT
X6B Diagnostic interface
X6C EtherCAT-In
X6D EtherCAT-Out
Figure 1: Overview of the EtherCAT operator
10
Hardware

3.2 Meaning of the LEDs on the operator
Component Meaning
EtherCAT Link_IN Green LED displays the Link/Activity of the EtherCAT input port
EtherCAT-Mailbox active Flashes as long as a mailbox command is carried out.
EtherCAT-RUN
GreenRUNLedaccordingtothespecicationof‚RUNIndicator‘
intheEtherCATspecication [1]:
Flashing Meaning
off Unit is in INIT state
Cyclically blinking with ON(200ms)
/ OFF(200ms)
Unit is in PRE-OPERATION-
AL state
SingleashwithON(200ms)/
OFF(1000ms)
Unit is in SAFE-OPERA-
TIONAL state
on Unit is in OPERATIONAL
state
EtherCAT ERR
RedLEDaccordingtospecicationof‚ERRIndicator‘intheEth-
erCATspecication[1]:
Flashing Meaning
off No error
Cyclically blinking with ON(200ms)
/ OFF(200ms)
Generalcongurationerrror
SingleashwithON(200ms)/
OFF(1000ms)
The application of the slave
device has automatically
changed the communication
state
Double Flash with ON(200ms)
/ OFF(200ms) / ON(200ms) /
OFF(1000ms)
The application watchdog
has responded
on The process data watchdog
has responded. The host
controller of the application
does not respond any more.
Inverter ERR
Red Led as a repeater of the Error-Led of the inverter control:
Flashing Meaning
off No power supply on the
inverter control board
blinking Inverter control board in er-
ror status
on Operating condition OK
EtherCAT Link_OUT Green LED displays the Link/Activity of the EtherCAT output port
Table 1: LED ashing
11
Hardware

3.3 Diagnostic interface X6B
ATTENTION Desctruction of the PC interface !
►The connection of the diagnostic interface with a serial interface
at a PC, may only be connected with a special HSP5 cable.
3.4 EtherCAT interface X6C, X6D
Standard Ethernet-RJ45 c onnector according to IEEE 802.3 100Base-T.
18
Figure 2: RJ 45 socket of the EtherCAT operator
3.4.1 Description of the LEDs in the RJ45 socket
Link Yellow Led in Ethernet connector:
Flashing Meaning
off No Ethernet link present
blinking Ethernet communication active
on Ethernet link present
Speed Green Led in Ethernet connector: Displays, whether the Ethernet
communication is running with 100Mbit/s (LED = ON) or not.
Table 2: EtherCAT interface X6C, X6D
12
Hardware

13
Software
4 Software
4.1 Software conditions
Not all software versions are available. The operating mode ExtendedPDMode is supported from
software V2.3. The mode is deactivated by default and therefore downwards compatible to soft-
ware V2.0.
4.2 Fundamentals of the EtherCAT interface connection
The KEB F5 EtherCAT operator contains a separate EtherCAT slave controller for time-critical
operations of the EtherCat communication. By using this EtherCAT controller it is guaranteed that
basiccommunicationiscompatibletotheEtherCATspecication.
4.2.1 EtherCAT Conguration (EEPROM)
Allvaluesaresavedinintelformat(LSbyterst)intotheEEPROM.Thefollowingtablelistsonly
the main presettings of the EtherCAT EEPROM.
Byte-Offset Meaning Value
0 PDI-Control 0009h
2PDI-Cong 0400h
4 SyncImpulseLength 000Ah
4.2.2 Mailbox communication
The KEB F5 EtherCAT operator supports the mailbox communication. All parameters of the FI
control and the operator can be read out or preset itself via this mailbox by using the CANoverEth-
erCAT.
Buffer size of the receive mail-
box
Minimum Maximum
16 byte 50 byte
Buffer size of the transmit
mailbox
Minimum Maximum
16 byte 50 byte
Supported mailbox protocols CANoverEtherCAT(CoE)
Supported CoE services Initiate SDO download expedited in server mode,
Initiate SDO upload expedited in server mode,
Emergency as client
4.2.2.1 Parameter addressing by 16 bit index plus 8 bit subindex
The following table shows parameter grouping compatible with [2]:
1.Index Last index Description
1000h 1FFFh Communication parameters according to [2]
2000h 5E00h
Parameter of the FI control with index = KEB parameter ad-
dress + 2000h(*1). The subindex is used for set-addressing
6000h 9FFFh Deviceproleparametersaccordingto[4]
(*1): The KEB parameter address can be found in the application manual of the used FI.

