COMBIVERT Generation 6

PROGRAMMING MANUAL | Fieldbus systems – V 2.9

Translation of the original manual

Document 20254714 EN 02
2 © 2021 KEB Automation KG
Signal words and symbols

1 Preface
The described hardware and software are developments of the KEB Automation KG. The
enclosed documents correspond to conditions valid at printing. Misprint, mistakes and
technical changes reserved.

1.1 Signal words and symbols

Certain operations can cause hazards during the installation, operation or thereafter.
There are safety informations in the documentation in front of these operations. Security
signs are located on the device or on the machine. A warning contains signal words
which are explained in the following table:

➢ Dangerous situation, which will cause death or serious injury in case

DANGER of non-observance of this safety instruction.

➢ Dangerous situation, which may cause death or serious injury in case

WARNING of non-observance of this safety instruction.

➢ Dangerous situation, which may cause minor injury in case of non-

CAUTION observance of this safety instruction.

➢ Situation, which can cause damage to property in case of non-ob-

NOTICE servance.

RESTRICTION
Is used when certain conditions must meet the validity of statements or the result is lim-
ited to a certain validity range.

➢ Is used when the result will be better, more economic or trouble-free

i by following these procedures.

1.2 More symbols

► This arrow starts an action step.
• / - Enumerations are marked with dots or indents.
=> Cross reference to another chapter or another page.

Note to further documentation.

Document search on www.keb.de

© 2021 KEB Automation KG 3

Laws and guidelines

1.3 Laws and guidelines

KEB Automation KG confirms with the CE mark and the EU declaration of conformity, that
our device complies with the essential safety requirements.
The EU declaration of conformity can be downloaded on demand via our website. Further
information is provided in the chapter "Certification".

1.4 Warranty
The warranty and liability on design, material or workmanship defects for the acquired
device is given in the general conditions of sale.

Here you will find our general sales conditions.

AGB

Further agreements or specifications require a written confirmation.

1.5 Support
Through multiple applications not every imaginable case has been taken into account. If
you require further information or if problems occur which are not treated detailed in the
documentation, you can request the necessary information via the local KEB Automation
KG agency.
The use of our units in the target products is beyond of our control and therefore
exclusively the responsibility of the customer.
The information contained in the technical documentation, as well as any user-specific
advice in spoken and written and through tests, are made to best of our knowledge and
information about the intended use. However, they are considered for information only
without responsibility and changes are expressly reserved, in particular due to technical
changes. This also applies to any violation of industrial property rights of a third-party. Se-
lection of our units in view of their suitability for the intended use must be done generally
by the user.
Tests can only be carried out by the customer within the scope of the intended end
use of the product (application). They must be repeated, even if only parts of hard-
ware, software or the unit adjustment are modified.

1.6 Copyright
The customer may progamming manual for use as well as further documents or parts
from it for internal purposes. Copyrights are with KEB Automation KG and remain valid in
its entirety.
This KEB product or parts thereof may contain foreign software, incl. free and/or open
source software. If applicable, the license terms of this software are contained in the in-
structions for use. The instructions for use are already available, can be downloaded from
the KEB website or can be requested from the respective KEB contact person.
Other wordmarks and/or logos are trademarks (™) or registered trademarks (®) of their
respective owners.

4 © 2021 KEB Automation KG

Copyright

Content
1 Preface .................................................................................................... 3
1.1 Signal words and symbols .......................................................................................................... 3
1.2 More symbols ............................................................................................................................... 3
1.3 Laws and guidelines .................................................................................................................... 4
1.4 Warranty ........................................................................................................................................ 4
1.5 Support ......................................................................................................................................... 4
1.6 Copyright ...................................................................................................................................... 4

2 Basic Safety Instructions ....................................................................... 9

2.1 Target group ................................................................................................................................. 9
2.2 Validity of this manual ................................................................................................................. 9
2.3 Electrical connection .................................................................................................................10
2.4 Start-up and operation ..............................................................................................................10

3 Product Description ............................................................................. 11

3.1 Functional overview ..................................................................................................................11
3.2 Used terms and abbreviations..................................................................................................11
3.3 Trademarks .................................................................................................................................13

4 KEB operating tools ............................................................................. 14

4.1 COMBIVIS studio 6 ....................................................................................................................14
4.2 COMBIVIS 6 ................................................................................................................................14
4.3 KEB Ftp Application ..................................................................................................................14

5 Instructions for the start-up of the fieldbus interfaces ...................... 15

5.1 Introducing explanation about KEB process data communication ......................................15
Definitions ....................................................................................................................................15
Basic structure of process data mapping .....................................................................................15
5.2 Identify KEB communication interfaces ..................................................................................17
Diagnostic interface .....................................................................................................................17
Multi-Realtime-Ethernet module on the real-time Ethernet interface ...........................................18
Fieldbus-specific handling of return values for parameter requests ............................................19
5.3 Adjust fieldbus parameter .........................................................................................................22
Selection of the fieldbus system via fb68 .....................................................................................22
Selection of the process data size via fb60 .................................................................................23
Selection of the configuration of the active fieldbus system ........................................................24
Selection of the node address of the fieldbus system .................................................................25
Selection of the transmission speed (CANopen) .........................................................................26
5.4 Restart the device ......................................................................................................................27
5.5 Check the fieldbus status .........................................................................................................29
Checking MAC addresses and IP configuration ..........................................................................29
Checking the fieldbus STATUS LED (NET ST) ...........................................................................33
Checking the exception state .......................................................................................................35
Check the fieldbus state and possible fieldbus error codes ........................................................36
5.6 Checking the process data mapping .......................................................................................41
Mapping of the process data ........................................................................................................41
Additional parameters for process data mapping for CANopen ..................................................43
Additional parameters for process data mapping for POWERLINK ............................................43
Fieldbus wizard ............................................................................................................................44

© 2021 KEB Automation KG 5

Copyright

5.7 Synchronization to the fieldbus master ..................................................................................45

Checking the synchronization ......................................................................................................45
Synchronous transfer of process data .........................................................................................47
5.8 Fieldbus watchdog ....................................................................................................................48

6 CANopen Interface ............................................................................... 49

6.1 Basics of the CAN BUS .............................................................................................................49
6.2 CAN Functions ...........................................................................................................................49
6.3 Sync Identifier ............................................................................................................................50
6.4 Broadcast objects ......................................................................................................................50
6.5 Communication objects ............................................................................................................50
6.6 Request/Response-Identifier (SDO) .........................................................................................51
6.7 Out/In-Identifier (PDO) ...............................................................................................................52
6.8 CANopen process data mapping .............................................................................................53
6.9 CANopen Bootup-Sequence .....................................................................................................57
6.10 Node guarding ............................................................................................................................59
6.11 Life guarding ..............................................................................................................................59
6.12 Emergency object ......................................................................................................................60
6.13 Heartbeat .....................................................................................................................................63
6.14 CAN-TelegramTypes ..................................................................................................................64
SDO-Telegrams ...........................................................................................................................64
SDO(rx)-Telegram ........................................................................................................................65
SDO(tx)-Telegram ........................................................................................................................65
RPDO1…4 telegram ....................................................................................................................67
TPDO1…4 telegram ....................................................................................................................68
6.15 CAN bit timing ............................................................................................................................69
6.16 CAN diagnosis............................................................................................................................69

7 EtherCAT interface ............................................................................... 70

7.1 Hardware and software version................................................................................................71
7.2 Sync Manager .............................................................................................................................72
Sync Manager Parameters ..........................................................................................................73
7.3 EtherCAT diagnosis and timing (control type K and P) .........................................................75
Diagnostic cells of the EtherCAT core (hardware) .......................................................................75
Time measurement EtherCAT Frame <=> Sync pulse ................................................................75
Application error counter ..............................................................................................................76
EtherCAT diagnosis assistant ......................................................................................................76
7.4 EtherCAT diagnosis (control type A) .......................................................................................77
7.5 Ethernet over EtherCAT (EoE) ..................................................................................................78
Start-up of Ethernet over EtherCAT .............................................................................................78
COMBIVIS functions via Ethernet over EtherCAT .......................................................................79
7.6 EtherCAT Hot-Connect ..............................................................................................................80

8 VARAN interface ................................................................................... 81

8.1 Electronic nameplate .................................................................................................................81
8.2 Dual Port Memory ......................................................................................................................81
8.3 Available commands .................................................................................................................81
8.4 DPM mapping .............................................................................................................................82
8.5 Parameterization data (asynchronous objects) ......................................................................84
8.6 Process data (isochronous objects) ........................................................................................84

6 © 2021 KEB Automation KG

Copyright

To activate the process data objects in the device, it is necessary to set the mapping of the
process data by using the parameters defined in chapter 5.6.1Mapping of the process data . ...............84
8.7 VARAN diagnosis.......................................................................................................................84

9 PROFINET interface .............................................................................. 85

9.1 PROFINET certificate .................................................................................................................85
9.2 PROFINET device description (GSDML) ..................................................................................85
9.3 PROFINET functions ..................................................................................................................85
Cyclic data exchange (process data communication) .................................................................85
Acyclic data exchange (parameter - channel) to PROFIdrive .....................................................85
Additional diagnostic channel via standard Ethernet communication ..........................................88
9.4 PROFINET diagnosis .................................................................................................................89
PROFINET MAC addresses ........................................................................................................89
PROFINET device name .............................................................................................................90

10 POWERLINK interface .......................................................................... 91

10.1 Basics of the POWERLINK BUS ...............................................................................................91
10.2 POWERLINK functions ..............................................................................................................92
Variable process data offset ........................................................................................................92
Mapping version ...........................................................................................................................92
10.3 POWERLINK diagnosis .............................................................................................................93
POWERLINK MAC address .........................................................................................................93
POWERLINK IP configuration .....................................................................................................94
10.4 Configuration of the KEB POWERLINK CN .............................................................................95

11 EtherNet/IPTM interface ......................................................................... 96

11.1 Data transmission ......................................................................................................................96
Explicit messaging (parameterization channel) ...........................................................................96
Implicit Messaging (process data communication) ......................................................................97
11.2 EtherNet/IP™ objects ................................................................................................................101
Identity Object (class code: 0x01) ..............................................................................................101
Assembly object (class code: 0x04)...........................................................................................101
TCP/IP Interface Object (class code: 0xF5) ..............................................................................102
Ethernet link object (class code: 0xF6) ......................................................................................102
KEB inverter object (class code: 0x64) ......................................................................................104
11.3 Status codes .............................................................................................................................104

12 Modbus/TCP interface ........................................................................ 107

12.1 Address range ..........................................................................................................................108
12.2 Supported functions ................................................................................................................109
Function 3: Read Multiple Registers ..........................................................................................109
Function 16: Write Multiple Registers ........................................................................................110
12.3 Error handling (exception handling) ......................................................................................111
Error messages ..........................................................................................................................111
Error codes .................................................................................................................................112
12.4 Modbus/TCP specific parameters ..........................................................................................112
Configure IP addressing of the device (fb114) ..........................................................................112
Addressing the subindex via the parameter channel (fb115) ....................................................113

© 2021 KEB Automation KG 7

Copyright

13 Annex .................................................................................................. 114

13.1 Mapping parameters and Sync manager parameters ..........................................................114
13.2 Fieldbus parameters ................................................................................................................117
13.3 Solutions for KEB specific fieldbus error codes ..................................................................120
13.4 Revision history .......................................................................................................................121

Figures
Figure 1: Timing of the LED flashing pattern ............................................................................................35
Figure 2: Fieldbus watchdog .....................................................................................................................48
Figure 3: COMBIVIS 6 Property-Editor .....................................................................................................53
Figure 4: CANopen Bootup-Sequence......................................................................................................57
Figure 5: Sync Manager Parameter Calc and Copy Time ........................................................................74
Figure 6: EtherCAT diagnosis assistant ....................................................................................................76
Figure 7: Client / Server Model ...............................................................................................................107
Figure 8: Address range ..........................................................................................................................108
Figure 9: Exception handling ...................................................................................................................111

Tables

Table 3-1: Used terms and abbreviations .................................................................................................12

Table 5-1: Conversion of the KEB return value 0 .....................................................................................19
Table 5-2: Conversion of the KEB return value 1 .....................................................................................19
Table 5-3: Conversion of the KEB return value 2 .....................................................................................20
Table 5-4: Conversion of the KEB return value 3 .....................................................................................20
Table 5-5: Conversion of the KEB return value 4 .....................................................................................20
Table 5-6: Conversion of the KEB return value 5 .....................................................................................20
Table 5-7: Conversion of the KEB return value 6 .....................................................................................20
Table 5-8: Conversion of the KEB return value 7 .....................................................................................20
Table 5-9: Conversion of the KEB return value 8 .....................................................................................20
Table 5-10: Conversion of the KEB return value 9 ...................................................................................21
Table 5-11: Conversion of the KEB return value 10 .................................................................................21
Table 5-12: Conversion of the KEB return value 11 .................................................................................21
Table 5-13: Conversion of the KEB return value 12 .................................................................................21
Table 5-14: Conversion of the KEB return value 13 .................................................................................21
Table 5-15: Conversion of the KEB return value 14 .................................................................................21
Table 5-16: non-resettable fb parameters .................................................................................................28
Table 5-17: Differences in the support of MAC / IP parameters ...............................................................29
Table 7-1: Differences between the mailbox sizes of the control types ....................................................70

8 © 2021 KEB Automation KG

Target group

2 Basic Safety Instructions

The COMBIVERT is constructed and built according to the state of the art and the recog-
nized safety regulations. Nevertheless, their use may create dangers to life and limb of
the user or third parties or damage to the machine and other material property.
The following safety instructions have been created by the manufacturer for the area of
electric drive technology. They can be supplemented by local, country- or application-spe-
cific safety instructions. This list is not exhaustive. Non-observance of the safety instruc-
tions by the customer, user or other third party leads to the loss of all claims against the
manufacturer.

Hazards and risks through ignorance!

NOTICE
➢ Read all parts of the instructions for use!
➢ Observe the safety and warning instructions!
➢ If anything is unclear, please contact KEB!

2.1 Target group

This manual is intended exclusively for electrical personnel. Electrical personnel for the
purpose of this manual must have the following qualifications:

• Knowledge and understanding of the safety instructions.

• Skills for installation and assembly.
• Start-up and operation of the product.
• Understanding about the function in the used machine.
• Recognition of dangers and risks of electrical drive technology.
• Knowledge about DIN IEC 60364-5-54.
• Knowledge about national accident prevention regulations (e.g. DGUV regulation
3).
• When using the operating software COMBIVIS, basic knowledge of the Windows
operating system is required.

2.2 Validity of this manual

This programming manual is part of the instructions for use.
The programming manual
• describes the parameterization
• of the Multi-Real-Time Ethernet module at F6A and S6A
• of the fieldbus interface at F6K/P, S6K/P
• contains only supplementary safety instructions.
• is only valid in connection with the installation manual and programming manual of
the respective device.

© 2021 KEB Automation KG 9

Electrical connection

2.3 Electrical connection

Electrical voltage at terminals and in the device !
DANGER Danger to life due to electric shock !
➢ For any work on the unit switch off the supply voltage and secure it
against switching on.
➢ Connect or disconnect all pluggable terminals in a deenergised state
only.
➢ Wait until all drives have stopped in order that no regenerative energy
can be generated.
➢ Await capacitor discharge time (5 minutes) if necessary, measure DC
voltage at the terminals.
➢ Never bridge upstream protective devices (also not for test pur-
poses).
➢ For operation, install all necessary covers and protective devices.

For a trouble-free and safe operation, please pay attention to the following instructions:
• The electrical installation shall be carried out in accordance with the relevant require-
ments.
• Cable cross-sections and fuses must be dimensioned according to the design of the
machine manufacturer. Specified minimum / maximum values may not be fallen below
/exceeded.
• With existing or newly wired circuits the person installing the units or machines must
ensure the EN requirements are met.
• For drive controllers that are not isolated from the supply circuit (in accordance with
EN 61800-5-1) all control lines must be included in other protective measures (e.g.
double insulation or shielded, earthed and insulated).
• When using components without isolated inputs/outputs, it is necessary that equipo-
tential bonding exists between the components to be connected (e.g. by the equipo-
tential line). Disregard can cause destruction of the components by equalizing cur-
rents.

2.4 Start-up and operation

The drive controller must not be started until it is determined that the installation complies
with the machine directive; Account is to be taken of EN 60204-1.

Software protection and programming!

WARNING Hazards caused by unintentional behavior of the drive!
➢ Check especially during initial start-up or replacement of the drive
converter if the parameterization is compatible to the application.
➢ Securing a unit solely with software-supported functions is not suffi-
cient. It is imperative to install external protective measures (e.g. limit
switch) that are independent of the drive converter.
➢ Secure motors against automatic restart.

10 © 2021 KEB Automation KG

Functional overview

3 Product Description
3.1 Functional overview
• Operation of the fieldbus interface
• Details of the EtherCAT interface
o EtherCAT with Multi-Real-Time Ethernet module
o EtherCAT without Multi-Real-Time Ethernet module
o Ethernet over EtherCAT (EoE)
• Details of the CANopen interface
• Details of the VARAN interface
• Details of the PROFINET interface
• Details of the POWERLINK interface
• Details of the EtherNet/IPTM interface

3.2 Used terms and abbreviations

Term Description
Adapter EtherNet/IP™ slave during process data communication
AS Automation Studio (B&R development environment for POWERLINK)
Assemblies Assemblies of supported communication channels for EtherNet/IP ™
CAN / CANopen Fieldbus system
CiA CAN in Automation association
CiA DS301 CAL based communication profile
CiA DS402 CAN unit profile for drives
CIP Common Industrial Protocol
Client Modbus/TCP name for the (fieldbus) master
CN Controlled Node (POWERINK Slave)
COMBIVERT KEB drive converter
COMBIVIS KEB start-up and parameterization software
Controller PROFINET master
Device PROFINET slave
DIN German Institute for Standardization
Recipient (consumer) EtherNet/IP™ master during SDO communication
EMC Electromagnetic compatibility
EN European standard
EoE Ethernet over EtherCAT
ESI file EtherCAT Slave Information file
EtherCAT Real-time Ethernet bus system; EtherCAT® is a registered trademark
and patented technology, licensed by Beckhoff Automation GmbH, Ger-
many. It is marked by the following logo:

Ethernet Real-time bus system - defines protocols, connectors, cable types

EtherNet/IP™ Real-time Ethernet bus system of the company Rockwell Automation

© 2021 KEB Automation KG 11

Used terms and abbreviations

Term Description
Explicit Messaging Exchange of data via request/response-oriented functions
Fieldbus (Real-time capable) communication protocol at field level
FSoE Functional safety via EtherCAT
GSDML PROFINET device description file
HSP5 Fast, serial protocol
IEC International standard
IEEE Institute of Electrical and Electronics Engineers
Implicit Messaging Exchange of data via an I/O connection
(Fieldbus) master Fieldbus node responsible for controlling the processes
MN Managing Node (POWERLINK Master)
Modbus/TCP Modbus protocol in which the data is transmitted via TCP/IP
Modulation Means in drive technology that the power semiconductors are controlled
MRTE Multi-Realtime-Ethernet
MTTF Mean service life to failure
ODVA Open DeviceNet Vendors Association
PD-In Process input data (from perspective of the control)
PD-Out Process output data (from perspective of the control)
PDO Process data object
POWERLINK Real-time Ethernet bus system of the company B&R
PROFINET Industrial Ethernet standard of the PROFIBUS user organization e.V.
Process data mapping Process data mapping (mapping of the configured process data)
Request Request (in connection with SDO communication)
Response Response (in connection with SDO communication)
Scanner EtherNet/IP™ master during process data communication
SDO Service Data Object
Transmitter (producer) EtherNet/IP™ Slave during SDO communication
Server Modbus/TCP name for the (fieldbus) slave
(Fieldbus) slave Fieldbus device that processes the individual subtasks
SYNC / SYNC-Interrupt Signal in the fieldbus communication for synchronization of the partici-
pants
VARAN Real-time Ethernet bus system of the company SIGMATEK
XDD POWERLINK device description file
Table 3-1: Used terms and abbreviations

12 © 2021 KEB Automation KG

Trademarks

3.3 Trademarks
CANopen® is registered trademark of CAN in AUTOMATION - International Users and
Manufacturers Group e.V.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Au-
tomation GmbH, Germany.
Safety over EtherCAT® is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.
EtherNET/IP is a trademark of ODVA, Inc.
ETHERNET POWERLINK is a registered trademark of Bernecker + Rainer Industrie El-
ektronik Ges.m.b.H.
PROFINET® is a registered trademark of PROFIBUS user organisation e.V.
VARAN-Bus is a registered trademark of Sigmatek GmbH &Co. KG.
Modbus/TCP is an open de facto standard for industrial communication.

