REXROTH efc series User manual

Frequency Converter
Multi-Ethernet Card
Instruction Manual
R912006860
Edition 02

Bosch Rexroth AG Multi-Ethernet Card
Record of Revision
Edition Release Date Notes
DOK-RCON0*-XFCX610*MUL-IT01-EN-P 2016.01 First release
DOK-RCON0*-XFCX610*MUL-IT02-EN-P 2016.05 New functions
Reference
For documentations available in other type or language, please consult your lo-
cal sales partner or check www.boschrexroth.com.
Copyright
© Bosch Rexroth (Xi'an) Electric Drives and Controls Co., Ltd. 2016
This document, as well as the data, specifications and other information set
forth in it, are the exclusive property of Bosch Rexroth (Xi'an) Electric Drives
and Controls Co., Ltd. It may not be reproduced or given to third parties without
its consent.
Liability
The specified data is intended for product description purposes only and shall
not be deemed to be a guaranteed characteristic unless expressly stipulated in
the contract. All rights are reserved with respect to the content of this documen-
tation and the availability of the product.
RS-c6fcde9c2f99ee920a347ea500418341-2-en-US-6

Table of Contents
Page
1 Safety Instruction.................................................................................. 1
2 Introduction........................................................................................... 2
2.1 About This Documentation.................................................................... 2
2.2 Engineering Tools................................................................................... 3
2.3 Reference Documentations.................................................................... 4
3 Hardware Installation............................................................................. 5
3.1 Hardware Description............................................................................ 5
3.2 Installing the Card in Frequency Converter........................................... 6
3.3 Cables.................................................................................................... 6
3.4 LEDs....................................................................................................... 7
3.5 Power Supply......................................................................................... 7
4 General Configuration........................................................................... 8
4.1 Protocol Selection................................................................................. 8
4.2 Communication Channel Setting........................................................... 9
4.3 Process Data Setting Range................................................................. 10
4.4 Device Profile....................................................................................... 12
4.5 Fault Management............................................................................... 14
5 PROFINET IO........................................................................................ 15
5.1 Protocol Configuration......................................................................... 15
5.1.1 Device Name........................................................................................ 15
5.1.2 IP Settings........................................................................................... 15
5.2 System Configuration.......................................................................... 16
5.2.1 GSD file................................................................................................ 16
5.2.2 IO Device............................................................................................. 17
5.2.3 Topology.............................................................................................. 18
5.2.4 Process Data........................................................................................ 19
5.3 Acyclic Communication........................................................................ 20
5.3.1 Principle............................................................................................... 20
5.3.2 Module ID............................................................................................ 20
5.3.3 Record Index........................................................................................ 20
5.4 Example............................................................................................... 21
6 EtherNet/IP.......................................................................................... 22
Multi-Ethernet Card Bosch Rexroth AG
Table of Contents
DOK-RCON0*-XFCX610*MUL-IT02-EN-P I

Page
6.1 Protocol Configuration......................................................................... 22
6.2 System Configuration.......................................................................... 23
6.2.1 EDS File............................................................................................... 23
6.2.2 Generic Device..................................................................................... 23
6.2.3 Topology.............................................................................................. 23
6.2.4 Process Data Configuration................................................................. 23
6.3 Acyclic Communication........................................................................ 28
6.3.1 Message Parameters............................................................................ 28
6.3.2 Error Codes.......................................................................................... 29
6.4 Example............................................................................................... 30
7 SERCOS III........................................................................................... 31
7.1 Protocol Configuration......................................................................... 31
7.2 System Configuration.......................................................................... 32
7.2.1 XML file................................................................................................ 32
7.2.2 Topology.............................................................................................. 33
7.2.3 Process Data........................................................................................ 33
7.2.4 SERCOS III Control Word and Status Word......................................... 33
7.3 Acyclic Communication........................................................................ 34
7.4 Example............................................................................................... 35
8 EtherCAT.............................................................................................. 43
8.1 Protocol Configuration......................................................................... 43
8.2 System Configuration.......................................................................... 43
8.2.1 Configuration File................................................................................ 43
8.2.2 Mode Selection.................................................................................... 44
8.2.3 Topology.............................................................................................. 44
8.2.4 Process Data........................................................................................ 45
8.3 Acyclic Communication........................................................................ 45
9 Modbus/TCP........................................................................................ 46
9.1 Protocol Configuration......................................................................... 46
9.2 System Configuration.......................................................................... 46
9.3 Exception Codes.................................................................................. 47
10 Parameters........................................................................................... 48
10.1 Parameter Address.............................................................................. 48
10.2 MEP Parameters.................................................................................. 50
10.2.1 Terminology and Abbreviation............................................................. 50
Bosch Rexroth AG
Table of Contents
Multi-Ethernet Card
II DOK-RCON0*-XFCX610*MUL-IT02-EN-P