14
Software
4.2.2.2 Set addressing with subindex up to software V2.0
For KEB parameters (Index = 2000h...5FFFh) the subindex is used for set-addressing. The coding
of the subindex can be switched from software version V1.8 to a coding that corresponds to the
specicationofeldparameters(arrays)in[2].The following coding is valid:
Subindex Meaning for FBSCong.Bit8 = 0
0Indirect set-addressing: The set to be addressed depends on the value of
parameter Fr.09 in the FI control.
1 Direct addressing of set0
2 Direct addressing of set1
4 Direct addressing of set2
8 Direct addressing of set3
16 Direct addressing of set4
32 Direct addressing of set5
64 Direct addressing of set6
128 Direct addressing of set7
By use of this bit-coding it is possible to address more than one parameter-set simultaneously.
However this should not be used for parameter-reading, because an error message is returned if
not all values in the addressed sets are the same. This mechanism can also be used to map PDO-
Rx-data simultaneously to the parameters in several sets of the inverter (only valid at FBSCong.
Bit8 = 0).
Subindex Meaning for FBSCong.Bit8 = 1
0
The highest available subindex is addressed for set-programmable param-
eters. The value for non-set-programmable parameters is addressed in
set0.
1 Direct addressing of set0
2 Direct addressing of set1
3 Direct addressing of set2
4 Direct addressing of set3
5 Direct addressing of set4
6 Direct addressing of set5
7 Direct addressing of set6
8 Direct addressing of set7
9 (*1) Indirect set-addressing: The addressed set results from the value of param-
eter Fr.09 in the FI control.
(*1): In case of read access to a set-programmable parameter with subindex = 0, the value 8 is re-
turned. i.e., the access via indirect set-addressing (subindex = 9) cannot be seen from the outside.
Process data mapping with indirect set-addressing is not possible.
With this coding of the subindex, it is generally not possible to address several sets simul-
taneously (only valid at FBSCong.Bit8 = 1).

15
Software
4.2.2.3 Set-addressing with subindex from software V2.3
Bit8 ofparameterFBS Congwasdivided fromsoftwareV2.3.Bit12isadditionallydenedin
parameterFBSCong.Therebyitispossibletomakethecodingofthesubindexfortheacyclic
parameter access (via CoE -> SDO) independent from the coding of the subindex in the values
of the process data mappings. Further information can be taken from the description of the FBS
Congparameter.
4.2.3 Process data communcation
Non-addressed setpoints can be preset via the process data channel to the KEB F5 and actual
values can be requested. Data communication of the process data between application and Eth-
erCAT slave controller occurs via 3-buffer mechanism. The maximum of process data that can be
transferred is 8 byte each per direction.
Maximally 16 byte process data per data direction are supported from software version
V2.3. The 'ExtendedPDMode' must be activated for this function.
4.2.4 Distributed clocks
The function of the distributed clocks is used for the synchronous operating mode (4.3.3) in the
KEB-F5-EtherCAT operator. In this mode the interrupt cycles of the FI control is synchronized to
the EtherCAT distributed clock-cycles. Therefore a high-precision synchronisation of several KEB-
F5 inverters is possible. If the distributed clocks are not supported or activated by the EtherCAT
master, the KEB F5 EtherCAT operator is working completely asynchronous to the EtherCAT cycle.
4.3 Functions
4.3.1 Process data mapping
Which parameters of the inverter control concern to the process data is determined by the process
data assignment. The default process data assignment for this is:
Process output data (EtherCAT master => KEB slave):
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
Sy.43: control word (long) Sy.52: set speed In.22: user parameter
1
LSByte MSByte LSByte MSByte LSByte MSByte
Process input data (KEB-Slave => EtherCAT-Master):
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
Sy.44: status word (long) Sy.53: actual speed In.22: user parameter
1
LSByte MSByte LSByte MSByte LSByte MSByte