© 2021 KEB Automation KG 13

COMBIVIS studio 6

4 KEB operating tools

4.1 COMBIVIS studio 6
COMBIVIS studio 6, the KEB software tool based on CODESYS IEC 61131.
Assistant-guided component selection, fieldbus configuration, drive parameterization, and
IEC 61131-3 project generation.

4.2 COMBIVIS 6
License-free operating and analysis program for KEB COMBIVERT.

4.3 KEB Ftp Application

This tool runs on Windows XP or higher with the .NET Framework. It uses a COM port or
the Windows IP stack to transfer files to and from KEB devices.

14 © 2021 KEB Automation KG

Introducing explanation about KEB process data communication

5 Instructions for the start-up of the fieldbus interfaces

The following chapter contains a short, general manual for the first start-up of the KEB
fieldbus interfaces as well as a description and explanation of the KEB process data com-
munication. More detailed information about the individual fieldbus systems can be found
in the following chapters.

➢ The topic of synchronisation is not described in this document.

i Information about the synchronization with the fieldbus master can be found
in the Programming Manual | Control Application / Compact / Pro.

5.1 Introducing explanation about KEB process data communication

Definitions
To describe the KEB process data communication, the following chapters use a combina-
tion of terms from the CANopen DS301 nomenclature and the KEB nomenclature.
The KEB pr parameters (communication profile objects) are named according to the
DS301 nomenclature. The process data communication of all fieldbus systems is mapped
via these parameters. The following terms are used:
• Process data object (PDO), single object which can be read or written via the process
data communication.
• Receive PDO (RPDO), PDO received from the inverter
• Transmit PDO (TPDO), PDO transmitted by the inverter
• Mapping, the mapping of the PDOs to the process data communication
• Communication parameters, CANopen specific parameters for setting the process
data communication (=> chapter 6.8 CANopen process data mapping)
In addition, KEB-specific nomenclature is also used in this document for the description of
process data communication. This includes the following terms:
• Process input data (PD-In), PDO received from the control (TPDO)
• Process output data (PD-Out), PDO sent by the control (RPDO)

Basic structure of process data mapping

KEB devices support up to four process data mappings for process output data and pro-
cess input data. The mapping of the PDOs is based on the CANopen DS301 standard.
The available number of process data mappings, the length of these mappings and the
maximum number of PDOs per mapping is depending on the used fieldbus system.
Further information can be found in the chapter 5.6 Checking the process data mapping
and in the fieldbus-specific chapters of this manual.

5.1.2.1 CANopen
CANopen uses four process data mappings. Each mapping supports up to 8 process
data objects. The maximum length of a CANopen process data mapping is 8 bytes.

5.1.2.2 EtherCAT
By default, EtherCAT supports up to 8 EtherCAT and 8 FSoE PDOs in one mapping. A
maximum of 32 bytes are available for EtherCAT. For FSoE, the number of bytes is spec-
ified by the mapping to be selected. The PDOs are divided KEB internally to the first and
second process data mapping. The EtherCAT objects are always mapped to the first pro-
cess data mapping. The FSoE objects are always mapped to the second process data
mapping.

© 2021 KEB Automation KG 15

Introducing explanation about KEB process data communication

The maximum EtherCAT process data mapping is variable. Both the length and the maxi-
mum number of PDOs can be changed via parameter fb60: process data size selection.
Depending on the set size of the EtherCAT process data mapping the minimum possible
EtherCAT cycle time changes.
The maximum size of the FSoE process data mapping cannot be changed.

5.1.2.3 VARAN, PROFINET, POWERLINK, EtherNet/IP and Modbus/TCP

VARAN, PROFINET, POWERLINK, EtherNet/IP and Modbus/TCP use the first process
data mapping. Up to 8 PDOs are supported. The maximum length of a process data map-
ping is 32 bytes.

16 © 2021 KEB Automation KG

Identify KEB communication interfaces

5.2 Identify KEB communication interfaces

KEB devices offer the following communication interfaces:
▪ One serial diagnostic interface for the connection with diagnostic tools (e.g.
COMBIVIS) or an operator.
▪ One CANopen fieldbus interface
▪ One real-time Ethernet interface
Depending on the control board version, EtherCAT (control type P), EtherCAT or VARAN
(control type K) or EtherCAT, PROFINET, POWERLINK and EtherNet/IP (control type A)
are available on the real-time Ethernet interface (control type A).
The diagnostic interface is always available parallel to the fieldbus interface.
It can be changed between CAN interface and real-time Ethernet interface.

NOTICE ➢ The different versions of the real-time Ethernet interface at control type
K are based on different hardware.
The selection of the real-time Ethernet protocol must therefore already
be observed when ordering.
➢ Parallel operation of CAN and real-time Ethernet interface is not possi-
ble.
➢ Parallel access (reading or writing) to the object directory by the diag-
nostic interface and the acyclic fieldbus channel may result in errors in
the acyclic fieldbus channel.
➢ In the device variant "F6 PRO" (device part numbers xxF6Pxx-xxxx),
the CAN interface is not available for all hardware revisions. Notes on
the support of the interface can be found in the associated installation
manual in chapter "Fieldbus interfaces".

Diagnostic interface

5.2.1.1 Diagnostic interface on devices of control type A and K

In order to use the diagnostic interface with KEB diagnostic tools (e.g. COMBIVIS) it is
necessary to configure them before. The diagnostic interface can be configured via the
following objects:
Index Id-Text Name Function
0x2B0D fb13 DIN66019 node id Node address of the unit
0x2B0E fb14 DIN66019 baudrate Baud rate

➢ The diagnostic interface is not made for permanent operation of the de-
vice.
i ➢
➢
Node address 1 and baud rate 38400 bit/s are set as default.
For more information about the diagnostic interface, please refer to the
Programming manual | Control Application / Compact / Pro.

© 2021 KEB Automation KG 17

Identify KEB communication interfaces

5.2.1.2 Diagnostic interface on devices of control type P

In order to use the diagnostic interface with KEB diagnostic tools (e.g. COMBIVIS) it is
necessary to configure them before. The diagnostic interface can be configured via the
following objects:
Index Subin- Id-Text Name Function
dex
0x2B0D 0 fb13 DIN66019 drive node ID Node address of the inverter
0x2B0E 0 fb14 DIN66019 drive baudrate Baud rate of the inverter
0x2B0F 1 fb15.1 application node ID Node address of the internal application
0x2B0F 2 fb15.2 debugger node ID Node address of the internal debugger
0 Node address where fieldbus telegrams are
0x2B10 fb16 fieldbus node injection
sent

Several object directories are available on the devices of control type P, which can be
read out via the diagnostic interface.
The object directory of the inverter is addressed via the node address and baud rate set
in parameters fb13 and fb14. (as well as on devices of control type A and K)
Communication to other object directories located on the device can be set via the sub-
parameters under fb15. Additional object directories are application and customer spe-
cific. For further information, please contact your sales partner.

➢ The diagnostic interface is not made for permanent operation of the de-
vice.
➢ Node address 1 and baud rate 38400 bit/s are set as default for communi-
i cation with the inverter.
➢ For more information about the diagnostic interface, please refer to the
Programming manual | Control Application / Compact / Pro.

Multi-Realtime-Ethernet module on the real-time Ethernet interface

The fieldbus systems of the real-time Ethernet interface are implemented at the devices
of control type A by using a Multi-Realtime Ethernet module (MRTE Module). The func-
tions of the control board are independent of this MRTE module.
Parameter fb80 is used to display information about the Multi-Realtime Ethernet module
in the COMBIVIS interface.
Parameter fb80 is an invisible parameter and is not displayed in the COMBIVIS interface
with the default settings. To display the invisible parameters in COMBIVIS the KEB pa-
rameterization must be changed under Tools -> Options.

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Identify KEB communication interfaces

Index Id-Text Name SubIdx Name-SubIdx Function

0x2B50 fb80 MRTE 0 Number of sub-indices
module
1 Support of the MRTE module
MRTE module support (MRTE module required / MRTE mod-
ule not required)
2 Statue of the MRTE module
MRTE module state
(ready / not found)
3 Version of the MRTE module
MRTE module version
(NetX50 / NetX51 / not found)

Cards of control type A can also be operated without the MRTE module if no Ethernet
based fieldbus system is used.
In order to avoid an error message on a device without MRTE module it is necessary to
set parameter fb80 Sub-Index 1 MRTE module support from "MRTE module required“ to
"MRTE module not required“.

Fieldbus-specific handling of return values for parameter requests

Feedback to parameter requests contain a return value.
For requests via the diagnostic interface, this is a KEB specific value. The possible values
are described in the Programming Manual | Control Application / Compact / Pro.
For SDO requests via the fieldbus interface the KEB specific return value is converted to
a fieldbus specific value.
An exception is the fieldbus system VARAN, via which the return values are not transmit-
ted and the fieldbus system Modbus/TCP, whose return values are described in chapter
12.3. Error handling (exception handling).

➢ There is no 1 to 1 conversion between KEB return values and fieldbus spe-

i cific return values. Therefore, for some fieldbus return values it is not possible
to infer to the KEB return value.
➢ e.g.: The EtherCAT return value 08000021h is assigned to the KEB return
values 4, 6, 8 and 14.

The following tables describe this conversion:

KEB return value 0: OK
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
00000000h 00000000h FFFFh 00000000h 0000h
No error No error No error No error Success
Table 5-1: Conversion of the KEB return value 0
KEB return value 1: Device not ready
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
05040000h 08000020h 11h 05040000h 0002h
SDO protocol timeout Device not ready Device not ready SDO protocol Resources not
timeout available
Table 5-2: Conversion of the KEB return value 1

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Identify KEB communication interfaces

KEB return value 2: Address or password invalid

EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06020000h 06010010h 00h 06010000h 000Ch
Object does not exist Password invalid Invalid parameter Object access not Object status
number supported conflict
Table 5-3: Conversion of the KEB return value 2
KEB return value 3: Data invalid
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06090030h 06090030h 17h 06090030h 0020h
Value range ex- Data invalid Data invalid Value range ex- Invalid parame-
ceeded ceeded ter
Table 5-4: Conversion of the KEB return value 3
KEB return value 4: Parameter write protected
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
08000021h 06010002h 01h 06010002h 000Eh
No transfer due to lo- Parameter write Parameter write Parameter write pro- Non-modifiable
cal settings protected protected tected attribute
Table 5-5: Conversion of the KEB return value 4
KEB return value 5: BCC error
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06040047h 06010000h 65h 06060000h 001Fh
Internal incompatibility
Operation not pos- Manufacturer- No access due to Manufacturer-
sible specific 0 hardware error specific
Table 5-6: Conversion of the KEB return value 5
KEB return value 6: Unit busy
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
08000021h 08000022h 14h 08000022h 0002h
No transfer due to lo- Unit busy Value inadmissi- Unit busy Resources not
cal settings ble available
Table 5-7: Conversion of the KEB return value 6
KEB return value 7: Service not available
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06040047h 05040001h 66h 06040047h 001Fh
Internal incompatibility
Service not availa- Manufacturer- Internal incompatibil- Manufacturer-
ble specific 1 ity specific
Table 5-8: Conversion of the KEB return value 7
KEB return value 8: Password invalid
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
08000021h 06010010h 67h 08000021h 000Ch
No transfer due to lo- Password invalid Manufacturer- No transfer (local Object status
cal settings specific 2 settings) conflict
Table 5-9: Conversion of the KEB return value 8

KEB return value 9: Telegram frame error

EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06060000h 08000020h 68h 06060000h 001Fh
No data transfer

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Identify KEB communication interfaces

EtherCAT CANopen PROFINET POWERLINK EtherNet/IP

No access due to Manufacturer- No access due to Manufacturer-
hardware error specific 3 hardware error specific
Table 5-10: Conversion of the KEB return value 9
KEB return value 10: Transmission error
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06060000h 06010000h 69h 06060000h 001Fh
No access due to Operation not pos- Manufacturer- No access due to Manufacturer-
hardware error sible specific 4 hardware error specific
Table 5-11: Conversion of the KEB return value 10
KEB return value 11: Subindex invalid
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06090011h 06090011h 03h 06090011h 0009h
Subindex invalid Subindex invalid Subindex invalid Subindex invalid Invalid attribute
data
Table 5-12: Conversion of the KEB return value 11
KEB return value 12: Language invalid
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06040047h 06090012h 6Ah 06040047h 001Fh
Internal incompatibility Language invalid Manufacturer- Internal incompatibil- Manufacturer-
specific 5 ity specific
Table 5-13: Conversion of the KEB return value 12
KEB return value 13: Address invalid
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
06020000h 06020000h 00h 06020000h 0016h
Object does not exist Invalid address Invalid parameter Object does not ex- Object does not
number ist exist
Table 5-14: Conversion of the KEB return value 13
KEB return value 14: Operation not possible
EtherCAT CANopen PROFINET POWERLINK EtherNet/IP
08000021h 06010000h 6Bh 06040043h 001Fh
No transfer due to lo- Operation not pos- Manufacturer- Parameter incom- Manufacturer-
cal settings sible specific 6 patibility specific
Table 5-15: Conversion of the KEB return value 14

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Adjust fieldbus parameter

5.3 Adjust fieldbus parameter

Selection of the fieldbus system via fb68

To set the fieldbus it is necessary to establish a connection between the device and the
KEB operating tool COMBIVIS.
For this purpose, the diagnostic interface EoE (=> Chapter Ethernet over EtherCAT
(EoE)) or the standard Ethernet channel can be used via the PROFINET ports on the de-
vices of control type A (=> Chapter 9.3.3 Additional diagnostic channel via standard
Ethernet communication.

➢ EtherCAT is set as default value for a newly delivered device. When using
i EtherCAT, it is not necessary to readjust the fieldbus type.

The selection of the fieldbus interface is controlled via the following object:
Index Id-Text Name Function
0x2B44 fb68 fieldbus selection Selection of the used fieldbus system

fb68 fieldbus selection 0x2B44

Valu
Name Notice
e
0 EtherCAT Fieldbus communication occurs via EtherCAT (Default)
1 CANopen Fieldbus communication occurs via CANopen
Fieldbus communication occurs via VARAN
2 VARAN Requires VARAN hardware version of control type K, not possible with control
type A or control type P
Fieldbus communication via PROFINET
3 PROFINET Requires hardware version of control type A, not possible with control type K or
control type P
Fieldbus communication via POWERLINK
4 POWERLINK Requires hardware version of control type A, not possible with control type K or
control type P
5 Reserved -
Fieldbus communication occurs via EtherNet/IPTM
Ether-
6 Requires hardware version of control type A, not possible with control type K or
Net/IPTM
control type P
Fieldbus communication occurs via Modbus/TCP
Requires special version of control type A, not possible with standard version of
7 Modbus/TCP
control type A, control type K or control type P
If you are interested, please contact your sales partner
A newly selected fieldbus system only becomes active after a restart.
Control boards of control type A require time to switch between two Ethernet based
fieldbus systems after restarting the device. (=> Chapter 5.4 Restart the device.
The error code "ERROR fieldbus type changed" in ru01 indicates that parameterfb68 has
changed since the last restart.
Changing the active fieldbus system resets the process data image. (Chapter 5.6 Check-
ing the process data mapping)

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Adjust fieldbus parameter

Selection of the process data size via fb60

After setting the required fieldbus system via fb68 fieldbus selection the required maxi-
mum process data size can be set via parameter fb60 process data size selection.
Parameter fb60 process data size selection influences the length and the maximum num-
ber of process data objects of the first process data mapping. Additionally, fb60 influ-
ences the minimum adjustable fieldbus cycle time.
The possible process data variables differ depending on the selected control type (A, K or
P). Currently, different process data sizes are only supported for the EtherCAT fieldbus
system.
If the active fieldbus system is changed via fb68 fieldbus selection, fb60 process data size
selection is reset to the default value.
For an optimal time behaviour of the software it is recommended to choose the process
data size selected by fb60 as small as possible.

Index Id-Text Name Function

0x2B3C fb60 process data size selection Selection of the size of the first PD mapping

fb60 process data size selection 0x2B3C

Bit Function Valu Plaintext Notice
e
0 8 objects, 32 byte, min 400µs cycle time Default, active for all fieldbuses
1 8 objects, 32 byte, min 250µs cycle time Control type P, EtherCAT
2 - Reserved for 125µs
0…7 mode
3 16 objects, 32 byte, min 500µs cycle time Only EtherCAT
4 32 objects, 64 byte, min 1000µs cycle time Control type A, P, EtherCAT
4 24 objects, 64 byte, min 1000µs cycle time Control type K, EtherCAT

If a process data size is selected via fb60 process data size selection, this influences the
configuration of the active fieldbus system, which is visible via fb67. Information on fb67
can be found in the following chapter.
A change of the process data size becomes active only after a restart of the software.
The error code "ERROR fieldbus type changed" indicates in ru01 whether the parameter
fb60 has changed since the last restart.
fb60 can also be changed if an active mapping is already set. However, the size of the
mapping (number of PDOs and length) must be permissible for the newly selected pro-
cess data size. Changes in fb60 only become active after a restart.
By writing on fb60, the minimum SYNC interval set via is22 Basic Tp can be influenced.
The value of is22 is not changed by writing on fb60.
SYNC intervals adjustable on KEB devices correspond to the minimum SYNC interval
adjustable via is22 or a full multiple thereof. A minimum value of the SYNC interval is pre-
set by fb60, which cannot be fallen below independently of is22. However, the cycle time
that can actually be set still depends on is22.