Page
10.2.2 Parameter List..................................................................................... 50
11 Diagnosis............................................................................................. 54
11.1 LED Indications.................................................................................... 54
11.2 Warning Code...................................................................................... 56
11.3 Error Code........................................................................................... 57
Multi-Ethernet Card Bosch Rexroth AG
Table of Contents
DOK-RCON0*-XFCX610*MUL-IT02-EN-P III

Bosch Rexroth AG Multi-Ethernet Card
IV DOK-RCON0*-XFCX610*MUL-IT02-EN-P

1 Safety Instruction
The Safety Instructions in the available application documentation contain spe-
cific signal words (DANGER, WARNING, CAUTION or NOTICE) and, where re-
quired, a safety alert symbol (in accordance with ANSI Z535.6-2011).
The signal word is meant to draw the reader's attention to the safety instruction
and identifies the hazard severity.
The safety alert symbol (a triangle with an exclamation point), which precedes
the signal words DANGER, WARNING and CAUTION, is used to alert the reader
to personal injury hazards.
DANGER
In case of non-compliance with this safety instruction, death or serious injury
will occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injury
could occur.
CAUTION
In case of non-compliance with this safety instruction, minor or moderate injury
could occur.
NOTICE
In case of non-compliance with this safety instruction, property damage could
occur.
Do not attempt to install and operate the components of the electric drive and
control system without first reading all documentation provided with the prod-
uct. Read and understand these safety instructions and all user documentation
prior to working with these components. If you do not have the user documenta-
tion for the components, contact your responsible Bosch Rexroth sales partner.
Multi-Ethernet Card Bosch Rexroth AG
Safety Instruction
DOK-RCON0*-XFCX610*MUL-IT02-EN-P 1/61

2 Introduction
2.1 About This Documentation
This documentation contains necessary data and information descriptions rela-
ted to the Multi-Ethernet Platform (MEP) extension card, which is one of the
fieldbus communication module accessories of EFC x610 series frequency con-
verter.
As the name indicates, this extension card incoroporates multiple industrial
Ethernet protocols listed as below.
●PROFINET IO
●EtherNet/IP
●SERCOS III
●EtherCAT
●Modbus/TCP
This extension card fully supports the EFCx610 firmware the version
03V08 and above, while more industrial Ethernet protocols will be
developed to be incorporated in the MEP extension card, please al-
ways check for the latest version of this manual for a most up-to-
date reference.
Chapters 1 through 3 provide the general information of the MEP extension
card, while chapters 5 through 9 contain detailed technical information relevant
to different industrial Ethernet protocol. The common configuration, parameters
and diagnosis are described in chapter 4, 10 and 11.
Bosch Rexroth AG
Introduction
Multi-Ethernet Card
2/61 DOK-RCON0*-XFCX610*MUL-IT02-EN-P

