Kostal inveor User manual

Operating manual
Distributor for:
EtherCAT fieldbus
INVEOR

Thank you for choosing to work with EPA!
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to individual service &comprehensive services.
If you have any questions about the product, please feel free
to call us: Tel: [phone] – 9704 – 0
You can nd the latest information about us and our products at
www.epa.de.
Sales department: EPA GmbH
Fliederstraße 8, D-63486 Bruchköbel
Deutschland / Germany
Telefon / Phone: [phone]
Telefax / Fax: [phone]
E-Mail: [email protected]
Internet: www.epa.de
Author: KOSTAL Industrie Electrik GmbH
Release: 1.60 / 08.2020
Article: INVEOR
EPA Drives

2Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN
Legal notice
KOSTAL Industrie Elektrik GmbH
An der Bellmerei 10
58513 Lüdenscheid
Germany
Tel. [phone]
Fax [phone]
info[email protected]
Exclusion of liability
All names, trade names, product names or other designations used in this manual may be legally
protected even if not indicated as such (e.g. as a trademark). KOSTAL assumes no liability for their
free usage.
The illustrations and texts have been compiled with great care. However, the possibility of errors
cannot be ruled out. The compilation is made without any guarantee.
General note on gender equality
KOSTAL is aware of how language impacts on gender equality and always make an effort to reflect
this in documentation. Nevertheless, for the sake of readability we are unable to use non-gender-
specific terms throughout and use the masculine form instead.
© 2020 KOSTAL Industrie Elektrik GmbH
All rights reserved by KOSTAL, including those of reproduction by photocopy and storage in
electronic media. Commercial use or distribution of the texts, displayed models, diagrams and
photographs appearing in this product is not permitted.
This manual may not be reproduced, stored, transmitted or translated in any form or by means of
any medium - in whole or in part - without prior written permission.

Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN 3
Contents
1. General information ..................................................................................................5
1.1 Information about documentation .................................................................................5
1.1.1 Other applicable documents.........................................................................................5
1.1.2 Storing the documentation ...........................................................................................5
1.2 Notes in this manual.....................................................................................................6
1.2.1 Warnings .....................................................................................................................6
1.2.2 Warning symbols used.................................................................................................7
1.2.3 Signal words ................................................................................................................7
1.2.4 Information notes .........................................................................................................8
1.3 Symbols used in this manual ........................................................................................9
1.4 Qualified staff ...............................................................................................................9
1.5 Proper use...................................................................................................................9
1.6 Responsibility.............................................................................................................10
1.7 Contacts for information .............................................................................................10
1.8 Safety instructions......................................................................................................10
2. Device and system description ..............................................................................11
2.1 EtherCAT...................................................................................................................11
2.1.1 Master / slave operation .............................................................................................11
2.2 Scope of delivery .......................................................................................................12
2.3 Item description for INVEOR .......................................................................................12
2.3.1 Type code for EtherCAT (valid until end of February 2016)........................................... 12
2.3.2 Type code for EtherCAT (most recent) ........................................................................13
2.3.3 Features code............................................................................................................13
2.4 Hardware components...............................................................................................14
2.4.1 Interfaces on the drive controller ................................................................................. 15
2.4.2 Pin assignment for interfaces......................................................................................18
2.4.3 Cable.........................................................................................................................18
2.5 Software components................................................................................................18
3. Installation ...............................................................................................................19
3.1 Configuring drive controller for EtherCAT.....................................................................19
3.2 INVEOR bus address .................................................................................................19
3.3 Installing the INVEOR XML file..................................................................................... 19
4. Accessing data via EtherCAT ................................................................................. 20
4.1 Cyclic data access – Process data Out.......................................................................20
4.1.1 Structure of Process data Out ....................................................................................20
4.1.2 Structure of INVEOR status word................................................................................22
4.1.3 Process data Out which can be parameterised ...........................................................24
4.2 Cyclic data access – Process data In..........................................................................26
4.2.1 Structure of INVEOR control word ..............................................................................27
4.2.2 Process data In which can be parameterised ..............................................................29
4.3 Non-cyclic data access / parameters..........................................................................29
4.3.1 Non-cyclic data..........................................................................................................30

Contents
4Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN
5. Error detection and troubleshooting .....................................................................38
5.1 Error word of application side .....................................................................................38
5.2 Error word of power side ............................................................................................39

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1. General information
Thank you for choosing an INVEOR drive controller with EtherCAT from KOSTAL Industrie Elektrik
GmbH! Our INVEOR line of drive controllers is designed to be universally usable with all common
motor types and bus systems.
If you have any technical questions, please call our central service hotline:
Tel.: [phone]
Monday to Friday: 7 am to 5 pm (UTC/GMT +1)
Fax: [phone]
E-mail: [e-mail]
Website address
www.kostal-industrie-elektrik.com
1.1 Information about documentation
This documentation is a supplementary operating manual for the INVEOR drive controller with the
EtherCAT bus system. It contains all the important information you need to install and operate the
bus system.
Please read the operating manuals for the drive controller and bus system through carefully.
They contain important information for operating the INVEOR with fieldbus.
We assume no liability for any damage resulting from non-observance of this manual.
This manual is an integral part of the product and applies exclusively to the INVEOR with EtherCAT
from KOSTAL Industrie Elektrik GmbH.
Provide the operator of the system with this manual so it is available when needed.
1.1.1 Other applicable documents
This refers to all manuals that describe how to operate the drive controller system and any other
manuals for the equipment used. Download the 3D files (.stp) for INVEOR and adapter plates from
www.kostal-industrie-elektrik.com.
A description of parameters is available for download (www.kostal-industrie-elektrik.com) for
parametrising the drive controller system. In the download, you will find all the information required
for correct parameterisation.
1.1.2 Storing the documentation
Store this operating manual and all other applicable documents carefully so they are available
when needed.

