KEBCO COMBICOM User manual

02/2008
CT.F5.0E0-K100
COMBICOM
GB
Instruction Manual EtherCAT

2

GB - 3
GB

GB - 4
Table of Contents
1. Introduction ......................................................................................................................5
1.1 Preface ............................................................................................................................................... 5
1.2 Product description .......................................................................................................................... 5
1.3 List of literature ................................................................................................................................. 5
2. Hardware ..........................................................................................................................6
3. Software ...........................................................................................................................8
3.1 Fundamentals of the EtherCAT interface connection ................................................................... 8
3.1.1 EtherCAT Configuration (EEPROM) ................................................................................................... 8
3.1.2 Mailbox communication ...................................................................................................................... 8
3.1.2.1 Parameter addressing by 16 bit index plus 8 bit subindex ...................................................... 8
3.1.2.2 Set-addressing with subindex ................................................................................................... 8
3.1.3 Process data communication .............................................................................................................. 9
3.1.4 Distributed clocks ................................................................................................................................ 9
3.2 Functions ........................................................................................................................................... 9
3.2.1 Process data mapping ........................................................................................................................ 9
3.2.2 Synchronous mode ........................................................................................................................... 10
3.2.3 Emergency ........................................................................................................................................ 10
3.2.4 Field bus watchdog ........................................................................................................................... 10
4 Operator Parameters .....................................................................................................11
5. DSP402-Parameter ........................................................................................................16
6. Annex ............................................................................................................................18

GB - 5
Preface
1. Introduction
1.1 Preface
We welcome you as a customer of the Karl E. Brinkmann GmbH and congratulate you to the aquisition of this
product. You have chosen a product on highest technical standard.
This manual as well as the specified hardware and software are developments of the Karl E. Brinkmann
GmbH. The Karl E. Brinkmann GmbH have prepared the documentation, hardware and software to the
best of their knowledge, however, no guarantee is given that the specifications will provide the efficiency ai-
med at by the user. Karl E. Brinkmann GmbH reserves itself the right to change/adapt specifications and
technical data without previous notification. Errors and ommissions excepted!
The safety and warning directions in this manual as well as in further documentation must be observed for a safe
operation. The safety and warning directions specified in this manual is not exhaustive.
The pictographs used in this manual have following meaning:
Danger
Warning
Caution
Attention
observe at
all costs
Information
Help
Tip
The information contained in the technical documentation, as well as any user-specific advice in spoken and writ-
ten 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.
Inspection of our units in view of their suitability for the intended use must be done generally by the user. Inspec-
tions are particulary necessary, if changes are executed, which serve for the further development or adaption of
our products to the applications (hardware, software or download lists). Inspections must be repeated completely,
even if only parts of hardware, software or download lists are modified.
Application and use of our units in the target products is outside of our control and therefore exclusively
in the area of responsibility of the user.
1.2 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 fits into all F5-units. Here it concerns to an intelligent interface which
controls the data transfer from EtherCAT to the FI control and reverse.
1.3 List of literature
[1]: ESC10/20 Hardware Data Sheet V1.0 v. 8.3.2005
[2]: CANopen Application Layer and Communication Profile DS301 V4.02
[3]: Application manual of the implemented inverter
[4]: CANopen Device profile drives and motion control DSP402 V2.0

GB - 6
Hardware
2. Hardware
X6B
X6C
X6D
Diagnose
EtherCAT
FUNC
START
ENTER
STOP
EtherCAT-Mailbox aktiv
Prozessdaten aktiv
EtherCAT-RUN
FU-Error
EtherCAT-Error
IN OUT
Link Link Speed Speed
Component Description
EtherCAT Mailbox active: Flashes as long as a mailbox command is carried out.
ProcessData active: Flashes as long as there is process data communication from and to the inverter.
EtherCAT RUN Green RUN-Led according to the specification of ‚RUN Indicator‘ in the EtherCAT
specification ([1]):
Flashing Actual condition
Constantly OFF INIT
Cyclically blinking with ON(200ms) / OFF(200ms) PRE-OPERATIONAL
Single flash with ON(200ms) / OFF(1000ms) SAFE-OPERATIONAL
Constantly ON OPERATIONAL
further on next side

GB - 7
Hardware
Component Description
EtherCAT ERROR Red Led according to specification of ‚ERR Indicator‘ in the EtherCAT specification
([1]):
Flashing Description
Constantly OFF No Error
Cyclically blinking with ON(200ms) /
OFF(200ms)
General configuration errror
Single flash 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.
Constantly ON The process data watchdog has respon-
ded. The host controller of the application
does not respond any more.
FI error Red Led as a repeater of the Error-Led of the FI control:
Flashing Description
Constantly OFF No power supply on the FI control board
Blinking FI control board in error status
Constantly ON Operating condition OK
Link Yellow Led in Ethernet connector:
Flashing Description
Constantly OFF No Ethernet link present
Constantly ON Ethernet link present
Blinking Ethernet communication active
Speed Green Led in Ethernet connector: Displays, whether the Ethernet communication
is running with 100Mbit/s (LED = constantly ON) or not.
X6B RJ45 connector of the diagnostic interface.
Attention !!! In order to avoid a destruction of the PC interface, the diagnostic in-
terface may only be connected to the serial interface of the PC by a special HSP5
cable with voltage adaption.
X6C, X6D Standard Ethernet-RJ45 connector according to IEEE 802.3 100Base-T

