Ethernet Communication Card Change history

No. Change description Version Release date

1 First release V1.0 Octomber 2020

2 … … …
Ethernet Communication Card Safety precautions

Safety precautions
The extension card can be installed and operated only by people who have taken part in
professional training on electrical operation and safety knowledge, obtained the certification,
and been familiar with all steps and requirements for installing, performing commissioning on,
operating, and maintaining the device, and are capable of preventing all kinds of emergencies.

Before installing, removing, or operating the communication card, read the safety precautions
described in this manual and the variable-frequency drive (VFD) operation manual carefully to
ensure safe operation.

For any physical injuries or damage to the device caused due to your neglect of the safety
precautions described in this manual and the VFD operation manual, our company shall not
be held liable.

 You need to open the housing of the VFD when installing or removing the
communication card. Therefore, you must disconnect all power supplies of the VFD
and ensure that the voltage inside the VFD is safe. For details, see the description in
the VFD operation manual. Severe physical injuries or even death may be caused if
you do not follow the instructions.

 Store the communication card in a place that is dustproof and dampproof without
electric shocks or mechanical pressure.

 The communication card is electrostatic sensitive. Take measurements to prevent

electrostatic discharge when performing operations involving it.

 Tighten the screws up when installing the communication card. Ensure that it is firmly
fixed and properly grounded.

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Ethernet Communication Card Terminology, abbreviations, and acronyms

Terminology, abbreviations, and acronyms

CAN Controller Area Network
Communication object, a transmitted unit on a CAN network.
COB Communication objects (COBs) carry data and can be transmitted through
the whole network. A COB is part of a CAN message frame.
Electronic data sheet (EDS), an ASCII file for node configuration, required
EDS when a CANopen network is configured. An EDS file contains general
information about nodes and their dictionary objects (parameters).
Network management, one of the CAN application-layer service elements in
NMT the CAN reference model. It is used for the initialization, configuration, and
fault handling of a CAN network.
Object
Stores information about all COBs identified by a device.
dictionary
Process data object, a type of COBs, used to transmit process data, such as
PDO
control command, set values, status values, and actual values.
PDO command transmitted by a slave station to the master station, where n
PDOn Tx
refers to 1, 2, 3, 4.
PDO command transmitted by the master station and received by a slave
PDOn Rx
station, where n refers to 1, 2, 3, 4.
Service data object, a type of COB, used to transmit non-time key data, such
SDO
as parameter values.
RO Indicates read-only access.
RW Indicates the read and write access.
SYNC Indicates synchronous transmission.
Node-ID Node ID, that is, address of a communication card.
Indicates that a number with this prefix is a hexadecimal value, for example,
0x
0x10 indicates the decimal value 16.

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Ethernet Communication Card Contents

Contents
Contents .................................................................................................................................. iii
1 Product confirmation ........................................................................................................... 1
2 PROFINET communication card ......................................................................................... 2
2.1 Overview ........................................................................................................................ 2
2.2 Features......................................................................................................................... 2
2.3 Electrical wiring .............................................................................................................. 4
2.4 Communication .............................................................................................................. 5
2.4.1 Packet format ........................................................................................................ 5
2.4.2 PROFINET I/O communication............................................................................. 6
2.5 Example of PLC communication ................................................................................. 15
2.5.1 Parameter configuration ..................................................................................... 15
2.5.2 Create a new project ........................................................................................... 18
2.5.3 Add GSD files ..................................................................................................... 19
2.5.4 Configure the basic information of the project .................................................... 20
2.5.5 Assign the device name of the IO device (INVT communication card) ............... 25
2.5.6 Save, compile, and download ............................................................................. 26
2.5.7 VFD parameter watching .................................................................................... 29
3 Ethernet IP communication card ...................................................................................... 31
3.1 Overview ...................................................................................................................... 31
3.2 Features....................................................................................................................... 31
3.3 Electrical wiring ............................................................................................................ 33
3.4 Communication ............................................................................................................ 34
3.4.1 Communication settings ..................................................................................... 34
3.4.2 Packet format ...................................................................................................... 35
3.4.3 Ethernet IP communication................................................................................. 35
3.5 Example 1 of PLC communication (communicate with Allen-Bradley PLC)................ 45
3.5.1 Create a new project ........................................................................................... 45
3.5.2 Import an EDS file ............................................................................................... 46
3.5.3 Create a new device object ................................................................................ 49
3.5.4 Use of Rslinx Classic .......................................................................................... 53
3.5.5 Writing PLC programs ........................................................................................ 54
3.5.6 PC connection and program download .............................................................. 56
3.5.7 Configuring PLC IP Addresses through the studio5000 V31 software ............... 57
3.5.8 DLR Ring Network Configuration........................................................................ 58
3.6 Example 2 of PLC communication (communicate with ORMON PLC) ....................... 60
3.6.1 Hardware connections ........................................................................................ 60
3.6.2 Network Configurator software setting................................................................ 61
3.6.3 Sysmac Studio software settings ........................................................................ 67
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Ethernet Communication Card Contents

3.6.4 Import and export data tags ................................................................................ 72

3.6.5 PLC program downloading and online monitoring .............................................. 74
4 EtherCAT communication card ......................................................................................... 81
4.1 Overview ...................................................................................................................... 81
4.2 Features....................................................................................................................... 81
4.3 Electrical wiring ............................................................................................................ 83
4.4 Communication ............................................................................................................ 84
4.4.1 CoE reference model .......................................................................................... 84
4.4.2 EtherCAT slave station information .................................................................... 85
4.4.3 EtherCAT state machine ..................................................................................... 85
4.4.4 PDO mapping ..................................................................................................... 86
4.4.5 DC-based network synchronization .................................................................... 88
4.5 CiA402 device protocol ................................................................................................ 88
4.5.1 CoE state machine ............................................................................................. 89
4.5.2 Device running mode .......................................................................................... 92
4.6 Function code modification .......................................................................................... 94
4.7 Example of TwinCAT2 application ............................................................................... 95
5 Modbus TCP communication card ................................................................................. 101
5.1 Overview .................................................................................................................... 101
5.2 Features..................................................................................................................... 101
5.3 Electrical wiring .......................................................................................................... 103
5.4 Communication .......................................................................................................... 104
5.4.1 Communication settings ................................................................................... 104
5.4.2 Packet format .................................................................................................... 104
5.4.3 Modbus TCP communication ............................................................................ 105
5.4.4 Data address definition ..................................................................................... 107
5.4.5 Fieldbus scale ................................................................................................... 112
5.4.6 Error message response .................................................................................. 113
5.5 Example of PLC communication ............................................................................... 114
Appendix A EtherCAT object dictionary............................................................................ 123
Appendix B Related function codes .................................................................................. 131

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Ethernet Communication Card Product confirmation

1 Product confirmation
Check the following after receiving a communication extension card product:

 Whether the communication card is damaged.

 Whether the received communication card is the one you purchase according to the
bar code label on the PCB.

 Whether all the following items are contained in the product package:

 One communication card, one tie wrap, one tie, one M3 screw, and one manual

 If the communication card is damaged, a wrong model is delivered, or some items are
missing, contact the supplier in a timely manner.

 Obtain the ESD file of the communication card from INVT. The file is named
communication card model.eds.

 Confirm the environmental requirements for application.

Table 1-1 Environmental requirements

Item Requirement
Operation temperature -10–+50°C
Storage temperature -20–+60°C
Relative humidity 5%–95%
Other weather No condensation, ice, rain, snow, or hail;
conditions solar radiation < 700 W/m2
Air pressure 70–106 kPa
Vibration and impact 5.9m/s2 (0.6g) at the sine vibration of 9 Hz to 200 Hz

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Ethernet Communication Card PROFINET communication card

2 PROFINET communication card

2.1 Overview
1. Thanks for choosing INVT PROFINET communication cards. This manual describes the
function specifications, installation, basic operation and settings, and information about
the network protocol. To ensure that you install and operate the product properly, read
this manual and the communication protocol section in the VFD operation manual
carefully before you use the product.

2. This manual only describes how to operate the PROFINET communication card and the
related commands but does not provide details about the PROFINET protocol. For more
information about the PROFINET protocol, read the related specialized articles or books.

3. This communication card is defined as a PROFINET slave station communication card

and is used on a VFD that supports PROFINET communication.

4. The communication card supports the linear network topology and star-shaped network
topology.

5. The communication card supports 32 inputs/outputs to read and write process data, read
state data, and read and write function parameters of a VFD.

2.2 Features
1. Supported functions

 Supports the PROFINET protocol, and supports PROFINET I/O devices

 Provides two PROFINET I/O ports and supports the 100 M full-duplex operation

 Supports the linear network topology and star-shaped network topology.

2. Supported communication types

 Standard Ethernet channels:

Standard Ethernet channels are non-realtime communication channels that use the TCP/IP
protocol, and are mainly used for device parameterization and configuration and to read
diagnosis data.

 Real-time (RT) communication channels:

RT channels are optimized channels for real-time communication. They take precedence over
TCP (UDP)/IP, which ensures that various stations on a network perform data transmission
with high time requirements at a certain interval. The bus period may reach the precision of
millisecond. These channels are used to transmit data such as process data and alarm data.

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Ethernet Communication Card PROFINET communication card

 Isochronous real-time (IRT) communication channels

IRT channels are implemented through the built-in Switch-ASIC IRT chip. IRT communication
can further shorten the processing time of the communication stack software, synchronizing
data transmission of the program and device. The transmission delay is less than 1 ms, and
the jitter is less than 1 μs. The typical application is motion control.

3. Communication ports

Standard RJ45 ports are used in PROFINET communication. The communication card
provides two RJ45 ports with no transmission direction defined, and therefore you can insert a
cable into the port without regard to its direction. Figure 2-1 shows the ports, and Table 2-1
describes the functions of the ports.

Figure 2-1 Two standard RJ45 ports

Table 2-1 Standard RJ45 port pins

Pin Name Description

1 TX+ Transmit Data+
2 TX- Transmit Data-
3 RX+ Receive Data+
4 n/c Not connected
5 n/c Not connected
6 RX- Receive Data-
7 n/c Not connected
8 n/c Not connected

4. State indicators
PROFINET communication card provides nine LED indicators to indicate its states. Table 2-2
describes the state indicators.

Table 2-2 State indicators

LED Color State Description

LED1 Green 3.3 V power indicator
On Not connected through a network cable
LED2
Red Connected to the PROFINET controller
(Bus state indicator) Blinking
through a network cable, but no
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Ethernet Communication Card PROFINET communication card

LED Color State Description

communication established
Communication established with the
Off
PROFINET controller
LED3 On PROFINET diagnosis enabled
(System fault Red
Off PROFINET diagnosis disabled
indicator)
On TPS-1 communication stack started
LED4
Green Blinking TPS-1 waits for the initialization of MCU
(Slave ready indicator)
Off TPS-1 communication stack not started
LED5
Defined by the manufacturer, depending
(Maintenance state Green
on the characteristics of the device
indicator)
PROFINET communication card
LED6/7 On connected to the PC/PLC through a
(Network port state Green network cable
indicator) PROFINET communication card not
Off
connected to the PC/PLC
LED8/9 PROFINET communication card
On
(Network port communicating with the PC/PLC
Green
communication PROFINET communication card not
Off
indicator) communicating with the PC/PLC
2.3 Electrical wiring
PROFINET communication card provides standard RJ45 ports and supports the linear and
star topologies. Figure 2-2 and Figure 2-3 show the electrical wiring diagrams for different
topologies.

Use CAT5, CAT5e, and CAT6 network cables for electrical wiring. When the communication
distance is greater than 50 meters, use high-quality network cables that meet the national
standards.

Slave station Slave station Slave station

device 1 device 2 device n
Master
station
device

RJ45 RJ45 RJ45 RJ45 RJ45 RJ45

Figure 2-2 Electrical wiring diagram for a linear topology

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Ethernet Communication Card PROFINET communication card

Note: For the star-shaped network topology, you need to use a PROFINET switch.

Slave station Slave station Slave station

device 1 device 2 device n
Master
station
device

RJ45 RJ45 RJ45 RJ45 RJ45 RJ45

Switch

Figure 2-3 Electrical wiring diagram for a star topology

2.4 Communication
2.4.1 Packet format
Table 2-3 describes the structure of an RT frame (non-synchronous).

Table 2-3 Structure of an RT frame

Data Ethernet Ethernet Frame RT user Period Data Transmission

VLAN FCS
header type type identifier data counter state state
2 36–1440 1 4
2 bytes 2 bytes 2 bytes 2 bytes 1 byte
bytes bytes byte bytes
0x8100 0x8892
VLAN flag APDU state
Data header
1-byte
7-byte 6-byte destination MAC
synchronization 6-byte source MAC address
preamble address
information

Table 2-4 describes the structure of the IRT frame (synchronous).

Table 2-4 Structure of an IRT frame

Frame IRT
Etherne VLA Etherne
Data header identifie user FCS
t type N t type
r data
6-byte
6-byte
7-byte 1-byte source 36–144 4
destinatio 2
preambl synchronizatio MAC 2 bytes 2 bytes 2 bytes 0 byte
n MAC bytes
e n addres bytes s
address
s
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Ethernet Communication Card PROFINET communication card

2.4.2 PROFINET I/O communication

The PROFINET communication card supports 16-word input/output. Figure 2-4 shows the
packet format for transmitting data with a VFD.

Parameter Process data

identification (PKW) Fixed
(PZD)
zone Distributable zone

CW PZD2 PZD3 PZD12

PKW1 PKW2 PKW3 PKW4 SW PZD2 PZD3 PZD12

Figure 2-4 Packet structure

By using the 32 inputs/outputs, you can set the reference parameters of the VFD, monitor the
status values, transmit control commands, monitor the running state, and read/write the
function parameters of the VFD. For specific operations, see the following description.

Parameter zone:

PKW1––Parameter identification

PKW2––Array index number

PKW3––Parameter value 1

PKW4––Parameter value 2

Process data:

CW––Control word (transmitted from the master to a slave. For description, see

Table 2-5)

SW––Status word (transmitted from a slave to the master. For description, see Table 2-7.)

PZD––Process data (defined by users)

(When the process data is output by the master to a slave, it is a reference value; and when
the process data is input by a slave to the master, it is an actual value.)

PZD zone (process data zone): The PZD zone in a communication packet is designed for
controlling and monitoring a VFD. The master and slave stations always process the received
PZD with the highest priority. The processing of PZD takes priority over that of PKW, and the
master and slave stations always transmit the latest valid data on the interfaces.

CWs and SWs

Using CWs is the basic method of the fieldbus system to control VFDs. A CW is transmitted by
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Ethernet Communication Card PROFINET communication card

the fieldbus master station to a VFD device. In this case, the adapter module functions as a
gateway. The VFD device responds to the bit code information of the CW and feeds state
information back to the master through an SW.

Reference value: A VFD device may receive control information in multiple channels, including
analog and digital input terminals, VFD control panel, and communication modules (such as
RS485 and CH-PA01 adapter modules). To enable the control over VFD devices through
PROFINET, you need to set the communication module as the controller of the VFD device.

Actual value: An actual value is a 16-bit word that includes information about VFD device
operation. The monitoring function is defined through VFD parameters. The conversion scale
of an integer transmitted as an actual value from the VFD device to the master depends on the
set function. For more description, see the related VFD operation manual.

Note: A VFD device always checks the bytes of a CW and reference value.

Task packet (master station -> VFD)

CW: The first word in a PZD task packet is a VFD CW. You can select the expression method
according to P15.43.Table 2.5 and Table 2.6 describe the control words (CWs) of the
Goodrive 350 series VFD.Table 2.5 and Table 2.6 describe the control words (CWs) of the
Goodrive 350 series VFD.

Table 2-5 Goodrive350 series VFD CWs expressed in decimal format

Bit Name Value Description

1 Forward running
2 Reverse running
3 Forward jogging
4 Reverse jogging
Communication-based
0–7 5 Stop
control command
6 Coast to stop (emergency stop)
7 Fault reset
8 Jogging to stop
9 Decelerate to stop
8 Enable writing 1 Enable reading and writing (PKW1-PKW4)
00 Motor 1
9–10 Motor group setting
01 Motor 2
1 Enable torque/speed control switching
11 Control mode switching
0 Disable switching
Reset power consumption 1 Enable
12
to zero 0 Disable

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Ethernet Communication Card PROFINET communication card

Bit Name Value Description

1 Enable
13 Pre-excitation
0 Disable
1 Enable
14 DC braking
0 Disable
1 Enable
15 Heartbeat reference
0 Disable

Table 2-6 Goodrive350 series VFD CWs expressed in binary format

Bit Name Description Priority

0 Forward running 0: Decelerate to stop 1: Forward running 1
1 Reverse running 0: Decelerate to stop 1: Reverse running 2
2 Fault reset 0: Disable 1: Enable 3
3 Coast to stop 0: Disable 1: Enable 4
4 Forward jogging 0: Disable 1: Enable 5
5 Reverse jogging 0: Disable 1: Enable 6
6 Jogging to stop 0: Disable 1: Enable 7
7 / Reserved
Enable reading and
8 0: Disable 1: Enable
writing (PKW1-PKW4)
9 / Reserved
0: Top
10 Decelerate to stop 0: Disable 1: Enable
priority
11–15 / Reserved

Reference value (REF): The second to twelfth words in a PZD task packet are the main
settings. The main frequency settings are provided by the main setting signal source. Table
2-7 describes the settings of Goodrive350 series VFD.

