FR-E800 Positioning over Profinet - iQ-R

FR-E800 Positioning over Profinet - iQ-R

This article describes how to positioning in FR-E800 inverters over Profinet

1. Introduction

The frequency inverters of the FR-E800EPB series are mainly intended for network control. This article describes the method of positioning the system using the Profinet network.


The FR-E800E inverters have two digital inputs (DI0 and DI1) to which the required functions can be assigned.

Before use check digital input logic


The frequency inverter of the FR-E800EPB series can be extended with virtual inputs and outputs when using the user telegram 102.


2. Block description, variable assignments

Function block

The following example shows the function block for controlling the FR-E800EPB frequency inverter via Profinet. The block has 16-bit control and status words, Input Commnad / Inverter Status, Input Command Extended / Inverter Status Extended, Setpoint and ActualValue words.

Control and status word

The control and status words are not editable, their syntax is shown below:

Bit

Control Word

Status Word

0

ON/OFF

Ready To Switch On

1

Coast Stop

Ready To Operate

2

Quick Stop

Operation Enabled

3

Enable Operation

Fault Present

4

-

Coast Stop Activated

5

Freeze Ramp

Quick Stop Activated

6

Enable Setpoint

Switching On Inhibited

7

Fault Acknowledge

Warning Present

8

-

-

9

-

Control Requested

10

Control By PLC

-

11

Target Torque

-

12

Direction Selection

-

13

Start HPR or Positioning

-

14

-

-

15

-

-

Input Command / Inverter Status (Extended)

The additional words Input Command / Inverter Status (Extended) are words with which it is possible to extend the functionality of the inverter with additional virtual digital inputs.

Inverter Status / Control Input Command - 20489

Bit

Control Input Command

Inverter status

0

-

RUN

1

-

During Forward Rotation

2

-

During Reverse Rotation

3

RH

Up to Frequency

4

RM

Overload alarm

5

RL

0

6

JOG

FU

7

Second Function Selection

ABC

8

Terminal 4 Input Selection

0

9

-

Safety Monitor Output 2

10

MRS

0

11

-

0

12

RES

0

13

-

0

14

-

0

15

-

Fault Occurrence

 

 

 

 

 

 

 

 

 

 

 

 



Inverter Status / Control Input Command (Extended) - 20488

Bit

Control Input Command

Inverter Status

0

NET X1

NET Y1

1

NET X2

NET Y2

2

NET X3

NET Y3

3

NET X4

NET Y4

4

NET X5

 

Setpoint and Actual value

Below are the words Setpoint and Actual value available in the inverter, to which the user can assign a function used in the program.

Setpoint

No

Parameter Number

Name

PNU

Access

1

1320

Target Position

24698

607Ah

R/W

2

1321

Profile Velocity

24705

6081h

R/W

3

1322

Profile Acceleration

24707

6083h

R/W

4

1323

Profile Deceleration

24708

6084h

R/W

5

1324

Inverter Reset

20482

5002h

R/W

6

1325

Homing Method

24728

6098h

R/W

7

1326

Homing Speed

24729

6099h

R/W

8

1327

Homing Acceleration

24730

609Ah

R/W

9

1328

Control Input Command

20489

5009h

R/W

10

1329

Control Input Command (Extended)

20488

5008h

R/W

 

Actual Value

No

Parameter Number

Name

PNU

Access

1

1330

Actual Position

24676

6064h

R

2

1331

Velocity Actual Value

24644

6044h

R

3

1332

Velocity Demand

24643

6043h

R

4

1333

Error Code

24639

603Fh

R

5

1334

Inverter Status

20489

5009h

R/W

6

1335

Inverter Status Extended

20488

5008h

R/W

7

1336

Safety Input Status

20992

5200h

R

3. Controlling the frequency converter via the Profinet network using the positioning function

Inverter configurations:


Homing execution:

In the first step, select the homing method from among the available:


Then it is required to define the homing speed and the acceleration and deceleration ramps:

24729 (6099h) Homing speeds

24730 (609Ah) Homing acceleration

Make sure that the RH, RM, RL or JOG signals are turned off

Switch on the inverter according to the diagram below

S0 After power supply

Control word

Status word

Bit 10

1

Bit 6

1

Bit 5

1

Bit 0

0

Bit 6

1

Bit 1

0

 

 

Bit 2

0

 

S1 Switching on inhibited

Control word

Status word

Bit 10

1

Bit 6

0

Bit 5

1

Bit 0

1

Bit 6

1

Bit 1

0

Bit 0

0

Bit 2

0

Bit 1

1

 

 

Bit 2

1

 

 

 

S2 Ready for switching on

Control word

Status word

Bit 10

1

Bit 6

0

Bit 5

1

Bit 0

1

Bit 6

1

Bit 1

1

Bit 0

1

Bit 2

0

Bit 1

1

 

 

Bit 2

1

 

 

 

S3 Operation

Control word

Status word

Bit 10

1

Bit 6

0

Bit 5

1

Bit 0

1

Bit 6

1

Bit 1

1

Bit 0

1

Bit 2

1

Bit 1

1

 

 

Bit 2

1

 

 

Bit 3

1

 

 

Then drive using the variable Bit 13 in the frequency inverter control word described as Start HPR or Positioning.

Drive to the demand position

In order to drive to a given position, in the first step, set the value of the RH bit (b_RH) to a high state.

Then, switch on the inverter according to the diagram below

S0 After power supply

Control word

Status word

Bit 10

1

Bit 6

1

Bit 5

1

Bit 0

0

Bit 6

1

Bit 1

0

 

 

Bit 2

0

 

S1 Switching on inhibited

Control word

Status word

Bit 10

1

Bit 6

0

Bit 5

1

Bit 0

1

Bit 6

1

Bit 1

0

Bit 0

0

Bit 2

0

Bit 1

1

 

 

Bit 2

1

 

 

 

S2 Ready for switching on

Control word

Status word

Bit 10

1

Bit 6

0

Bit 5

1

Bit 0

1

Bit 6

1

Bit 1

1

Bit 0

1

Bit 2

0

Bit 1

1

 

 

Bit 2

1

 

 

 

S3 Operation

Control word

Status word

Bit 10

1

Bit 6

0

Bit 5

1

Bit 0

1

Bit 6

1

Bit 1

1

Bit 0

1

Bit 2

1

Bit 1

1

 

 

Bit 2

1

 

 

Bit 3

1

 

 

Then drive using the variable Bit 13 in the frequency inverter control word described as Start HPR or Positioning.


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