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Adjust fieldbus parameter

More information about is22 and the minimum SYNC interval can be found in the Pro-
gramming Manual | Control Application / Compact / Pro and in chapter 5.7 Synchroniza-
tion to the fieldbus master in this manual.

Selection of the configuration of the active fieldbus system

After setting the required process data size via fb60 process data size selection, the con-
figuration of the selected fielbus system can be checked via parameter fb67 fieldbus con-
figuration.
Bits 1 and 3 of fb67 can be changed by the user. Other bits are used to display the cur-
rent configuration and cannot be influenced.

Index Id-Text Name Function

0x2B43 fb67 fieldbus configuration Display of the fieldbus configuration

fb67 fieldbus configuration 0x2B43

Bit Function Valu Plaintext Notice
e

Synchronous 0 No SyncMode support No synchronous mode possible

0
mode 1 SyncMode support Synchronous mode possible

Enable exemplary 0 No Exemplary PDMapp No change to the mapping

1 PD mapping at Exemplary PdMapp A sample mapping is loaded during
startup 2
start-up
Enable applica- 0 No ApplAlarm Standard alarm messages
2 tion specific alarm
messages 4 ApplAlarm Not yet supported

Disable non-vola- 0 Non volatile Mapp Mapping is retained on reset

3 tile mapping pa-
rameter 8 Volatile Mapp Mapping is deleted by reset

PDO / SDO multi- 0 No PDO / SDO multiplexing PDOs, SDOs in the same Mid IRQ
4
plexing 16 PDO / SDO multiplexing One Mid IRQ PDOs, in the next SDOs
0 No PDO multiplexing All PDOs in the same Mid IRQ
5 PDO multiplexing
32 Multiplexing per 16 PDOs 16 PDOs per Mid IRQ

Bit 0 indicates whether a synchronous mode is supported for the selected fieldbus system
settings.
Bits 1 and 3 influence the process data mapping after a restart. If bit 1 is set the KEB de-
fault process data mapping is loaded after each restart. (aa16 to aa23 or aa16 and aa17
for CANopen). If bit 3 is set, the set mapping is deleted after a restart. The effect of bit1
overwrites the effect of bit3 . If both bits are set, the device starts with the KEB default
process data mapping.

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Adjust fieldbus parameter

5.3.3.1 Further information on the KEB default process data mapping can be found in chapter 5.6 Check-
ing the process data mapping
Bit 2 is not yet supported.
Bit 4 indicates whether process data and acyclic data are processed in the same interrupt
or in several interrupts in succession. The separate processing of process data and acy-
clic data avoids internal runtime problems.
Bit 5 indicates whether all process data are processed in the same interrupt or several
interrupts in succession. If this bit is active, the time required by the KEB device to pro-
cess the process data completely increases significantly. The separate processing of the
process data avoids internal runtime problems.

Selection of the node address of the fieldbus system

5.3.4.1 Selection of the CANopen node address

Each drive converter gets a unique CAN address, the CAN node ID.

Index Id-Text Name Function

0x2B40 fb64 CAN node ID Setting the CANopen node address value

➢ After delivery, all KEB drive controllers have the CAN node address "1". If
i several KEB drive converters are to be networked via CAN, these drive con-
verters must be given different CAN addresses. (=> Chapter 6 CANopen )

➢ On the devices of control type A and P it is possible to influence the CAN

i node address via the rotary coding switches located on the device. (See next
chapter)

5.3.4.2 Selection of the node address via the rotary coding switches (control type A and P)
For devices of control type A or P, the node address can be set via the rotary coding
switches at the device or via parameter fb101.
Index Id-Text Name Function
0x2B64 fb100 node ID switch value Indicates the read node address value of the rotary
coding switches.
0x2B65 fb101 adjusted node ID value Parameter for the alternative setting of the node ad-
dress.
0x2B66 fb102 effective node ID Active node address value in the device. Corresponds
to fb100 as long as fb101 = 0. Otherwise equivalent to
fb101. Updated when the device is restarted.

The effective node address value (fb102) is updated only when the device is restarted.
Without a restart, changes in fb100, fb101 have no effect.
The effective node address value (fb102) is accepted in fb64 CAN node ID when the de-
vice is restarted, if it corresponds to a value valid for CAN (1 - 127) and CANopen is the
active fieldbus system.
The effective node address value (fb102) affects the base IP configuration used by
PROFINET, POWERLINK, EtherNet/IP, Modbus/TCP and the Ethernet channel. (=>
Chapter 5.5.1.3 )

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Adjust fieldbus parameter

The effective node address value (fb102) affects the storage of the PROFINET device
name. fb101 is furthermore coupled to the writing of the PROFINET device name. (=>
Chapter 9.4.2 PROFINET device name)

Selection of the transmission speed (CANopen)

For the basic configuration of CANopen, the transmission speed must be selected by pa-
rameter fb66.
The bit-timing abides by the specifications of the working committee Physical-Layer of
CiA.
What kind of transmission rates are possible depends on the line length, the sum of the
deceleration times and the bit-timing and must be cleared up for each individual case.

Index Id-Text Name Function

0x2B42 fb66 CAN baud rate Setting the transmission speed

fb66 CAN baud rate 0x2B42

Value Name Meaning
1 - 20kBit
2 - 25kBit
3 - 50kBit
4 - 100kBit
5 - 125kBit
6 - 250kBit
7 - 500kBit
8 - 1MBit

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Restart the device

5.4 Restart the device

A restart must be carried out in order to activate the parameters changed in chapter 5.3
Adjust fieldbus parameter.
To carry out a restart, either parameter co09 "reset ctrl" can be set or the device is re-
started via the 24V supply voltage.

➢ Restarting the software interrupts communication to the device for a short pe-
i riod.

Index Id-Text Name Function

0x2509 co09 reset ctrl Trigger a software restart by writing the value 1. (Writ-
ing of value 0 has no effect)
The device can be reset to factory setting by restarting the software. This requires addi-
tional settings in parameter co08 .

Index Id-Text Name Function

0x2508 co08 reset options Software restart options

co08 reset options 0x2508

Value Name Notice
0 no options Parameter values are retained during software restart (default)
default after every re-
1 The default settings are loaded after each software restart
set (DER)
default after next reset
2 The default settings are only loaded after the next software restart
(DNR)
3 DER + DNR The default settings are loaded after each software restart

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Restart the device

To ensure that after resetting to factory settings the communication to the KEB device
can be restarted, some fieldbus parameters are not affected by the reset.
Parameter Name Control board version
fb13 DIN66019 nodeID x6A, x6K, x6P
fb64 CAN node ID x6A, x6K, x6P
fb66 CAN baud rate x6A, x6K, x6P
fb68 fieldbus selection x6A, x6K, x6P
fb71 fieldbus options x6P
fb80 MRTE module x6P
fb101 adjusted node ID value x6A
fb103 FB MAC Address (Base) x6A
fb104 PNET MAC Address (Port1) x6A
fb105 PNET MAC Address (Port2) x6A
fb106 MAC Address EthChannel x6P
fb108 Ethernet over fieldbus IP configuration x6A (PROFINET and Ether-
Net/IP)
fb109 Basic IP configuration x6A, x6P
fb113 EtherNet/IP Configuration x6A
fb114 Modbus/TCP Configuration x6A
Table 5-16: non-resettable fb parameters

➢ After a restart, the new selected Ethernet-based fieldbus stack is

NOTICE copied on the devices of control type A.
While copying is in progress, the fieldbus STATUS LED (NET ST)
and the control STATUS Led (DEV ST) will flash yellow. Further in-
formation on the LED flashing patterns can be found in chapter 5.5.2
Checking the fieldbus STATUS LED (NET ST)
➢ The selected fieldbus system can only be used after copying has
been completed.

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 Check the fieldbus status

5.5 Check the fieldbus status

To determine whether the fieldbus system is in the required state, the parameters pre-
sented in this chapter can be checked. Such a check is recommended after the active
fieldbus system has been changed and when fieldbus communication is started up for the
first time.

Checking MAC addresses and IP configuration

MAC addresses and IP configurations are required for the Ethernet based fieldbus sys-
tems PROFINET, POWERLINK and EtherNet/IP as well as the EtherCAT functionality
EoE. These are indicated via the parameters fb103 to fb106 as well as fb108 and fb109.
Depending on the used control type and the active fieldbus system, only a subset of
these parameters is supported. The following table gives an overview of these subsets.
Con- Fieldbus sys- fb103: FB fb104: PNet fb105: PNet MAC fb106: MAC fb108: Ether- fb109:
trol tem MAC Ad- MAC Ad- Address (Port 2) / Address net over Basic IP
type dress dress (Port MAC Address (EthChannel) fieldbus IP configu-
(Base) 1) (EoE Channel) configuration ration
S6A / EtherCAT - - - x x -
F6A PROFINET x x x x x x
POWERLINK x - - - - x
EtherNet/IP x - - x x x
Modbus/TCP x - - - x x
S6K / EtherCAT
- - - x x -
F6K
F6P EtherCAT - - x - x -
Ethernet - - - x - x
Table 5-17: Differences in the support of MAC / IP parameters

5.5.1.1 Checking the MAC addresses

The MAC addresses fb103 - fb105 on the devices of control type A are set to a fixed
value in the production process by a protected mechanism.
The MAC address fb106 on the devices of control type A is a virtual MAC address which
displays the EoE MAC address, the MAC address of the PROFINET Ethernet channel
and the MAC address of the EtherNet/IP Ethernet channel.
The virtual MAC address is set on the devices of control type A to a default value in-
tended for PROFINET. To the value of fb103: FB MAC Address (Base) + 3. An EoE ca-
pable EtherCAT master can overwrite this value. The value written by the EtherCAT mas-
ter is only stored on the device until the next restart.
On the devices of control type K, only fb106 is available as virtual MAC address of the
EoE channel. This can also be written by an EoE-capable EtherCAT master. The value is
retained until the next software restart.
On the devices of control type P, the Ethernet MAC address is always displayed in fb106.
This is set to a fixed value in the production process by a protected mechanism.
The virtual EoE MAC address is displayed in parameter fb105, with the name fb105: MAC
Address (EoE Channel) on devices of control type P. The EoE MAC address behaves as
on the devices of control type A and K.
Further information on the use of MAC addresses and the virtual MAC address can be
found in the corresponding chapters of the respective fieldbus systems.
=> Chapter 7.5.1 Start-up of Ethernet over EtherCAT
=> Chapter 9.4.1 PROFINET MAC addresses
=> Chapter 10.3.1 POWERLINK MAC address

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Check the fieldbus status

Index Id-Text Name Function

0x2B67 fb103 Fb MAC Address (Base) MAC address for Ethernet based fieldbus systems
0x2B68 fb104 PNet MAC Address (Port1) PROFINET MAC Address for Port1
PNet MAC Address (Port2) / PROFINET MAC Address for Port2 (A) / volatile
0x2B69 fb105
MAC Address (EoE Channel) EoE MAC address (P)
MAC address for all Ethernet channels (EoE (A, K),
0x2B6A fb106 MAC Address (EthChannel)
PROFINET Ethernet channel (A), Ethernet (P))

5.5.1.2 Checking the IP configuration for the fieldbus Ethernet channel

The IP configuration for the fieldbus Ethernet channel is displayed via parameter fb108
Ethernet over fieldbus IP configuration. (EoE, PROFINET Ethernet channel, EtherNet/IP
Ethernet diagnostic channel, Modbus/TCP diagnostic channel)
Index Id-Text Name SubIdx Name-SubIdx Function
0x2B6C fb108 Ethernet over 0 Number of sub-indices
fieldbus IP con- 1 IP address IP Address
figuration 2 subnet mask Subnet mask
3 gateway address Gateway address

5.5.1.2.1 fb108: Ethernet over fieldbus IP configuration at EtherCAT

If EoE is active, parameter fb108 is set by the EtherCAT master. Changes to fb108 via
COMBIVIS do not affect the active configuration.
Further information about EoE can be found in chapter 7.5 Ethernet over EtherCAT
(EoE).

5.5.1.2.2 fb108: Ethernet over fieldbus IP configuration at PROFINET

If PROFINET is active, parameter fb108 displays the IP configuration for the parallel
Ethernet channel. The default value of the IP configuration for the parallel Ethernet chan-
nel corresponds to the default value of the PROFINET basic IP configuration(fb109) in-
creased by 100. (fb109: 192.168.0.100 leads to fb108: 192.168.0.200)
Parameter fb108 can be changed by the PROFINET host and by the procedures de-
scribed in this chapter. Changes are stored permanently.
If PROFINET is active, parameter fb108 can change its value when the device is re-
started. This depends on the effective node address value (fb102).
– If the effective node address value is 254, fb108 is reset to the default value.
– If the effective node address value is 241 to 243, fb108 is set to 0.
– For other values of the effective node address, fb108 is not changed. The value set
before the restart is retained.

Further information on the effective node address value (fb102) can be found in chapter
5.3.4 Selection of the node address.
If PROFINET is active, parameter fb108 can change its value by writing to fb109. This
depends on the value in fb108.
– If fb108 corresponds to the default value (192.168.0.200; 255.255.255.0; 0), then
fb108 is set to fb109 when writing to fb109, with an offset of 100 on the IP address.

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Check the fieldbus status

– If fb108 does not correspond to the default value, fb108 is not affected by writing to
fb109.

➢ Example:
i ➢ fb108 corresponds to the default value. (192.168.0.200; 255.255.255.0; 0)
➢ fb109 is written by the PROFINET host to (192.168.100.5; 255.255.252.0; 0).
➢ fb108 will automatically become (192.168.100.105; 255.255.252.0; 0).
➢ With a new write access to fb109, fb108 does not change, because fb108
does not correspond to the default value.

When accessing via the COMBIVIS parameters, fb108 is not updated until the gateway of
fb109 is written.
More information on the parallel Ethernet channel for PROFINET can be found in chapter
9.3.3 Additional diagnostic channel via standard Ethernet communication

5.5.1.2.3 fb108: Ethernet over fieldbus IP configuration at EtherNet/IP

If PROFINET is active, parameter fb108 displays the IP configuration for the Ethernet di-
agnostic channel.
The value of the IP configuration for the EtherNet/IP diagnostic channel corresponds to
the value of the EtherNet/IP basic IP configuration(fb109) increased by a subnet. (e.g.:
fb109: 192.168.0.100 leads to fb108: 192.168.1.100)

5.5.1.2.4 fb108: Ethernet over fieldbus IP configuration at Modbus/TCP

If Modbus/TCP is active, parameter fb108 indicates the IP configuration of the Ethernet
diagnostic channel. It can only be changed via COMBIVIS.

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Check the fieldbus status

5.5.1.3 Checking the Basic IP Configuration

The basic IP configuration for the Ethernet-based fieldbus systems PROFINET, POWER-
LINK, EtherNet/IP and Modbus/TCP is displayed on the devices of control type A via pa-
rameter fb109.
On the devices of the control type P the IP configuration for the PROFINET and the
Ethernet channel is displayed via parameter fb109.
Parameter fb109 is not available on devices of control type K.
Index Id-Text Name SubIdx Name-SubIdx Function
0x2B6D fb109 Basic IP con- 0 Number of sub-indices
figuration 1 IP address IP Address
2 subnet mask Subnet mask
3 gateway address Gateway address
The default value corresponds to the basic IP configuration (fb109):
IP address 192.168.0.100
Subnet mask: 255.255.255.0
Gateway: 0.0.0.0
The value of the basic IP configuration is changed on the devices of control type A and P
depending on the effective node address value (fb102) after restarting the device.
Further information on the effective node address value (fb102) can be found in chapter
5.3.4 Selection of the node address.
How the IP configuration is affected depends on the fieldbus system selected in fb68
fieldbus selection.

Fieldbus system Effective node address IP configuration Changeable via

value (fb102) fb109
PROFINET 0 – 240, 244 – 253, Is not affected Yes
255
241 - 243 0 Yes
0
0
254 192.168.0.100 No
255.255.255.0
0
POWERLINK 1 – 239, 241 - 254 192.168.100.Node ad- No, except for the
dress value gateway
255.255.255.0
192.168.100.254
Fieldbus sys- IP configuration Effective node address IP configuration Changeable via
tem method (fb113) value (fb102) fb109
Bootp or 0 Is not affected No, value is speci-
DHCP(default) fied by the fieldbus
system
EtherNet/IP
Static 1 - 255 192.168.0.Node address No
value
255.255.255.0
0

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Check the fieldbus status

IP configuration Effective node address IP configuration Changeable via

method (fb114) value (fb102) fb109

Bootp or 0 Is not affected No, value is speci-

DHCP(default) fied by the fieldbus
system
Modbus/TCP Static 1 - 255 192.168.0.Node address No
value
255.255.255.0
0
It is possible to change the basic IP configuration via the COMBIVIS interface. Depending
on the active fieldbus system, further steps must be taken to activate the basic IP configu-
ration in the device:
• For PROFINET, POWERLINK, EtherNet/IP and Modbus/TCP a restart is required to
accept the IP configuration. For POWERLINK only the gateway can be changed via
the COMBIVIS interface.
• The Ethernet channel on the devices of control type P automatically adopts the new
IP configuration.

➢ The node address values 0, 240 and 255 for a POWERLINK device are inva-
i lid values. The IP configuration is set to 192.168.100.0 in this case. Connec-
tion with the device via POWERLINK is then not possible.
➢ Modbus/TCP only shows the current IP configuration in fb109 if the IP config-
uration "static" is selected.

Checking the fieldbus STATUS LED (NET ST)

The status of the fieldbus can be determined with the STATUS LED (NET ST). It is a two-
colour LED with the basic colours green and red. If no error has occurred, the LED should
display the flashing pattern "Operational".
A detailed description of the status LEDs can be found in the Programming Manual | Con-
trol Application / Compact / Pro.

5.5.2.1 Light patterns of the different fieldbus systems

Fieldbus system Flashing Color State
Continuous flashing Green Pre-Operational
Flickering Green Boot
Single lightning Green Safe Operational
On Green Operational
EtherCAT
Continuous flashing Red Error in the configuration
Flickering Red Error during boot
Single lightning Red Error during status change
Double lightning Red Watchdog error

Continuous flashing Green Pre-Operational

Single lightning Green Stopped
On Green Operational
Flickering Green Error in the initialization
CANopen
Continuous flashing, double Green, red Error in Pre-Operational
flash
Single flash, double flash Green, red Error: CANopen stopped
Single flash, on Red, green Error in Operational

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Check the fieldbus status

Fieldbus system Flashing Color State

Continuous flashing Red Initialization

VARAN
On Green Operational

Continuous flashing Green PROFINET LED flashing

PROFINET
mode

Single lightning Green Pre-Operational 1

Double lightning Green Pre-Operational 2
Triple lightning Green Ready for Operational
POWERLINK On Green Operational
Continuous flashing Green Stopped
Flickering Green Ethernet mode
On Red Error

Continuous flashing Green No connection

Continuous flashing Red Timeout
EtherNet/IP On Green connected
On Red Double IP
Continuous flashing Green, red Self test

Continuous flashing Green No connection

Modbus/TCP
On Green connected

All fieldbus systems Off - Fieldbus system not active

5.5.2.2 Description of the LED light pattern

Flashing Description
Off Sensor is constantly off
On Sensor is constantly on
Continuous Cyclic change with 200ms on/200ms off
flashing
Single lightning Cyclic change with 200ms on/1000ms off
Double light- Cyclic change with 200ms on/200ms off/200ms on/1000ms off
ning
Triple lightning Cyclic change with 200ms on/200ms off/200ms on/200ms off/200ms on/1000ms off
Flickering Cyclic change with 50ms on/50ms off

34 © 2021 KEB Automation KG

Check the fieldbus status

5.5.2.3 Timing of the flashing patterns

21
1 1fghfh
Figure 1: Timing of the LED flashing pattern

Checking the exception state

Occurred errors can be determined by reading out of the exception state and by reading
out of the error code via the diagnostic interface.