GB - 8
Software
3. Software
3.1 Fundamentals of the EtherCAT interface connection
The KEB F5 EtherCAT operator contains a 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 specification.
3.1.1 EtherCAT Configuration (EEPROM)
All values are saved in intel format (LSbyte first) into the EEPROM. The following table only lists the main features
of the KEB-F5-EtherCAT-EEPROM.
Byte Offset Description Value
0 PDI-Control 0009h
2 PDI-Config 0400h
4 SyncImpulseLength 000Ah
3.1.2 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 CANo-
verEtherCAT.
Buffer size of the receive mailbox 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
3.1.2.1 Parameter addressing by 16 bit index plus 8 bit subindex
The following table shows parameter grouping according to [2]:
1.Index Last index Description
1000h 1FFFh Communication parameter according to [2]
2000h 5E00h Parameter of the FI control with index = KEB-Parameter-Address + 2000h(*1). The
subindex is used for set-addressing
5F00h 5FFFh Parameter of the EtherCAT operator
6000h 9FFFh Device profile parameters according to [4]
(*1): The KEB parameter address can be found in the application manual of the used FI.
3.1.2.2 Set-addressing with subindex
For KEB parameters (Index = 2000h...5FFFh) the subindex is used for set-addressing. Thereby the following
coding is used:
Subindex Description
0 Indirect set-addressing: The set to be addressed depends on the value of parameter Fr.09 in
the FI control.
1 Direct addressing of set 0
2 Direct addressing of set 1
4 Direct addressing of set 2
8 Direct addressing of set 3
16 Direct addressing of set 4
32 Direct addressing of set 5
64 Direct addressing of set 6
128 Direct addressing of set 7
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

GB - 9
Software
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.
3.1.3 Process data communication
Through the process data channel it is possible to preset non-addressed setpoints to the KEB-F5 and actual
values can be requested. Data communication of the process data between application and EtherCAT slave con-
troller occurs via 3-buffer mechanism. The maximum of process data that can be transferred is 8 byte each per
direction.
3.1.4 Distributed clocks
The function distributed clocks is used for the synchronous operating mode (see above) in the KEB-F5-EtherCAT
operator. In this mode the interrupt cycles of the FI control is synchronized to the EtherCAT distributed clock-cyc-
les. With this a very precise synchronization of several KEB-F5 inverters is possible. Does the EtherCAT master
not support distributed clocks or are the distributed clocks not activated, then the KEB-F5-EtherCAToperator is
working completely asynchronous to the EtherCAT cycle.
3.2 Functions
3.2.1 Process data mapping
Which parameters of the inverter control concern to the process data is determined by the process data assign-
ment. 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
The process data assignment can be adapted by CANopen parameters with index = 1600h and index = 1A00h.
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
IMPORTANT !!! For synchronous operating mode the process data assignment has to follow the form 1*32-Bit +
1-2times 16-Bit for both data directions.

GB - 10
Software
3.2.2 Synchronous mode
In synchronous mode the SYNCO interrupt preset by the EtherCat slave controller is used as synchronisation
signal for the internal communication. Synchronous operating mode is only possible for the F5-EtherCAT operator,
if SYNC0 signals are activated by the EtherCAT master and the process data assignment is preset in both data
directions according to the above mentioned rules (1 time 32-Bit + 1-2 time 16-Bit).
In synchronous mode the operator displays constantly the following output:
This special 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.
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 identified in the following display string:
Herein the operator simulates the SYNC0 interrupts time controlled according to the configured 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).
3.2.3 Emergency
If this function is activated via parameter EmergencyCycle, the EtherCat operator reads cyclically parameter
RU.00 from the FI control. The operator starts an emergency message via CoE channel of the mailbox commu-
nication if an error status is recognized .This is also done if the error is no longer present. The message contains
8 bytes of data. The first 3 bytes of this data are defined by [2], the last 5 bytes can be assigned manufacturer-
specific. The KEB-F5-EtherCAT operator fills the emergency message as follows:
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
ErrorCode Error register InverterState (ru.00) 00h (KEB) 00h (KEB) 00h (KEB)
LB HB LB HB
3.2.4 Field bus watchdog
The field bus watchdog is a function in the EtherCAT operator. It serves to set the FI control into error (E.BUS)
or warning (A.BUS), if certain events on the field bus do not occur cyclically within an adjustable cycle-time. Two
operator parameters (Watchdog inhibit, Watchdog activation) exist for activating the field bus watchdog. Addi-
tionally the parameters Pn.05,Pn.06 have to be set in the FI control to define the cycle time and the reaction on
the timeout.
The EtherCAT operator monitors the occurance of the configured field bus events. Different events can cause the
reset of the watchdog. Does the timeout-time expire without one of the configured events occur, then the operator
triggers the watchdog event via the serial interface to the FI. If and how the FI control reacts on this, is determined
by the responded parameters in the FI control of the inverter.