Table 2-7 Settings of Goodrive350 series VFD

Function Default
Word Value range
code value
Received 0: Invalid
P16.32 0
PZD2 1: Set frequency (0–Fmax, unit: 0.01 Hz)
Received 2: PID reference (0–1000, in which 1000 corresponds to
P16.33 0
PZD3 100.0%)
Received 3: PID feedback (0–1000, in which 1000 corresponds to
P16.34 0
PZD4 100.0%)

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Ethernet Communication Card PROFINET communication card

Function Default
Word Value range
code value
Received 4: Torque setting (-3000–+3000, in which 1000
P16.35 0
PZD5 corresponds to 100.0% of the rated current of the motor)
Received 5: Setting of the upper limit of forward running frequency
P16.36 0
PZD6 (0–Fmax, unit: 0.01 Hz)
Received 6: Setting of the upper limit of reverse running frequency
P16.37 0
PZD7 (0–Fmax, unit: 0.01 Hz)
Received 7: Upper limit of the electromotive torque (0–3000, in
P16.38 which 1000 corresponds to 100.0% of the rated current of 0
PZD8
Received the motor)
P16.39 8: Upper limit of the brake torque (0–3000, in which 1000 0
PZD9
Received corresponds to 100.0% of the rated current of the motor)
P16.40 9: Virtual input terminal command, 0x000–0x3FF 0
PZD10
Received (corresponding to S8, S7, S6, S5, HDIB, HDIA, S4, S3,
P16.41 S2, and S1 in sequence) 0
PZD11
10: Virtual output terminal command, 0x00–0x0F
(corresponding to RO2, RO1, HDO, and Y1 in sequence)
11: Voltage setting (for V/F separation)
(0–1000, in which 1000 corresponds to 100.0% of the
rated voltage of the motor)
12: AO output setting 1 (-1000–+1000, in which 1000
corresponds to 100.0%)
Received 13: AO output setting 2 (-1000–+1000, in which 1000
P16.42 0
PZD12 corresponds to 100.0%)
14: MSB of position reference (signed number)
15: LSB of position reference (unsigned number)
16: MSB of position feedback (signed number)
17: LSB of position feedback (unsigned number)
18: Position feedback setting flag (position feedback can
be set only after this flag is set to 1 and then to 0)

Response packet (VFD -> master station)

SW: The first word in a PZD response packet is a VFD SW. You can select the expression
method according to P15.43.

Table 2.8 and Table 2.9 describe the control words (CWs) of the Goodrive 350 series VFD.

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Ethernet Communication Card PROFINET communication card

Table 2-8 Goodrive350 series VFD SWs expressed in decimal format

Bit Name Value Description

1 Forward running
2 Reverse running
0–7 Running state 3 Stopped
4 Faulty
5 POFF
1 Ready to run
8 Bus voltage established
0 Not ready to run
0 Motor 1
9–10 Motor group feedback
1 Motor 2
1 Synchronous motor
11 Motor type feedback
0 Asynchronous motor
1 Overload pre-alarm generated
12 Overload pre-alarm feedback
0 No overload pre-alarm generated
0 Keypad-based control
1 Terminal-based control
13–14 Run/Stop mode
2 Communication-based control
3 Reserved
1 Heartbeat feedback
15 Heartbeat feedback
0 No heartbeat feedback

Table 2-9 Goodrive350 series VFD SWs expressed in binary format

Bit Name Description Priority

0 Forward running 0: Disable 1: Enable 1
1 Reverse running 0: Disable 1: Enable 2
2 Stopped 0: Disable 1: Enable 3
3 Fault 0: Disable 1: Enable 4
4 POFF 0: Disable 1: Enable 5
5 Pre-excited 0: Disable 1: Enable 6
6–15 / Reserved

Actual value (ACT): The second to twelfth words in a PZD task packet are the main actual
values. The main actual frequency values are provided by the main actual value signal source.
Table 2.10 lists the actual status values of the Goodrive 350 series VFD.

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Ethernet Communication Card PROFINET communication card

Table 2-10 Actual status values of Goodrive350 series VFD

Function Default
Word Value range
code value
P16.43 Transmitted PZD2 0: Invalid 0
P16.44 Transmitted PZD3 1: Running frequency (×100, Hz) 0
P16.45 Transmitted PZD4 2: Set frequency (×100, Hz) 0
P16.46 Transmitted PZD5 3: Bus voltage (×10, V) 0
P16.47 Transmitted PZD6 4: Output voltage (×1, V) 0
P16.48 Transmitted PZD7 5: Output current (×10, A) 0
P16.49 Transmitted PZD8 6: Actual output torque (×10, %) 0
7: Actual output power (×10, %)
P16.50 Transmitted PZD9 0
8: Rotating speed of the running (×1, RPM)
Transmitted
P16.51 9: Linear speed of the running (×1, m/s) 0
PZD10
10: Ramp frequency reference
Transmitted
P16.52 11: Fault code 0
PZD11
12: AI1 value (×100, V)
13: AI2 value (×100, V)
14: AI3 value (×100, V)
15: HDIA frequency (×100, kHz)
16: Terminal input state
17: Terminal output state
18: PID reference (×100, %)
19: PID feedback (×100, %)
Transmitted 20: Rated torque of the motor
P16.53 0
PZD12 21: MSB of position reference (signed number)
22: LSB of position reference (unsigned
number)
23: MSB of position feedback (signed number)
24: LSB of position feedback (unsigned
number)
25: Status word
26: HDIB frequency value (×100, kHz)

PKW zone

PKW zone (parameter identification flag PKW1––numerical zone): The PKW zone describes
the processing mode of the parameter identification interface. A PKW interface is not a
physical interface but a mechanism that defines the transmission mode (such reading and
writing a parameter value) of arameter between two communication ends.

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Ethernet Communication Card PROFINET communication card

Parameter Process data

identification (PKW)
CW PZD2
PKW1 PKW2 PKW3 PKW4 SW PZD2
Request Parameter Parameter
No. Parameter value error
Response address No. value
No.

Figure 2-5 Parameter identification zone

In the periodic communication, the PKW zone consists of four 16-bit words. The following
table describes the definition of each word.

First word PKW1 (16 bits)

Bits 15–00 Task or response identification flag 0–7
Second word PKW2 (16 bits)
Bits 15–00 Basic parameter address 0–247
Third word PKW3 (16 bits)
Value (most significant word) of a parameter or
Bits 15–00 00
error code of the returned value
Fourth word PKW4 (16 bits)
Bits 15–00 Value (least significant word) of a parameter 0–65535
Note: If the master station requests the value of a parameter, the values in PKW3 and PKW4
of the packet that the master station transmits to the VFD are no longer valid.

Task request and response: When transmitting data to a slave, the master uses a request
number, and the slave uses a response number to accept or reject the request.

Table 2-11 Task identification flag PKW1

Request No. (from the master to a slave) Response signal

Request
Function Acceptance Rejection
No.
0 No task 0 —
1 Requesting the value of a parameter 1, 2 3
Modifying a parameter value (one word) [modifying
2 1 3 or 4
the value only on RAM]
Modifying a parameter value (two words) [modifying
3 2 3 or 4
the value only on RAM]
Modifying a parameter value (one word) [modifying
4 1 3 or 4
the value on both RAM and EEPROM]
Modifying a parameter value (two words) [modifying
5 2 3 or 4
the value on both RAM and EEPROM]
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Ethernet Communication Card PROFINET communication card

Note: The requests #2, #3, and #5 are not supported currently.

Table 2-12 Response identification flag PKW1

Response No. (from a slave to the master)

Response No. Function
0 No response
1 Transmitting the value of a parameter (one word)
2 Transmitting the value of a parameter (two words)
The task cannot be executed and one of the following error number
is returned:
1: Invalid command
2: Invalid data address
3: Invalid data value
3 4: Operation failure
5: Password error
6: Data frame error
7: Parameter read only
8: Parameter cannot be modified during VFD running
9: Password protection

PKW examples

Example 1: Reading the value of a parameter

You can set PKW1 to 1 and PKW2 to 0A to read a frequency set through keypad (the address
of the frequency set through keypad is 10), and the value is returned in PKW4. The following
data is in hexadecimal format.

Request (master station -> VFD)

PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 ... PZD12

Request 00 01 00 0A 00 00 00 00 xx xx xx xx xx xx ... xx xx

0010: Parameter address

0001: Request for reading parameter values

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Ethernet Communication Card PROFINET communication card

Response (VFD -> master station)

PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 ... PZD12

Response 00 01 00 0A 00 00 13 88 xx xx xx xx xx xx ... xx xx

1388: Parameter value in address 10

0001: Response (parameter value updated)

Example 2: Modifying the value of a parameter (on both RAM and EEPROM)

You can set PKW1 to 4 and PKW2 to 0A to modify a frequency set through keypad (the
address of the frequency set through keypad is 10), and the value to be modified (50.00) is in
PKW4.

Request (master station -> VFD)

PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 ... PZD12

Request 00 04 00 0A 00 00 13 88 xx xx xx xx xx xx ... xx xx

1388: Parameter value in address 10

0004: Parameter value to be modified

Response (VFD-> master station)

PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 ... PZD12

Response 00 01 00 0A 00 00 13 88 xx xx xx xx xx xx ... xx xx

0001: Response (parameter value updated)

PZD examples: The transmission of the PZD zone is implemented through VFD function code
settings. For the function codes, see the related INVT VFD operation manual.

Example 1: Reading the process data of a VFD

In this example, PZD3 is set to "8: Rotating speed of the running" through the VFD parameter
P15.14. This operation sets the parameter forcibly. The setting remains until the parameter is
set to another option.

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Ethernet Communication Card PROFINET communication card

Response (VFD -> master station)

PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 … PZD12

Resp
xx xx xx xx xx xx xx xx xx xx xx xx 00 0A … xx xx
onse
Example 2: Writing process data to a VFD device
In this example, PZD3 is set to "2: PID reference" through the VFD parameter P15.03. The
parameter specified in each request frame is updated with the information contained in PZD3
until another parameter is specified.
Request (master station -> VFD)
PKW1 PKW2 PKW3 PKW4 CW PZD2 PZD3 … PZD12
Resp
xx xx xx xx xx xx xx xx xx xx xx xx 00 00 … xx xx
onse

Subsequently, the information contained in PZD3 is used as tractive force reference in each
request frame until another parameter is specified.

2.5 Example of PLC communication

This example shows how to use a Siemens S7-1200 series PLC to communicate with the
PROFINET adapter module (through using the TIA Portal V13 PC software as the
configuration tool).
2.5.1 Parameter configuration

Connect the PLC to the PC with a standard network cable, and set the computer IP (e.g.
192.168.0.100) in the PC network settings. Set the IP and name of the PLC.
1) Open the "TIA PORTAL V13" software, and click "Online & Diagnostics" --> "Accessible
Devices" on the left. Select "PN/IE" in the drop-down list of "Type of the PG/PC interface",
select the Ethernet port in the "PG/PC Interface", and finally click "Refresh" to scan the
connected PLC devices, as shown in the following figure.

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Ethernet Communication Card PROFINET communication card

2) If the connection between the PLC and PC is normal, after scanning is completed, the PLC
device will appear in the device bar, as shown in the red box of the following figure. The device
bar displays the device, device type and device MAC address. Then click the "Show" button in
the lower right corner to enter the device settings.

3) Click "Online & Diagnostics" in the device tree, click "Assign IP Address" under the
“Functions” on the right of the menu bar, and set the IP address and subnet mask of the PLC
shown in the red box marked ③, to ensure that the IP address of the PC and the IP address of
the PLC are in the same network segment, as shown in the following figure.
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Ethernet Communication Card PROFINET communication card

4) Set the IP address of the PLC to "192.168.0.1" and subnet mask to "255.255.255.0" (you
can check "Use router", that is, the router assigns IP). Click the "Assign IP address" button
after the setting is completed, as shown in the following figure.

5) Click "Assign Name", and mark the PLC name in the position shown in the red box marked
②, such as "PLC1215C". Click the "Assign Device Name" button, as shown in the following
figure.

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Ethernet Communication Card PROFINET communication card

2.5.2 Create a new project

Double click the TIA PORTAL V13 icon to open the TIA PORTAL V13 project tool. Click the
“Create new project” button to create a new project, add project name, project storage path,
author, comment and other related information, and click the “Create” button to create a new
project, as shown in the following figure.

After creating a new project, double click “Open the project view”, as shown in the following
figure.

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Ethernet Communication Card PROFINET communication card

2.5.3 Add GSD files

In the project view, click "Options" on the toolbar, select the "Manage general station
description files (GSD)" option from the drop-down list, and a box pops up, as shown in the
following figure. Enter the file directory where the INVT GSD file is located in the source path,
select the GSD file, and click the "Install" button to start the installation.

After the installation was completedly successfully, a prompt pops up, indicating that the
GSDML file has been installed successfully, as shown in the following figure.

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Ethernet Communication Card PROFINET communication card

2.5.4 Configure the basic information of the project

1) Enter the “Devices & networks” view interface

In the project view, select and double click "Devices & networks" in the project tree on the left
to enter the “Network overview” view interface, as shown in the following figure.

2) Add Project device and PROFINET network

1) Add PLC S7-1215C to the "Devices & networks" view

In the "Hardware catalog" on the right sidebar, select "Controller" → "SIMATIC S7-1200" →
"CPU" → "CPU 1215C AC/DC/Rly" → "6ES7 215-1BG40-0XB0", and double click the
"6ES7 215-1BG40-0XB0" icon or drag it to the project, as shown in the following figure.

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Ethernet Communication Card PROFINET communication card

(2) Add the INVT communication card to the "Devices & networks" view

In the "Hardware Catalog", click "Other field devices" → "Profinet IO" → "I/O" → "INVT" →
"INVT Profinet Adapter" → "INVT Profinet Adapter V1.0", and double click the "INVT Profinet
Adapter V1.0" icon or drag it to the view of "Devices & networks". The communication card is
displayed as "Not assigned", as shown in the following figure.

Click the "Not assigned" option of " INVT Profinet Adapter V1.0" and select the IO controller "
PLC_1. PROFINET IO-System", then CPU and INVT Profinet in the network view are
connected to the same Profinet subnet, as shown in the following figure.

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Ethernet Communication Card PROFINET communication card

3) Add the INVT I/O sub-module to the project

Double click the "INVT Profinet Adapter V1.0" icon in the "Devices & Networks" view to enter
the “Device view” interface, as shown in the following figure.

Click the "Hardware Catalog" on the right → "Module", double click the "32 Byte IN/OUT"
module or drag it to the blank space in the "Device view", and the "32 Byte IN/OUT" module is
added to the project, as shown in the following figure.

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Ethernet Communication Card PROFINET communication card

(4) Simple configuration of S7-1215C and INVT Profinet parameters

<1>Configure parameters of PLC S7-1215C

Double click the "Devices & Networks" option to enter the view interface of "Devices &
Networks".

Double click the “PLC S7-1215C” icon in the interface to enter the "Device view" interface of
the PLC.

Double click the network interface position in the PLC icon to enter the properties editing
interface bar of “PROFINET interface_1”.

Click the "Ethernet addresses" option in the "General" list to set the PLC address and name
(In this example, IP address of the PLC is 192.168.0.1 and PLC name is PLC1215C).

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Ethernet Communication Card PROFINET communication card

Operations are shown in the following figure.

<2> Configure parameters of the INVT Profinet communication card

Double click the "Devices & Networks" option to enter the view interface of "Devices &
Networks".

Double click the “INVT Profinet Adapter V1.0” icon in the interface to enter the "Device view"
interface of the communication card.

Double click the network interface position in the INVT Profinet communication card icon to
enter the properties editing interface bar of PROFINET interface.

Click the "PROFINET interface [X1]" option in the "General" list, and click the "Ethernet
addresses" option. Configure parameters of the INVT PROFINET communication card
according to the parameters shown in the following figure such as IP address and device
name of the communication card (in this example, IP address of the communication card is
192.168.0.2 and the name is invt1).

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Ethernet Communication Card PROFINET communication card

Operations are shown in the following figure.

2.5.5 Assign the device name of the IO device (INVT communication card)
After the CPU and INVT Profinet communication card are successfully connected to the PC
through the network cable, click "Online access" on the left to find the network card
corresponding to the PC that is connected to the PLC and communication card.

In all displayed devices, find the INVT communication card device and click it, such as emc
(192.168.0.2) device, as shown in the following figure (Note: When the communication card is
used for the first time, there is no device name, and only the default IP can be scanned) .

Double click "Online & Diagnostics" to enter the online diagnostics state.

Click "Functions" → "Assign name" to enter the "Assign name" interface.

Enter the communication card name in “PROFINET device name”, and click "Assign Name" in
the lower right corner to confirm.

Note: The name of the PROFINET communication card set online must be consistent with
that set in the configuration project, otherwise PROFINET communication cannot be carried
out between the devices.

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Ethernet Communication Card PROFINET communication card

The operation steps are shown in the following figure.

2.5.6 Save, compile, and download

Download the project configuration information to the PLC S7-1215C after the entire project
configuration is completed.

Click "Save Project" to save the entire project.

Right click "PLC_1 [CPU 1215C AC/DC/Rly]" → left click "Compile" → "Hardware and
software (change only)" to compile the entire project.

Click the "Download to device" icon to download the project configuration to the PLC
controller.

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Ethernet Communication Card PROFINET communication card

Operations are shown in the following figure.

In the download dialog box, search for the connected PLC device, as shown in the following
figure.
Select the "PN/ IE_1" option in the drop-down list of "Connection to interface/subnet".
Click the "Start search" button in the lower right corner to start scanning and detecting PLC
devices in the subnet.

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Ethernet Communication Card PROFINET communication card

After searching is completed, the PLC S7-1215C that is connected to the PC will be displayed
in the list of "Compatible devices in target subnet", as shown in the following figure.

Select the PLC to be downloaded in the following figure, and click the "Download" button to
download the configuration information and PLC program to the selected PLC.

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Ethernet Communication Card PROFINET communication card

2.5.7 VFD parameter watching

Click "Watch and force tables" in the left menu bar, and double click "Add new watch table" in
the drop-down menu, as shown in the following figure.

Create target watch variables—PZD, PKW, control word and status word variables of the VFD
in the newly created watch table, as shown in the following figure.
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Ethernet Communication Card PROFINET communication card

After the watch variables are created, click the "Watch all" button in the watch table to monitor
the values of all variables, and click the "Modify parameters" button in the watch table to
modify the parameters of the target variable, so as to watch the VFD through the PLC.

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Ethernet Communication Card Ethernet IP communication card

3 Ethernet IP communication card

3.1 Overview
1. Thanks for choosing INVT Ethernet IP communication cards. This manual describes the
function specifications, installation, basic operation and settings, and information about
the network protocol. To ensure that you install and operate the product properly, read
this manual and the communication protocol section in the VFD operation manual
carefully before you use the product.