2.2 Engineering Tools
For using the MEP extension card, an engineering connection from laptop / PC
to the EFC series frequency converter is necessary. Such a connection can be
established with using following methods:
●Via Ethernet using IndraWorks. In this case, the MEP can be browsed and the
IP address can be set.
●Via USB using ConverterWorks or IndraWorks. Plug the cable and connect.
The figure below shows an overview of ConverterWorks.
Fig. 2-1: Overview of ConverterWorks
Multi-Ethernet Card Bosch Rexroth AG
Introduction
DOK-RCON0*-XFCX610*MUL-IT02-EN-P 3/61

2.3 Reference Documentations
Type Typecode Language Material Number
Operating Instructions DOK-RCON03-EFC-x610***-ITRS-ZH-P Chinese R912005853
DOK-RCON03-EFC-x610***-ITRS-EN-P English R912005854
Quick Start Guide DOK-RCON03-EFC-x610***-QURS-ZH-P Chinese R912005855
DOK-RCON03-EFC-x610***-QURS-EN-P English R912005856
Instruction Manual (UL) DOK-RCON01-REX*F*UL***-INRS-EN-P English R912004711
Extension Card Module
Mounting Instructions
DOK-RCON0*-XFC-X610***-ASRS-EN-P English R912006261
DOK-RCON0*-XFC-X610***-ASRS-ZH-P Chinese R912006262
Product Insert
(I/O module)
DOK-RCON0*-XFC-X610***-ISRS-EN-P English R912006326
DOK-RCON0*-XFC-X610***-ISRS-ZH-P Chinese R912006327
Safety Instructions
DOK-RCON**-SAFETY*****-SARS-BP-P Portuguese R911339218
DOK-RCON**-SAFETY*****-SARS-DE-P German R911339363
DOK-RCON**-SAFETY*****-SARS-EN-P English R911339362
DOK-RCON**-SAFETY*****-SARS-ES-P Spanish R911339216
DOK-RCON**-SAFETY*****-SARS-FR-P French R911339213
DOK-RCON**-SAFETY*****-SARS-IT-P Italian R911339215
DOK-RCON**-SAFETY*****-SARS-RU-P Russian R911339217
DOK-RCON**-SAFETY*****-SARS-ZH-P Chinese R912004727
Product Insert
(Multi-Ethernet Card)
DOK-RCON0*-XFCX610*MUL-ISRS-ZH-P Chinese R912006846
DOK-RCON0*-XFCX610*MUL-ISRS-EN-P English R912006847
Tab. 2-1: Reference documentations
Bosch Rexroth AG
Introduction
Multi-Ethernet Card
4/61 DOK-RCON0*-XFCX610*MUL-IT02-EN-P

3 Hardware Installation
3.1 Hardware Description
Fig. 3-1: Hardware illustration
The MEP extension card is provided with two shielded female RJ45 connectors.
Multi-Ethernet Card Bosch Rexroth AG
Hardware Installation
DOK-RCON0*-XFCX610*MUL-IT02-EN-P 5/61

3.2 Installing the Card in Frequency Converter
The MEP extension card must be installed in combination with the extension
card module in the EFCx610 frequency converter. For details, please refer to Ex-
tension Card Module Mounting Instructions.
CAUTION
The MEP extension card does not support hot plug.
3.3 Cables
At least CAT 5e standard Ethernet cable is required for data transmission. The
shielded cables are recommended for the use in industrial environments.
The transmission rate is fixed at 100 Mbps.
Bosch Rexroth AG
Hardware Installation
Multi-Ethernet Card
6/61 DOK-RCON0*-XFCX610*MUL-IT02-EN-P

3.4 LEDs
Two slots are provided in the extension card module. On each slot, four dual-col-
or LEDs are equipped for state indication if the MEP extension card is applied.
The network status (NS: H11/H21) and module status (MS: H12/H22) LEDs are
red/green. The physical status of port 1 (P1: H13/H23) and port 2 (P2: H14/
H24) are yellow/green.
The figure below shows an overview of LED indications on the extension card.
Fig. 3-2: Multi-Ethernet card LED
The LED functionality is described in chapter 11.
3.5 Power Supply
Please make sure the main circuit power supplied during commissioning and
firmware update. External 24 V will keep the basic communication when main
power loss, but only limited parameter access and no run possible.
Multi-Ethernet Card Bosch Rexroth AG
Hardware Installation
DOK-RCON0*-XFCX610*MUL-IT02-EN-P 7/61