Index Id-Text Name Function

0x2C01 ru01 exception state Display of an occurred error as plaintext
0x2101 st01 error code Display of an occurred error as error code

The following error codes can occur in case of errors in the fieldbus module:
ru01 Error text Description st01
24 ERROR fieldbus memory Incorrect drive software configuration 8: Fault
58 ERROR fieldbus watchdog Timeout of the fieldbus watchdog 8: Fault
124 General Fieldbus Error General Fieldbus Error 8: Fault
125 ERROR fieldbus type changed Fieldbus system changed 8: Fault

"General Fieldbus Error" summarizes all errors that may occur during initialization and
execution of the selected fieldbus system. The actual occurred error is listed in parameter
fb91 described in chapter 5.5.4

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Check the fieldbus status

Check the fieldbus state and possible fieldbus error codes.

Error "ERROR fieldbus type changed" is triggered when changing the fieldbus system via
fb68. The error code indicates that a restart is necessary to activate the newly selected
fieldbus system. Further information can be found in chapter 5.3.1 Selection of the
fieldbus system via fb68 .
A more detailed description of parameter ru01 and a list of all error codes can be found in
the Programming Manual | Control Application / Compact / Pro.

Check the fieldbus state and possible fieldbus error codes

Using the diagnostic interface, both the status (fb90) and possible error codes (fb91) can
be determined from the fieldbus parameters. Parameters fb90, fb91 indicate the sup-
ported fieldbus systems on the respective control board.

Index SubIdx Id-Text Name Function

0x2B5A 0 fb90 fieldbus state (number) Number of available fieldbus systems
Status display of the EtherCAT fieldbus
0x2B5A 1 fb90 EtherCAT fieldbus state
system (register AL status)
Status display of the CANopen fieldbus
0x2B5A 2 fb90 CANopen fieldbus state
system (Register CO_RunState)
Status display of the VARAN fieldbus sys-
0x2B5A 3 fb90 VARAN fieldbus state
tem (only control type K)
Status display of the PROFINET state ma-
0x2B5A 3 fb90 PROFINET fieldbus state
chine (only control type A)
Status display of the POWERLINK state
0x2B5A 4 fb90 POWERLINK fieldbus state
machine (only control type A)
Status display of the EtherNet/IP state ma-
0x2B5A 5 fb90 EtherNet/IP fieldbus state
chine (only control type A)
Status display of the Modbus/TCP state
0x2B5A 6 fb90 ModbusTCP fieldbus state
machine (only control type A)
0x2B5B 0 fb91 fieldbus error code (number) Number of available fieldbus systems
Error code of the EtherCAT fieldbus system
0x2B5B 1 fb91 EtherCAT fieldbus error code
(Register AL Status Code)
Error-Code of the CANopen fieldbus sys-
0x2B5B 2 fb91 CANopen fieldbus error code
tem (Register EmergencyErrField)
Error code of the VARAN fieldbus system
0x2B5B 3 fb91 VARAN fieldbus error code
(only control type K)
Error code of the PROFINET fieldbus sys-
0x2B5B 3 fb91 PROFINET fieldbus error code
tem (only control type A)
POWERLINK fieldbus error Error code of the POWERLINK fieldbus
0x2B5B 4 fb91
code system (only control type A)
Error code of the EtherNet/IP fieldbus sys-
0x2B5B 5 fb91 Ethernet/IP fieldbus error code
tem (only control type A)
ModbusTCP fieldbus error Error code of the EtherNet/IP fieldbus sys-
0x2B5B 6 fb91
code tem (only control type A)

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Check the fieldbus status

5.5.4.1 fb90: fieldbus state

fb90 displays the state of all fieldbus systems which are supported by the used hardware.
The state of all inactive fieldbus systems is „0xFFFF: Fieldbus inactive“.
➢ The displayed values for PROFINET are KEB-defined values which do not
i ➢
correspond to the PROFINET communication profile.
Modbus/TCP currently does not support plain texts.

Fieldbus system Value Plaintext

0x0001 ECAT_ALSTATUS_INIT
0x0002 ECAT_ALSTATUS_PREOP
0x0003 ECAT_ALSTATUS_BOOTSTRAP
EtherCAT
0x0004 ECAT_ALSTATUS_SAFEOP
0x0008 ECAT_ALSTATUS_OPERATIONAL
0x0010 ECAT_ALSTATUS_ERROR

0x0000 CAN301_STATE_INITIALISATION
0x0004 CAN301_STATE_STOPPED
CANopen
0x0005 CAN301_STATE_OPERATIONAL
0x007F CAN301_STATE_PREOPERATIONAL

0x0000 VARAN_STATE_INIT
VARAN
0x0001 VARAN_STATE_RUNNING

0x0000 PROFINET_STATE_OFF
0x0001 PROFINET_STATE_INIT_DONE
PROFINET 0x0002 PROFINET_STATE_COMM_READY
0x0004 PROFINET_STATE_COMM_RUN
0x0008 PROFINET_STATE_SYNC_ACTIVE

0x0000 EPSG_DS301_NMT_GS_OFF
0x0019 EPSG_DS301_NMT_GS_INITIALISING
0x001C EPSG_DS301_NMT_CS_NOT_ACTIVE
0x001D EPSG_DS301_NMT_CS_PREOP
0x001E EPSG_DS301_NMT_CS_BASIC_ETH
0x0029 EPSG_DS301_NMT_GS_RESET_APPL
POWERLINK
0x0039 EPSG_DS301_NMT_GS_RESET_COMM
0x004D EPSG_DS301_NMT_CS_STOPPED
0x005D EPSG_DS301_NMT_CS_PREOP2
0x006D EPSG_DS301_NMT_CS_READYTOOP
0x0079 EPSG_DS301_NMT_GS_RESET_CONFIG
0x00FD EPSG_DS301_NMT_CS_OPERATIONAL

0x0100 ENIPSLV_STATE_SETMACADDR
0x0200 ENIPSLV_STATE_SETCONFIG
EtherNet/IP 0x0300 ENIPSLV_STATE_REGAP
0x0400 ENIPSLV_STATE_CHANNELINIT
0x0A00 ENIPSLV_STATE_RUN_IDLE

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Check the fieldbus status

5.5.4.2 fb91: fieldbus error code

Error codes for the supported fieldbus systems are displayed in fb91. The state of all in-
active fieldbus systems is „0xFFFF: Fieldbus inactive“. If no error has occurred, the state
is normally "0x0000".
Fieldbus-specific error codes are also displayed in fb91. Only the KEB specific error
codes are displayed here. Information on the fieldbus-specific error codes can be found in
the documentation of the respective fieldbus system.
Further information and solutions for some of the KEB specific error codes listed here can
be found in the appendix under 12.3 Solutions for KEB specific fieldbus error codes .

➢ The errors listed in fb91 have nothing to do with the error codes in ru01. fb91
i describes only errors which are related to bus systems.
➢ If an error occurs during the initialization process (INIT_ERR), the error code:
General fieldbus error is additionally displayed in ru01.
➢ If an error code is displayed in fb91, which is neither listed here nor in the
specification of the respective fieldbus system, please contact your KEB con-
tact person.
➢ Modbus/TCP currently does not support plain texts.

Fieldbus system Value Plaintext

0xFE70 INIT_ERR_PD
0xFED4 INIT_ERR_HSP5_NR_PD
0xFF9C INIT_ERR_HSP5_PD
0xFFCE INIT_ERR_SHM
0xFFE2 INIT_ERR_NETX_BASE
0xFFEC INIT_ERR_I2C_MUTEX
Error codes for
0xFFF5 INIT_ERR_FB_SLV_OR_DRV
all fieldbus sys-
0xFFF6 INIT_ERR_I2C
tems
0xFFF7 INIT_ERR_LED_TMR
0xFFF8 INIT_ERR_LED_DRV
0xFFF9 INIT_ERR_BASE_DRV_NOT_ONLINE
0xFFFA INIT_ERR_MSG_QUEUE
0xFFFB INIT_ERR_FB_TYPE_INVALID
0xFFFF Fieldbus inactive

0x0000 ECAT_AL_STATUS_CODE_NO_ERROR
0x0001 ECAT_AL_STATUS_CODE_UNSPECIFIED_ERROR
0x0011 ECAT_AL_STATUS_CODE_INVALID_REQUESTED_STATE_CHANGE
0x0012 ECAT_AL_STATUS_CODE_UNKNOWN_REQUESTED_STATE
0x0013 ECAT_AL_STATUS_CODE_BOOTSTRAP_NOT_SUPPORTED
0x0014 ECAT_AL_STATUS_CODE_NO_VALID_FIRMWARE
0x0015 ECAT_AL_STATUS_CODE_INVALID_MAILBOX_CONFIGURATION_BOOT-
STRAP
0x0016 ECAT_AL_STATUS_CODE_INVALID_MAILBOX_CONFIGURATION_PREOP
EtherCAT
0x0017 ECAT_AL_STATUS_CODE_INVALID_SYNC_MANAGER_CONFIGURATION
0x0018 ECAT_AL_STATUS_CODE_NO_VALID_INPUTS_AVAILABLE
0x0019 ECAT_AL_STATUS_CODE_NO_VALID_OUTPUTS
0x001A ECAT_AL_STATUS_CODE_SYNCHRONIZATION_ERROR
0x001B ECAT_AL_STATUS_CODE_SYNC_MANAGER_WATCHDOG
0x001C ECAT_AL_STATUS_CODE_SYNCTYPES_NOT_COMPATIBLE
0x001D ECAT_AL_STATUS_CODE_INVALID_OUTPUT_CONFIGURATION
0x001E ECAT_AL_STATUS_CODE_INVALID_INPUT_CONFIGURATION
0x001F ECAT_AL_STATUS_CODE_INVALID_WD_CONFIGURATION

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Check the fieldbus status

Fieldbus system Value Plaintext

0x0020 ECAT_AL_STATUS_CODE_SLAVE_NEEDS_COLD_START
0x0021 ECAT_AL_STATUS_CODE_SLAVE_NEEDS_INIT
0x0022 ECAT_AL_STATUS_CODE_SLAVE_NEEDS_PREOP
0x0023 ECAT_AL_STATUS_CODE_SLAVE_NEEDS_SAFEOP
0x0024 ECAT_AL_STATUS_CODE_INVALID_INPUT_MAPPING
0x0025 ECAT_AL_STATUS_CODE_INVALID_OUTPUT_MAPPING
0x0026 ECAT_AL_STATUS_CODE_INCONSISTENT_SETTINGS
0x002C ECAT_AL_STATUS_CODE_FATAL_SYNC_ERROR
0x0030 ECAT_AL_STATUS_CODE_DC_INVALID_SYNC_CONFIG
0x0031 ECAT_AL_STATUS_CODE_DC_INVALID_LATCH_CONFIG
0x0032 ECAT_AL_STATUS_CODE_DC_PLL_SYNC_ERROR
0x0033 ECAT_AL_STATUS_CODE_DC_SYNC_IO_ERROR
0x0034 ECAT_AL_STATUS_CODE_DC_SYNC_MISSED
0x0035 ECAT_AL_STATUS_CODE_INVALID_SYNC_CYCLE_TIME
0x0036 ECAT_AL_STATUS_CODE_DC_SYNC0_CYCLE_TIME
0x0037 ECAT_AL_STATUS_CODE_DC_SYNC1_CYCLE_TIME
0xFE0A ECAT_SLAVE_FLAGS_INIT_ERROR
0xFE0B ECAT_NO_STACK_INIT_ERROR
0xFE0C ECAT_SSI_INIT_ERROR
0xFFD8 INIT_ERR_EOE
0xFFFC ECAT_EOE_INIT_ERROR
0xFFFD ECAT_MBX_INIT_ERROR
0xFFFE ECAT_NODEID_INIT_ERROR

0x0000 CAN301_ERROR_NO_ERROR
0x0010 CAN301_ERROR_GENERIC_ERROR
0x0020 CAN301_ERROR_CURRENT
0x0030 CAN301_ERROR_VOLTAGE
0x0040 CAN301_ERROR_TEMPERATURE
0x0050 CAN301_ERROR_DEVICE_HARDWARE
0x0060 CAN301_ERROR_DEVICE_SOFTWARE
CANopen 0x0070 CAN301_ERROR_ADDITIONAL_MODULES
0x0080 CAN301_ERROR_MONITORING
0x0090 CAN301_ERROR_EXTERNAL
0x00F0 CAN301_ERROR_ADDITIONAL_FUNCTIONS
0x00FF CAN301_ERROR_DEVICE_SPECIFIC
0xFFCC CAN_ERROR_HB_TIMEOUT
0xFFCD CAN_ERROR_NG_TIMEOUT
0xFFFE INIT_ERR_CAN_DRV

0x0000 VARAN_NO_ERROR
VARAN
0xFFFE VARAN_FPGA_INIT_ERROR

0x0000 PROFINET_NO_ERROR
0x0001 PROFINET_ERROR_INIT
0xFD12 PROFINET_PD_CFG_FLAGS_ERROR
0xFD44 PROFINET_PD_CFG_ERROR
0xFE0A PROFINET_SLAVE_FLAGS_INIT_ERROR
PROFINET
0xFE0B PROFINET_NO_STACK_INIT_ERROR
0xFE0C PROFINET_MSG_QUEUE_INIT_ERROR
0xFF38 PROFINET_MAC_ADDR_ERROR
0xFFFC PROFINET_MAC_ADDR_INV
0xFFFE PROFINET_CLIENT_INV

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Check the fieldbus status

Fieldbus system Value Plaintext

0x0000 EPSG_DS301_ERR_NO_ERR
0xFC0E EPL_EPSG_MAP_INIT_ERROR
0xFD44 EPL_PD_SIZE_ERROR
POWERLINK
0xFE0A EPL_SLAVE_FLAGS_INIT_ERROR
0xFE0B EPL_NO_STACK_INIT_ERROR
0xFE0C EPL_MSG_QUEUE_INIT_ERROR

0xFE0A ENIP_SLAVE_FLAGS_INIT_ERROR
0xFE0B ENIP_NO_STACK_INIT_ERROR
EtherNet/IP 0xFE0C ENIP_MSG_INIT_ERROR
0xFF38 ENIP_MAC_ADDR_INIT_ERROR
0xFFFE ENIP_CLIENT_INV

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Checking the process data mapping

5.6 Checking the process data mapping

Mapping of the process data

The mapping of the process data for all fieldbuses occurs CANopen-conform via the map-
ping objects 0x1600 - 0x1603 (process output data) and 0x1A00 - 0x1A03 (process input
data).
A KEB mapping object can contain up to 8 parameters and up to 32 bytes by default. A
KEB mapping object can contain a maximum of 32 parameters and 64 bytes. To enable
smaller SYNC intervals, a KEB mapping object can also contain only up to 8 objects and
16 bytes. For more information, see chapter 5.3.2 Selection of the process data size via
fb60.
EtherCAT supports one mapping object each for unsafe process output data (0x1600)
and unsafe process input data (0x1A00) as well as one mapping object each for safe
(FSoE) process output data (0x1601) and safe process input data (0x1A01).
CANopen supports all KEB mapping objects. However, a CANopen mapping object can
only contain up to 8 bytes.
VARAN, PROFINET, POWERLINK, EtherNet/IP and Modbus/TCP support only one map-
ping object for process output data (0x1600) and one mapping object for process input
data (0x1A00).
Mapping parameters cannot be changed as long as the mapping is active. The mapping
is active as long as the subindex 0 of the respective mapping object corresponds to a
value unequal zero.
To set the process data mapping it is recommended to use the COMBIVIS Fieldbus Wiz-
ard. (=> Chapter 5.6.4 Fieldbus wizard)
In order to avoid invalid process data settings, the mapping of the process data is deleted
when the fieldbus system is changed and the process data are deactivated. The following
special cases must be observed:
• When changing to EtherCAT on the devices of control type A, the default parameters
(user parameters: aa16 – aa23) are loaded into the first mapping object and acti-
vated.
For PROFINET, the device must be restarted again after the required process data has
been set. (=> Chapter 5.4 Preface).
For Modbus/TCP the number of registers to be set depends on the set mapping. More
information in chapter 12.1 Address range.
Further information on selecting the fieldbus system can be found in chapter 5.3.1 Selec-
tion of the fieldbus system via fb68 .