2. This manual only describes how to operate the Ethernet IP communication card and the
related commands but does not provide details about the EtherNet/IP protocol. For more
information about the Ethernet IP protocol, read the related specialized articles or books.

3. This communication card is defined as an Ethernet IP slave station communication card

and is used on a VFD that supports EtherNet/IP communication.

4. The communication card supports the star, linear, and ring topologies.

5. The communication card supports 32 inputs/outputs to read and write process data, read
state data, and read and write function parameters of a VFD.

3.2 Features
1. Supported functions
 Supports the EtherNet/IP protocol, and supports EtherNet/IP devices.

 Provides two EtherNet/IP ports and supports the 10/100M full-duplex/half-duplex

operation.

 Supports the star, linear, and ring topologies (but does not support ring-network
monitoring).

2. Supported communication types

EtherNet/IP adopts the application layer protocol CIP, which is also used by DeviceNet and
ControlNet. Therefore, they use the same object library and consistent industrial
specifications.

CIP uses non-connected UDP/IP and connection-based TCP/IP for information control and
transmission over the Ethernet, allowing the sending of explicit and implicit packets. Implicit
packets are time-critical control messages and transmitted using UDP/IP. Explicit packets are
point-to-point messages that are not time critical and transmitted using TCP/IP. Explicit
packets are used for configuration, download, and fault diagnosis, while implicit packets are
used for real-time I/O data transmission.

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Ethernet Communication Card Ethernet IP communication card

3. Communication ports
Standard RJ45 ports are used in EtherNet/IP communication. The communication card
provides two RJ45 ports with no transmission direction defined, and therefore you can insert a
cable into the port without regard to its direction. Figure 3-1 shows the ports, and Table 3-1
describes the port pins.

Figure 3-1 Two standard RJ45 ports

Table 3-1 Standard RJ45 port pins

Pin Name Description

1 TX+ Transmit Data+
2 TX- Transmit Data-
3 RX+ Receive Data+
4 n/c Not connected
5 n/c Not connected
6 RX- Receive Data-
7 n/c Not connected
8 n/c Not connected

4. State indicators
The EtherNet/IP communication card provides four LED indicators and four net port indicators
to indicate its states. Table 3-2 describes the state indicators.

Table 3-2 State indicators

LED Color State Description

Indicating that the card and VFD identify each
On
other.
Indicating that the card and VFD communicate
LED1 Green Blinking (1Hz)
normally.
Indicating that the card and VFD communicate
Off
improperly.
Indicating that communication between the card
LED2 Green On and PLC is online and data interchange is
allowed.

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Ethernet Communication Card Ethernet IP communication card

LED Color State Description

Indicating IP address conflict between the card
Blinking (1Hz)
and PLC.
Indicating that communication between the card
Off
and PLC is offline.
On Failed to set up I/O between the card and PLC.
Blinking (1Hz) Incorrect PLC configuration.
Blinking (2Hz) The card failed to send data to the PLC.
LED3 Red
The connection between the card and PLC
Blinking (4Hz)
timed out.
Off No fault
LED4 Red On 3.3V power indicator
Link indicator, indicating successful Ethernet
On
Net port connection.
Yellow
indicator Link indicator, indicating that Ethernet
Off
connection is not established.
ACK indicator, indicating that data interchange
On
Net port being performed.
Green
indicator ACK indicator, indicating that data interchange is
Off
not be performed.
3.3 Electrical wiring
The Ethernet IP communication card provides standard RJ45 ports and supports the linear,
star, and ring topologies. Figure 3-2, Figure 3-3, and Figure 3-4 show the electrical wiring
diagrams for different topologies.

Use CAT5, CAT5e, and CAT6 network cables for electrical wiring. When the communication
distance is greater than 50 meters, use high-quality network cables that meet the national
standards.

Slave device 1 Slave device 2 Slave device n

Master device
EC-Tx510 EC-Tx510 EC-Tx510
(PLC)

CN2 CN1 CN2 CN1 CN2 CN1

Figure 3-2 Electrical wiring diagram for a linear topology

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Ethernet Communication Card Ethernet IP communication card

Slave device 1 Slave device 2 Slave device n

Master device
EC-Tx510 EC-Tx510 EC-Tx510
(PLC)

CN2 CN1 CN2 CN1 CN2 CN1

Switch

Figure 3-3 Electrical wiring diagram for a star topology

Note: An Ethernet switch must be available when the star topology is used.

Slave device 1 Slave device 2 Slave device n

Master device
EC-Tx510 EC-Tx510 EC-Tx510
(PLC)

CN2 CN1 CN2 CN1 CN2 CN1

Figure 3-4 Electrical wiring diagram for a ring network

3.4 Communication
3.4.1 Communication settings
The EtherNet/IP communication card can function as only the EtherNet/IP slave station.
Before communication, set Goodrive350 function codes, including:

 IP address and subnet mask for the card

The default IP address and subnet mask for each communication card are 192.168.0.1 and
255.255.255.0. You can change them to the address of a network segment.

 Control mode

If you want to control the VFD with the communication card, set the control mode to
EtherNet/IP communication control. To be specific, set P00.01=2 (communication as the
running command channel) and set P00.02=3 (EtherNet/IP communication channel) to control
VFD start and stop. If you want to set a value through EtherNet/IP communication, change the
control way of corresponding function codes to EtherNet/IP communication. Appendix B lists
related function codes.
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Ethernet Communication Card Ethernet IP communication card

Note: After the setting, the card can communicate normally. If you want to control the VFD
with the card, set related function codes to enable EtherNet/IP communication control.

3.4.2 Packet format

Table 3-3 describes the structure of a TCP communication packet.

Table 3-3 Structure of a TCP communication packet

MAC-layer IP-layer TCP-layer

packet packet packet Valid data Packet trailer
header header header

14 bytes 20 bytes 20 bytes 0–1488 bytes 4 bytes

Table 3-4 describes the structure of a UDP communication packet.

Table 3-4 Structure of a UDP communication packet

MAC-layer IP-layer UDP-layer

packet packet packet Valid data Packet trailer
header header header

14 bytes 20 bytes 20 bytes 0-1488 bytes 4 bytes

3.4.3 Ethernet IP communication

The EtherNet/IP communication card supports 16-word input/output. Figure 3-5 shows the
packet format for transmitting data with a VFD.

Parameter Process data

identification Fixed (PZD)
(PKW) zone Distributable zone

CW PZD2 PZD3 PZD12

PKW1 PKW2 PKW3 PKW4 SW PZD2 PZD3 PZD12

Figure 3-5 Packet structure

By using the 32 inputs/outputs, you can set the reference parameters of the VFD, monitor the
status values, transmit control commands, monitor the running state, and read/write the
function parameters of the VFD. For specific operations, see the following description.

Parameter zone:

PKW1––Parameter identification

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Ethernet Communication Card Ethernet IP communication card

PKW2––Array index number

PKW3––Parameter value 1

PKW4––Parameter value 2

Process data:

CW––Control word (transmitted from the master to a slave. For description, see Table 3-5.)

SW––Status word (transmitted from a slave to the master. For description, see Table 3-8.)

PZD––Process data (user defined)

(The process data output from the master to a slave is a reference value, and the process data
input from a slave to the master is an actual value.)

PZD zone (process data zone): The PZD zone in a communication packet is designed for
controlling and monitoring a VFD. The master and slave stations always process the received
PZD with the highest priority. The processing of PZD takes priority over that of PKW, and the
master and slave stations always transmit the latest valid data on the interfaces.

CWs and SWs

Using CWs is the basic method of the fieldbus system to control VFDs. A CW is transmitted by
the fieldbus master station to a VFD device. In this case, the adapter module functions as a
gateway. The VFD device responds to the bit code information of the CW and feeds state
information back to the master through an SW.

Reference value: A VFD device may receive control information in multiple channels, including
analog and digital input terminals, VFD control panel, and communication modules (such as
RS485 and CH-PA01 adapter modules). To enable the control over VFD devices through
EtherNet/IP, you need to set the communication module as the controller of the VFD device.

Actual value: An actual value is a 16-bit word that includes information about VFD device
operation. The monitoring function is defined through VFD parameters. The conversion scale
of an integer transmitted as an actual value from the VFD device to the master depends on the
set function. For more description, see the related VFD operation manual.

Note: A VFD device always checks the bytes of a CW and reference value.

Task packet (master station -> VFD)

CW: The first word in a PZD task packet is a VFD CW.

When P15.43=0, EtherNet IP control words are defined by byte. Table 3-5 describes
Goodrive350 series VFD CWs defined by byte.

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Ethernet Communication Card Ethernet IP communication card

Table 3-5 Goodrive350 series VFD CWs expressed in decimal format

Bit Name Value Description

1 Forward running
2 Reverse running
3 Forward jogging
4 Reverse jogging
Communication-based
0–7 5 Stop
control command
6 Coast to stop (emergency stop)
7 Fault reset
8 Jogging to stop
9 Decelerate to stop
Enable writing (mainly through PKW1 to
8 Enabling writing 1
PKW4)
00 Motor 1
9–10 Motor group setting
01 Motor 2
1 Enable torque/speed control switching
11 Control mode switching
0 Disable switching
Resetting power 1 Enable
12
consumption to zero 0 Disable
1 Enable
13 Pre-excitation
0 Disable
1 Enable
14 DC braking
0 Disable
1 Enable
15 Heartbeat reference
0 Disable

When P16.56=1, EtherNetIP control words are defined by bit. Table 3-6 describes
Goodrive350 series VFD CWs defined by bit.

Table 3-6 Goodrive350 series VFD CWs expressed in binary format

Bit Name Description Priority

0 Forward running 0: Decelerate to stop 1: Forward running 1
1 Reverse running 0: Decelerate to stop 1: Reverse running 2
2 Fault reset 0: Disable 1: Enable 3
3 Coast to stop 0: Disable 1: Enable 4
4 Forward jogging 0: Disable 1: Enable 5
5 Reverse jogging 0: Disable 1: Enable 6
6 Jogging to stop 0: Disable 1: Enable 7

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Ethernet Communication Card Ethernet IP communication card

Bit Name Description Priority

7 / Reserved
Enable reading and
8 0: Disable 1: Enable
writing (PKW1-PKW4)
9 / Reserved
0: Top
10 Decelerate to stop 0: Disable 1: Enable
priority
11–15 / Reserved
Reference value (REF): The second to twelfth words in a PZD task packet are the main
settings. The main frequency settings are provided by the main setting signal source. Table
3-7 describes the settings of Goodrive350 series VFD.

Table 3-7 Settings of Goodrive350 series VFD

Function Default
Word Value range
code value
Received 0: Invalid
P16.32 0
PZD2 1: Set frequency (0–Fmax, unit: 0.01 Hz)
Received 2: PID reference (0–1000, in which 1000 corresponds to
P16.33 0
PZD3 100.0%)
Received 3: PID feedback (0–1000, in which 1000 corresponds to
P16.34 0
PZD4 100.0%)
Received 4: Torque setting (-3000–+3000, in which 1000
P16.35 corresponds to 100.0% of the rated current of the motor) 0
PZD5
Received 5: Setting of the upper limit of forward running frequency
P16.36 (0–Fmax, unit: 0.01 Hz) 0
PZD6
Received 6: Setting of the upper limit of reverse running frequency
P16.37 (0–Fmax, unit: 0.01 Hz) 0
PZD7
Received 7: Upper limit of the electromotive torque (0–3000, in
P16.38 which 1000 corresponds to 100.0% of the rated current of 0
PZD8
the motor)
Received
P16.39 8: Upper limit of the brake torque (0–3000, in which 1000 0
PZD9
corresponds to 100.0% of the rated current of the motor)
Received
P16.40 9: Virtual input terminal command, 0x000–0x3FF 0
PZD10
(corresponding to S8, S7, S6, S5, HDIB, HDIA, S4, S3,
Received
P16.41 S2, and S1 in sequence) 0
PZD11
10: Virtual output terminal command, 0x00–0x0F
(corresponding to RO2, RO1, HDO, and Y1 in sequence)
Received 11: Voltage setting (for V/F separation)
P16.42 0
PZD12 (0–1000, in which 1000 corresponds to 100.0% of the
rated voltage of the motor)
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Ethernet Communication Card Ethernet IP communication card

Function Default
Word Value range
code value
12: AO output setting 1 (-1000–+1000, in which 1000
corresponds to 100.0%)
13: AO output setting 2 (-1000–+1000, in which 1000
corresponds to 100.0%)
14: MSB of position reference (signed number)
15: LSB of position reference (unsigned number)
16: MSB of position feedback (signed number)
17: LSB of position feedback (unsigned number)
18: Position feedback setting flag (position feedback can
be set only after this flag is set to 1 and then to 0)

Response packet (VFD -> master station)

Status word (SW): The first word in a PZD response packet is a VFD SW.

P15.43=0 (SWs are defined in decimal format), and the VFD SWs are defined as follows.

Table 3-8 Goodrive350 series VFD SWs expressed in decimal format

Bit Name Value Description

1 Forward running
2 Reverse running
0–7 Running state 3 Stopped
4 Faulty
5 POFF
1 Ready to run
8 Bus voltage established
0 Not ready to run
0 Motor 1
9–10 Motor group feedback
1 Motor 2
1 Synchronous motor
11 Motor type feedback
0 Asynchronous motor
1 Overload pre-alarm generated
12 Overload pre-alarm feedback
0 No overload pre-alarm generated
0 Keypad-based control
1 Terminal-based control
13–14 Run/Stop mode
2 Communication-based control
3 Reserved
1 Heartbeat feedback
15 Heartbeat feedback
0 No heartbeat feedback

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Ethernet Communication Card Ethernet IP communication card

P15.43=1 (SWs are defined in binary format), and the VFD SWs are defined as follows.

Table 3-9 Goodrive350 series VFD SWs expressed in binary format

Bit Name Description Priority

0 Forward running 0: Disable 1: Enable 1
1 Reverse running 0: Disable 1: Enable 2
2 Stopped 0: Disable 1: Enable 3
3 Fault 0: Disable 1: Enable 4
4 POFF 0: Disable 1: Enable 5
5 Pre-excited 0: Disable 1: Enable 6
6–15 / Reserved

Actual value (ACT): The second to twelfth words in a PZD task packet are the main actual
values. The main actual frequency values are provided by the main actual value signal source.

Table 3-10 Actual status values of Goodrive350 series VFD

Function Default
Word Value range
code value
P16.43 Transmitted PZD2 0: Invalid 0
P16.44 Transmitted PZD3 1: Running frequency (×100, Hz) 0
P16.45 Transmitted PZD4 2: Set frequency (×100, Hz) 0
P16.46 Transmitted PZD5 3: Bus voltage (×10, V) 0
P16.47 Transmitted PZD6 4: Output voltage (×1, V) 0
P16.48 Transmitted PZD7 5: Output current (×10, A) 0
P16.49 Transmitted PZD8 6: Actual output torque (×10, %) 0
7: Actual output power (×10, %)
P16.50 Transmitted PZD9 0
8: Rotating speed of the running (×1, RPM)
Transmitted
P16.51 9: Linear speed of the running (×1, m/s) 0
PZD10
10: Ramp frequency reference
Transmitted
P16.52 11: Fault code 0
PZD11
12: AI1 value (×100, V)
13: AI2 value (×100, V)
14: AI3 value (×100, V)
15: HDIA frequency (×100, kHz)
Transmitted 16: Terminal input state
P16.53 17: Terminal output state 0
PZD12
18: PID reference (×100, %)
19: PID feedback (×100, %)
20: Rated torque of the motor
21: MSB of position reference (signed number)
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Ethernet Communication Card Ethernet IP communication card

Function Default
Word Value range
code value
22: LSB of position reference (unsigned
number)
23: MSB of position feedback (signed number)
24: LSB of position feedback (unsigned
number)
25: Status word
26: HDIB frequency value (×100, kHz)

PKW zone

PKW zone (parameter identification flag PKW1––numerical zone): The PKW zone describes
the processing mode of the parameter identification interface. A PKW interface is not a
physical interface but a mechanism that defines the transmission mode (such reading and
writing a parameter value) of arameter between two communication ends.
Parameter Process data
identification (PKW)
CW PZD2
PKW1 PKW2 PKW3 PKW4 SW PZD2
Request Parameter Parameter
No. Parameter value error
Response address No. value
No.

Figure 3-6 Parameter identification zone

In the periodic communication, the PKW zone consists of four 16-bit words. The following
table describes the definition of each word.

First word PKW1 (16 bits)

Bits 15–00 Task or response identification flag 0–7
Second word PKW2 (16 bits)
Bits 15–00 Basic parameter address 0–247
Third word PKW3 (16 bits)
Bits 15–00 Value (most significant word) of a parameter or 00
error code of the returned value
Fourth word PKW4 (16 bits)
Bits 15–00 Value (least significant word) of a parameter 0–65535

Note: If the master station requests the value of a parameter, the values in PKW3 and PKW4
of the packet that the master station transmits to the VFD are no longer valid.

Task request and response: When transmitting data to a slave, the master uses a request
number, and the slave uses a response number to accept or reject the request.
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Ethernet Communication Card Ethernet IP communication card

Table 3-11 Task identification flag PKW1

Request No. (from the master to a slave) Response signal

Request
Function Acceptance Rejection
No.
0 No task 0 —
1 Requesting the value of a parameter 1, 2 3
Modifying a parameter value (one word) [modifying
2 1 3 or 4
the value only on RAM]
Modifying a parameter value (two words) [modifying
3 2 3 or 4
the value only on RAM]
Modifying a parameter value (one word) [modifying
4 1 3 or 4
the value on both RAM and EEPROM]
Modifying a parameter value (two words) [modifying
5 2 3 or 4
the value on both RAM and EEPROM]

Note: The requests #2, #3, and #5 are not supported currently.