General information
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1.2 Notes in this manual
1.2.1 Warnings
The warnings refer to life-threatening dangers. Serious injuries possibly resulting in death may
occur.
Each warning consists of the following elements:
DANGER!
Risk of death due to electrical shock!
Death or serious injury!
De-energise drive controller and secure it against being restarted.
Fig.: 1 Structure of warnings
1 Warning symbol
2 Signal word
3 Type of danger and its source
4 Possible consequence(s) of failure to comply
5 Corrective actions
3
4
5
2
1

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1.2.2 Warning symbols used
Symbol Explanation
Danger
Danger due to electrical shock and discharge
Danger due to burns
Danger due to electromagnetic fields
1.2.3 Signal words
Signal words are used to identify the severity of the danger.
DANGER
Indicates a direct hazard with a high level of risk, which, if not avoided, will result in death or
serious injury.
WARNING
Indicates a hazard with a moderate level of risk, which, if not avoided, will result in death or serious
injury.
CAUTION
Indicates a hazard with a low level of risk, which, if not avoided, may result in minor or slight injury
or property damage.

General information
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1.2.4 Information notes
Information notes contain important instructions for the installation and problem-free operation of
the drive controller. These must be followed at all times. The information notes also point out that
failure to observe can result in damage to property or financial damages.
IMPORTANT INFORMATION
The drive controller may only be assembled, operated, maintained and installed by trained and
qualified staff.
Fig.: 2 Example of an information note
Symbols within the information notes
Symbol Explanation
Important information
Damage to property possible
Other notes
Symbol Explanation
INFORMATION
Enlarged view

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1.3 Symbols used in this manual
Symbol Meaning
1., 1., 3. … Consecutive steps in a handling instruction
Effect of a handling instruction
Final result of a handling instruction
List
Fig.: 3 Symbols and icons used
Abbreviations used
Abbreviation Explanation
Tab. Table
Fig. Figure
It. Item
Ch. Chapter
1.4 Qualified staff
You will find the "Qualified staff" chapter in the operating manual for the INVEOR.
1.5 Proper use
You will find the "Proper use" chapter in the operating manual for the INVEOR.

General information
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1.6 Responsibility
You will find the "Responsibility" chapter in the operating manual for the INVEOR.
1.7 Contacts for information
More information is available from:
Central service hotline
Tel.: [phone]
Monday to Friday: 7 am to 5 pm (UTC/GMT +1)
Fax: [phone]
E-mail: [e-mail]
Website address
Customers can find technical and general information on the following website:
www.kostal-industrie-elektrik.com
1.8 Safety instructions
You will find the "Safety instructions" chapter in the operating manual for the INVEOR.

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2. Device and system description
This chapter contains information on the scope of delivery for the drive controller and the function
description.
2.1 EtherCAT
The EtherCAT bus system is part of the fieldbus family. The network is generally linear in structure.
The maximum data transfer rate to an EtherCAT bus may be up to 100 Mbit/s. The fieldbus cable
is only connected via the two M12 connector sockets on the front of the device. Ensure that the
incoming bus cable is connected to the "In" socket and the outgoing one to the "Out" socket.
If connecting the last participant, the "Out" socket should be left free – there is no need for a
terminal resistor.
Fig.: 4 Wiring and bus connection
2.1.1 Master / slave operation
The INVEOR should only be operated as an EtherCAT slave.

Device and system description
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2.2 Scope of delivery
The scope of delivery of the drive controller is described in the INVEOR basic documentation.
The EtherCAT interface forms part of the INVEOR.
2.3 Item description for INVEOR
2.3.1 Type code for EtherCAT (valid until end of February 2016)
Example of an INVEOR EtherCAT item description:
Key
1 Drive controller series: INVEOR 6 Housing: G0 – standard (black with
inscription);
0 – standard (cooling elements);
0 – standard (with potentiometer);
00 – standard screw connections
2 Installation location/size: M-motor-
integrated, size: A, B, C, D
7 Firmware version: S00 – standard
3 Input voltage 2: 230 V,
4: 400 V
8 Model: 000 standard;
001 specific
4 Recommended motor rating: 0.55; 0.75;
1.1; 1.5; 2.2; 3.0; 4.0; 5.5; 7.5; 11; 15; 18.5;
22 kW
9 Equipment generation: 1 – current version
5 Printed circuit boards:
A013– Standard + EtherCAT
A033– Functional safety + EtherCAT