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Checking the process data mapping

Index SubIdx Id-Text Name Function

0 1st receive PDO mapping Number of the mapped objects
0x1600 -
1…8 (process output data) Mapping of the process data object
0 2nd receive PDO mapping Number of the mapped objects
0x1601 -
1…8 (only CANopen/FSoE) Mapping of the process data object
0 3rd receive PDO mapping Number of the mapped objects
0x1602 -
1…8 (only CANopen) Mapping of the process data object
0 4th receive PDO mapping Number of the mapped objects
0x1603 -
1…8 (only CANopen) Mapping of the process data object

Index SubIdx Id-Text Name Function

0 1st transmit PDO mapping Number of the mapped objects
0x1A00 -
1…8 (process input data) Mapping of the process data object
0 2nd transmit PDO mapping Number of the mapped objects
0x1A01 -
1…8 (only CANopen/FSoE) Mapping of the process data object
0 3rd transmit PDO mapping Number of the mapped objects
0x1A02 -
1…8 (only CANopen) Mapping of the process data object
0 4th transmit PDO mapping Number of the mapped objects
0x1A03 -
1…8 (only CANopen) Mapping of the process data object

The description of the mapped objects occurs in the following format:

Bit Meaning
0…7 Object length in bits (8, 16 or 32)
8…15 Subindex of the mapped object
16…31 Index of the mapped object

5.6.1.1 The KEB default process data mapping

The KEB default process data mapping differs depending on the control type of the used
device and the active fieldbus system.
The KEB default process data mapping is an empty, inactive process data mapping for
devices of the control type K and P.
On the devices of the control type A for EtherCAT, PROFINET, EtherNet/IP and Mod-
bus/TCP the KEB default process data mapping contains the user parameters aa16 to
aa23. All 8 user parameters are active.
The default mapping is not activated if CANopen is the active fieldbus system on the de-
vices of control type A.
The KEB default process data mapping is an empty, inactive process data mapping if
POWERLINK is the active fieldbus system on the devices of control type A.
Index Subidx Value Function
0x1600 0 8 Number of mapped process output objects = 8
0x1600 1 0x29100020 Index = 0x2910, Subindex = 0x00, Length = 0x20 (32bit)
0x1600 2 0x29110020 Index = 0x2911, Subindex = 0x00, Length = 0x20 (32bit)

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Checking the process data mapping

Index Subidx Value Function

0x1600 3 0x29120020 Index = 0x2912, Subindex = 0x00, Length = 0x20 (32bit)
0x1600 4 0x29130020 Index = 0x2913, Subindex = 0x00, Length = 0x20 (32bit)
0x1600 5 0x29140020 Index = 0x2914, Subindex = 0x00, Length = 0x20 (32bit)
0x1600 6 0x29150020 Index = 0x2915, Subindex = 0x00, Length = 0x20 (32bit)
0x1600 7 0x29160020 Index = 0x2916, Subindex = 0x00, Length = 0x20 (32bit)
0x1600 8 0x29170020 Index = 0x2917, Subindex = 0x00, Length = 0x20 (32bit)
0x1A00 0 8 Number of mapped process output objects = 8
0x1A00 1 0x29100020 Index = 0x2910, Subindex = 0x00, Length = 0x20 (32bit)
0x1A00 2 0x29110020 Index = 0x2911, Subindex = 0x00, Length = 0x20 (32bit)
0x1A00 3 0x29120020 Index = 0x2912, Subindex = 0x00, Length = 0x20 (32bit)
0x1A00 4 0x29130020 Index = 0x2913, Subindex = 0x00, Length = 0x20 (32bit)
0x1A00 5 0x29140020 Index = 0x2914, Subindex = 0x00, Length = 0x20 (32bit)
0x1A00 6 0x29150020 Index = 0x2915, Subindex = 0x00, Length = 0x20 (32bit)
0x1A00 7 0x29160020 Index = 0x2916, Subindex = 0x00, Length = 0x20 (32bit)
0x1A00 8 0x29170020 Index = 0x2917, Subindex = 0x00, Length = 0x20 (32bit)

Additional parameters for process data mapping for CANopen

The following communication parameters are only used by CANopen. More detailed infor-
mation about these parameters can be found in Chapter 6 CANopen Interface .

➢ The communication parameters 0x1400 and 0x1800 specified in the Ether-

i CAT and POWERLINK specification are not displayed in COMBIVIS due to
overlap with the CANopen communication parameters.

Index Subidx Id-Text Name Function

RPDO communication pa-
0 Number of elements of the structure
0x1400 - rameter
-
0x1403 1 cob-ID CAN-ID, control information
2 transmission type Process data transmission type

Index Subidx Id-Text Name Function

TPDO communication pa-
0 Number of elements of the structure
rameter
1 cob-ID CAN-ID, control information
0x1800 - 2 transmission type Process data transmission type
-
0x1803
3 inhibit time Min. distance between CAN telegrams
4 reserved -
5 event time Timer for asynchronous transmission

Additional parameters for process data mapping for POWERLINK

Unlike other bus systems, the offset for process data in POWERLINK is variable. The
process data offset is specified in bits and is displayed via parameters fb111 and fb112.

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Checking the process data mapping

By default, the process data offset of a parameter corresponds to the sum of the length of
all preceding parameters.
A process data offset set for POWERLINK is not visible in the COMBIVIS Wizard.
Further information on the process data offset can be found in chapter 10.2.1 Variable
process data offset.

Index Id-Text Name Function

Array with 8 elements, display of the freely se-
0x2B6F fb111 POWERLINK RPDO offset
lectable process data offset for process output data
Array with 8 elements, display of the freely se-
0x2B70 fb112 POWERLINK TPDO offset
lectable process data offset for process input data

Fieldbus wizard
The COMBIVIS 6 fieldbus wizard provides a graphical representation of the process data
mapping. It is possible to set the process data mapping via the fieldbus wizard, but the
specifications of the active fieldbus system must be observed.
The following boundary conditions are automatically considered by the fieldbus wizard:
▪ Data type (the complete value of the mapping parameter is calculated depending on
the data type).
▪ Properties (depending on the object properties (RO,RW, mapping allowed), the
mapping is allowed or disabled)
The wizard displays how many PDOs are available, how many parameters can be used
per PDO and how many bytes are available per PDO.
It is expected that from version 6.7.0 it will also be possible to set the required process
data size via the wizard.
The wizard can also be used to load examples of process data mapping.
Depending on the used fieldbus system, the device description files corresponding to the
fieldbus system can also be exported. The following files can be created by the wizard:
• ESI files for EtherCAT
• EDS files for CANopen
• XDD files for POWERLINK
For VARAN, PROFINET, EtherNet/IP and Modbus/TCP no description files can be ex-
ported.
Further information on the fieldbus wizard can be found in the COMBIVIS manual.

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Synchronization to the fieldbus master

5.7 Synchronization to the fieldbus master

To ensure that the process data process every fieldbus cycle, KEB devices can be syn-
chronized to the fieldbus cycle using an internal PLL. It is essential that a SYNC interrupt
is made available by the fieldbus master. Synchronization to the fieldbus cycle occurs au-
tomatically as soon as a SYNC interrupt is available.
For devices of control type A and K, it must be ensured in synchronous operation that the
time of reception and processing of the process data do not overlap. (=> Chapter 5.7.2
Synchronous transfer of process data)

Checking the synchronization

Using the diagnostic interface, the synchronization between fieldbus master and KEB de-
vice can be checked.

5.7.1.1 Synchronization interval and measured synchronization interval

Parameter fb10 sync interval is automatically set to the synchronization interval of the
fieldbus master after power-on, if such a value is provided by the fieldbus system. This is
valid for EtherCAT, PROFINET and POWERLINK.
If such a value is not available for the fieldbus system, fb10 is set once after power-onto
the measured synchronization interval (fb19). This is valid for CANopen and VARAN.
EtherNet/IP and Modbus/TCP do not support synchronous application, therefore neither
fb10 nor fb19 is set.
The KEB device synchronizes to the synchronization interval displayed in fb10. fb10 can
also be adjusted later by the user via COMBIVIS.
Index Id-Text Name Function
Activation of the synchronous operating mode
0x2B0A fb10 sync interval
Specification for the cycle time
Time difference between 2 StartOfCycle Interrupts.
0x2B13 fb19 measured sync interval
Measured cycle time of the active fieldbus system
Independent of fb10 the distance between two synchronization signals is measured in
fb19. If fb10 and fb19 agree, the device is synchronous to the fieldbus cycle and bit 8
(synchronous) is set in: st00: statusword.
The synchronization interval can also be read out via the Sync Manager parameters for
EtherCAT. (=> Chapter 7.2.1 Sync Manager Parameters

KEB devices cannot support any SYNC intervals. The supported SYNC intervals depend
on the minimum SYNC interval that can be set in is22. Only whole multiples of this inter-
val up to a limit of 16ms are supported.
If a wrong SYNC interval is specified or measured, the device internally synchronizes to
the next appropriate SYNC interval value. This value is then also displayed in fb10.

© 2021 KEB Automation KG 45

Synchronization to the fieldbus master

➢ Depending on the used fieldbus system, the minimum cycle time may vary.
i ➢ The minimum permissible cycle time for the respective fieldbus system is
specified in the corresponding chapter of this manual. If there are no specifi-
cations for the minimum cycle time, all values that can be set by is22 are sup-
ported.

Wrong SYNC interval values are acknowledged with an error code by using EtherCAT
and the device does not synchronize. To signal this error, the error code ECAT_AL_STA-
TUS_CODE_INVALID_SYNC_CYCLE_TIME is displayed in parameter fb91.
More information about is22 and the minimum SYNC interval can be found in the Pro-
gramming Manual | Control Application / Compact / Pro.

5.7.1.2 Interpolation time period

Additionally to the display in fb10, the synchronization interval is displayed in the pr pa-
rameter group under parameter interpolation time period. The synchronization interval is
divided into a value (interpolation time value) and an exponent (interpolation time index).
Writing to interpolaton time period affects the value in fb10 and vice versa.

Index Name Subindex Function

interpolation time value Setting of the value of the cycle time
interpolation time
0x60C2 interpolation time index Specification of the exponent of the cy-
period
cle time

5.7.1.3 Synchronization PLL and synchronous bit

Parameters fb11: set sync level and fb12: KP sync PLL can influence the synchronous bit
in st00: statusword and the synchronization PLL.
Only if the synchronous bit in st00: statusword is set, the application is in synchronous
mode and the process data are processed accordingly. If the synchronous bit is not set,
the process data are processed in the asynchronous mode. (=> Chapter 5.7.2 Synchro-
nous transfer of process data)
Further information on the synchronization PLL and the statusword can be found in the
Programming Manual | Control Application / Compact / Pro.

Index Id-Text Name Function

Tolerance value between measured and set SYNC
0x2B0B fb11 set sync level
interval
0x2B0C fb12 KP sync PLL KP value of the controller of the SYNC-PLL

5.7.1.4 Checking of the process data exchange

Different parameters are available for checking the successful process data exchange
between fieldbus master and KEB device for the individual device types. These parame-
ters are fieldbus-specific and are described in the diagnostic chapters of the individual
fieldbus systems, with the exception of the fieldbus-independent fb31.
The synchronization intervals wherein no process data were received are counted in
fb31. fb31 is reset with each restart of the device.

46 © 2021 KEB Automation KG

Synchronization to the fieldbus master

During the initialization phase of most fieldbus systems, synchronization interrupts are
often already sent, although process data communication has not yet started. After initiali-
zation it is common that the value of fb31 is higher than 0. It is significant for synchronous
communication that fb31 fb31 does not increase during operation

Index Id-Text Name Function

Number of synchronization intervals wherein no pro-
0x2B1F fb31 no PDO data per sync cnt
cess data was received

Synchronous transfer of process data

In synchronous operation, the processing of the process data is depending on the SYNC
interrupt of the active fieldbus system.
In the synchronous operating mode, the process data is read from the device and written
to the bus only once per fieldbus cycle. During a synchronous fieldbus cycle, the process
data are updated once in the object directory and activated in the control.
If CANopen is the active fieldbus system, the transmission and reception of process data
additionally depends on the subparameter transmission typef of parameters 1st - 4th
RPDO communication parameter and 1st - 4th TPDO communication parameter in the pr
group. (=> Chapter 6.8 CANopen process data mapping)
In asynchronous operation, the process data are processed as fast as possible. The pro-
cessing time of the process data is then only dependent on the set minimum SYNC inter-
val (is22).
Asynchronous operation is supported by all fieldbus systems except POWERLINK.

The correct behaviour of the inverter can only be guaranteed in syn-

NOTICE chronous operation if the sending of the PD telegrams by the master
and the access to the PD telegrams by the KEB device do not occur
in the same time window!
➢ Due to the temporal inaccuracy during transmission and receiving the
process data, an overlapping of the time windows can cause that no
or several process data per cycle are received / transmitted.
➢ The time window for the access of the KEB device to the PD tele-
gram is between 0 and 150us after the SYNC interrupt.
➢ After accessing the PD telegram, the data is first stored temporarily.
The actual transfer of the values from the PD telegram occurs at the
end of each SYNC cycle.
➢ The time window for accessing the PD telegram is displayed graph-
ically in the COMBIVIS fieldbus wizard for EtherCAT on the devices
of control type K and P. (=> Chapter 7.3.4 EtherCAT diagnosis as-
sistant)

© 2021 KEB Automation KG 47

Fieldbus watchdog

5.8 Fieldbus watchdog

The fieldbus watchdog function can be used to switch the drive to a defined state in case
of communication loss.
The function can be parameterized via the following objects:
Index Id-Text Name Function
Time in milliseconds until the watchdog is triggered (0 =
0x2A15 pn21 fieldbus watchdog time
off)
0x2A16 pn22 E.fb watchdog stop mode Error response
If the fieldbus watchdog is active, a process data telegram must be received within the
watchdog time specified in pn21, otherwise the selected event in parameter pn22 is trig-
gered.
Receiving a process data telegram resets the fieldbus watchdog.
The fieldbus watchdog is activated with the first received process data telegram if a time
unequal 0 is set in pn21.
Further information on the fieldbus watchdog can be found in the Programming manual |
Control Application / Compact / Pro.

tmax Triggering level

① Waiting for activation
② Communication
③ Error
21
1 1fghfh
Figure 2: Fieldbus watchdog

48 © 2021 KEB Automation KG

Basics of the CAN BUS

6 CANopen Interface
6.1 Basics of the CAN BUS
Here we like to introduce the system of the CAN (Controller-Area-Network) BUS and also
explain some terms that are frequently used in the following.

➢ On KEB devices the CANopen specification is the basis for all bus functionali-
i ties. The object dictionary as well as the mapping functionality are CANopen
conform. The basis for the implementation of other bus systems is always
CANopen.

The CAN is a multi master system, i.e. each user has access to the BUS and can send
telegrams.
In order to avoid invalid conditions during simultaneous access of two users, the CAN-
BUS knows a so-called arbitration phase, which defines the telegram beginning.
In case of access conflicts all users recognize during this arbitration, who sends the low-
est telegram number (identifier).
Then this user can continue to send his telegram completely, without having to start from
the beginning again.
Now all other (willing-to-send) users pass over into the receiving status and abort their
telegram for the time being.
Thus it is specified that lower telegram numbers automatically have priority over higher
numbers.
CAN telegrams can contain a maximum of 8 byte user data.
The term logical CAN master used in the following, refers to the CAN user, who is re-
sponsible for the control of the entire CAN system.
Even if there are physically only masters at CAN, in most applications there will be one or
several users who exercise control.
In this combination the KEB frequency inverter is considered as recipient of orders (logi-
cal slave).

6.2 CAN Functions

The CAN protocol is uniformly standardized for the data backup layer.
This protocol is completely processed by a CAN master.
Furthermore, the CAN in Automation association (CiA) has passed a standard for the
higher protocol layer that was named CAN Application Layer (CAL).
Based on this standard the „CAL-based Communication Profile“ (CiA,DS301) was pub-
lished in September 1995. This standard is the basis for all CANopen device profiles.
In this standard, a certain subset of the CAL standards is selected. The communication
profile defines, among other things, a minimum capability device.
That is the minimum required functionality, which a CANopen node must make available.
The present CAN interface connection realizes such a minimum capability device.

© 2021 KEB Automation KG 49

Sync Identifier

6.3 Sync Identifier

cob-ID sync message Var 0x1005
Bit Value Function
0…10 128 Standard SYNC Identifier (non-adjustable)
11…28 0 0
29 0 F6 supports only value 0: 11-Bit CAN-ID
30 0 F6 does not generate a SYNC message
31 0 reserved

6.4 Broadcast objects

Address Broadcast object
0dec. (000h) NMT
128dec. (080h) SYNC

6.5 Communication objects

from address to address Communication object
129 (081h) 255 (0FFh) EMCY
385 (181h) 511 (1FFh) TPDO1
513 (201h) 639 (27Fh) RPDO1
641 (281h) 767 (2FFh) TPDO2
769 (301h) 895 (37Fh) RPDO2
897 (381h) 1023 (3FFh) TPDO3
1025 (401h) 1151 (47Fh) RPDO3
1153 (481h) 1279 (4FFh) TPDO4
1281 (501h) 1407 (57Fh) RPDO4
1409 (581h) 1535 (5FFh) SDO(tx)
1537 (601h) 1663 (67Fh) SDO(rx)
1793 (701h) 1919 (77Fh) NMT Error Control

50 © 2021 KEB Automation KG

Request/Response-Identifier (SDO)

6.6 Request/Response-Identifier (SDO)

Over the request-identifier any CAN node can request the reading or writing of a parame-
ter value.
The response-identifier is reserved for the appropriate response of the frequency inverter.
The mechanism of request and response is also referred to as acknowledged service.
The CANopen communication profile combines these functions under the term Service
Data Object (SDO):
SDO(rx) = Request-Identifier = 1536 + CAN Node ID = 600h + CAN Node ID
SDO(tx) = Response-Identifier = 1408 + CAN Node ID = 580h + CAN Node ID
The CAN Node ID at the request is the Node ID of the receiver, the CAN Node ID at the
response is the Node ID of the transmitter.
With an SDO - read access, the length of the addressed parameter and the parameter
value are returned.
With an SDO - write access always 4 bytes are transferred as parameter value. For pa-
rameters with smaller length the remaining bytes are set to 0. In these cases, pay atten-
tion to the position of the parameter value within the telegram.
Example:
A read/write request is sent to the bus node with the CAN node ID = 30: used identifier
(Request-Identifier) = 1566(dec) = 61E (hex)
The bus node with the CAN Node ID = 30 answers with a read/write confirmation: used
identifier (Response Identifier) = 1438(dez) = 59E (hex)

➢ Basically, the function of the SDO is completely sufficient, to control the

i KEB F6 drive converter via CAN.
Each parameter value in the inverter can be changed or inquired herewith.

The SDO channel is continuous operated independent of the process data transfer.

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Out/In-Identifier (PDO)

6.7 Out/In-Identifier (PDO)

The CAN master can give the frequency inverter unaddressed and unconfirmed data via
the Out identifier.
The identification Out is based on the data direction from master to slave.
The frequency inverter transfers new data unaddressed and unconfirmed to the CAN
master via the In identifier.
This function is called Process-Data-Object (PDO) by the communication profile. The pro-
cessing of process data occurs with the minimum cycle time of 500 µs per activated PDO.
Four process data objects (PDOs) with two object parts Out/In are available at COMBI-
VERT F6.

They are addressed as follows:

PDO1(rx) = Out-Identifier = 200h + CAN Node ID
PDO1(tx) = IN-Identifier = 180h + CAN Node ID
PDO2(rx) = Out-Identifier = 300h + CAN Node ID
PDO2(tx) = IN-Identifier = 280h + CAN Node ID
PDO3(rx) = Out-Identifier = 400h + CAN Node ID
PDO3(tx) = IN-Identifier = 380h + CAN Node ID
PDO4(rx) = Out-Identifier = 500h + CAN Node ID
PDO4(tx) = IN-Identifier = 480h + CAN Node ID

The four process data objects (PDO) can be assigned each with 8 bytes per direction.
That means: up to eight objects with a total of 8 bytes can be transferred per PDO.

52 © 2021 KEB Automation KG

CANopen process data mapping

6.8 CANopen process data mapping

Address Parameter
0x1400 1st RPDO communication parameter 0x1800 1st TPDO communication parameter
0x1401 2nd RPDO communication parameter 0x1801 2nd TPDO communication parameter
0x1402 3rd RPDO communication parameter 0x1802 3rd TPDO communication parameter
0x1403 4th RPDO communication parameter 0x1803 4th TPDO communication parameter
0x1600 1st transmit PDO mapping 0x1A00 1st transmit PDO mapping
0x1601 2nd transmit PDO mapping 0x1A01 2nd transmit PDO mapping
0x1602 3rd transmit PDO mapping 0x1A02 3rd transmit PDO mapping
0x1603 4th transmit PDO mapping 0x1A03 4th transmit PDO mapping

The four process data objects (PDOs) can be assigned each with 8 bytes per direction via
the mapping parameters.
The following combinations of objects with a certain data size are possible:
2x Long 1x Long, 2x Word 1x Long, 1x Word, 2x Byte
4x Word 3x Word, 2x Byte 2x Word, 4x Byte
8x Byte
Both the data size of a parameter and the property "Available for process data" can be
checked in the "Property Editor" in COMBIVIS 6.