Table 3-12 Response identification flag PKW1

Response No. (from a slave to the master)

Response No. Function
0 No response
1 Transmitting the value of a parameter (one word)
2 Transmitting the value of a parameter (two words)
The task cannot be executed and one of the following error number
is returned:
1: Invalid command
2: Invalid data address
3: Invalid data value
3 4: Operation failure
5: Password error
6: Data frame error
7: Parameter read only
8: Parameter cannot be modified during VFD running
9: Password protection

 Model specified in the standard ODVA agreement

The standard ODVA protocol specifies the data transmission format and CWs/SWs definitions,
and the packet format for data transmission with the VFD is shown in Table 3.13.

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Ethernet Communication Card Ethernet IP communication card

Table 3.13 Transmission modes specified in standard ODVA protocol

Data length
No. Input/Output Format (word)
(bytes)
2 70/20 4 CW1/SW1 + Speed_ref/act
3 71/21 4 CW2/SW2 + Speed_ref/act
CW1/SW1 + Speed_ref/act +
4 72/22 6
Torque_ref/act
CW2/SW2 + Speed_ref/act +
5 73/23 6
Torque_ref/act

In which, CW1/SW1 and CW2/SW2 are defined as shown in Tables 3.14, 3.15, 3.16 and 3.17.

Table 3.14 CW1 specified in standard ODVA protocol

Bit Name Value Description

0 Disable
0 Forward running
1 Enable
1 Reserved / /
0 Disable
2 Fault reset
1 Enable
3–15 Reserved / /
Table 3.15 SW1 specified in standard ODVA protocol

Bit Name Value Description

0 No fault
0 Fault state
1 Fault
1 Reserved / /
0 Not forward running
2 Running state
1 Forward running
3–15 Reserved / /

Table 3.16 CW2 specified in standard ODVA protocol

Bit Name Value Description

0 Disable
0 Forward running
1 Enable
0 Disable
1 Reverse running
1 Enable
0 Disable
2 Fault reset
1 Enable

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Ethernet Communication Card Ethernet IP communication card

Bit Name Value Description

3–4 Reserved / /
0 Local control (keypad)
5 Control reference source
1 Remote control (Ethernet IP communication)
0 Local reference (keypad)
Frequency reference
6 Remote reference (Ethernet IP
source 1
communication)
7–15 Reserved / /

Table 3.17 SW2 specified in standard ODVA protocol

Bit Name Value Description

0 No fault
0 Fault
1 Fault
Overload prealarm 0 No overload
1
feedback 1 Overload prealarm
0 Stopped
2 Running state 1
1 Forward running
0 Stopped
3 Running state 2
1 Reverse running
0 Ready to run
4 Bus voltage established
1 Not ready to run
0 Local control (keypad)
5 Control reference source
1 Remote control (not keypad)
Frequency/torque 0 Local control (keypad)
6
reference source 1 Remote control (not keypad)
0 Not reached
7 Reference reached
1 Reached
8–15 Reserved / /

 INVT extended data model based on the ODVA Protocol

Based on the ODVA protocol provisions, these four modes are combined with PZD process
data defined by INVT, and the packet format for data transmission with the VFD is shown in
Table 3.18.

Table 3.18 INVT extended data model based on the ODVA protocol

Data length
No. Input/Output Format (word)
(bytes)
6 74/24 24 CW1/SW1 + Speed_ref/act + Null +PZD4–12

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Ethernet Communication Card Ethernet IP communication card

Data length
No. Input/Output Format (word)
(bytes)
7 75/25 24 CW2/SW2 + Speed_ref/act + Null +PZD4–12
CW1/SW1 + Speed_ref/act + Torque_ref/act +
8 76/26 24
PZD4–12
CW2/SW2 + Speed_ref/act + Torque_ref/act +
9 77/27 24
PZD4–12

In these four modes, definitions of CWs and SWs are consistent with that of "Model specified
in the standard ODVA agreement", and definitions of PZD4–12 are consistent with that of
"INVT self-defined mode".

3.5 Example 1 of PLC communication (communicate with Allen-Bradley

PLC)
This example shows how to use an Allen-Bradley PLC (model: 1769_L36ERMS) to
communicate with an Ethernet IP adapter module (through using the Studio 5000 software as
the configuration tool).

3.5.1 Create a new project

Connect the PC to the PLC with a printer cable or network cable. Open software,

and click “New Project”.

Select the correct PLC model, fill in the project name, click "Next", and click "Finish".

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Ethernet Communication Card Ethernet IP communication card

3.5.2 Import an EDS file

The EDS file is used to specify device attributes for Ethernet IP client. The client identifies the
device through product code, device type, and major version attributes.

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Ethernet Communication Card Ethernet IP communication card

You can obtain the EDS file of the communication card from the vendor, or downloaded it (file
name: GD350_EthernetIP_V1.01.eds) from the INVT website at www.invt.com.cn.

Right click "TOOLS", and select "EDS Hardware Installation Tool".

Click "Next".

Select the option as shown in the following figure, and click "Next".

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Ethernet Communication Card Ethernet IP communication card

Click "Browse" to select the EDS file that you want to download, and then click "Next".

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Ethernet Communication Card Ethernet IP communication card

Continue to click "Next".

Click "Next" again, and the installation is successful.

3.5.3 Create a new device object

Select "I/O Configuration"—>"Ethernet item" on the left, and right click "New Module".

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Ethernet Communication Card Ethernet IP communication card

Select "GD350_EthernetIP_MODULE", and click "Create".

Fill in the module name, and set the IP address of the module. The IP address must be
consistent with P16.02–P16.05 on the GD350 Ethernet IP communication card, otherwise
communication fails.

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Ethernet Communication Card Ethernet IP communication card

Click the "Change" option to select the protocol type used by the module. Each type differs in
IO format, so you need to select the corresponding IO format based on the protocol type, as
shown in the following table. Take "Exclusive Owner" as an example.

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Ethernet Communication Card Ethernet IP communication card

Name Size Format

Exclusive Owner 16 INT
20/70 Basic speed control 2 INT
21/71 Extended speed control 2 INT
22/72 Basic Speed and Torque control 3 INT
23/73 Extended Speed and Torque
3 INT
control
INVT 24/74 Basic Speed Control plus
12 INT
Drive Parameters
INVT 25/75 Enhanced Speed Control
12 INT
plus Drive Parameters
INVT 26/76 Basic Speed and torque
12 INT
Control plus Drive Parameters
INVT 27/77 Enhanced Speed and torque
12 INT
Control plus Drive Parameters

Click "OK", "Yes", "OK", "OK", "OK", and "OK" in turn.

Once the module has been created successfully, you can see it under the "Ethernet" item
under "I/O Configuration" on the left, and click it to check the device information.

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Ethernet Communication Card Ethernet IP communication card

3.5.4 Use of Rslinx Classic

Rslinx Classic is used to connect the PC to the PLC. Open the "Rslinx Classic" software.

Click the "S" icon, and a window of "Configure Drivers" pops up. Select "Ethernet/IP Driver" in
the drop-down menu of "Available Driver Types", click "Add New", a window of "Add New
RSLinx Classic Driver" pops up, and click "OK".

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Ethernet Communication Card Ethernet IP communication card

In the "Configure driver" window that pops up, select your computer's network card and click
"OK".

3.5.5 Writing PLC programs

Click on "Tasks"-->"MainTask"-->"MainProgram"--> on the left. Right click on "MainProgram"

and "Parameters and Local Tag" above "MainRoutine" to create global variables. Right click
"Parameters and Local Tag" above "MainProgram" to create global variables.

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Ethernet Communication Card Ethernet IP communication card

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Ethernet Communication Card Ethernet IP communication card

3.5.6 PC connection and program download

Click on "COMMUNICATIONS" under "Who Active", and in the pop-up screen, click on PLC
Project under the "USB" option. "Dowmload". Note: The PLC dial code cannot be "RUN" at
this time.

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Ethernet Communication Card Ethernet IP communication card

3.5.7 Configuring PLC IP Addresses through the studio5000 V31 software

Make sure that the PLC is in REM or PROG mode, click "1769-L36ERMS" at the bottom left to
enter the "Controller Properties" interface, and then click "Internet Protocol" to change the IP
address of the PLC.

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Ethernet Communication Card Ethernet IP communication card

3.5.8 DLR Ring Network Configuration

(1) Using Logix Designer for setup

Open the Studio 5000 software and use an Allen-Bradley CompactLogix PLC with ring
networking capability, which requires at least two GD350 Ethernet IP communication cards.
More GD350 Ethernet IP communication cards can be added, but it is recommended that the
maximum number of nodes used on the DLR ring network shall not exceed 32. The
connection method is shown in the following figure.

PC Studio 5000 GD350 GD350

USB port
EthernetIP card
…… Ethernet IP card

CN1 CN2 CN1 CN2

PLC
CompactLogix L36ERMS

USB port
Port 1

Port 2

Note: An EDS file must be added.

(2) Add an Ethernet IP communication card to the Studio 5000 software

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Ethernet Communication Card Ethernet IP communication card

The method of addition is the same as that of the linear star connection.

(3) Enabling PLC ring network monitor function

Double click "1769-L36ERMS INVTS" under the "I/O Configuration" folder, as shown in the
following figure.

Enter "Network" under the "Controller Properties" option and select "Enable Supervisor
Mode".

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Ethernet Communication Card Ethernet IP communication card

Note: The ring network monitor function is enabled only when the PLC is in programming
mode.

(4) Return to Logix Designer and make sure that none of the communication cards has
encountered the following fault.

(5) Download the project to the PLC, bring the PLC online, and put it in programming mode.

3.6 Example 2 of PLC communication (communicate with ORMON PLC)

This example shows how to use an ORMON PLC (model: NX1P2-9024DT) to communicate
with an Ethernet IP adapter module (through using the Sysmac Studio software as the
configuration tool).

3.6.1 Hardware connections

The NX1P2-9024DT is not configured with a USB download port, and communication and

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Ethernet Communication Card Ethernet IP communication card

download between the PC and PLC is conducted through the built-in Ethernet IP port. In this
case, a switch is needed in the experiment, and the connection method is as follows.

PLC GD350 PC
Ethernet IP card

Switch

3.6.2 Network Configurator software setting

3.6.2.1 Launch Network Configurator software

Start the Network Configurator software as an administrator in the following

directory: "C:\Program Files
(x86)\OMRON\CX-One\NetworkConfigurator\Program\NetConfigurator.exe".

3.6.2.2 Load the EDS file

Select "EDS File"->"Install", and add EDS file: INVT_GD350_EthernetIP_V1.01. Click "Open",
"Yes", and then click "Cancel".

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Ethernet Communication Card Ethernet IP communication card

Add "NX1P2" and "INVT" in the following location to the Ethernet IP bus. After these two
device are added successfully, the bus shows two devices. The default IP addresses are
"192.168. 250.1" and "192.168.250.2", and GD350 function codes P16.02–P16.05 are
changed into 192, 168, 250 and 2 respectively.

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Ethernet Communication Card Ethernet IP communication card

3.6.2.3 Connection setting

Click "Option"  "Select Interface", and select "Ethernet I/F".

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Ethernet Communication Card Ethernet IP communication card

Click the "Connect" icon to select the corresponding network port, and click "OK".

Select "TCP:2", and click "OK".

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Ethernet Communication Card Ethernet IP communication card

Select "Use the existing network""EtherNet/IP_1", click "OK", and the PLC is connected
successfully.

After the PLC is connected successfully, the blue indicator above the PLC device icon is on.

Click the "Device Property" icon, and the "Controller Information" tab pops up. You can switch
the PLC status between "Program" and "Run" in the tab.

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Ethernet Communication Card Ethernet IP communication card

3.6.2.4 Modify IP address

Right click the device icon and select "Change Node Address" to change the PLC IP address.

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Ethernet Communication Card Ethernet IP communication card

3.6.3 Sysmac Studio software settings

3.6.3.1 Create a new project

Double click the icon to open the software, select "New Project", enter "Project name",

select the device type, and click "Create".

After a new project is created completely, you can enter the following interface. Right click the
device icon and select "Rename" to change the device name (you can choose not to change
it).

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Ethernet Communication Card Ethernet IP communication card

3.6.3.2 Connection setting

Click "Controller" in the menu bar, and select "Communications setup".

Select "Ethernet-Hub Connection" as the connection method, enter the remote IP address
"192.168.250.1", and click "Ethernet communication test". Click "OK" when the status bar
shows "Test succeeded".

3.6.3.3 Set data labels

Select "Programming"  "Data"  "Global Variables" in the left menu bar, and add global

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Ethernet Communication Card Ethernet IP communication card

variables as needed. Note that you shall select "WORD" in the "Data Type" column and select
"Input/Output" in the "Network Publish" column. Take "ODVA Basic speed control assembly"
as an example, and create four global variables.

Click "Tools" in the top menu bar, and select "EtherNet/IP Connection Settings".

Double click "Built-in EtherNet/IP Port Settings".

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Ethernet Communication Card Ethernet IP communication card

Right click the blank area under "Tag Set", and select "Create New Tag Set".

The input tag set is named "INPUT", right click "INPUT" to select "Create New Tag", and add
the input global variables to the "INPUT" tag set. Pay attention to the order of the data
sequence.

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Ethernet Communication Card Ethernet IP communication card

Repeat above steps for "OUTPUT" tag set and "OUTPUT" tag.

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Ethernet Communication Card Ethernet IP communication card

3.6.4 Import and export data tags

3.6.4.1 Export data tags from Sysmac Studio

After data tags are set completely, click "Export" to export the data tag to a local folder, and
save it as "GD350_test.csv" format.

3.6.4.2 Import data tags into Network Configurator

In the "Network Configurator" software, double click the PLC device icon, click "To/From File"
in the lower right corner, and select "Import from File...".

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Ethernet Communication Card Ethernet IP communication card

Select the file "GD350_test.csv" exported from Sysmac Studio, and click "Open".

3.6.4.3 Data tag corresponding connection

Select the device "192.168.250.2" under the "Connections" tab, and click the Move Down
button.

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Ethernet Communication Card Ethernet IP communication card

Double click the device "192.168.250.2", set the data input/output tags, and click "Regist".

3.6.5 PLC program downloading and online monitoring

3.6.5.1 Sysamc Studio downloading

Click the Online button (If the device name has been changed, the following interface will pop
up, and you can click "No").

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Ethernet Communication Card Ethernet IP communication card

Click "Transfer to Controller" under the " Built-in EtherNet/IP Port Settings" tab.

Click "Yes".

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Ethernet Communication Card Ethernet IP communication card

Click the "Sync" function button.

Select the device "NX1P2", and click "Transfer To Controller".

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Ethernet Communication Card Ethernet IP communication card

Click "Yes".

Click "Close" when the "Controller" status in the lower right corner is two green lights.

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Ethernet Communication Card Ethernet IP communication card

3.6.5.2 Network Configurator downloading

Click the icon of "Download to Device", and click "Yes".

Click the icon of "Download to Network", and click "Yes".

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Ethernet Communication Card Ethernet IP communication card

3.6.5.3 Sysamc Studio online monitoring

Click the "Run" icon, turn the PLC to "Run Mode", and click "Yes".

Click "View" on the top menu bar, and select "Watch Tab Page".

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Ethernet Communication Card Ethernet IP communication card

Enter the variable name in the "Watch Tab Page" to monitor the value of the variable, and
change the value in real time in the "Modify" box.

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Ethernet Communication Card EtherCAT communication card

4 EtherCAT communication card

4.1 Overview
1. Thanks for choosing INVT EC-TX508 communication cards. This manual describes the
function specifications, installation, basic operation and settings, and information about
the EtherCAT protocol. To ensure that you install and operate the product properly, read
this manual and the communication protocol section in the VFD operation manual
carefully before you use the product.

2. This manual only describes how to operate the EC-TX508 communication card and the
related commands but does not provide details about the EtherCAT protocol. For more
information about the EtherCAT protocol, read the related specialized articles or books.

3. EC-TX508 communication card is defined as an EtherCAT slave station communication

card and is used on a VFD that supports EtherCAT communication.

4. The EtherCAT communication of this communication card supports two types of process
data for reading data from and writing data to VFDs. They are PDOs (process data
objects) and SDOs (service data objects) for reading data from and writing data to the
object dictionary defined by the manufacturer.

4.2 Features
1. Supported functions

 Supports the EtherCAT COE 402 protocol.

 Supports automatic network address setting

2. Supported services

 Supports the PDO service

 Supports the SDO service

 Supports the object dictionary defined by the manufacturer

 Allowing SDOs to read data from and write data to VFD function codes

3. Supported EtherCAT synchronization cycle

Table 4-1 Supported synchronization cycle

Item Supported specification

250us
Synchronization cycle
500us

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Ethernet Communication Card EtherCAT communication card

Item Supported specification

1ms
2ms
4. Communication ports

Standard RJ45 ports are used in EtherCAT communication. The communication card provides
two RJ45 ports with transmission direction defined. Figure 4-1 shows the ports. IN (indicating
input) and OUT (indicating ouput) are EtherCAT wiring network ports. Table 4-2 describes the
port pins.

Figure 4-1 RJ45 ports

Table 4-2 RJ45 port pins

Pin Name Description

1 TX+ Transmit Data+
2 TX- Transmit Data-
3 RX+ Receive Data+
4 n/c Not connected
5 n/c Not connected
6 RX- Receive Data-
7 n/c Not connected
8 n/c Not connected
5. State indicators

The EtherCAT communication card provides four LED indicators and four net port indicators to
indicate its states. Table 4-3 describes the state indicators.

Table 4-3 State indicators

Item Color Function description

The green indicator indicates EtherCAT running state.
Init state: It remains off.
RUN Green Pre-OP state: It blinks off 0.2s and on 0.2s.
Safe-OP state: It blinks off 1s and on 0.2s.
OP state: It remains on.
The red indicator indicates EtherCAT fault state.
ALM Red
No fault: It remains off.
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Ethernet Communication Card EtherCAT communication card

Item Color Function description

Init or Pre-OP state: It blinks off 0.2s and on 0.2s.
Safe-OP fault state: It blinks off 1s and on 0.2s.
OP fault state: It remains on.
PWR Red 3.3V power indicator
Off: Indicates that Ethernet connection is not established.
Yellow On: Indicates that Ethernet connection is established
Net port
successfully.
indicator
Off: Without connection
(IN)
Green On: Wilth connection but inactive
Blinks: With connection and active
Off: Indicates that Ethernet connection is not established.
Yellow On: Indicates that Ethernet connection is established
Net port
successfully.
indicator
Off: Without connection
(OUT)
Green On: Wilth connection but inactive
Blinks: With connection and active
4.3 Electrical wiring
The EtherCAT network usually consists of a master station (PLC) and several slave stations
(drives or bus extension terminals). Each EtherCAT slave station are configured with two
standard Ethernet interfaces, and the electrical wiring diagram is shown in Figure 4-2.