4 General Configuration
4.1 Protocol Selection
The parameter H3.40 is used to define the type of Industrial Ethernet protocol to
be used with MEP card. And parameter H3.41 indicates which industrial
Ethernet protocol is currently engaged. Once the request protocol is changed, a
cycle power or a reboot is needed to activate the selected protocol.
Code Name Setting range
H3.40 MEP: Industrial Ethernet Protocol Request
S3: SERCOS III
PN: PROFINET IO
EI: Ethernet/IP
EC: EtherCAT
MB: Modbus/TCP
H3.41 MEP: Industrial Ethernet Protocol Active Read-only
Tab. 4-1: Protocol selection parameters
The values of H3.40 and H3.41 are two characters representation that only ac-
cepts upper case letter. Figure 4-1 gives an example of PROFINET IO request.
Fig. 4-1: Protocol request setting
Bosch Rexroth AG
General Configuration
Multi-Ethernet Card
8/61 DOK-RCON0*-XFCX610*MUL-IT02-EN-P

4.2 Communication Channel Setting
The fieldbus communication channel should be configured according to the ac-
tual application when the MEP communication extension card is applied.
If the first control command and frequency setting are both transmitted via com-
munication channel, parameters in table 4-2 should be set to open the first com-
munication channel.
Code Name Value
E0.00 First frequency setting source 20: Communication
E0.01 First run command source 2: Communication
Tab. 4-2: First communication channel parameters
And if the second communication channel is used with the MEP extension card,
the parameters in table 4-3 should be set to open the second communication
channel.
Code Name Value
E0.02 Second frequency setting source 20: Communication
E0.03 Second run command source 2: Communication
Tab. 4-3: Second communication channel parameters
After configuration is completed for the communication channel, the parameter
E8.00 should be set to redirect to the communication extension card.
Code Name Value
E8.00 Communication protocol 1: Extension card
Tab. 4-4: Communication selection parameter
Multi-Ethernet Card Bosch Rexroth AG
General Configuration
DOK-RCON0*-XFCX610*MUL-IT02-EN-P 9/61

4.3 Process Data Setting Range
The range of both output and input process data is listed in the table below. If
the setting values exceed the range, "FPC-" error will be triggered.
The output process data list includes the cyclic data objects that can be trans-
ferred from controller to peripheral devices.
Code Name
H0.00 Control word
H0.10 Frequency command
H0.40 Dummy PZD
F0.20 ASF command01
F0.21 ASF command02
F0.22 ASF command03
F0.23 ASF command04
Tab. 4-5: Output process data parameter list
And the input process data list includes the cyclic data objects that can be
transferred from peripheral devices to controller. Normally, the monitoring data
are collected by controller.
Code Name Code Name
H0.01 Status word d0.43 I/O card digital input
d0.00 Output frequency d0.45 DO1 output
d0.01 Actual speed d0.47 I/O card EDO output
d0.02 Setting frequency d0.50 Pulse input frequency
d0.03 Setting speed d0.55 Pulse output frequency
d0.04 User-defined setting speed d0.60 Relay output
d0.05 User-defined output speed d0.62 I/O card relay output
d0.10 Output voltage d0.63 Relay card output
d0.11 Output current d0.70 PID reference engineering value
d0.12 Output power d0.71 PID feedback engineering value
d0.13 DC-bus voltage d0.80 ASF Display00
d0.16 Output torque d0.81 ASF Display01
d0.17 Setting torque d0.82 ASF Display02
d0.20 Power module temperature d0.83 ASF Display03
d0.21 Actual carrier frequency d0.84 ASF Display04
d0.22 Control stage running time d0.85 ASF Display05
d0.23 Power stage running time d0.86 ASF Display06
d0.30 AI1 input d0.87 ASF Display07
d0.31 AI2 input d0.88 ASF Display08
Bosch Rexroth AG
General Configuration
Multi-Ethernet Card
10/61 DOK-RCON0*-XFCX610*MUL-IT02-EN-P