Figure 3: COMBIVIS 6 Property-Editor

2
1 1fghfh
The definition
1 of the target for the data in the PDO(rx) telegrams respectively the source
for the data in the PDO(tx) telegrams completely abides by the regulations of the CANo-
pen communication profile.

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CANopen process data mapping

Here a complex structured object (parameter) defines the PDO-mapping for each data
direction.
Another object per data direction defines the communication definition (Communication
parameter).

1st RPDO communication parameter 00000200h + Node_Id 0x1400

2nd RPDO communication parameter Default 00000300h + Node_Id 0x1401
Struct
3rd RPDO communication parameter value: 00000400h + Node_Id 0x1402
4th RPDO communication parameter 00000500h + Node_Id 0x1403
Name cob-ID Long Subindex 1

Bit Valu Function Notice

e
11-bit CAN-ID for the base frame of the
0…10 CAN
Bit 0…10 read-only Indicates to which identifier the RPDO for
the transfer of the process output data is
11…28 0 29-bit-CAN-ID is not supported transmitted.
Additionally there are control information
0: 11-Bit CAN-ID
29 0 for the RPDO contained in the highest bits.
1: 29-Bit CAN-ID
A changed value takes effect immediately
Remote Frame on the appropriate iden- and is stored non-volatile.
0
tifier is responded When process data processing is switched
30
on (bit 31 from "1" to "0"), process output
1 Remote frame is not answered data processing is switched on.
The processing of the process output Bit 0...28 indicate the RPDO identifier plus
0 Node_Id and cannot be changed. During
data is activated.
31 writing these bits are ignored.
The processing of the process output
1
data is deactivated.
Name transmission type Byte Subindex 2

Value Function Notice

The currently active process data out
will be send to the controller after every
0…240
value SYNC command (identifier =
128dec, data length = 0) is received. Defines, when and how this object is trans-
241…253 reserved mitted on the CAN bus.
A changed value takes effect immediately
(asynchronous, manufacturer-specific) and is stored non-volatile.
The process output data are transferred ! KEB inverters support this function only
254
to the FI control as soon as at least one limited. Process data are no longer interpo-
byte has changed. lated correctly with values unequal to 1,
(asynchronous, profile-specific) 254 and 255.
The process output data are transferred
255
to the FI control in the fastest possible
grid (minimum cycle time).

54 © 2021 KEB Automation KG

CANopen process data mapping

1st receive PDO mapping 0x1600

2nd receive PDO mapping 0x1601
Struct
3rd receive PDO mapping 0x1602
4th receive PDO mapping 0x1603
Subindex 0: number (Byte)
Value Function

0…8 Indicates the number of the mapped objects.

Subindex 1…8 (Long)

Bit Function Meaning
Byte: 0x08
Object Defines an object mapping. The in-
0…7 Word: 0x10
length dex, subindex and the object length
Long: 0x20 are specified in bits.
8…15 Subindex Subindex Writing of subindex 1...8 requires
that the count (subindex 0) is set to
Parameter address (Bit 16…23 = 0.
16…31 Index
Lowbyte/ Bit 24…31 = Highbyte)

1st TPDO communication parameter 00000180h + Node_Id 0x1800

2nd TPDO communication parameter Default 00000280h + Node_Id 0x1801
Struct
3rd TPDO communication parameter value: 00000380h + Node_Id 0x1802
4th TPDO communication parameter 00000480h + Node_Id 0x1803
Name cob-ID Long Subindex 1
Bit Value Function Notice
11-bit CAN-ID for the base
0…10 frame of the CAN
Bit 0…10 read-only Indicates on which identifier the TPDO for the
11…28 0 29-bit-CAN-ID is not supported transfer of the process input data is transferred.
Additionally there are control information for the
0: 11-Bit CAN-ID TPDO contained in the highest bits.
29 0
1: 29-Bit CAN-ID A changed value takes effect immediately and is
Remote Frame on the appro- stored non-volatile.
0 When process data processing is switched on (bit
priate identifier is responded
30 31 from "1" to "0"), process output data processing
1 Remote frame is not answered is switched on.
Bit 0…28 indicate the TPDO identifier plus
The processing of the process Node_Id and cannot be changed.
0
input data is activated. During writing these bits are ignored.
31
The processing of the process
1
input data is switched off.

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CANopen process data mapping

1st TPDO communication parameter 00000180h + Node_Id 0x1800

2nd TPDO communication parameter Default 00000280h + Node_Id 0x1801
Struct
3rd TPDO communication parameter value: 00000380h + Node_Id 0x1802
4th TPDO communication parameter 00000480h + Node_Id 0x1803
Name transmission type Byte Subindex 2
Value Function Notice
(Synchronous, acyclic)
0 At every receipt of a SYNC a TPDO telegram is transmitted on
CAN.
Defines, when
(Synchronous, cyclic)
and how this ob-
Number of SYNC telegrams before a TPDO telegram is sent on
ject is transmit-
CAN.
ted on the CAN
Value = 1 means that in the OPERATIONAL state a TPDO tele-
1…240 gram is transmitted to CAN immediately after the receipt of a SYNC
bus.
telegram. A changed value
becomes imme-
For all values 1...240 applies, the SYNC telegram triggers the
diately active.
transmission of the respective TPDO.
A TPDO telegram is only transmitted after a remote request (re-
252, 253
mote telegram enabled) on the TPDO identifier.
(event driven)
254, 255 A TPDO telegram is transmitted as soon as at least one byte has
changed.
Name inhibit time Word Subindex 3
Value Function Notice
Value * 0.1 ms Describes the minimal temporal distance between two CAN
0…65535
(e.g. 100 = 10ms) telegrams on this identifier.

1st transmit PDO mapping 0x1A00

2nd transmit PDO mapping 0x1A01
Struct
3rd transmit PDO mapping 0x1A02
4th transmit PDO mapping 0x1A03
Subindex 0: number (Byte)
Value Function
0…8 Indicates the number of the mapped objects.
Subindex 1…8 (Long)
Bit Function Meaning
Byte: 0x08
Object Defines an object mapping. The in-
0…7 Word: 0x10 dex, subindex and the object length
length
Long: 0x20 are specified in bits.
8…15 Subindex Subindex Writing of subindex 1...8 requires
that the count (subindex 0) is set to
Parameter address (Bit 16…23 =
16…31 Index 0.
Lowbyte/ Bit 24…31 = Highbyte)

56 © 2021 KEB Automation KG

CANopen Bootup-Sequence

6.9 CANopen Bootup-Sequence

After the initialization phase the KEB CAN control changes automatically into status Pre-
Operational.
In this status the communication by SDO(rx) and SDO(tx) with the services domain down-
load (parameter write) and domain upload (parameter read) is already activated.
The process data communcation is still inactive in this status.
It is released by the NMT command Start_Remote_Node() (=> picture below).
The target of this start sequence is the operating condition operational.
In this status the communication is completely activated.
With the NMT protocol certain CAN nodes are addressed by the CAN Node ID (=> Chap-
ter 6.2 CAN Functions).
The F6 CANopen control board realizes the following transitions drawn with solid
line in the following figure:

21
1 1fghfh
Figure 4: CANopen Bootup-Sequence

Bootup message
The F6 CAN control board releases a bootup message, if the initialization phase is com-
pleted after power on. It is a telegram to identifier = 1792 + Node_Id with the data length
= 1 and the value = 0.
The transitions between the individual states are carried out by the following telegrams.
Node_Id = 0 means: all NMT slaves are addressed.
Node_Id = CANnode ID means: only 1 drive converter is addressed.

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CANopen Bootup-Sequence

Transition 3, 6 Start_Remote_Node()
CAN-Telegram: Identifier = 0
01h CAN Node ID
B0 B1
Transition 5, 8 Stop_Remote_Node()
CAN-Telegram: Identifier = 0
02h CAN Node ID
B0 B1

Transition 4, 7 Enter_Pre-Operational_State ()
CAN-Telegram: Identifier = 0
80h CAN Node ID
B0 B1
Transition 9, 10, 11 Reset_Node()
CAN-Telegram: Identifier = 0
81h CAN Node ID
B0 B1
Transition 12, 13, 14 Reset_Communication ()
CAN-Telegram: Identifier = 0
82h CAN Node ID
B0 B1

58 © 2021 KEB Automation KG

Node guarding

6.10 Node guarding

Node guarding belongs to the network management functionality (NMT) of the CAN node
and describes a protocol whereby a CAN node can request the current status of any
node.
Monitoring of the master only in conjunction with life guarding.
The F6 CAN control board supports the node guarding.
The node guarding request is deposited on the node guarding identifier by a remote
frame.
The response arrives as data telegram with 1 byte data on the same identifier. The data
byte contains the node status plus one toggle bit (MSBit).
The toggle bit is inverted from message to message.
Each node has its special node guarding identifier:

Node guarding identifier = 1792 + Node-Id

Value of the node status Meaning

1 DISCONNECTED
2 CONNECTING
3 PREPARING
4 PREPARED (STOPPED)
5 OPERATIONAL
127dec. PRE_OPERATIONAL

6.11 Life guarding

The F6 inverter supports life guarding.
It is a monitoring of the cyclic node guarding of the CAN master.
That means: life guarding should only be activated during cyclic node guarding.
The life guarding operates completely detached from all other monitoring functions.
It is activated by the product of the two parameter values guard time and life time factor.
The product specifies the life guarding timeout time.
Shows the product = 0, then the life guarding is not activated.
With activated life guarding the node guarding monitoring starts as soon as the first node
guard request is received.
The function that is executed upon occurrence of the life guarding timeout can be ad-
justed via parameter 0x1029 error behaviour.

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Emergency object

guard time 100Ch

Value
0 Life guarding switched off Defines the monitoring time for the life guarding to-
1…65535 Time in ms gether with the life time factor

life time factor 100Dh

Value
0 Life guarding switched off Defines the monitoring time for the life guarding to-
1…255 Factor for the guard time gether with the life time factor

error behaviour Array 1029h

Subindex 1 (Byte)
Value Function
0 Change into NMT status "Pre-Operational“ (only at actual status "Operational“)
1 no change into NMT status
2 Change into NMT status "Stopped“

6.12 Emergency object

The CANopen communication profile DS301 defines a mechanism, after which the nodes
signal independently, if the important events incidents.
This emergency message supports also the F6 CAN control.
If the status has changed an emergency message (EMCY) is send to identifier 128dec. +
Node_Id.
This means, also the transition from error state to normal operating conditions is an-
nounced by an EMCY message.

60 © 2021 KEB Automation KG

Emergency object

0 If no error is detected, the F6 control changes after initialization into sta-

tus "error free".
An error message is not sent.
1 The F6 control detects an internal error in the first 3 bytes of the emer-
gency (EMCY) message (error code and error register).
The inverter changes into error state.
An EMCY message with the associated error code and register is sent.
2 One, but not all error causes are corrected.
An emergency message with error code 0000h (error reset) is sent to-
gether with the remaining errors in the error register and in the manufac-
turer-specific error field.
3 There is a new error in the inverter. The F6 control remains in error state
and sends an emergency object with the appropriate error message.
The new error code is entered at the top of the error code array.
This ensures that the errors will be in the correct order.
4 All errors are corrected.
The CANopen control changes into status "error free" and sends an
emergency object with the error code 0000h „reset error / no error“.
5 Reset or switch off.

The content of the error telegram is only in part firmly set by the profile. The content of the
F6 emergency message is as follows:
Identifier = 128 + Node_Id

B0 B1 B2 B3 B4 B5 B6 B7
Error Error Error field
code register
LB HB => Programming last last but … … oldest
Manual | Control error one error
Application / Com- code error code code
=> Programming Manual | pact / Pro
Control Application / Com-
pact / Pro

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Emergency object

All errors are stored in the error field defined by the profile.
This field contains a maximum of five entries in the F6 CAN control.
The first entry always contains the last error that occurred.
The error code in the emergency object is not completely identical with parameters
0x2101 / 0x603F error code. There are some CAN specific exceptions:

ru01 st01 CAN Error-Code

8: reset E. overload 1000h FF01h
11: reset E overheat pmod. 4210h FF02h
13: reset E. overheat intern 4110h FF03h
15: reset E. motorprotection 1000h FF04h
17: reset ERROR drive overheat 4310h FF05h
58: ERROR fieldbus watchdog 1000h 8100h

General meaning of the error code in the emergency object:

CAN Error-Code Explanation
0000h No error
1000h General error
2200h Current inside the CANopen device“
=> Overcurrent power unit (ERROR overcurrent PU)
2300h „Current, CANopen device output side“
=> Overcurrent analog (ERROR overcurrent analog)
3210h Overvoltage
3220h Undervoltage
4210h Overtemperature power semiconductors (heat sink)
4110h Overtemperature interior
4310h Temperature sensor in the motor (e.g. PTC or KTY) has triggered
8100h General communication error
KEB specific error (reset required)
FF01h Reset overload error
FF02h Reset power unit overtemperature
FF03h Reset internal overtemperature
FF04h Reset error motor protection
FF05h Reset error motor overtemperature

62 © 2021 KEB Automation KG

Heartbeat

6.13 Heartbeat
Index Name Function
0x1017 producer heartbeat time Time between two transmitted heartbeat telegrams in ms
Maximum time between two received heartbeat telegrams in ms
0x1016 consumer heartbeat time
and Node-Id of the producer
0x1029 error behaviour Behaviour at triggering the heartbeat monitoring

The heartbeat protocol provides monitoring of the CAN bus without knowledge of the
heartbeat producer via the connected user.
If the protection function responds, the behaviour can be defined with parameter 0x1029
error behaviour.
error behaviour Array 1029h
Subindex 1 (Byte)
Value Function
0 Change into NMT status "Pre-Operational“ (only at actual status "Operational“)
1 no change into NMT status
2 Change into NMT status "Stopped“

Producers heartbeat
A heartbeat producer sends cyclically a heartbeat message.
The time when the message is sent, is adjustable (parameter 0x1017 producer heartbeat
time).
The heartbeat protocol starts as soon as the producer heartbeat time is set.
If the producer heartbeat time already has a value unequal 0 when the device is switched
on, the transmission of the heartbeat protocol starts during transition from initialization to
Pre-Oerational.
In this case, the bootup message is considered before the heartbeat message.
producer heartbeat time 1017h
Value Function
0 Switches off the producer heartbeat.
Setting the producer heartbeat time:
1…65536
Time between two heartbeat telegrams in ms

Consumers heartbeat
One or more heartbeat consumer receive the message.
The consumers must define a max. time in which a heartbeat message has to be receive.
If no message is received within this time, an adjustable behavior is started.
Heartbeat monitoring starts when the first heartbeat signal is received.

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CAN-TelegramTypes

Consumer heartbeat time Array 1016h

Subindex 1 (Long)
Bit Function Meaning
If no heartbeat telegram is received during the monitoring time, the
function set in parameter 0x1029 error behaviour is executed.
Setting of the moni-
0…15 Activation of the monitoring occurs with receipt of the first heartbeat
toring time in ms.
telegram.
A monitoring time of 0 ms switches off the function.
Node-Id in the range The Node-ID of the heartbeat producer must be set here. A node ad-
16…23
of 0…255 dress of 0 switches off the function.
24…31 reserved

➢ It is not possible to activate the guarding protocol and the heartbeat

NOTICE protocol simultaneously on one unit. The guarding protocol only
works when the consumers heartbeat time is 0.

6.14 CAN-TelegramTypes

SDO-Telegrams
The logical CAN master can request (read) or change (write) the value of a parameter via
the SDO telegrams.
In the communication profile a write-service is referred to as domain download and a read
service as domain upload.
The KEB CAN interface connection supports only the short form of these two services.
Only one telegram can be exchanged for the service request and another for the service
acknowledgement between logical CAN master and F6 control.
The addressing of the parameter is done via unsigned 16 bit index and unsigned 8 bit
subindex.
The manufacturer-specific parameters of the inverter are in the index range 2000h to
5EFFh.

➢ The CAN index is identical with the parameter address.

i
The subindex serves as additional addressing for complex parameters. The following ap-
plies:
Subindex Type Access to
0 Variable Parameter value
Array / Struct. Subindex 0 (number)
1…n Variable not possible
Field/structure Subindex 1…n; Multiple selection not possible

64 © 2021 KEB Automation KG

CAN-TelegramTypes

SDO(rx)-Telegram
Initiate domain download request (write request of the master)

Bit 7…0 7…0 15…8 7…0 7…0 15…8 23…16 31…24

0010nn1s Index Sub in- Data

dex

LB HB LSB MSB
Byte 0 1 2 3 4 5 6 7

nn: Only valid if s = 1

Contains the number of bytes of the data field, that contains no data.
s: 0 = no display of data length in nn.
1 = see description nn
Data: Data to be transmitted. The LS byte is transmitted first.

Initiate domain upload request (read request of the master)

Bit 7…0 7…0 15…8 7…0 7…0 15…8 23…16 31…24

01000000 Index Sub in- reserved

dex

LB HB LSB MSB
Byte 0 1 2 3 4 5 6 7

SDO(tx)-Telegram
Initiate Domain Download Response (write confirmation from the inverter)
This response is transmitted when the requested write service could be executed error-
free.

Bit 7…0 7…0 15…8 7…0 7…0 15…8 23…16 31…24

01100000 Index Sub in- reserved

dex

LB HB LSB MSB
Byte 0 1 2 3 4 5 6 7

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CAN-TelegramTypes

Initiate domain upload response (read confirmation from the FI)

This response is transmitted when the requested read service could be executed error-
free.

Bit 7…0 7…0 15…8 7…0 7…0 15…8 23…16 31…24

0100nn1s Index Sub in- Data

dex

LB HB LSB MSB
Byte 0 1 2 3 4 5 6 7

nn: Only valid, if s = 1.

Contains the number of bytes of the data field, that contains no data.
s: 0 = no display of data length in nn.
1 = see description nn
Data: Data to be transmitted. The LS byte is transmitted first.

Abort domain transfer (error response from the FI)

This response is transmitted if the requested write or read service could not be executed.
In this case an error description is returned.

Bit 7…0 7…0 15…8 7…0 7…0 15…8 7…0 7…0

Error Error
10000000 Index Sub in- Additional code
dex code class

LB HB LB HB
Byte 0 1 2 3 4 5 6 7

Error Error code Additional Meaning

class code
00 00 0000h OK, no error
05 04 0001h Service not supported
06 01 0000h Invalid operation
06 01 0002h Attempt to write to a read-only parameter
06 01 0010h Invalid password
06 02 0000h Invalid address
06 09 0011h Subindex does not exist
06 09 0012h Invalid language identifier
06 09 0030h Invalid value for this parameter
08 00 0020h Data can not be transferred or stored
08 00 0022h Unit busy

66 © 2021 KEB Automation KG

CAN-TelegramTypes

RPDO1…4 telegram
With this telegram the logical CAN master transfers new process output data to the in-
verter.
Up to 8 bytes of data can be transferred with each PDO in each data direction.
For configuration of the assignment => Chapter 6.7 Out/In-Identifier (PDO).