Slave device 1 Slave device 2 Slave device n

Master device
EC-Tx508 EC-Tx508 EC-Tx508
(PLC)

IN OUT IN OUT IN OUT

Figure 4-2 Electrical wiring diagram for a linear topology

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Ethernet Communication Card EtherCAT communication card

4.4 Communication
4.4.1 CoE reference model

GD350 application

EtherCAT Object dictionary (OD)

state
machine SDO PDO mapping

Register Mail box Process data

SM0 SM1 SM2 SM3

EtherCAT data link layer

EtherCAT physical layer

Figure 4-3 CoE reference model

CoE network reference model consists of the data link layer and application layer. The data
link layer is responsible for EtherCAT communication protocol. CANopen drive Profile (DS402)
communication rules are embedded in the application layer. The object dictionary in CoE
includes the parameters, application data, and PDO mapping configuration information.

PDOs are composed of the objects (in the object dictionary) that can perform PDO mapping.
The content in PDO data is defined by PDO mapping. PDO data is periodically read and
written, which does not require searching the object dictionary. Mail box communication (SDO)
is not periodic, which requires searching the object dictionary.

Note: To parse SDO and PDO data correctly on the EtherCAT data link layer, it is necessary to
configure FMMU and Sync Manager (SM).

Table 4-4 EtherCAT Sync Manager configuration

Synchronization
Configuration Size Start address
management
Assigned to
Sync Manager 0 512byte 0x1000
receive SDO
Assigned to send
Sync Manager 1 512byte 0x1400
SDO
Assigned to
Sync Manager 2 128byte 0x1800
receive PDO

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Ethernet Communication Card EtherCAT communication card

Synchronization
Configuration Size Start address
management
Assigned to send
Sync Manager 3 128byte 0x1C00
PDO
4.4.2 EtherCAT slave station information
EtherCAT slave station information file (.xml) is read by the master station to construct the
master and slave station configuration. This file contains mandatory information about
EtherCAT communication settings. INVT provides this file EC-TX508_100.xml.

4.4.3 EtherCAT state machine

EtherCAT state machine is used to describe the states and state change of slave station
applications. Generally, the master station sends a state change request, while the slave
station responds. The state change flow is shown in the following figure.

Init

IP PI

Pre-Op
SI
OI PS SP

OP Safe-Op

SO OS

Op

Figure 4-4 EtherCAT state machine flowchart

Table 4-5 EtherCAT state machine description

State Description
Init Both SDO and PDO communication are unavailable.
The master station configures the data link layer address and SM
channel for SDO communication.
The master station initializes DC synchronization information.
Init to Pre-Op The master station requests the jump to the Pre-Op state.
The master station configures the application layer control register.
The slave station checks whether the mailbox is initialized
properly.
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Ethernet Communication Card EtherCAT communication card

State Description
Pre-Op SDO communication is available but PDO is unavailable.
The master station configures the SM and FMMU channels for
PDO communication.
The main station configures PDO mapping through SDO
Pre-Op to Safe-Op communication.
The master station requests the jump to the Safe-Op state.
The slave station checks whether the PDO and DC are configured
correctly.
SDO communication is available.
Safe-Op Communication of receiving PDOs is available, but that of sending
PDOs is unavailable, in the Safe state.
Safe-Op to Op The master station requests the jump to the Op state.
Op Both SDO and PDO communication are available.
4.4.4 PDO mapping
The process data of an EtherCAT slave station is composed of SM channel objects. Each SM
channel object describes the consistent area of the EtherCAT process data and includes
multiple PDOs. An EtherCAT slave station with the application control function shall support
PDO mapping and reading of SM PDO assigned objects.

The master station can select objects from the object dictionary to perform PDO mapping.
PDO mapping configuration is located in the range of 1600h–1603h (RxPDOs: receiving
PDOs) and range of 1A00h–1A03h (TxPDOs: sending PDOs) in the object dictionary. The
PDO mapping method is shown in the following figure.

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Ethernet Communication Card EtherCAT communication card

Object dictionary
6064 indicates index
Sub-
Index Object content 00h indicates sub-index
index
20h indicates parameter bit length
1A00h 0 0x03

1A00h 1 0x60410010

1A00h 2 0x60640020

1A00h 3 0x60B90010

Sub- Object Object Object

Index Object content Bits 1A00h(PDO-1)
index B E G
6040h 0 Object A 10h

6041h 0 Object B 10h

6042h 0 Object C 10h

6060h 0 Object D 8h

6064h 0 Object E 20h

60D8h 0 Object F 10h

60B9 0 Object G 10h

Figure 4-5 PDO mapping method

In addition to PDO mapping, EtherCAT process data switching needs to assign PDOs to SM
channels. The relationship between PDOs and SM channels is established through SM PDO
assigned objects (1C12h and 1C13h). The mapping between SM channels and PDOs is
shown in the following figure.

Object dictionary
Sub-
Index Object content
index
1C13h 0 0x02

1C13h 1 0x1A00

1C13h 2 0x1A01
1C13h PDO_1 PDO_2

Index Object content

1A00h PDO_1

1A01h PDO_2

1A02h PDO_3

1A03h PDO_4

Figure 4-6 SM PDO assignment

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Ethernet Communication Card EtherCAT communication card

Default PDO mapping (Position, Velocity, Torque, Torque limit, Touch probe):

Control Touch
Target Target Target Max. Mode of Profile
RxPDO word Probe
Position Velocity Torque Torque Operation velocity
(0x1600) (0x6040 Function
(0x607A) (0x60FF) (0x6071) (0x6072) (0x6060) (0x6081)
) (0x60B8)
Following
Statusw Position Speed Torque Mode of Touch
Error
TxPDO ord Actual Actual Actual Operation Error Code Probe
Actual
(0x1A00) (0x6041 Value Value Value Display (0x603F) Value
Value
) (0x6064) (0x606C) (0x6077) (0x6061) (0x60BA)
(0x60F4)
4.4.5 DC-based network synchronization
The DC (distributed clock) can enable all EtherCAT devices to use the same system time so
as to control the synchronous execution of all device tasks. In the EtherCAT network, the clock
with the DC function of the first slave station connected to the master station is used as the
reference clock across the network. The other slave stations and master station use this
reference clock for synchronization.
Free-Run: The running cycle and communication cycle of each servo drive are not related to
the communication cycle of the master station.
DC Mode: The servo drive performs synchronization through Sync0 of the master station.
4.5 CiA402 device protocol
The master station controls the drive through the control word (0x6040) and obtains the
current state of the drive by reading the status word (0x6041). The servo drive implements
motor control based on master station control commands.

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Ethernet Communication Card EtherCAT communication card

4.5.1 CoE state machine

Power Fault
Disabled
Start 13

0 Fault Reaction
Active
Not Ready to 14
Switch On

1 Fault

Switch On Disabled 15

2 7

Ready to
Switch On
10

3 6
9
Power 12
Enabled 8
Switch On

4 5

Operation 11 Quick Stop

Enable 16 Active

Figure 4-7 CANopen over EtherCAT state machine

Status Description
Not Ready to Switch On The drive is in the initialization process.
Switch On Disabled Drive initialization completes.
The drive is preparing to enter the Switch On
Ready to Switch On
state, but the motor is not excited.
The drive is in the ready state, and the main
Switched On
circuit power supply is normal.
The drive is enabled and controls the motor
Operation Enable
based on the control mode.
Quick Stop Active The drive stops in the set manner.
When detecting an alarm, the drive stops in the
Fault Reaction Active set manner, but the motor still has the exciting
signal.
The drive is in the faulty state, and the motor has
Fault
no exciting signal.

6040h control word includes:

1. Bit for status control;

2. Bit related to control mode;

3. Factory-defined control bit.

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Ethernet Communication Card EtherCAT communication card

The bits of 6040h are described as follows.

15 11 10 9 8 7 6 4 3 2 1 0
Switch Servo
Factory Fault Operation Servo Quick
Reserved Suspend on main being
define reset mode running stop
circuit running
O O O M O M M M M
MSB LSB

BITS 0–3 AND 7 (used for status control):

Bit of the control word

Command Fault Enable Enable Switch Transitions
Quick stop
reset operation voltage on
Shutdown 0 X 1 1 0 2,6,8
Switch on 0 0 1 1 1 3*
Switch on 0 1 1 1 1 3**
Disable voltage 0 X X 0 X 7,9,10,12
Quick stop 0 X 0 1 X 7,10,11
Disable
0 0 1 1 1 5
operation
Enable operation 0 1 1 1 1 4,16
Fault reset 0-1 X X X X 15

BITS 4, 5, 6 AND 8 (related to control mode)

Operation mode
Bit Profile velocity
Profile position mode Homing mode
mode
4 New set-point Reserved Homing operation start
5 Change set immediately Reserved Reserved
6 Abs/rel Reserved Reserved
8 Halt Halt Halt

Control word is set to 0x0F for enabling the drive. Otherwise, the drive will stop. When a fault
occurs, if bit 7 of the control word is set to 1, the reset command is enabled.

6041h status word includes:

1. Current status bit of drive;

2. Status bit related to control mode;

3. Factory-defined status bit.

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Ethernet Communication Card EtherCAT communication card

The bits of 6041h are described as follows:

Bit Description M/O

0 Ready to switch on M

1 Switched on M

2 Operation enabled M

3 fault M

4 Voltage enable M

5 Quick stop M

6 Switch on disabled M

7 Warning O

8 Manufacture specific O

9 Remote M

10 Target reached M

11 Internal limit active M

12-13 Operation mode specific O

14-15 Manufacturer specific O

BIT0–3, 5, AND6:

Value(binary) State
xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault

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Ethernet Communication Card EtherCAT communication card

BIT4: Voltage enable, when this bit is 1, it indicates that the main circuit power supply is
normal.

BIT9: Remote, when this bit is 1, it indicates that the slave station is in the OP state, and the
master station can control the drive through PDO.

BIT10: Target reached, this bit differs in meaning under different control modes. When this bit
is 1, in cyclic synchronous position mode, it indicates that target position is reached, while in
cyclic synchronous velocity mode, it indicates that reference speed is reached; in homing
mode, it indicates that homing is completed.

BIT14: When this bit is 1, it indicates motor zero-speed state.

BIT7–8, BIT11–13, and BIT15: Reserved.

4.5.2 Device running mode

Set P00.01=2 (command running channel), P00.02=3 (EtherCAT communication channel),
and P16.18 Communication timeout. Position mode and homing mode are achieved only
when the drive is in the closed-loop mode.

6.5.2.1 Cyclic Synchronous Position Mode

1. Set 【6060h: Mode of operations】 to 8 (Cyclic synchronous position mode).

2. Set 【6040h: Control word】 to enable the drive (set it to 0x0F for enabling).

3. Set 【607Ah: Target position】 to the target position (unit: user unit).

4. Query for 【6064h: Position actual value】 to obtain actual position feedback of the motor.

5. Query for 【6041h: Status word】 to obtain the status feedback of the drive (following error,
target reached and internal limit active).

6. For function details, see function parameters in group P21 in GD350 and the specific
function commissioning instructions in the basic operations in the manual.

6.5.2.2 Profile Position Mode

1. Set 【6060h: Mode of operations】 to 1 (Profile Position Mode).

2. Set tens of P21.00 (Position command source) to 1 (Digital position), and set P21.16 (Digital
positioning mode).

3. Set 【6040h: Control word】 to enable the drive (set it to 0x0F for enabling).

4. Set 【607Ah: Target position】 to the target position (unit: user unit).

5. Query for 【6064h: Position actual value】 to obtain actual position feedback of the motor.

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Ethernet Communication Card EtherCAT communication card

6. Query for 【6041h: Status word】 to obtain the status feedback of the drive (following error,
target reached and internal limit active).

7. For function details, see function parameters in group P21 in GD350 and the specific
function commissioning instructions in the basic operations in the manual.

6.5.2.3 Homing Mode

1. Set 【6060h: Mode of operations】 to 6 (homing mode).

2. Set P22.00.Bit0=1 to enable the spindle positioning, and set P22.03–P22.06.

3. Set 【6040h: Control word】 to enable the drive (set it to 0x0F for enabling). Homing
operation start (Bit4) changes from 0 to 1 (Control word Bit4 is set to 1). However, the change
from 1 to 0 will terminate Homing.

4. The motor queries the limit switch and Home switch to complete Homing.

5. Query 【6041h: Status word】 to obtain the status feedback of the drive (Homing error,
Homing attained, and Target reached).

6. For function details, see function parameters in group P22 in GD350 and the specific
function commissioning instructions in the basic operations in the manual.

6.5.2.4 Cyclic Synchronous Velocity Mode

1. Set 【6060h: Mode of operations】 to 9 (Cyclic synchronous velocity mode).

2. Set 【6040h: Control word】 to enable the drive (set it to 0x0F for enabling) and start the
motor for running.

3. Set【60FFh: Target velocity】to set the target rotation speed (unit: rpm), which corresponds
to P00.10 (a positive value indicates forward rotation and a negative value indicates reverse
rotation).

4. Query【6041h: Status word】 to obtain the status feedback of the drive (Speed zero, Max
slippage error, Target reached, and Internal limit active).

6.5.2.5 Cyclic Synchronous torque Mode

1. Set 【6060h: Mode of operations】 to 10 (Cyclic synchronous torque mode).

2. Set the VFD to torque control (P03.32=1).

3. Set 【6040h: Control word】 to enable the drive (set it to 0x0F for enabling) and start the
motor for running.

4. Set 【6071h: Target torque】 to set the target torque.

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Ethernet Communication Card EtherCAT communication card

5. Query【6041h: Status word】 to obtain the status feedback of the drive (Speed zero, Max
slippage error, Target reached, and Internal limit active).

4.6 Function code modification

Index Sub-index Description Permission Data type Default
Read
2000h 0 function RW UINT32 0
codes
Bits 16–31: Read function code addresses
Bits 00–15: No function
Example of read operation: Read the keypad-set frequency (value of P00.10)
SDO operates 2000h to write 0x00A00000. View the response value of 2001h read
operation.
Read
2001h 0 RO UINT32 0
response
Bits 16–31: 0x0001 read success
Bits 00–15: Parameter value read by 2000h
Bits 16–31: 0x0003 read error
Bits 00–15: Error codes
0x0002 illegal data address
0x0009 password protection
Write
2002h 0 function RW UINT32 0
codes
Bits 16–31: Write function codes
Bits 00–15: Written data
Write operation example: Modify the value of P00.10 to 50.00.
SDO operates 2002h to write 0x000A1388. View the response value of 2003h write
operation.
Write
2003h 0 RO UINT32 0
response
Bits 16–31: 0x0001 write success
Bits 00–15: Parameter value written by 2002h
Bits 16–31: 0x0003 write error
Bits 00–15: Error codes
0x0002 illegal data address
0x0003 illegal data value
0x0007 read-only parameter
0x0008 the parameter is unchangeable during running

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Ethernet Communication Card EtherCAT communication card

4.7 Example of TwinCAT2 application

This example shows how to use TwinCAT2 as the main station to communicate with the
EtherCAT module of the VFD.

1. Install TwinCAT2 software

2. Copy the EtherCAT configuration file (EC-TX508_100.xml) of GD350 to the installation

directory of TwinCAT2 ("C:\TwinCAT\Io\EtherCAT").

3. Open TwinCAT2

4. Install the network card drive

Open the menu as shown in the above figure, select "Show Realtime Ethernet Compatible
Devices…", pop up a dialog box as shown in the following figure, select the local area network
card, and click "Install". After the network card is installed successfully, it will shown under the
menu "Installed and ready to use devices". (Note: Please choose the network cards
configured with Intel chips)

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Ethernet Communication Card EtherCAT communication card

5. Set TwinCAT2 to be in the configuration mode

6. Scan device

Select "I/O Devices" menu, and right-click to select "Scan Devices…" to scan the device.

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Ethernet Communication Card EtherCAT communication card

Pop up the following dialog box, and select "OK".

Pop up the following dialog box, and select "OK".

Pop up the following dialog box, and select "Yes".

Pop up the following dialog box, and select "Yes". Then the device enters the free running
mode.

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Ethernet Communication Card EtherCAT communication card

The following figure shows "Box3" which is the slave device scanned, and view that the device
enters the "OP" state.

7. Process data input and output

Select "DO Outputs" menu, and there are data sent from the master station to the VFD, which
can be used to set commands and rotation speed.

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Ethernet Communication Card EtherCAT communication card

Select "DI Intputs" menu, and there are data sent from the VFD to the master station, which
can be used to return the statuses and and rotation speed.

8. SDO data operation

Select "CoE–Online" menu, as shown in the figure below. Read the VFD function code
parameters through index 0x2000, and double click 0x2000 to pop up a dialog box. Write the
parameter address in the dialog box, and click "OK". The returned results are stored in index
0x2001. Similarly, Write the VFD function code parameters through index 0x2002, and the
written results are stored in index 0x2003.

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Ethernet Communication Card EtherCAT communication card

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Ethernet Communication Card Modbus TCP communication card

5 Modbus TCP communication card

5.1 Overview
1. Thanks for choosing INVT Modbus TCP communication cards. This manual describes
the function specifications, installation, basic operation and settings, and information
about the network protocol. To ensure that you install and operate the product properly,
read this manual and the communication protocol section in the VFD operation manual
carefully before you use the product.

2. This manual only describes how to operate the Modbus TCP communication card and
the related commands but does not provide details about the Modbus TCP protocol. For
more information about the Modbus TCP protocol, read the related specialized articles or
books.