Code Name Code Name
d0.33 I/O card EAI input d0.89 ASF Display09
d0.35 AO1 output d0.98 High resolution output current
d0.37 I/O card EAO output H0.40 Dummy PZD
d0.40 Digital input 1
Tab. 4-6: Intput process data parameter list
The parameter H0.40 can be used for filler in the output / input con-
figurations.
Multi-Ethernet Card Bosch Rexroth AG
General Configuration
DOK-RCON0*-XFCX610*MUL-IT02-EN-P 11/61

4.4 Device Profile
The Rexroth device profile described below is used as common profile for the
MEP extension card.
The following table is a general description of the H0.00 control words which
are used to send commands from master to slave.
Bit Value Meaning
15…9 - Reserved
81 Freewheeling stop
0 Inactive
71 Control word active
0 Inactive
61 Stop Acc. / Dec. active (stop the internal Acc. / Dec. ramp generator)
0 Inactive
51 Fault reset active
0 Inactive
41 E-stop active
0 Inactive
31 Stop according to parameter setting
0 Inactive
21 Reverse
0 Forward
11 Jog active (jogging direction determined by bit 2)
0 Inactive
01 Run command active
0 Inactive
Tab. 4-7: Control word definition
●Bit 8 Freewheeling stop
Freewheeling stops that ignore the frequency converter stop mode setting. Only
active start from frequency converter firmware version 03V12.
●Bit 6 Stop acceleration/deceleration active
The current acceleration/deceleration process will be paused when bit 6 = 1,
and it will be recovered when bit 6 = 0.
●Bit 4 E-stop active
Freewheel stop will be triggered in conjunction with panel display error ‘E-St’
when bit 4 = 1.
●Bit 3 Stop according to parameter setting
The parameter E0.50 Stop Mode is referenced when bit 3 = 1.
Bosch Rexroth AG
General Configuration
Multi-Ethernet Card
12/61 DOK-RCON0*-XFCX610*MUL-IT02-EN-P

●Bit 1 Jog active
Jog frequency and acceleration/deceleration time are set by the parameters
E0.60, E0.61, and E0.62.
The control bits (bit 6…0) in the control word are all edge sensitive.
It is recommended to reset value 0x0080 at the time when the pro-
gram starts to run initially.
The H0.01 status words are used to supply the real-time status information to
master from slave.
Bit Value Meaning
15…8 - Error code
71 Error
0 No error
61 Stall over current
0 Normal
51 Stall over voltage
0 Normal
41 Decelerating
0 Not in decelerating
31 Accelerating
0 Not in accelerating
21 Jogging
0 Not in jogging
11 Running
0 Stop
01 Reverse
0 Forward
Tab. 4-8: Status word definition
●Bit 15…8 Error code
Please refer to chapter 13.4 of EFC x610 Operating Instructions for detailed
error code description. The error code as referred in table 4-8 is the error occur-
ring currently when the frequency converter is in error mode (i.e. bit 7 = 1); and
the last error occurred when the frequency converter is in normal mode (i.e. bit
7 = 0).
Multi-Ethernet Card Bosch Rexroth AG
General Configuration
DOK-RCON0*-XFCX610*MUL-IT02-EN-P 13/61

4.5 Fault Management
The response of the frequency converter can be configured via parameter E8.03
when the process data are lost.
Code Name Setting range
E8.03 Communication process data loss behavior
0: Decelerating stop
1: Freewheeling stop
2: Keep running
Tab. 4-9: Parameter E8.03
Bosch Rexroth AG
General Configuration
Multi-Ethernet Card
14/61 DOK-RCON0*-XFCX610*MUL-IT02-EN-P