Process data
Byte 0 1 2 3 4 5 6 7

Example:
Mapping:

Index Subidx Value Meaning Function Object

Number of the mapped objects in
0x1600 0 2
Out PDO
Index = 0x2500
First object mapped in the process co00
0x1600 1 2500 00 10h Subindex = 0
output data controlword
Length = Word
Index = 0x2510 co16
Second object mapped in the pro-
0x1600 2 2510 00 20h Subindex = 0 Target Ve-
cess output data
Length = Long locity
0x1600 3 0
0x1600 4 0
0x1600 5 0
not assigned PDO contains no other objects
0x1600 6 0
0x1600 7 0
0x1600 8 0

Telegram:

Bit 7…0 15…8 7…0 15…8 23…16 31…24 7 …0 15…8

controlword target velocity free
LB HB LB HB LB HB
Byte 0 1 2 3 4 5 6 7

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CAN-TelegramTypes

TPDO1…4 telegram
With this telegram the inverter control announces process input data to the (logical) CAN
master.
Up to 8 bytes of data can be transferred with each PDO in each data direction.
For configuration of the assignment => Chapter 6.7 Out/In-Identifier (PDO)

Process data
Byte 0 1 2 3 4 5 6 7

Example:
Mapping:
Index Subidx Value Meaning Function Object
Number of the mapped objects
0x1A00 0 3
in Out PDO
Index = 0x2100
First object mapped in the pro- st00
0x1A00 1 2100 00 10h Subindex = 0
cess input data statusword
Length = Word
Index = 0x2C01 ru01
Second object mapped in the
0x1A00 2 2C01 00 08h Subindex = 0 exception
process input data
Length = Byte state
Index = 0x2120 st32
Third object mapped in the pro-
0x1A00 3 2120 00 20h Subindex = 0 velocity ac-
cess input data
Length = Long tual value
0x1A00 4 0
0x1A00 5 0
0x1A00 6 0 not assigned PDO contains no other objects
0x1A00 7 0
0x1A00 8 0

Telegram:
Bit 7…0 15…8 7…0 7 …0 15…8 23…16 31…24 7 …0
statusword exception velocity actual value free
state
LB HB LB HB
Byte 0 1 2 3 4 5 6 7

68 © 2021 KEB Automation KG

CAN bit timing

6.15 CAN bit timing

Regarding the adjusted bit timing the KEB CAN control adhere to the specifications of the
CiA standard. The nominal bit timing is as follows:
Area for each segment: Bit time = 8 Tq to 25 Tq

Bit time
SYNC (1 Tq) TSEG1 (4…16 Tq) TSEG2 (2…8 Tq)

Samplepoint
➢ SYNC: Only the edges from recessive to dominant are used for the syn-
i chronization.

Bit rate Timequantum (tq) TSEG1 TSEG2 SJW

20 Kbit/s 4.975 μs 6 Tq 3 Tq 1 Tq
25 Kbit/s 3.95 μs 6 Tq 3 Tq 1 Tq
50 Kbit/s 1.975 μs 6 Tq 3 Tq 1 Tq
100 Kbit/s 995 ns 6 Tq 3 Tq 1 Tq
125 Kbit/s 750 ns 6 Tq 3 Tq 1 Tq
250 Kbit/s 350 ns 6 Tq 3 Tq 1 Tq
500 Kbit/s 150 ns 6 Tq 3 Tq 1 Tq
1000 Kbit/s 50 ns 6 Tq 3 Tq 1 Tq

6.16 CAN diagnosis

General diagnostic parameters for fieldbuses and the flashing pattern of the fieldbus LED
can be used for the diagnosis of the CANopen interface.
Index Id-Text Name SubIdx Function
Number of synchronization intervals wherein no
0x2B1F fb31 no PDO data per sync cnt 0
new process data was received
0x2B5A fb90 fieldbus state (number) 0
CANopen fieldbus state 2 Value of the register CO_RunState
fieldbus error code (num-
0x2B5B fb91 0
ber)
CANopen fieldbus error
2 Value of the register EmergencyErrField
code
Increased when received data is too long for the
0x2B45 fb69 lost messages 0 receive data buffer. Corresponds to the number
of lost data in bits.

Further information about the general diagnostic parameters can be found in chapter
5.5.4 Check the fieldbus state and possible fieldbus error codes.

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CAN diagnosis

7 EtherCAT interface
For the successful start-up of a KEB-x6 EtherCAT slave, the master has two different
possibilities to determine the device description according to the EtherCAT specification.
On the one hand there is a ESI file (EtherCAT slave information file). This is an XML-
based device description file according to the EtherCAT standard. This file can be created
amongst others with the COMBIVIS process data wizard for KEB x6 slaves. (=> Chapter
5.6.4 Fieldbus wizard)
Furthermore, the device description can be read from the contents of the EtherCAT
EEPROM, the so-called SII (Slave Information Interface). This is made possible by a spe-
cial protocol which uses special registers in the EtherCAT slave. It is even possible to
change the EtherCAT EEPROM (SII) from the EtherCAT master by way.
Most EtherCAT masters use the ESI files for the configuration. However, in order to be
able to create an assignment between ESI files and the slaves active on the BUS during
so-called 'scanning' of the EtherCAT bus, for example, EtherCAT masters also read the
values for VendorId and ProductCode from the slave via the SII protocol. Then the Ether-
CAT master can read all further configurations from the assigned ESI file.
KEB devices of different control types can not be operated with the same ESI file, be-
cause e.g. the mailbox sizes of the individual control types differ. (MBoxIn and MBoxOut
are always identical).
ESI mailbox details Control type A Control type K Control type P
MinSize 128 54 96
MaxSize 128 256 1024
DefaultSize 128 256 1024
Table 7-1: Differences between the mailbox sizes of the control types
The following EtherCAT specific objects are available for KEB devices.

70 © 2021 KEB Automation KG

Hardware and software version

7.1 Hardware and software version

Parameters 0x1009 Hardware Version and 0x100A Software Version are used for the
versioning of the KEB devices. They are placed under the profile objects in the pr param-
eter group. Parameters 0x1009 and 0x100A can currently only be read out via an Ether-
CAT master.
Parameter 0x1009 Hardware Version is always set to value 1.
The main version of the currently used software is displayed in parameter 0x100A Soft-
ware Version. This corresponds to the upper half of parameter de16 : ctrl software ver-
sion.

Index Name Function

0x1009 Hardware version No function, always 1
0x100A Software version Main version of the software

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Sync Manager

7.2 Sync Manager

Parameter sync manager com type specifies the communication type of the used Sync-
Manager. Each subindex represents a SyncManager.
A distinction is made between the following communication types:
• 1: Mailbox receive (master to slave)
• 2: Mailbox send (slave to master)
• 3: Processdata output (master to slave)
• 4: Processdata input (slave to master)
Index Name SubIdx Function Value
0 Number of Sync Manager channels 4

sync 1 Communication type of SyncManager 0 1

0x1C00 manager 2 Communication type of SyncManager 1 2
com type 3 Communication type of SyncManager 2 3
4 Communication type of SyncManager 3 4

Parameters sync manager 2 PDO assign and sync manager 3 PDO assign refer via indi-
ces to the mapping objects to which SyncManager 2 or SyncManager 3 refers.
Index Name SubIdx Value Function
0 1…2 Number of available receive PDOs
sync manager 2
0x1C12 1 0x1600 Index of parameter 1st receive PDO mapping
PDO assign
2 0x1601 Index of parameter 2nd receive PDO mapping
0 1…2 Number of available transmit PDOs
sync manager 3
0x1C13 1 0x1A00 Index of parameter 1st transmit PDO mapping
PDO assign
2 0x1A01 Index of parameter 2nd transmit PDO mapping

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Sync Manager

Sync Manager Parameters

The Sync Manager parameters specify information about the available and current state
of the synchronization. There is one sync manager parameter object for the process out-
put data (0x1C32 Output sync manager para) and one object for the process input data
(0x1C33 Input sync manager para).
The Sync Manager parameters cannot be written via COMBIVIS. They only serve as dis-
play parameters for the current synchronization status.
The Sync Manager parameters cannot be used as process data. The only exceptions are
the subobjects 0x1C32:20 Sync Error and 0x1C33:20 Sync Error.
KEB devices support the following subobjects of the Sync Manager parameters:

Index Name Subindex Name Function

1 Sync mode Current synchronization mode
2 Cycle Time Current cycle time
4 Sync modes supported Supported synchronization modes
Output sync 5 MinCycleTime Minimum supported cycle time (is22)
0x1C32
manager para 6 Calc and Copy Time Time measurement PdOut
11 SM Event Missed Error counter: missing SYNC events
12 Cycle Time Too Small Error counter: cycle time too small
32 Sync Error Error during synchronization

Index Name Subindex Name Function

1 Sync mode Same value as 0x1C32:01
2 Cycle Time Same value as 0x1C32:02
4 Sync modes supported Same value as 0x1C32:04
Input sync 5 MinCycleTime Same value as 0x1C32:05
0x1C33
manager para 6 Calc and Copy Time Time reserve Pd-In
11 SM Event Missed Same value as 0x1C32:0B
12 Cycle Time Too Small Same value as 0x1C32:0C
32 Sync Error Same value as 0x1C32:20

The subobject [1]Sync mode is automatically set to Sync 0 synchronous if [2]Cycle Time
is set to a valid value unequal 0. Restarting or writing an invalid cycle time resets [1]Sync
mode to FreeRun.
The subobject [2]Cycle Time is automatically set by the EtherCAT Master. Valid values
for [2]Cycle Time are integer multiples of [5]Minimum Cycle Time. The value of [2]Cycle
Time is used in synchronous mode for the synchronization of the KEB device. (=> Chap-
ter 5.7.1 Checking the synchronization)
The subobject [4]Sync modes supported indicates all supported synchronization modes.
For KEB devices the modes FreeRun, Sync and DC Sync 0 are supported.
Subobject [5]Minimum Cycle Time is updated when parameter is22 Basic Tp is written.
The subobject [6]Calc and Copy Time of the Output Sync Manager parameter displays
the time difference between the SYCN event and the earliest possible time when the pro-
cess output data (master -> slave) become active in the KEB slave.

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Sync Manager

The subobject [6]Calc and Copy Time of the Input Sync Manager parameters displays the
time reserve between the locking of the process input data (slave -> master) and the min-
imum cycle time.
The subobject [11]SM-Event Missed is an error counter. It is increased if an expected
SYNC event does not receive the KEB slave.
The subobject [12]Cycle Time Too Small is an error counter. It is increased if a cycle time
specified by the master is lower than [5]Minimum Cycle Time.
The subobject [32]Sync Error indicates whether a synchronization error has occurred. A
synchronization error occurs if the SYNC event fails for two cycles.
The subobjects [6]Calc and Copy Time, [11]SM-Event Missed and [32]Sync Error are
only used in synchronous mode.

21
1 1fghfh
Figure 5: Sync Manager Parameter Calc and Copy Time

74 © 2021 KEB Automation KG

EtherCAT diagnosis and timing (control type K and P)

7.3 EtherCAT diagnosis and timing (control type K and P)

In order to facilitate the diagnosis of communication faults on the EtherCAT bus,
the inverters of generation 6 offer a range of error counters and measured values for con-
trol types K and P. This includes:

Index Id-Text Name SubIdx Function

fieldbus state (number) 0
0x2B5A fb90 Value of register AL status (register ad-
EtherCAT fieldbus state 1
dress 130h)
fieldbus error code (number) 0
0x2B5B fb91 Value of register AL status code (register
EtherCAT fieldbus error code 1
address 134h)

Diagnostic cells of the EtherCAT core (hardware)

The following objects of the EtherCAT core are available:
Index Id-Text Name Function
0x2B14 fb20 ETC invalid frame count P0 Counts the invalid RX frames at port 0
0x2B15 fb21 ETC RX error count P0 Counts the RX errors at port 0
0x2B16 fb22 ETC invalid frame count P1 Counts the invalid RX frames at port 1
0x2B17 fb23 ETC RX error count P1 Counts the RX errors at port 1
ETC forwarded RX error
0x2B18 fb24 Counts the faulty transferred frames at port 0
count P0
ETC forwarded RX error
0x2B19 fb25 Counts the faulty transferred frames at port 1
count P1
ETC processing unit error
0x2B1A fb26 Error counter of the processing unit
count

These objects represent direct images of the error counters integrated in the FPGA.
A more detailed description of the functionality can be found in the instruction manual of
the EtherCAT IP Core.

Time measurement EtherCAT Frame <=> Sync pulse

In applications where drive control and motion control are operated synchronously, faults
caused by non-synchronous data processing in the drive control or the control application
are difficult to diagnose.
These problems are often caused by the fact that the processing of the EtherCAT frame
and the access of the drive control to the data will be overlap.
By using the following two objects it is possible to check the temporal position of the
frame processing relative to the sync pulse. This check can also be executed via the
fieldbus wizard (=> chapter 7.3.4 EtherCAT diagnosis assistant).
Index Id-Text Name Function
ETC min. sync de-
0x2B1B fb27 Minimum time between EtherCAT frame and Sync pulse [us]
lay
ETC max. sync
0x2B1C fb28 Maximum time between EtherCAT frame and Sync pulse [us]
delay

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EtherCAT diagnosis and timing (control type K and P)

Application error counter

The following error counters are available on the application level:
Index Id-Text Name Function
Number of synchronization intervals wherein no
0x2B1D fb29 ETC no frame per sync cnt
EtherCAT frame was received
ETC multiple frames per Number of synchronization intervals wherein several
0x2B1E fb30
sync cnt EtherCAT frames were received
Number of synchronization intervals wherein no new
0x2B1F fb31 no PDO data per sync cnt
process data was received

EtherCAT diagnosis assistant

The temporal position of the frame processing relative to the sync pulse can also be diag-
nosed graphically with COMBIVIS. However, the graphic diagnosis requires that not more
than one telegram is sent per sync pulse or that the device has already reached the syn-
chronous state.
For safe synchronous operation, the time position of the frame processing must not over-
lap the range of the incoming process data telegrams. A shift of the process data tele-
grams can be achieved by setting a "User Time Shift" from the master or from the slave.

fb28 max sync delay

fb27 min sync delay

21
1 1fghfh
Figure 6: EtherCAT diagnosis assistant

76 © 2021 KEB Automation KG

EtherCAT diagnosis (control type A)

7.4 EtherCAT diagnosis (control type A)

No additional parameters for the EtherCAT diagnosis are available for control type A. The
general diagnostic parameters and the fieldbus LEDs should be used here. Only the fol-
lowing parameters can be used for diagnosis:
Index Id-Text Name SubIdx Function
Number of synchronization intervals
0x2B1F fb31 no PDO data per sync cnt 0
wherein no new process data was received
fieldbus state (number) 0
0x2B5A fb90 Value of register AL status (register ad-
EtherCAT fieldbus state 1
dress 130h)
fieldbus error code (number) 0
0x2B5B fb91 Value of register AL status code (register
EtherCAT fieldbus error code 1
address 134h)

A more detailed description of the above mentioned parameters and the flashing pattern
of the fieldbus LED can be found in chapter 5.5 Check the fieldbus status.

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Ethernet over EtherCAT (EoE)

7.5 Ethernet over EtherCAT (EoE)

EoE enables Ethernet frames to be fed into an EtherCAT network via an EoE-capable
master. This allows participants of such a network to send and receive Ethernet frames.
From software version 2.4 KEB devices of control type A and control type K support the
function Ethernet over EtherCAT (EoE). KEB devices of control type P also support EoE.

Start-up of Ethernet over EtherCAT

The function EoE is activated by selecting EtherCAT as active fieldbus system via param-
eter fb68 fieldbus selection.
The default value for parameter fb68 is EtherCAT.
A restart is required if the active fieldbus system is changed during runtime.
An EoE-capable master is required for EoE. The master serves as interface between the
Ethernet network and the EtherCAT network.
EoE uses a digital MAC address which is specified by the master. This MAC address can
be read out via COMBIVIS via parameter fb106 MAC Address (EthChannel) (A, K) or
fb105 MAC Address (EoE Channel) (P) after it has been specified by the EtherCAT mas-
ter.

➢ On the devices of control type A parameter fb106 MAC Address

NOTICE (EthChannel) is also used for the PROFINET Ethernet channel.
Therefore, fb106 is written with a default value when the device is
started. This default value has no influence on the functions of the
EoE channel.
➢ On the devices of control type P, the virtual MAC address is dis-
NOTICE played via parameter fb105 MAC Address (EoE Channel). The Ether-
net MAC address is always displayed in fb106.

The IP configuration is also preset by the master. Parameter fb108 Ethernet over fieldbus
IP configuration can be used to read out the IP configuration set by the master.
The preset parameters by the master are only stored volatile.

➢ With the setting of the IP configuration it must be observed that the transmit-
i ter of the Ethernet telegrams (e.g. PC with COMBIVIS) and the KEB inverter
are not in the same subnet.
➢ Several configuration steps are required to configure a COMBIVIS PC and a
KEB control for a functional EoE network. These are described in a FAQ. The
FAQ can be found under the name "SetupEoEcommunication" on the KEB
website.

Further information about parameter fb68 can be found in chapter 5.3.1 Selection of the
fieldbus system via fb68 and information about the virtual MAC address and the IP config-
uration can be found in chapter 5.5.Check the fieldbus status.

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Ethernet over EtherCAT (EoE)

COMBIVIS functions via Ethernet over EtherCAT

By EoE it is possible to operate COMBIVIS functionalities (parameterization, KEB FTP,
etc.) via the fieldbus interface.
When accessing the file system via EoE it is not necessary to set parameter de10 opera-
tor cfg data SubIdx 9 com mode to 1.
Further information about de10 can be found in the Programming Manual | Control Appli-
cation / Compact / Pro.

7.5.2.1 Functional limitations of Ethernet over EtherCAT

COMBIVIS functionalities which are operated via the fieldbus interface are not as perfor-
mant as COMBIVIS functionalities which are operated via a serial interface.
Depending on the load of the device, the number of active connections and the number of
nodes between EoE capable master and COMBIVIS user, the performance may vary.
If the COMBIVS user waits too long for a response due to poor performance, COMBIVIS
timeout monitoring is activated and the communication is terminated with an error mes-
sage.
With the help of the following steps it is possible to improve the performance of the EoE
channel in order to avoid interruption of the communication:
• A direct connection between the EoE capable master and the COMBIVIS user should
be implemented.
• Not more than one COMBIVIS instance should be active at the same time.
• No files should be downloaded or uploaded via KEB FTP when the device is in active
operation (active modulation, active encoder, ...).
• No other COMBIVIS functionality should be used when downloading or uploading
files via KEB FTP.
If the steps described above are not feasible / not sufficient, it is also possible to increase
the timeout time in COMBIVIS to avoid an interruption of the communication.
The timeout time can be increased under Tools – Options – KEB Parameterization –
Communication. Further information on the timeout monitoring can be taken from the
COMBIVIS manual.