3. This communication card is defined as a Modbus TCP slave station communication card
and is used on a VFD that supports Modbus TCP communication.

4. The communication card supports the star-shaped network topology and linear network
topology.

5. The communication card supports 32 inputs/outputs to read and write process data, read
state data, and read and write function parameters of a VFD.

5.2 Features
1. Supported functions

 Supports the Modbus TCP protocol and Modbus TCP slave stations.

 Provides two Modbus TCP ports and supports the 10/100M full/half-duplex operation

 Supports the star-shaped network topology and linear network topology.

2. Supported communication types

Modbus TCP uses TCP/IP for information control and transmission over the Ethernet, allowing
the sending of explicit packets, namely, point-to-point messages that are not time critical. The
Modbus TCP application layer adopts the Modbus protocol, which is also used by Modbus
RTU.

Same as Modbus RTU, Modbus TCP requires the PLC/PC to send the read or write
commands, and the communication card returns the operation result after data forwarding to
complete the data transmission.

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Ethernet Communication Card Modbus TCP communication card

3. Communication ports

Standard RJ45 ports are used in Modbus TCP communication. The communication card
provides two RJ45 ports with no transmission direction defined, and therefore you can insert a
cable into the port without regard to its direction. Figure 5-1 shows the ports, and Table 5-1
describes the functions of the ports.

Figure 5-1 Two standard RJ45 ports

Table 5-1 Standard RJ45 port pins

Pin Name Description

1 TX+ Transmit Data+
2 TX- Transmit Data-
3 RX+ Receive Data+
4 n/c Not connected
5 n/c Not connected
6 RX- Receive Data-
7 n/c Not connected
8 n/c Not connected

4. State indicators

The Modbus TCP communication card provides4 LED indicators and 4 network port indicators
to indicate its states. Table 5-2 describes the state indicators.

Table 5-2 State indicators

LED Color State Description

Indicating that the card and VFD identify each
On
other.
Indicating that the card and VFD
LED1 Green Blinking (1Hz)
communicate normally.
Indicating that the card and VFD
Off
communicate improperly.
The communication between the card and
LED2 Green On PLC is online and data interchange is
allowed.

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Ethernet Communication Card Modbus TCP communication card

LED Color State Description

Indicating IP address conflict between the
Blinking (1Hz)
card and PLC.
Indicating that communication between the
Off
card and PLC is offline.
On Modbus TCP has not received valid data.
Indicating that the packet address is unused
Blinking (1Hz)
LED3 Red or undefined.
Blinking (8Hz) Indicating incorrect packet address.
Off No fault
LED4 Red On 3.3V power indicator
Link indicator, indicating successful Ethernet
Network On
connection.
port Yellow
Link indicator, indicating that Ethernet
indicator Off
connection is not established.
ACK indicator, indicating that data
Network On
interchange being performed.
port Green
ACK indicator, indicating that data
indicator Off
interchange is not be performed.
5.3 Electrical wiring
The Modbus TCP communication card provides standard RJ45 ports and supports the linear
and star topologies. Figure 5-2 and Figure 5-3 show the electrical wiring diagrams for different
topologies.

Use CAT5, CAT5e, and CAT6 network cables for electrical wiring. When the communication
distance is greater than 50 meters, use high-quality network cables that meet the national
standards.

Slave 1 Slave 2 Slave n

Master(PLC) EC-Tx515 EC-Tx515 EC-Tx515

CN2 CN1 CN2 CN1 CN2 CN1

Figure 5-2 Electrical wiring diagram for a linear topology

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Ethernet Communication Card Modbus TCP communication card

Slave 1 Slave 2 Slave n

Master(PLC) EC-Tx515 EC-Tx515 EC-Tx515

CN2 CN1 CN2 CN1 CN2 CN1

Switch

Figure 5-3 Electrical wiring diagram for a star topology

Note: An Ethernet switch must be available when the star topology is used.

5.4 Communication
5.4.1 Communication settings
The Modbus TCP communication card can function as only the Modbus TCP slave station.
Before communication, set Goodrive350 function codes, including:
1. Communication station address, IP address and subnet mask for the card
The default station address, IP address, and subnet mask for each communication card are 1,
192.168.0.1, and 255.255.255.0 respectively. You can change them to the address of a
network segment.
2. Control mode
If you want to control the VFD with the communication card, set the control mode to Modbus
TCP communication control. To be specific, set P00.01=2 (communication as the running
command channel) and set P00.02=0 (Modbus TCP communication channel) to control VFD
start and stop. If you want to set a value through Modbus TCP communication, change the
control way of corresponding function codes to Modbus TCP communication. Appendix B lists
related function codes.

Note: After the setting, the card can communicate normally. If you want to control the VFD
with the card, set related function codes to enable Modbus TCP communication control.
5.4.2 Packet format
Table 5-3 describes the structure of a TCP communication packet.

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Ethernet Communication Card Modbus TCP communication card

Table 5-3 Structure of a TCP communication packet

MAC-layer IP-layer TCP-layer

packet packet packet Valid data Packet trailer
header header header
14 bytes 20 bytes 20 bytes 0–1488 bytes 4 bytes
5.4.3 Modbus TCP communication
The application layer of the Modbus TCP communication card supports the Modbus protocol.
The Modbus TCP protocol packet is located in the valid data area of the TCP communication
packet. It consists of two parts. The first part is MBAP (packet header, occupying 7 bytes), and
the second part is PDU ( protocol data unit whose length is variable), as shown in Table 5.4.

Table 5-4 Modbus TCP protocol packet

MBAP PDU
Transaction Protocol Length Unit Function
Data
identifier identifier field identifier Code
2 bytes 2 bytes 2 bytes 1 byte 1 byte n bytes
Sequence number Includes
of packets, VFD
incremented by 1 Device function
0000=Modbu Modbus
after each Data address codes
s-TCP function
communication for length (station and data,
protocol code
distinguishing number) and the
between different length is
packets variable.
Through the above packets, you can set the VFD reference parameters, monitor the status
value, send control commands, monitor the running status of the VFD, and read and write the
VFD function codes. For specific operations, see the follow-up.
Parameter description:
Unit identifier: Slave station number (1–247).
Function code: Modbus function codes, as shown in Table 5.5.
Table 5-5 Modbus function codes

Function code Description

0x01 Read coils
0x05 Write single coil
0x0F Write multiple coils
0x02 Read discrete quantity
0x04 Read input register
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Ethernet Communication Card Modbus TCP communication card

Function code Description

0x03 Read holding register
0x06 Write single holding register
0x10 Write multiple holding registers

Data: The data of the first word is the address of the VFD function code, for example, P00.00
corresponds to the address of 0000h, and the subsequent data is the value to be read and
written.

Packet examples:

(1) Command code 03H, reading N words (continuously up to 16 words)

The command code 03H is used by the master to read data from the VFD. The count of data
to be read depends on the "data count" in the command. A maximum of 16 pieces of data can
be read. The addresses of the read parameters must be contiguous. Each piece of data
occupies 2 bytes, that is, one word. The command format is presented using the hexadecimal
system (a number followed by "H" indicates a hexadecimal value). One hexadecimal value
occupies one byte.

The command is used to read parameters and operation status of the VFD.

For example, starting from the data address of 0004H, to read two contiguous pieces of data
(that is, to read content from the data addresses 0004H and 0005H) of the VFD whose
address is 01H, the frame structures are described in the following.

Request 0001 0000 0006 01 03 0004 0004

Function
Meaning MBAP Write address Number of bytes
code
Example
Response 0001 0000 0007 01 03 04 1388 0000
Function Number of
Meaning MBAP Data
code bytes

From the response, the data in 0004H is 1388H (50.00Hz), and that in 0005H is 0000H
(00.00Hz).

(2) Command code 06H, writing one word

This command is used by the master to write data to the VFD. One command can be used to
write only one piece of data. It is used to modify the parameters and running mode of the VFD.

For example, to write 5000 (1388H) to 0004H of the VFD whose address is 02H, the frame
structures are described in the following.

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Ethernet Communication Card Modbus TCP communication card

Request 0001 0000 0006 02 06 0004 1388

Meaning MBAP Function code Write address Data
Example
Response 0001 0000 0006 02 06 0004 1388
Meaning MBAP Function code Write address Data

(3) Command code 10H, continuous writing

The command code 10H is used by the master to write data to the VFD. The quantity of data
to be written is determined by "Data count", and a maximum of 16 pieces of data can be
written.

For example, to write 5000 (1388H) and 50 (0032H) respectively to 0004H and 0005H of the
VFD whose slave address is 02H, the frame structures are described in the following.

1388
Request 0001 0000 000B 02 10 0004 0002 04
0032
Number
Function Write Number
Meaning MBAP of Data
Exa code address of bytes
registers
mple
Response 0001 0000 0006 02 10 0004 0002
Number
Function Write
Meaning MBAP of
code address
registers
5.4.4 Data address definition
This section describes the address definition of communication data. The addresses are used
for controlling the running, obtaining the status information, and setting function parameters of
the VFD.

The address of a function code consists of two bytes, with the high-order bit on the left and
low-order bit on the right. The high-order bit ranges from 00 to ffH, and the low-order bit also
ranges from 00 to ffH. The high-order bit is the hexadecimal form of the group number before
the dot mark, and low-order bit is that of the number behind the dot mark. Take P14.00 as an
example: The group number is 14, that is, the high-order bit of the parameter address is the
hexadecimal form of 0E; and the number behind the dot mark is 00, that is, the low-order bit is
the hexadecimal form of 00. Therefore, the function code address is 0E00H in the
hexadecimal form. For example, the parameter address of P14.03 is 0E03H.

Function Setting Default

Name Parameter description
code range value
Local
P14.00 communication 1–247 1–247 1
address

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Ethernet Communication Card Modbus TCP communication card

Function Setting Default

Name Parameter description
code range value
Communication
P14.03 0–200ms 0–200 5
response delay

Note:

 The parameters in the P99 group are set by the manufacturer and cannot be read or
modified. Some parameters cannot be modified when the VFD is running; some cannot
be modified regardless of the VFD status. Pay attention to the setting range, unit, and
description of a parameter when modifying it.

 The service life of the Electrically Erasable Programmable Read-Only Memory

(EEPROM) may be reduced if it is frequently used for storage. Some function codes do
not need to be stored during communication. The application requirements can be met
by modifying the value of the on-chip RAM, that is, modifying the MSB of the
corresponding function code address from 0 to 1. For example, if P00.07 is not to be
stored in the EEPROM, you need only to modify the value in the RAM, that is, set the
address to 8007H. The address can be used only for writing data to the on-chip RAM,
and it is invalid when used for reading data.

Description of other function addresses

In addition to modifying the parameters of the VFD, the master can also control the VFD, such
as starting and stopping it, and monitoring the operation status of the VFD. The following table
describes other function parameters.

Function Address Data description R/W

0001H: Forward running
0002H: Reverse running
0003H: Forward jogging
Communication-
0004H: Reverse jogging
based control 2000H R/W
0005H: Stop
command
0006H: Coast to stop (emergency stop)
0007H: Fault reset
0008H: Jogging to stop
Communication-based frequency setting
2001H R/W
(0–Fmax, unit: 0.01 Hz)
Communication-
PID setting, range (0–1000, 1000
based value 2002H R/W
corresponding to 100.0%)
setting
PID feedback, range (0–1000, 1000
2003H R/W
corresponding to 100.0%)

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Ethernet Communication Card Modbus TCP communication card

Function Address Data description R/W

Torque setting (-3000–+3000, 1000
2004H corresponding to 100.0% of the motor rated R/W
current)
Setting of the upper limit of the forward
2005H R/W
running frequency (0–Fmax, unit: 0.01 Hz)
Setting of the upper limit of the reverse
2006H R/W
running frequency (0–Fmax, unit: 0.01 Hz)
Upper limit of the electromotion torque
2007H (0–3000, 1000 corresponding to 100.0% of R/W
the motor rated current)
Upper limit of the brake torque (0–3000, 1000
2008H corresponding to 100.0% of the motor rated R/W
current)
Special control command word:
Bit0–1: =00: Motor 1 =01: Motor 2
Bit2: =1 Enable speed/torque control
switchover
=0: Disable speed/torque control
2009H switchover R/W
Bit3: =1 Clear electricity consumption
=0: Not clear electricity consumption
Bit4: =1 Pre-excitation; =0: Disable
pre-excitation
Bit5: =1 DC brake =0: Disable DC brake
Virtual input terminal command, range:
0x000–0x3FF
200AH R/W
Corresponding to
S8/S7/S6/S5/HDIB/HDIA/S4/ S3/ S2/S1
Virtual output terminal command, range:
200BH 0x00–0x0F R/W
Corresponding to local RO2/RO1/HDO/Y1
Voltage setting (used for V/F separation)
200CH (0–1000, 1000 corresponding to 100.0% of R/W
the motor rated voltage)
AO output setting 1 (-1000–+1000, 1000
200DH R/W
corresponding to 100.0%)
AO output setting 2 (-1000–+1000, 1000
200EH R/W
corresponding to 100.0%)

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Ethernet Communication Card Modbus TCP communication card

Function Address Data description R/W

0001H: Forward running
0002H: Reverse running
VFD status word 0003H: Stopped
2100H R
1 0004H: Faulty
0005H: POFF
0006H: Pre-excited
Bit0: =0: Not ready to run =1: Ready to run
Bi1–2: =00: Motor 1 =01: Motor 2
Bit3: =0: Asynchronous motor =1:
Synchronous motor
Bit4: =0: No overload alarm =1: Overload
alarm
Bit5–Bit6: =00: Keypad-based control =01:
VFD status word Terminal-based control
2101H R
2 =10: Communication-based control
Bit7: Reserved
Bit8: =0: Speed control =1: Torque control
Bit9: =0: Non position control
=1: Position control
Bit11–Bit10: =0: Vector 0 =1: Vector 1
=2: Closed-loop vector
=3: Space voltage vector
VFD fault code 2102H See the description of fault types. R
VFD
identification 2103H GD350-----0x01A0 R
code
Running
3000H 0–Fmax (Unit: 0.01Hz) R
frequency
Set frequency 3001H 0–Fmax (Unit: 0.01Hz) Compatible R
Bus voltage 3002H 0.0–2000.0V (Unit: 0.1V) with R
Output voltage 3003H 0–1200V (Unit: 1V) CHF100A R
Output current 3004H 0.0–3000.0A (Unit: 0.1A) and CHV100 R
Rotating speed 3005H 0–65535 (Unit: 1RPM) communicati R
Output power 3006H -300.0–300.0% (Unit: 0.1%) on R
Output torque 3007H -250.0–250.0% (Unit: 0.1%) addresses R
Closed-loop
3008H -100.0–100.0% (Unit: 0.1%) R
setting

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Ethernet Communication Card Modbus TCP communication card

Function Address Data description R/W

Closed-loop
3009H -100.0–100.0% (Unit: 0.1%) R
feedback
Input state 000–3F
300AH Corresponding to the local R
HDIB/ HDIA/S4/S3/S2/S1
Output state 000–0F
300BH Corresponding to the local R
RO2/RO1/HDO/Y1
Analog input 1 300CH 0.00–10.00V (Unit: 0.01V) R
Analog input 2 300DH 0.00–10.00V (Unit: 0.01V) R
Analog input 3 -10.00–10.00V (Unit:
300EH R
0.01V)
Analog input 4 300FH R
Read input of
0.00–50.00kHz (Unit:
HDIA high-speed 3010H R
0.01Hz)
pulse
Read input of
HDIB high-speed 3011H R
pulse
Read current
step of multi-step 3012H 0–15 R
speed
External length 3013H 0–65535 R
External count
3014H 0–65535 R
value
Torque setting 3015H -300.0–300.0% (Unit: 0.1%) R
Identification
3016H R
code
Fault code 5000H R

The Read/Write (R/W) characteristics indicate whether a function can be read and written. For
example, "Communication-based control command" can be written, and therefore the
command code 6H is used to control the VFD. The R characteristic indicates that a function
can only be read, and W indicates that a function can only be written.

Note: Some parameters in the preceding table are valid only after they are enabled. Take the
running and stop operations as examples, you need to set "Running command channel"
(P00.01) to "Communication", and set "Communication running command channel" (P00.02)
to the Modbus communication channel. For another example, when modifying "PID setting",

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Ethernet Communication Card Modbus TCP communication card

you need to set "PID reference source" (P09.00) to Modbus communication.

The following table describes the encoding rules of device codes (corresponding to the
identification code 2103H of the VFD).

Eight
Eight low-order
high-order bits Meaning Meaning
bits of code
of code
0x08 GD35 vector VFD
0x09 GD35-H1 vector VFD
0x0a GD300 vector VFD
01 GD
0xa0 GD350 vector VFD
0xa1 GD350-UL vector VFD
0xa2 GD350A vector VFD
5.4.5 Fieldbus scale
In practical applications, communication data is represented in the hexadecimal form, but
hexadecimal values cannot represent decimals. For example, 50.12 Hz cannot be
represented in the hexadecimal form. In such cases, we can multiply 50.12 by 100 to obtain an
integer 5012, and then 50.12 can be represented as 1394H (5012 in the decimal form) in the
hexadecimal form.

In the process of multiplying a non-integer by a multiple to obtain an integer, the multiple is

referred to as a fieldbus scale.

The fieldbus scale depends on the number of decimals in the value specified in "Detailed
parameter description" or "Default value". If there are n decimals in the value, the fieldbus
scale m is the nth-power of 10. Take the following table as an example, m is 10.

Function
Name Description Setting range Default
code
Wake-up-from-sl 0.0–3600.0s (valid when P01.15 is
P01.20 0.00–3600.0 0.0s
eep delay 2)
Restart after 0: Disable
P01.21 0–1 0
power failure 1: Enable
The value specified in "Setting range" or "Default" contains one decimal, so the fieldbus scale
is 10. If the value received by the upper computer is 50, the value of "Wake-up-from-sleep
delay" of the VFD is 5.0 (5.0=50/10).

To set the "Wake-up-from-sleep delay" to 5.0s through Modbus communication, you need first
to multiply 5.0 by 10 according to the scale to obtain an integer 50, that is, 32H in the
hexadecimal form.