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2.3.2 Type code for EtherCAT (most recent)
Example of an INVEOR EtherCAT item description:
Key
1 Drive controller series: INVEOR 6 Application printed circuit board:
AP06– Standard + EtherCAT
AP22 – Functional safety + EtherCAT
2 Installation location/size: M-motor-
integrated, size: A - D
7 Cover: DK01 – Standard
3 Input voltage: IV01 – 400 V 8 Housing: GH10 – Standard cooling
elements
(painted black)
4 Recommended motor rating:
PW02 (0.37 kW); PW03 (0.55 kW);
PW04 (0.75 kW); PW05 (1.1 kW);
PW06 (1.5 kW); PW07 (2.2 kW);
PW08 (3.0 kW); PW09 (4.0 kW);
PW10 (5.5 kW); PW11 (7.5 kW);
PW12 (11 kW); PW13 (15 kW);
PW14 (18.5 kW); PW15 (22 kW)
9 Firmware version: CO00 - Standard
CO01 - Specific
5
Power printed circuit board:
LP01 - Standard
LP02 - with brake chopper
10 Equipment generation: 1 - current version
2.3.3 Features code
AP06 - Standard + EtherCAT
AP22 - Functional safety + EtherCAT

Device and system description
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2.4 Hardware components
The following hardware components are required for connecting the INVEOR to an EtherCAT bus
system:
Description Article number
EtherCAT connecting cable
M12 plug / RJ45 plug / 4-pin / 2 m /
D-coded / colour: green
*
INVZUB – L / CL / IE / M12M / RJ45 / 2 m / D /-
Order no.: 10138814
EtherCAT connecting cable
M12 plug / RJ45 plug / 4-pin / 5 m /
D-coded / colour: green
*
INVZUP – L / CL / IE / M12M / RJ45 / 5 m / D /-
Order no.: 10138847
 EtherCAT connecting cable
M12 plug / M12 plug / 4-pin / 2 m /
D-coded / colour: green
*
INVZUP – L / CL / IE / M12M / M12M / 2 m / D /-
Order no.: 10138848
 EtherCAT connecting cable
M12 plug / M12 plug / 4-pin / 10 m /
D-coded / colour: green
*
INVZUP - L / CL / IE / M12M / M12M / 10 m / D /-
Order no.: 10138849
*Not part of the scope of delivery
INFORMATION
The INVEOR is fitted in the factory with the appropriate communication card.
The INVEOR cannot be retrofitted or converted at a later date.

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2.4.1 Interfaces on the drive controller
The following connections can be found on the INVEOR with EtherCAT interface.
Size A:
Size A “EtherCAT” connections
1
EtherCAT "Out"
2
EtherCAT "In"
3
Blind plug
4
MMI
5
Potentiometer
6
Grid connection
7
Blind plug
8
Blind plug

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Sizes B - C
Sizes B - C “EtherCAT” connections
1
Blind plug
2
Control line
3
EtherCAT "Out"
4
EtherCAT "In"
5
MMI
6
Potentiometer
7
Blind plug
8
Blind plug
9
Grid connection

Device and system description
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Size D:
Size D “EtherCAT” connections
1
Cable screw connection with blind plug
2
Control line
3
EtherCAT "Out"
4
EtherCAT "In"
5
MMI
6
Potentiometer
7
Blind plug
8
Blind plug
9
Grid connection

Device and system description
18 Operating manual for EtherCAT fieldbus | DOC01616244-0003 | 2020-08 | V1.60 EN
2.4.2 Pin assignment for interfaces
Pin assignment on device side of M12 socket for EtherCAT:
Pin no.
Signal
Socket
1
Tx+
2
Rx+
3
Tx-
4
Rx-
Housing Shielding
Fig. 1: Round plug connector, 4-pin, M12, D-coded for EtherCAT fieldbus
2.4.3 Cable
The following points should be observed when wiring:
Lay bus and power cables as far apart as possible (min. 30 cm),
If cables do cross, an angle of 90° should be observed if possible.
2.5 Software components
What software do I require to operate and configure the drive controller with EtherCAT.
The INVEOR drive controller can be parameterised using the INVEORpc tool and MMI
(see operating manual) as well as the EtherCAT master.

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3. Installation
3.1 Configuring drive controller for EtherCAT
For the drive controller to be controlled by the fieldbus, the following basic parameters must be set
using the INVEORpc tool, MMI or EtherCAT master:
Set parameter 1.130 (target value source) to fieldbus "9"
Set parameter 1.131 (target value approval) to fieldbus "6"
The user must choose the set of parameters appropriate to him.
3.2 INVEOR bus address
The EtherCAT slaves are addressed automatically via the master.
Parameterisation via EtherCAT master
3.3 Installing the INVEOR XML file
A "device-specific information file" in XML format is required to use the INVEOR drive controller
with EtherCAT.
Download the "EtherCAT fieldbus for INVEOR" ZIP file from the download area on our website:
www.kostal-industrie-elektrik.com
Embed the XML file as required by the EtherCAT master you are using.