16
Software
The process data assignment can be adapted via the EtherCAT parameters with index =
1600h/1601h and Index = 1A00h/1A01h. The default process data assigment has the following
meaning:
Index Subindex Value
1600h 0 3
1600h 1 202B0120h
1600h 2 20340110h
1600h 3 2E160110h
1A00h 0 3
1A00h 1 202C0120h
1A00h 2 20350110h
1A00h 3 2E160110h
4.3.1.1 Different coding of the PD mapping subindex
The coding of the subindex in a PD mapping entry is switchable.
There are two possibilities:
1. PD mapping subindex linear (DS301 compatible)
2.PDmappingsubindexbit-coded(KEB-specic)
Depending on the software version, the two options are selected differently. The following table is
intended to illustrate these differences:
Software version V2.0 Software version V2.3 Coding of the PDO mapping
subindex
FBSCong.Bit8=1 FBSCong.Bit8=x
FBSCong.Bit12=1 Linear (DS301 compatible)
FBSCong.Bit8=0 FBSCong.Bit8=x
FBSCong.Bit12=0 Bit-coded(KEB-specic)
4.3.2 Extension of the maximum process data length in the "ExtendedPDMode" from software V2.3
The operating mode ExtendedPDMode is supported from software V2.3. The mode is deactivated
by default and therefore downwards compatible to software V2.0. The mode can be activated via
parameterFBSCongBit11.Themaximumprocessdatalengthisextendedto16byteswiththis
mode.
ActivationoftheExtendedPDModecanleadtoincompatibilityofdevicedescriptionles(ESIle
inXMLformat).AcompatibleXMLlecanbecreatedwiththestart-upwizardinCOMBIVIS6.
FurtherinformationcanbetakenfromthedescriptionoftheFBSCongparameter.

17
Software
4.3.3 Synchronous mode
In synchronous mode the SYNCO interrupt preset by the EtherCat slave controller is used as syn-
chronisation signal for the internal communication. Synchronous operating mode is only possible
for the F5 EtherCAT operator, if the SYNC0 signals are activated by the master.
The following register presettings in the KEB-EtherCAT slave must be made by the master for this:
Bit0 and Bit1 must be set to 1 in (byte) register 0981h:
0981h:
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
XXXXXX1 1
A multiple of 1ms must be entered in the 32 bit register beginning with the address = 09A0h. Please
note that this value is indicated in ns. Value = 1,000,000 is correspond to 1ms:
09A0h 09A1h 09A2h 09A3h
LS-Byte Byte1 Byte2 MS-Byte
In synchronous mode the operator displays constantly the following output:
Figure 3: Operator display: Synch
The value of parameter Com_Cycle gives information about the adjusted cycle time.
This synchronous operating mode includes some restrictions. As mentioned above the display
is static. Furthermore inputs via keyboard are also no longer possible. The diagnostic interface
continues to operate. But the processing speed of all services heavy depends on the synchronous
cycle time. The cycle time is preset as multiple of 1 ms, the minimum possible value is 1 ms. During
each SYNCO cycle the actual process output data are transferred to the FI control and the actual
process intput data are read from it.

18
Software
If the synchronous operating mode is activated, but no SYNC0 interrupts are released, the F5-
EtherCAT operator switches in automatic synchronous mode at default setting which can be identi-
edinthefollowingdisplaystring:
Figure 4: Operator display: Saut0
HereintheoperatorsimulatestheSYNC0 interruptstimecontrolledaccordingtothecongured
Sync0cycletime.InthefollowingtheSYNCOinterruptismeantifwespeakfrom‚SYNC event‘.
The SYNC timeout time is four times of the adjusted SYNC cycle time (see Com_Cycle). This can
be adapted by the user via parameter User_HS_SyncToutTime.
A process output data monitoring is additionally running to the SYNC monitoring in the current soft-
ware, when the EtherCAT operator runs in synchronous operation mode. The operator recognizes
the missing of incomming new process output data. The value of parameter Real_HS_SyncTout-
Time is accepted as timeout time. That means the PDOUT monitoring operates with the same
Timeout adjustment as the SYNC Timeout monitoring.
However this additional functionality can be switched off for downward compatibility reasons via
parameterFBSCong.IncontrasttothereactiontotheSYNCtimeoutcase(HS_SyncToutMode),
the reaction to the PDOUT timeout case is not adjustable in the synchronous operation mode. If
the PDOUT timeout case occurs, the operator automatically leaves the synchronous operation
mode and goes into EtherCAT status PreOperational. The SYNC timeout reaction is carried out, if
PDOUT timeout and SYNC timeout occur simultaneously.