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Ethernet Communication Card Modbus TCP communication card

After receiving the command, the VFD converts 50 into 5.0 based on the fieldbus scale, and
then sets "Wake-up-from-sleep delay" to 5.0s.

5.4.6 Error message response

Operation errors may occur in communication-based control. For example, some parameters
can only be read, but a write command is transmitted. In this case, the VFD returns an error
message response.

Error message responses are sent from the VFD to the master. The following table describes
the codes and definitions of the error message responses.

Code Name Description

The command code received by the upper computer is
not allowed to be executed. The possible causes are as
follows:
01H Invalid command • The function code is applicable only on new devices
and is not implemented on this device.
• The slave is in the faulty state when processing this
request.
For the VFD, the data address in the request of the upper
Invalid data computer is not allowed. In particular, the combination of
02H
address the register address and the number of the
to-be-transmitted bytes is invalid.
The received data domain contains a value that is not
allowed. The value indicates the error of the remaining
structure in the combined request.
03H Invalid data value
Note: It does not mean that the data item submitted for
storage in the register includes a value unexpected by
the program.
The parameter is set to an invalid value in the write
04H Operation failure operation. For example, a function input terminal cannot
be set repeatedly.
The password entered in the password verification
05H Password error
address is different from that set in P07.00.
The length of the data frame transmitted by the upper
computer is incorrect, or in the RTU format, the value of
06H Data frame error
the CRC check bit is inconsistent with the CRC value
calculated by the lower computer.
Parameter The parameter to be modified in the write operation of the
07H
read-only upper computer is a read-only parameter.

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Ethernet Communication Card Modbus TCP communication card

Code Name Description

Parameter cannot The parameter to be modified in the write operation of the
08H be modified in upper computer cannot be modified during the running of
running the VFD.
A user password is set, and the upper computer does not
Password provide the password to unlock the system when
09H
protection performing a read or write operation. The error of
"system locked" is reported.

When returning a response, the slave device uses a function code domain and fault address
to indicate whether it is a normal response (no error) or exception response (some errors
occur). In a normal response, the device returns the corresponding function code and data
address or sub-function code. In an exception response, the device returns a code that is
equal to a normal code, but the first bit is logic 1.

For example, if the master device transmits a request message to a slave device for reading a
group of function code address data, the code is generated as follows:

0 0 0 0 0 0 1 1 (03H in the hexadecimal form)

For an exception response, the following code is returned:

1 0 0 0 0 0 1 1 (83H in the hexadecimal form)

In addition to the modification of the code, the slave device returns a byte of exception code
that describes the cause of the exception. After receiving the exception response, the typical
processing of the master device is to transmit the request message again or modify the
command based on the fault information.

5.5 Example of PLC communication

This example shows how to use SIEMENS PLC (S7-1200) to communicate with Modbus TCP
communication extension card (through the TIA Portal V13 software), and Modbus TCP is not
configured with device description file.

Use TIA Portal V13 software to add a Modbus TCP block.

Open TIA Portal V13, and create a new project as shown in the following figure.

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Ethernet Communication Card Modbus TCP communication card

After a new project is created, click "Project view" in the lower left corner, and double click
"Add new device" in the interface, as shown in the following figure.

Select the correct PLC model, and click "OK" (PLC models used by our company are shown in
the following figure).

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Ethernet Communication Card Modbus TCP communication card

Click "Program blocks", and double click "Main[OB1]" to open the programming interface, as
shown in the following figure.

Select "Others" under the "Communication" bar on the right, then select "MODBUS TCP" →
"MB_CLIENT", as shown in the following figure.
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Ethernet Communication Card Modbus TCP communication card

Add 2 data blocks in "Add new block" under "Program blocks", namely "MB_CLIENT_TCON"
and "MB_Client_Data", as shown in the following figure.

Set the variables of these two data blocks respectively, as shown in the following figure.

(1) MB_CLIENT_TCON data block

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Ethernet Communication Card Modbus TCP communication card

(2) MB_Client_Data data block

Uncheck the "Optimized block access" of the block, as shown in the following figure.

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Ethernet Communication Card Modbus TCP communication card

Double click "Show all" under "PLC tags", and create variables, as shown in the following
figure.

Configure the Modbus TCP block as shown in the following figure.

Double click "Device configuration", right click the network port to select "Properties", set the
following parameters in the pop-up interface, and modify the local Ethernet network segment
to be the same as the following network segment.

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Ethernet Communication Card Modbus TCP communication card

Write the PLC program as follows.

-120-
Ethernet Communication Card Modbus TCP communication card

-121-
Ethernet Communication Card Modbus TCP communication card

Download the PLC program to the PLC after the program has been written completely. Set
VFD function codes such as P00.01=2, P00.02=0, P00.06=8, P14.00=2, P16.02–P16.05=
192.168.0.2, and keep default values of P16.06–P16.13. Then, you can use the I0.0 input
terminal to control the VFD to start and stop at 50.00Hz through ModbusTCP protocol.

-122-
Ethernet Communication Card EtherCAT object dictionary

Appendix A EtherCAT object dictionary

Access Data
Index Subindex Description Default value
permission type
1000h 0 Device type RO UINT32 0x00000192
1001h 0 Error register RO UINT8 0
Factory device
1008h 0 RO String INVT-EtherCAT
name
Factory Hardware
1009h 0 hardware RO String version
version depended
Factory Software
100Ah 0 software RO String version
version depended
ID object
Included max.
0 RO UINT8 4
sub-index
1 Supplier ID RO UINT32 0x000004D8
1018h
2 Product code RO UINT32 0x00009252
Revision
3 RO UINT32 0x00000001
number
4 Serial number RO UINT32 0x00000001
RX PDO1 mapping parameter
Number of
supported
0 RW UINT8 8
mapping
objects
First mapping
1 RW UINT32 0x60400010
object
Second
1600h 2 RW UINT32 0x607A0020
mapping object
Third mapping
3 RW UINT32 0x60FF0020
object
Fourth mapping
4 RW UINT32 0x60710010
object
Fifth mapping
5 RW UINT32 0x60720010
object
6 Sixth mapping RW UINT32 0x60600008

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Ethernet Communication Card EtherCAT object dictionary

Access Data
Index Subindex Description Default value
permission type
object
Seventh
7 RW UINT32 0x60810020
mapping
Eighth mapping
8 RW UINT32 0x60B80010
object
RX PDO2 mapping parameter
Number of
supported
0 RW UINT8 2
mapping
1601h objects
First mapping
1 RW UINT32 0x60400010
object
Second
2 RW UINT32 0x607A0020
mapping object
RX PDO3 mapping parameter
Number of
supported
0 RW UINT8 2
mapping
1602h objects
First mapping
1 RW UINT32 0x60400010
object
Second
2 RW UINT32 0x607A0020
mapping object
RX PDO4 mapping parameter
Number of
supported
0 RW UINT8 2
mapping
1603h objects
First mapping
1 RW UINT32 0x60400010
object
Second
2 RW UINT32 0x607A0020
mapping object
TX PDO1 mapping parameter
Number of
1A00h supported
0 RW UINT8 8
mapping
objects

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Ethernet Communication Card EtherCAT object dictionary

Access Data
Index Subindex Description Default value
permission type
First mapping
1 RW UINT32 0x60410010
object
Second
2 RW UINT32 0x60640020
mapping object
Third mapping
3 RW UINT32 0x606C0020
object
Fourth mapping
4 RW UINT32 0x60770010
object
Fifth mapping
5 RW UINT32 0x60F40020
object
Sixth mapping
6 RW UINT32 0x60610008
object
Seventh
7 RW UINT32 0x60B90010
mapping object
Eighth mapping
8 RW UINT32 0x60BA0020
object
TX PDO2 mapping parameter
Number of
supported
0 RW UINT8 8
mapping
1A01h objects
First mapping
1 RW UINT32 0x60410010
object
Second
2 RW UINT32 0x60640020
mapping object
TX PDO3 mapping parameter
Number of
supported
0 RW UINT8 8
mapping
1A02h objects
First mapping
1 RW UINT32 0x60410010
object
Second
2 RW UINT32 0x60640020
mapping object
TX PDO4 mapping parameter
1A03h Number of
0 RW UINT8 8
supported
-125-
Ethernet Communication Card EtherCAT object dictionary

Access Data
Index Subindex Description Default value
permission type
mapping
objects
First mapping
1 RW UINT32 0x60410010
object
Second
2 RW UINT32 0x60640020
mapping object
SM communication type
0 Max. sub-index RO UINT8 4
SM0
1 communication RO UINT8 0x01
type
SM1
2 communication RO UINT8 0x02
1C00h
type
SM2
3 communication RO UINT8 0x03
type
SM3
4 communication RO UINT8 0x04
type
RxPDO assignment
0 Max. sub-index RW UINT8 1
1C12h RxPDO
1 assigned object RW UINT16 0x1600
index
TxPDO assignment
0 Max. sub-index RW UINT8 1
1C13h TxPDO
1 assigned object RW UINT16 0x1A00
index
SM synchronization output parameter
0x00 Max. sub-index RO UINT8 0x20
Synchronization
0x01 RW UINT16 0x02
1C32h mode
0x02 Cycle time RO UINT32 0
0x03 Switching time RO UINT32 0
0x04 Supported RO UINT16 0x4006
-126-
Ethernet Communication Card EtherCAT object dictionary

Access Data
Index Subindex Description Default value
permission type
synchronization
type
Min. periodic
0x05 RO UINT32 0x0003D090
time
Calculation and
0x06 RO UINT32 0
replication time
0x07 Reserved RW UINT32 0
Obtained
0x08 RW UINT16 0
periodic time
0x09 Delay time RO UINT32 0
0x0A Sync0 time RW UINT32 -
SM event loss
0x0B RO UINT32 0
counter
Circulation
0x0C RO UINT32 0
timeout counter
Counter of too
0x0D RO UINT32 0
short switching
Synchronization
0x20 RO UINT8 0
error
SM synchronization input parameter
0x00 Max. sub-index RO UINT8 0x20
Synchronization
0x01 RW UINT16 0x02
mode
0x02 Cycle time RO UINT32 0
0x03 Switching time RO UINT32 0
Supported
0x04 synchronization RO UINT16 0x4006
type
1C33h
Min. periodic
0x05 RO UINT32 0x0003D090
time
Calculation and
0x06 RO UINT32 0
replication time
0x07 Reserved RW UINT32 0
Obtained
0x08 RW UINT16 0
periodic time
0x09 Delay time RO UINT32 0
0x0A Sync0 time RW UINT32 -
-127-
Ethernet Communication Card EtherCAT object dictionary

Access Data
Index Subindex Description Default value
permission type
SM event loss
0x0B RO UINT32 0
counter
Circulation
0x0C RO UINT32 0
timeout counter
Counter of too
0x0D RO UINT32 0
short switching
Synchronization
0x20 RO UINT8 0
error
Read function
2000h 0 RW UINT32 0
codes
2001h 0 Read response RO UINT32 0
Write function
2002h 0 RW UINT32 0
codes
2003h 0 Write response RO UINT32 0
603Fh 0 Error code RO UINT16 0
6040h 0 Control word RW UINT16 0
6041h 0 Status word RO UINT16 0
Suspension
605Dh 0 RW INT16 0
mode
Operation
6060h 0 RW UINT16 0
mode
Operation
6061h 0 RO UINT16 0
mode display
Position
6062h 0 RO DINT32 0
command
Position
6063h 0 RO DINT32 0
feedback
Position
6064h 0 RO DINT32 0
feedback
Position
6065h 0 RW UDINT32 0
deviation range
Too-large
position
6066h 0 RW UINT16 0
deviation
timeout
Position pulse
6067h 0 RW UDINT32 0
range
-128-
Ethernet Communication Card EtherCAT object dictionary

Access Data
Index Subindex Description Default value
permission type
606Ch 0 Actual speed RW DINT32 0
6071h 0 Target torque RW INT16 0
6072h 0 Max. torque RW UINT16 0
6073h 0 Max. current RO UINT16 0
Motor rated
6075h 0 RO UDINT32 0
current
Motor rated
6076h 0 RO UDINT32 0
torque
6077h 0 Actual torque RO INT16 0
6078h 0 Actual current RO INT16 0
6079h 0 Bus voltage RO UDINT32 0
607Ah 0 Target position RW INT16 0
Position range limit
Number of
0 RW UINT8 2
sub-indexes
607Bh Min. position
1 RW INT32 0
range limit
Max. position
2 RW INT32 0
range limit
Coordinate
607Ch 0 RW DINT32 0
deviation
Speed in
6081h 0 industrial RW UDINT32 0
regulations
ACC in
6083h 0 industrial RW UDINT32 0
regulations
DEC in
6084h 0 industrial RW UDINT32 0
regulations
Gear ratio
Number of
0 RW UINT8 2
sub-indexes
6091h Motor
1 RW UINT32 0x00000001
resolution
Bearing axle
2 RW UINT32 0x00000001
resolution
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Ethernet Communication Card EtherCAT object dictionary

Access Data
Index Subindex Description Default value
permission type
Position factor
Number of
0 RW UINT8 2
6093h sub-indexes
1 Molecule RW UINT32 0x00000001
2 Set constant RW UINT32 0x00000001
6098h 0 Zeroing mode RW INT16 0
Zeroing speed
Number of
0 RW UINT8 2
sub-indexes
Search limit
6099h 1 RW UINT32 0
switch speed
Search
2 zero-phase RW UINT32 0
speed
60B8h 0 Probe control RW UINT16 0
60B9h 0 Probe status RO UINT16 0
Probe position
60BAh 0 RO INT32 0
rising edge
Position
60F4h 0 RO INT32 0
deviation
60FDh 0 Digital input RO UINT32 0
60FEh 0 Digital output RO INT32 0
60FFh 0 Target speed RW INT32 0
6502h 0 Drive mode RO UINT32 0x000003A5

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Ethernet Communication Card Related function codes

Appendix B Related function codes

Function Setting Default
Name Parameter description
code range value
Channel of 0: Keypad
P00.01 running 1: Terminal 0–2 0
commands 2: Communication
0: Modbus RTU/Modbus TCP
communication
1: PROFIBUS/CANopen/DeviceNet
communication
Communication 2: Ethernet communication
channel of 3: EtherCAT/PROFINET/EtherNet IP
P00.02 0–5 0
running communication
commands 4: PLC programmable extension card
5: Wireless communication card
Note: Channels 1, 2, 3, 4, and 5 are
extension functions that require
corresponding extension cards.
Frequency A 0: Keypad
P00.06 command setting 1–7: Reserved 0–15 0
mode 8: Modbus RTU/Modbus TCP
communication
9: PROFIBUS/CANopen/DeviceNet
communication
Frequency B
10: Ethernet communication
P00.07 command setting 0–15 2
11–12: Reserved
mode
13: EtherCAT/PROFINET/EtherNet IP
communication
14–15: Reserved
0–1: Keypad
2–6: Reserved
7: Modbus RTU/Modbus TCP
communication
Torque setting 8: PROFIBUS/CANopen/DeviceNet
P03.11 0–12 0
mode communication
9: Ethernet communication
10: Reserved
11: EtherCAT/PROFINET/EtherNet IP
communication
-131-
Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
12: Reserved
0: Keypad (P03.16)
1–5: Reserved
6: Modbus RTU/Modbus TCP
Setting mode of communication
upper frequency 7: PROFIBUS/CANopen/DeviceNet
P03.14 limit of forward communication 0–12 0
running in torque 8: Ethernet communication
control 9: Reserved
10: EtherCAT/PROFINET/EtherNet IP
communication
11–12: Reserved
0: Keypad (P03.17)
1–5: Reserved
6: Modbus RTU/Modbus TCP
Setting mode of communication
upper frequency 7: PROFIBUS/CANopen/DeviceNet
P03.15 limit of reverse communication 0–12 0
running in torque 8: Ethernet communication
control 9: Reserved
10: EtherCAT/PROFINET/EtherNet IP
communication
11–12: Reserved
0: Keypad (P03.20)
1–4: Reserved
5: Modbus RTU/Modbus TCP
communication
Setting mode of
6: PROFIBUS/CANopen/DeviceNet
upper limit of
P03.18 communication 0–11 0
electromotive
7: Ethernet communication
torque
8: Reserved
9: EtherCAT/PROFINET/EtherNet IP
communication
10–11: Reserved
0: Keypad (P03.21)
Setting mode of
1–4: Reserved
P03.19 upper limit of 0–11 0
5: Modbus RTU/Modbus TCP
brake torque
communication
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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
6: PROFIBUS/CANopen/DeviceNet
communication
7: Ethernet communication
8: Reserved
9: EtherCAT/PROFINET/EtherNet IP
communication
10–11: Reserved
0: Keypad (P04.28)
1–6: Reserved
7: Modbus RTU/Modbus TCP
communication
8: PROFIBUS/CANopen/DeviceNet
Voltage setting
P04.27 communication 0–13 0
channel
9: Ethernet communication
10: Reserved
11: EtherCAT/PROFINET/EtherNet IP
communication
12–13: Reserved
P06.01 Y1 output 0: Invalid 0–63 0
P06.02 HDO output 1–22: Reserved 0–63 0
Relay output 23: Modbus RTU/Modbus TCP
P06.03 0–63 1
RO1 communication virtual terminal output
24: PROFIBUS/CANopen/DeviceNet
communication virtual terminal output
25: Ethernet communication virtual
Relay output terminal output
P06.04 0–63 5
RO2 26–33: Reserved
34: EtherCAT/PROFINET/EtherNet IP
communication virtual terminal output
35–63: Reserved
Analog output 0: Running frequency
P06.14 0–47 0
AO1 1–13: Reserved
14: Modbus RTU/Modbus TCP
communication setting 1
HDO high-speed 15: Modbus RTU/Modbus TCP
P06.16 0–47 0
pulse output communication setting 2
16: PROFIBUS/CANopen/DeviceNet
communication setting 1
-133-
Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
17: PROFIBUS/CANopen/DeviceNet
communication setting 2
18: Ethernet communication setting 1
19: Ethernet communication setting 2
20: Reserved
21: EtherCAT/PROFINET/EtherNet IP
communication setting 1
22–26: Reserved
27: EtherCAT/PROFINET/EtherNet IP
communication setting 2
28–47: Reserved
0: No fault
18: 485/Modbus TCP communication
fault (CE)
29: PROFIBUS communication fault
(E-DP)
30: Ethernet communication fault
(E-NET)
31: CANopen communication fault
(E-CAN)
57: PROFINET communication timeout
fault (E-PN)
58: CAN communication timeout fault
(ESCAN)
Type of current
P07.27 60: Card identification failure in slot 1 / /
fault
(F1-Er)
61: Card identification failure in slot 2
(F2-Er)
62: Card identification failure in slot 3
(F3-Er)
63: Card communication failure in slot 1
(C1-Er)
64: Card communication failure in slot 2
(C2-Er)
65: Card communication failure in slot 3
(C3-Er)
66: EtherCAT communication fault
(E-CAT)
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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
67: BACnet communication fault
(E-BAC)
68: DeviceNet communication fault
(E-DEV)
69: CAN slave fault in master/slave
synchronous communication (S-Err)
70: EtherNet IP communication timeout
(E-EIP)
P07.28 Type of last fault / / /
Type of 2nd-last
P07.29 / / /
fault
Type of 3rd-last
P07.30 / / /
fault
Type of 4th-last
P07.31 / / /
fault
Type of 5th-last
P07.32 / / /
fault
0x00–0x14
LED ones place: Switching channel
0: Terminal
1: Modbus RTU/Modbus TCP
communication
Motor 1 and
2: PROFIBUS/CANopen/DeviceNet
motor 2
P08.31 communication 00–14 0x00
switching
3: Ethernet communication
channel
4: EtherCAT/PROFINET/EtherNet IP
communication
LED tens place: Switching in running
0: Disabled
1: Enabled
0: Keypad (P09.01)
1–5: Reserved
6: Modbus RTU/Modbus TCP
PID reference communication
P09.00 0–12 0
source 7: PROFIBUS/CANopen/DeviceNet
communication
8: Ethernet communication
9: Reserved
-135-
Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
10: EtherCAT/PROFINET/EtherNet IP
communication
11–12: Reserved
0: AI1
1–3: Reserved
4: Modbus RTU/Modbus TCP
communication
5: PROFIBUS/CANopen/DeviceNet
PID feedback
P09.02 communication 0–10 0
source
6: Ethernet communication
7: Reserved
8: EtherCAT/PROFINET/EtherNet IP
communication
9–10: Reserved
Local
P14.00 communication 1–247 1–247 1
address
Communication
P14.03 1–200ms 1–200 5
response delay
0: Report an alarm and coast to stop
1: Keep running without reporting an
alarm
2: Stop in enabled stop mode without
Transmission
P14.05 reporting an alarm (applicable only to 1–3 0
error processing
communication mode)
3: Stop in enabled stop mode without
reporting an alarm (applicable to any
mode)
0x00–0x11
Ones place:
0: Respond to write operations
1: Not respond to write operations
Communication
Tens place: Communication encrypting 0x000–0x
P14.06 processing 0x000
0: Disable 111
action
1: Enable
Hundreds place: Self-define the
communication command address
0: Disable
-136-
Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
1: Enable
Modbus-TCP
P14.09 communication 0.0 (invalid)–60.0s 0.0–60.0 0.0s
timeout time
P15.01 Module address 0–127 0–127 2
P15.02 Received PZD2 0: Invalid 0–31 0
P15.03 Received PZD3 1: Set frequency (0–Fmax, unit: 0.01 0–31 0
P15.04 Received PZD4 Hz) 0–31 0
P15.05 Received PZD5 2: PID reference (0–1000, in which 0–31 0
P15.06 Received PZD6 1000 corresponds to 100.0%) 0–31 0
P15.07 Received PZD7 3: PID feedback (0–1000, in which 1000 0–31 0
P15.08 Received PZD8 corresponds to 100.0%) 0–31 0
P15.09 Received PZD9 4: Torque setting (-3000–+3000, in 0–31 0
P15.10 Received PZD10 which 1000 corresponds to 100.0% of 0–31 0
P15.11 Received PZD11 the rated current of the motor) 0–31 0
5: Setting of the upper limit of forward
running frequency (0–Fmax, unit: 0.01
Hz)
6: Setting of the upper limit of reverse
running frequency (0–Fmax, unit: 0.01
Hz)
7: Upper limit of the electromotive
torque (0–3000, in which 1000
corresponds to 100.0% of the rated
current of the motor)
8: Upper limit of the brake torque
P15.12 Received PZD12 (0–3000, in which 1000 corresponds to 0–31 0
100.0% of the rated current of the
motor)
9: Virtual input terminal command,
0x000–0x3FF
(corresponding to S8, S7, S6, S5,
HDIB, HDIA, S4, S3, S2, and S1 in
sequence)
10: Virtual output terminal command,
0x00–0x0F
(corresponding to RO2, RO1, HDO, and
Y1 in sequence)
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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
11: Voltage setting (for V/F separation)
(0–1000, in which 1000 corresponds to
100.0% of the rated voltage of the
motor)
12: AO output setting 1 (-1000–+1000,
in which 1000 corresponds to 100.0%)
13: AO output setting 2 (-1000–+1000,
in which 1000 corresponds to 100.0%)
14: MSB of position reference (signed
number)
15: LSB of position reference (unsigned
number)
16: MSB of position feedback (signed
number)
17: LSB of position feedback (unsigned
number)
18: Position feedback setting flag
(position feedback can be set only after
this flag is set to 1 and then to 0)
19–31: Reserved
Transmitted 0: Invalid
P15.13 0–31 0
PZD2 1: Running frequency (×100, Hz)
Transmitted 2: Set frequency (×100, Hz)
P15.14 0–31 0
PZD3 3: Bus voltage (×10, V)
Transmitted 4: Output voltage (×1, V)
P15.15 0–31 0
PZD4 5: Output current (×10, A)
Transmitted 6: Actual output torque (×10, %)
P15.16 0–31 0
PZD5 7: Actual output power (×10, %)
Transmitted 8: Rotating speed of the running (×1,
P15.17 0–31 0
PZD6 RPM)
Transmitted 9: Linear speed of the running (×1, m/s)
P15.18 0–31 0
PZD7 10: Ramp frequency reference
Transmitted 11: Fault code
P15.19 0–31 0
PZD8 12: AI1 value (×100, V)
Transmitted 13: AI2 value (×100, V)
P15.20 0–31 0
PZD9 14: AI3 value (×100, V)
Transmitted 15: HDIA frequency (×100, kHz)
P15.21 0–31 0
PZD10 16: Terminal input state
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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
Transmitted 17: Terminal output state
P15.22 0–31 0
PZD11 18: PID reference (×100, %)
19: PID feedback (×100, %)
20: Rated torque of the motor
21: MSB of position reference (signed
number)
22: LSB of position reference (unsigned
number)
Transmitted
P15.23 23: MSB of position feedback (signed 0–31 0
PZD12
number)
24: LSB of position feedback (unsigned
number)
25: Status word
26: HDIB frequency value (×100, kHz)
27–31: Reserved
Temporary
variable 1 used
P15.24 0–65535 0–65535 0
for transmitted
PZD
DP
0.0–300.
P15.25 communication 0.0 (invalid)–300.0s 0.0s
0
timeout time
CANopen
0.0–300.
P15.26 communication 0.0 (invalid)–300.0s 0.0s
0
timeout time
0: 1000 kbps
1: 800 kbps
2: 500 kbps
CANopen
3: 250 kbps
P15.27 communication 0–7 0
4: 125 kbps
baud rate
5: 100 kbps
6: 50 kbps
7: 20 kbps
CAN
P15.28 communication 0–127 0–127 1
address
CAN baud rate 0: 50Kbps
P15.29 0–4 1
setting 1: 125Kbps
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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
2: 250Kbps
3: 500Kbps
4: 1M bps
CAN
0.0–300.
P15.30 communication 0.0 (invalid)–300.0s 0.0s
0
timeout time
DeviceNet
0.0–300.
P15.31 communication 0.0 (invalid)–300.0s 0.0s
0
timeout time
Displayed node
P15.32 0 0 0
baud rate
P15.33 Enable polling 0–1 0–1 1
19: INVT self-defined output
20: ODVA basic speed control output
21: ODVA extended speed control
output
22: ODVA speed and torque control
output
Output instance 23: ODVA extended speed and torque
P15.34 19–27 19
in polling control output
24: INVT basic speed control output
25: INVT extended speed control output
26: INVT speed and torque control
output
27: INVT extended speed and torque
control output
69: INVT self-defined input
70: ODVA basic speed control input
71: ODVA extended speed control input
72: ODVA speed and torque control
input
Input instance in 73: ODVA extended speed and torque
P15.35 69–77 69
polling control input
74: INVT basic speed control input
75: INVT extended speed control input
76: INVT speed and torque control input
77: INVT extended speed and torque
control input
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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
Enable state
P15.36 0–1 0–1 0
change/period
19: INVT self-defined output
20: ODVA basic speed control output
21: ODVA extended speed control
output
22: ODVA speed and torque control
output
Output instance
23: ODVA extended speed and torque
P15.37 in state 19–27 19
control output
change/period
24: INVT basic speed control output
25: INVT extended speed control output
26: INVT speed and torque control
output
27: INVT extended speed and torque
control output
69: INVT self-defined input
70: ODVA basic speed control input
71: ODVA extended speed control input
72: ODVA speed and torque control
input
Input instance in
73: ODVA extended speed and torque
P15.38 state 69–77 69
control input
change/period
74: INVT basic speed control input
75: INVT extended speed control input
76: INVT speed and torque control input
77: INVT extended speed and torque
control input
Output length of
P15.39 8–32 8–32 32
component 19
Input length of
P15.40 8–32 8–32 32
component 69
BACnet 0: Enable P16.22 (I-Am service)
P15.41 communication 1: Enable P15.42 (Baud rate of 0–1 0
mode setting BACnet_MSTP)
Baud rate of
P15.42 0–5 0–5 0
BACnet_MSTP

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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
Communication
control
0: In decimal format
P15.43 word/status word 0–1 0
1: In binary format
expression
method
P15.44–
Reserved
P15.69
0: Self-adaption
Ethernet 1: 100M full duplex
P16.01 communication 2: 100M half duplex 0–4 0
rate setting 3: 10M full duplex
4: 10M half duplex
P16.02 IP address 1 0–255 0–255 192
P16.03 IP address 2 0–255 0–255 168
P16.04 IP address 3 0–255 0–255 0
P16.05 IP address 4 0–255 0–255 1
P16.06 Subnet mask 1 0–255 0–255 255
P16.07 Subnet mask 2 0–255 0–255 255
P16.08 Subnet mask 3 0–255 0–255 255
P16.09 Subnet mask 4 0–255 0–255 0
P16.10 Gateway 1 0–255 0–255 192
P16.11 Gateway 2 0–255 0–255 168
P16.12 Gateway 3 0–255 0–255 1
P16.13 Gateway 4 0–255 0–255 1
Ethernet
monitoring 0000–FF
P16.14 0x0000–0xFFFF 0x0000
variable address FF
1
Ethernet
monitoring 0000–FF
P16.15 0x0000–0xFFFF 0x0000
variable address FF
2
Ethernet
monitoring 0000–FF
P16.16 0x0000–0xFFFF 0x0000
variable address FF
3

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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
Ethernet
monitoring 0000–FF
P16.17 0x0000–0xFFFF 0x0000
variable address FF
4
EtherCAT
0.0–300.
P16.18 communication 0.0s (invalid)–300.0s 0.5s
0
timeout time
P16.19 Reserved
MSD of BACnet
P16.20 0–4194 0
device number Independent code of BACnet device
LSD of BACnet (0–4194303)
P16.21 0–999 1
device number
BACnet "I-Am" 0: Transmission at power-on
P16.22 0–1 0
service setting 1: Continuous transmission
BACnet
0.0–300.
P16.23 communication 0.0 (invalid)–300.0s 0.0s
0
timeout time
0.0–600.0s
Extension card
When this parameter is set to 0.0, 0.0–600.
P16.24 identification 0.0
disconnection fault detection is not 00
time of slot 1
performed.
0.0–600.0s
Extension card
When this parameter is set to 0.0, 0.0–600.
P16.25 identification 0.0
disconnection fault detection is not 00
time of slot 2
performed.
0.0–600.0s
Extension card
When this parameter is set to 0.0, 0.0–600.
P16.26 identification 0.0
disconnection fault detection is not 00
time of slot 3
performed.
Extension card 0.0–600.0s
communication When this parameter is set to 0.0, 0.0–600.
P16.27 0.0
timeout time of disconnection fault detection is not 00
slot 1 performed.
Extension card 0.0–600.0s
communication When this parameter is set to 0.0, 0.0–600.
P16.28 0.0
timeout time of disconnection fault detection is not 00
slot 2 performed.

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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
Extension card 0.0–600.0s
communication When this parameter is set to 0.0, 0.0–600.
P16.29 0.0
timeout time of disconnection fault detection is not 00
slot 3 performed.
P16.30 Reserved
PROFINET
0.0–300.
P16.31 communication 0.0 (invalid)–300.0s 0.0s
0
timeout time
P16.32 Received PZD2 0: Invalid 0–31 0
P16.33 Received PZD3 1: Set frequency (0–Fmax, unit: 0.01 0–31 0
P16.34 Received PZD4 Hz) 0–31 0
P16.35 Received PZD5 2: PID reference (0–1000, in which 0–31 0
P16.36 Received PZD6 1000 corresponds to 100.0%) 0–31 0
P16.37 Received PZD7 3: PID feedback (0–1000, in which 1000 0–31 0
P16.38 Received PZD8 corresponds to 100.0%) 0–31 0
P16.39 Received PZD9 4: Torque setting (-3000–+3000, in 0–31 0
P16.40 Received PZD10 which 1000 corresponds to 100.0% of 0–31 0
P16.41 Received PZD11 the rated current of the motor) 0–31 0
5: Setting of the upper limit of forward
running frequency (0–Fmax, unit: 0.01
Hz)
6: Setting of the upper limit of reverse
running frequency (0–Fmax, unit: 0.01
Hz)
7: Upper limit of the electromotive
torque (0–3000, in which 1000
corresponds to 100.0% of the rated
current of the motor)
P16.42 Received PZD12 8: Upper limit of the brake torque 0–31 0
(0–3000, in which 1000 corresponds to
100.0% of the rated current of the
motor)
9: Virtual input terminal command,
0x000–0x3FF (corresponding to S8, S7,
S6, S5, HDIB, HDIA, S4, S3, S2, and
S1 in sequence)
10: Virtual output terminal command,
0x00–0x0F (corresponding to RO2,
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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
RO1, HDO, and Y1 in sequence)
11: Voltage setting (for V/F separation)
(0–1000, in which 1000 corresponds to
100.0% of the rated voltage of the
motor)
12: AO1 output setting 1 (-1000–+1000,
in which 1000 corresponds to 100.0%)
13: AO2 output setting 2 (-1000–+1000,
in which 1000 corresponds to 100.0%)
14: MSB of position reference (signed
number)
15: LSB of position reference (unsigned
number)
16: MSB of position feedback (signed
number)
17: LSB of position feedback (unsigned
number)
18: Position feedback setting flag
(position feedback can be set only after
this flag is set to 1 and then to 0)
19–31: Reserved
Transmitted 0: Invalid
P16.43 0–31 0
PZD2 1: Running frequency (×100, Hz)
Transmitted 2: Set frequency (×100, Hz)
P16.44 0–31 0
PZD3 3: Bus voltage (×10, V)
Transmitted 4: Output voltage (×1, V)
P16.45 0–31 0
PZD4 5: Output current (×10, A)
Transmitted 6: Actual output torque (×10, %)
P16.46 0–31 0
PZD5 7: Actual output power (×10, %)
Transmitted 8: Rotating speed of the running (×1,
P16.47 0–31 0
PZD6 RPM)
Transmitted 9: Linear speed of the running (×1, m/s)
P16.48 0–31 0
PZD7 10: Ramp frequency reference
Transmitted 11: Fault code
P16.49 0–31 0
PZD8 12: AI1 value (×100, V)
Transmitted 13: AI2 value (×100, V)
P16.50 0–31 0
PZD9 14: AI3 value (×100, V)

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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
Transmitted 15: HDIA frequency (×100, kHz)
P16.51 0–31 0
PZD10 16: Terminal input state
Transmitted 17: Terminal output state
P16.52 0–31 0
PZD11 18: PID reference (×100, %)
19: PID feedback (×100, %)
20: Rated torque of the motor
21: MSB of position reference (signed
number)
22: LSB of position reference (unsigned
number)
Transmitted
P16.53 23: MSB of position feedback (signed 0–31 0
PZD12
number)
24: LSB of position feedback (unsigned
number)
25: Status word
26: HDIB frequency value (×100, kHz)
27–31: Reserved
Ethernet IP
0.5–60.0
P16.54 communication 0.5–60.0s 0.5s
s
timeout time
0: Self-adaption
Ethernet IP 1: 100M full duplex
P16.55 communication 2: 100M half duplex 0–4 0
rate setting 3: 10M full duplex
4: 10M half duplex
State of card slot 0: No card
P19.00 0–65535 0
1 1: PLC programmable card
State of card slot 2: I/O card
P19.01 0–65535 0
2 3: Incremental PG card
4: Incremental PG card with UVW
5: Ethernet communication card
6: DP communication card
7: Bluetooth card
State of card slot
P19.02 8: Resolver PG card 0–65535 0
3
9: CANopen communication card
10: WIFI card
11: PROFINET communication card
12: Sine-cosine PG card without CD
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Ethernet Communication Card Related function codes

Function Setting Default

Name Parameter description
code range value
signals
13: Sine-cosine PG card with CD
signals
14: Absolute encoder PG card
15: CAN master/slave communication
card
16: Modbus TCP communication card
17: EtherCAT communication card
18: BACnet communication card
19: DeviceNet communication card
20: Reserved
21: Ethernet IP communication card

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66001- 00751