19
Software
The synchronous operating mode is less restricted from software V2.3. It depends on the con-
nected hardware concerning internal communication.
If the FI control supports service number 56:
• Maximum possible process data length per data direction: 16 Byte, if ExtPDMode is set to 1
• Flexible PD assignment possible in synchronous operating mode.
• Process data assignment is adjusted in the frequency inverter via the Pd parameter group for
the synchronous operating mode.
If the FI control does not support service number 56:
• No ExtendedPDMode possible
• Maximum possible process data length per data direction: 8 Byte
• Fixed structure of the process data (1x32-bit + 1.2x16 bit) prescribed for the synchronous op-
erating mode
• Process data assignment is adjusted in the FI via the Sy parameter group.
Parameter Fb57 SYNC_HSP5Service is included from software V2.3. This parameter provides
information which service is used in synchronous operation.
4.3.4 Emergency
If this function is activated via parameter EmergencyCycle, the EtherCat operator reads cyclically
parameter ru.00 from the inverter control. The operator starts an emergency message via CoE
channel of the mailbox communication if an error status is recognized. This is also done if the er-
rorisnolongerpresent.Themessagecontains8bytesofdata.Therst3bytesofthisdataare
denedby[2]thelast5bytescanbeassignedmanufacturer-specic.TheKEB-F5-EtherCATop-
eratorllstheemergencymessageasfollows:
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
ErrorCode error reg-
ister
inverter state (ru.00) 00h 00h 00h
LB HB LB HB

20
Software
4.3.5 EtherCAT-Watchdog
It is a monitoring function of the EtherCAT slave controller. The watchdog monitors the cyclic in-
coming of new process output data in operational state. This function must be activated by the
EtherCAT master.
• The register Watchdog devider(WD_Devider: 0400h) must be set.
•SyncManager2-Control-Byte.Bit6mustbesetto1(XMLle).
• Register Watchdog-Time-Syncmanager (WD_Time_SM: 0420h) mut be unequal to 0.
The watchdog timeout time is calculated as follows:
WD_Time = (WD_Devider + 2) * WD_Time_SM * 40ns
When responding the Syncmanager watchdog the EtherCAT slave changes automatically into safe
operational state.
By the operator parameter watchdog inhibit releasing the EtherCAT watchdog can be used also for
releasingtheeldbuswatchdog(4.3.6).TherebytheeldbuswatchdogreleasesaftertheEther-
CATwatchdog,deceleratedbytheeldbuswatchdogtime(Pn.05).
4.3.6 Fieldbus watchdog
TheeldbuswatchdogisafunctionintheEtherCAToperator.Itservestosettheinvertercontrol
intoerror(E.BUS) orwarning(A.BUS),if certain eventsontheeld busdonotoccurcyclically
within an adjustable cycle-time. Two operator parameters (Watchdog inhibit, Watchdog activa-
tion)existforactivatingtheeldbuswatchdog.AdditionallytheparametersPn.05, Pn.06 have to
besetintheinvertercontroltodenethecycletimeandthereactiononthetimeout.
TheEtherCAToperatormonitorstheoccuranceoftheconguredeldbusevents.Differentevents
cancausetheresetofthewatchdog.Doesthetimeout-timeexpirewithoutoneofthecongured
events occur, then the operator triggers the watchdog event via the serial interface to the inverter. If
and how the FI control reacts on this, is determined by the responded parameters in the FI control
of the inverter.