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EtherCAT Hot-Connect

7.6 EtherCAT Hot-Connect

KEB devices of control types A, K and P support the function EtherCAT Hot-Connect via
the station alias.
EtherCAT Hot-Connect via a DIP switch is not supported.
EtherCAT Fast Hot Connect is not supported.
EtherCAT Hot Connect is primarily a functionality of the EtherCAT master. For infor-
mation about functionalities and limitations of EtherCAT Hot-Connect please contact the
manufacturer of your EtherCAT master.

80 © 2021 KEB Automation KG

Electronic nameplate

8 VARAN interface
8.1 Electronic nameplate
For unique identification of the bus user, the electronic nameplate is already stored in the
SPI flash.
Parameter de11 contains the VARAN license number.
Index Id-Text Name Function
0x200B de11 VARAN licence number Unique VARAN licence number

Sub in-
Index Name Name Value Function
dex
1 vendor ID 26 Manufacturer identification
0x1018 identity object
2 product code 1157 Device identification

8.2 Dual Port Memory

The entire bus is treated like a 4GB memory, a defined memory area is assigned to each
client.
This allows the control CPU to access the clients with simple memory-write and memory-
read commands.
This defined memory area addresses an area in a Dual Port Memory (DPM) which can
also be accessed by the application layer of the control board firmware.

8.3 Available commands

Memory Reads data from the memory of a bus participant.
Read The command contains the start address and the number of bytes to read.
Then the client responds with the requested data.
Memory Writes data from the memory of a bus participant.
Write The command contains the start address and the data to be written.
The client sends an confirmation
Global Write All bus participants are addressed simultaneously.
This command is used to global reset of the bus participants and for transmission of
SYNC

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DPM mapping

8.4 DPM mapping

The following shows the mapping of the DPM. Separated areas for the isochronous Ob-
jects (PDO) and the asynchronous Objects (SDO) are available. The byte order for all
data objects is "least significant (LS) byte first".

Address Length Description Ac-

dec. hex in Byte cess
(*1)
0 0 32 Configurable Input-PDO Data (F6 -> VARAN control) ro
32 0x20 32 Configurable Output-PDO Data (VARAN control -> F6) rw
64 0x40 4 SDO Request Data rw
68 0x44 2 SDO Request Index rw
70 0x46 1 SDO Request Subindex (Format CANopen DS301) rw
71 0x47 1 SDO Request Cmd/MsgID (*2) rw
72 0x48 4 SDO Response Data ro
76 0x4C 1 SDO Response ErrorCode (*3) ro
77 0x4D 1 SDO Response Cmd/MsgID (*2) ro

(*1) ro – read only => read only access

rw – read/write => read/write access
(*2) Definition Cmd/MsgID
This byte is not identical to the command byte of the data link layer

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Command ID Init Bit Message ID

Bit Name Function

0…2 Message ID Telegram ID = Counter from 0 to 7
The response has the same ID as the request
3 Init Bit The initialization bit is set to 1 in the initialization command with all message ID
bits.
It must be set once after each power-on.
By way the inverter changes from state "init“ into state "operational“.
4…7 Command valid values:
ID 1: read
2: write
3 initialisation (Init bit and Message ID bits are also set)

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DPM mapping

(*3) SDO Response ErrorCode

Value Meaning
0 OK, no error
1 Device not ready
2 Invalid address or password
3 Invalid data
4 Parameter write protected
5 BCC error
6 Device busy
7 Service not supported
8 Invalid password
9 Telegram frame error
10 Transmission error
11 Invalid subindex
12 Invalid language
13 Invalid index
14 Invalid operation

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Parameterization data (asynchronous objects)

8.5 Parameterization data (asynchronous objects)

Communication via parameterization data occurs as described in chapter 8.4 DPM map-
ping.
It is not necessary that the COMBIVERT F6 has synchronized to the fieldbus cycle.

8.6 Process data (isochronous objects)

There are 32 bytes of process data available in both directions.
The process data can be accessed via the addresses described in chapter 8.4DPM map-
ping .

To activate the process data objects in the device, it is necessary to set the mapping of the
process data by using the parameters defined in chapter 5.6.1Mapping of the process data .
In addition the application layer of the F6 must be synchronized to the VARAN cycle.

8.7 VARAN diagnosis

The general diagnostic parameters and the fieldbus LED can be used for the diagnosis of
the VARAN interface. The following parameters can be used for diagnosis:
Index Id-Text Name SubIdx Function
Number of synchronization intervals wherein
0x2B1F fb31 no PDO data per sync cnt 0
no new process data was received
fieldbus state (number) 0
0x2B5A fb90
VARAN fieldbus state 2 Status display of the VARAN fieldbus system
fieldbus error code (num-
0
0x2B5B fb91 ber)
VARAN fieldbus error code 2 Error code of the VARAN fieldbus system

A more detailed description of the above mentioned parameters and the flashing pattern
of the fieldbus LED can be found in chapter 5.5 Check the fieldbus status.

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PROFINET certificate

9 PROFINET interface
9.1 PROFINET certificate
The KEB COMBIVERT S6A device has been successfully certified for PROFINET Con-
formance Class C. => Certificat

9.2 PROFINET device description (GSDML)

A device description file for KEB COMBIVERT S6A and F6A according to GSDML stand-
ard is available in the download area of the KEB homepage.

9.3 PROFINET functions

In the following only the essential information about PROFINET functionalities are listed,
which are required for the operation of a KEB x6 device with PROFINET. A basic under-
standing of how the PROFINET bus system works is required for this chapter.
Information about the PROFINET bus system can be obtained from the PROFIBUS User
Organization e.V. (PNO).

Cyclic data exchange (process data communication)

KEB COMBIVERT S6A can receive and process up to 32-byte process output data per
cycle from the controller. The device can also provide up to 32 bytes of process input
data per cycle to the master. This applies to both the non-synchronous operating mode
(PROFINTE IO-RT) and the synchronous operating mode (PROFINET IO_IRT). The min-
imum cycle time is 1ms.

Acyclic data exchange (parameter - channel) to PROFIdrive

KEB COMBIVERT S6A and F6A support the coding of the acyclic services according to
PROFIdrive profile also called Base Mode Parameter Access. However, this only applies
to the transport of the data, not to its content or coding. This means, the PROFINET inter-
face connection does not support parameters according to the PROFIdrive profile, but
only the transport mechanism.
The acyclic parameter request according to Profidrive provides a mechanism via a list of
up to 39 parameters can be written or read by means of two PROFINET record accesses.
The basic procedure at PROFINET level is as follows:
1. Write-Record-Request of the master with index = B02Eh, net data = parameter request
(see chapter 9.3.2.1 Parameter request)
2. Write response of the slave, no net data
3. Read-record-request of the master with index = B02Eh, no net data
4. Read-response of the slave, net data = parameter response (see chapter 9.3.2.2 Pa-
rameter response)
For the revision the network byte order (MSByte first) is valid.

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9.3.2.1 Parameter request

Parameter request:
Block definition Byte n Byte n+1 n
Request Header Request Reference Request ID 0
Axis-No. No. of parameters = n 2
1st parameter address Attribute No. of elements 4
Parameter Number (PNU) 6
Subindex 8
: : :
n th parameter address Attribute No. of elements 4 + 6 x (n-1)
Paramater number (PNU)
Subindex
1st parameter value(s) Format No. of values 4+6xn
Values
: : :
n th parameter value(s)

The request reference is a sequential number for distinction of different requests. (Values:
0x01 ... 0xFF)
Request IDs:

Value Meaning
0x01 Request parameter (read)
0x02 Change parameter (write)

The parameter values are only contained in a request with request ID = 2.

The Axis-No. always corresponds to value 0, since PROFINET represents a 1:1 gateway
for the x6 devices.
Only a maximum of 39 parameters can be read / written via one request. Therefore, a
minimum of 1 and a maximum of 39 can be specified for the No. of parameters.
Attribute:

Value Meaning
0x10 Value
0x20 Description (not supported here)
0x30 Text (not supported here)

The No. of elements as well as the No. of values always correspond to value 1.
The required object for writing / reading is addressed via Parameter number (PNU) and
Subindex. The addressing corresponds to the addressing in the KEB object directory. The
Parameter number (PNU) corresponds to the KEB parameter address and Subindex to
the KEB subindex.

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Format:

Value Meaning
1 Boolean
2 Integer8
3 Integer16
4 Integer32
5 Unsigned8
6 Unsigned16
7 Unsigned32
0x41 Byte
0x42 Word
0x43 DWord
0x44 Error

When reading all KEB parameters on the x6 the format = 4 is returned. Accordingly, the
PROFINET master can also specify the format = 4 when writing all parameters.

9.3.2.2 Parameter response

Parameter response:
Block definition Byte n Byte n+1 n
Response Header Request Reference mirrored Response ID 0
Axis-No. mirrored No. of parameters = n 2
1st parameter value(s) Format No. of values 4+6xn
Values
: : :
n th parameter value(s)

Response IDs:

Value Meaning
0x01 Request parameter ok (read)
0x02 Change parameter ok (write)
0x81 Request parameter with error (read)
0x82 Change parameter with error (write)

If an error occurred during read access to a parameter, the Response ID = 0x81 is set.
Furthermore, the format = 0x44 (Error) is set for this parameter value and the error
value(Value) is set as a 16-bit value as follows:

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PROFINET functions

Value Description
0x11 Timeout when accessing the parameter or drive converter busy
0x14 Drive converter busy
0x00 Invalid parameter address or password
0x17 Data invalid
0x65 Error in internal communication (BCC error)
0x66 Error in internal communication (invalid service or invalid operation)
0x67 Invalid password
0x68 Error in internal communication (invalid telegram)
0x69 Error in internal communication (parity error)
0x03 Invalid parameter set (subindex)
0x6B Error in internal communication (invalid operation)

The parameter values are only contained in the response if Response ID = 1 or 0x81 or
0x82. Error-free accesses are listed in a negative write response (Response-ID = 0x82)
with Format = 0x40 (Zero) and No of Values = 0.

9.3.2.3 Error codes of the acyclic communication

The error code returned for acyclic communication is a 32-bit value composed of four
components: ErrorCode, ErrorDecode, ErrorCode1, ErrorCode2. Currently, the applica-
tion of the x6-PROFINET device does not generate its own error codes. All values ! = 0
are always generated by the used PROFINET stack. The meaning of these error codes
can be found in the PROFINET specification.

Additional diagnostic channel via standard Ethernet communication

All Ethernet communication which is not assigned to the PROFINET communication is
transferred to the standard Ethernet channel of the KEB COMBIVERT S6A. Thus it is
possible
Parameter to read/write (KEB COMBIVIS via Ethernet)
to download or upload files from the S6A internal file system (KEB FTP via Ethernet)
The exact specifications of the two options are shown in the following table:

Identification Ethernet communication Parameter Protocol on the user data

layer
KEB COMBIVIS via IpV4/UDP UDP-Port = 8000 KEB DIN66019II
Ethernet
KEB FTP via Ethernet IpV4/UDP UDP-Port = 8002 KEB FTP

➢ The same restrictions apply to the standard Ethernet channel for PROFINET
i as to the Ethernet over EtherCAT channel. (=> Chapter 7.4.EtherCAT diag-
nosis (control type A)).

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PROFINET diagnosis

9.4 PROFINET diagnosis

See chapter 5 in this document.

PROFINET MAC addresses

PROFINET has a special position with regard to the demand for MAC addresses among
the Ethernet-based fieldbuses.
For PROFINET operation, a PROFINET device with 2 ports requires three MAC ad-
dresses. One for the interface(IF), one for Port1 and another for Port2. If you also want to
use the standard Ethernet channel via the PROFINET ports, an additional MAC address
and an additional IP configuration are required for KEB-x6.
The MAC addresses fb103 to fb105 are assigned to each device in the production pro-
cess by a protected mechanism. The MAC address fb106 is reserved in the production
process for each KEB device. This is a virtual MAC address which is set to the value of
fb103 + 3 when the device is started.
Index Id-Text Name Function
0x2B67 fb103 MAC Address (Base) The basis MAC address. Required for all Ethernet
based fieldbus systems. (except EtherCAT)
0x2B68 fb104 MAC Address (Port1) Only required for PROFINET. Own MAC address for
Port1
0x2B69 fb105 MAC Address (Port2) Only required for PROFINET. Own MAC address for
Port2
0x2B6A fb106 MAC Address (EthChannel) Virtual MAC address for the Ethernet channel. Re-
quired for EoE, Ethernet over PROFINET and the
Ethernet channel on the cards of control type P.

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PROFINET device name

The PROFINET device name is used to simplify the identification of the device for the
user.
The KEB default value for the PROFINET device name is kebx6-NodeId. x6 stands for
device type (S6 or F6). NodeId corresponds to the value of the effective node address
value (fb102).
If the node address value is smaller than 240, the device name is reset to the default
value described above when the device is restarted.
If the effective node address value is 241, 242 or 254, the device name is completely de-
leted when the device is restarted.
For all other values the PROFINET device name is not changed. The device name can
be changed via a PROFINET controller (e.g. the TIA portal) or via COMBIVIS.
When the device name is set by a PROFINET controller, the default node address value
(fb101) is automatically set to 240 to avoid resetting the device name.
When setting the device name by a PROFINET controller, the remanent attribute must be
observed. Only if the remanent attribute is set to TRUE, the device name is also stored
non-volatile.
The following rules apply for setting the PROFINET device name:
• Name parts are separated by dots
• The total length is between 1 and 240 characters
• A name part has a total length of 1 to 63 characters
• Name parts consist exclusively of lowercase letters, numbers and the hyphen
• Neither the first nor the last character of a name part is a hyphen

➢ The PROFINET device name is updated in the COMBIVIS view only after a
i restart of the device. Internally, however, the new name is active.
➢ If PROFINET is not the active fieldbus system, the PROFINET device name
is also not initialized. The displayed default value is kebx6-1.

Further information on the node address value can be found in chapter 5.3.4 Selection of
the node address of the fieldbus system.

Index Id-Text Name Function

0x2B6B fb107 PROFINET NameOfStation Array for the display of the PROFINET device name

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Basics of the POWERLINK BUS

10 POWERLINK interface
10.1 Basics of the POWERLINK BUS
POWERLINK is an open real-time Ethernet protocol.
The master is referred to as Managing Node (MN) in a POWERLINK network. A slave is
called Controlled Node (CN).
POWERLINK networks operate according to the so-called "polling" approach. The MN
controls access to the network. CNs only send on request of the MN.
A POWERLINK cycle is divided into an isochronous phase and an asynchronous phase.
In the isochronous phase, process data (PDOs) are transmitted cyclically. The asynchro-
nous phase allows the exchange of non-cyclic data (SDOs).
The request of the MN to a CN is referred to in the isochronous phase as Poll Request
(PReq) and in the asynchronous phase as Start of Asynchronous (SoA). The response of
a CN is called Poll Response (PRes) in the isochronous phase and Asynchronous Send
(ASnd) in the asynchronous phase.
The following characteristics apply to KEB CNs:
• A network can contain up to 253 CNs.
• The minimum cycle time is 400µs.
• The maximum process data size is 32 bytes per cycle for process input and process
output data.
• A maximum of 8 bytes of data can be transmitted asynchronously per cycle and cli-
ent.
• The process data image is dynamic and is stored volatile.
• Hot plugging is supported.
• Multiplexing, direct cross-communication and Poll Response chaining are not sup-
ported.
• The KEB CN can not be used as POWERLINK router.
Further information about the POWERLINK bus system can be found on the Ethernet
POWERLINK Standardization Group website. (=> Ethernet Powerlink - EPSG | Ethernet
Powerlink).

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POWERLINK functions

10.2 POWERLINK functions

The following functions are POWERLINK specific functions which are only available on
devices of control type A.
If a bus system other than POWERLINK is active, these functions are not available and
the parameters described in this chapter have no effect.

Variable process data offset

The offset of the individual process data objects can be freely selected in a POWERLINK
network. The process data offset is specified in bits.
KEB CNs only support whole multiples of bytes as values for the process data offset.
Other values are rejected.
The mapping must be deactivated to change the process data offset.
By default, the process data offset of a parameter corresponds to the sum of the length of
all preceding parameters. When downloading a complete list, the process data offset
must be adjusted subsequently if it does not correspond to this default.
Information about the fieldbus-independent mapping parameters can be found in chapter
5.6. Checking the process data mapping .

Index Id-Text Name Function

Array with 8 elements, enables freely selectable pro-
0x2B6F fb111 POWERLINK RPDO offset
cess data offset for receive PDO mapping
Array with 8 elements, enables freely selectable pro-
0x2B70 fb112 POWERLINK TPDO offset
cess data offset for transmit PDO mapping

➢ Freely selected offsets can lead to gaps and/or overlaps between the
NOTICE individual process data objects.

Mapping version
The mapping version can be used to uniquely identify different process data mappings.
Each mapping is assigned to a mapping version. CNs reject incoming process data with a
wrong mapping version. The mapping version is updated by activating the process data
mapping.

Index SubIdx Name Function

0 PDO_RxCommParam
1 Node ID (Source of Data) No function (cross-traffic is not supported)
0x1400
Version number, incoming process data with a dif-
2 Mapping version
ferent version number are discarded

Index SubIdx Name Function

0 PDO_TxCommParam
0x1800 1 Node ID (Source of Data) Not used by CNs (always 0)
2 Mapping version Version number, is sent with process data

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POWERLINK diagnosis

➢ The POWERLINK objects 0x1400 and 0x1800 can not be read out via the di-
i agnostic interface. The pr parameters RPDO/TPDO communication parame-
ter which can be read out via the diagnostic interface are CANopen parame-
ters.

10.3 POWERLINK diagnosis

The general diagnostic parameters and the fieldbus LED are available for POWERLINK
diagnosis.
Index Id-Text Name SubIdx Function
Number of synchronization intervals
0x2B1F fb31 no PDO data per sync cnt 0
wherein no process data was received
fieldbus state (number) 0 Number of supported bus systems
0x2B5A fb90 Value of the register NmtState (EPSG
POWERLINK fieldbus state 4
DS301 state machine)
fieldbus error code (number) 0 Number of supported bus systems
0x2B5B fb91 POWERLINK fieldbus error Value of the register EplErrorCode (EPSG
4
code DS301 error code)

A more detailed description of the above mentioned parameters and the flashing pattern
of the fieldbus LED can be found in chapter 5.5

POWERLINK MAC address

The MAC address supported by POWERLINK is displayed in parameter fb103. The MAC
addresses displayed in fb104 to fb106 are not used.
Index Id-Text Name Function
0x2B67 fb103 MAC Address (Base) Basis MAC address.

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POWERLINK diagnosis

POWERLINK IP configuration
The POWERLINK specification prescribes a fixed IP configuration. The IP address corre-
sponds to 192.168.100.Node ID. The subnet mask corresponds to 255.255.255.0. The
default value of the gateway address corresponds to 192.168.100.254.
The value of the NodeID, also called node address value in this document, can be read
out via parameter fb102. The values 0, 240 and 255 are invalid for a POWERLINK CN.
The IP configuration is updated at each restart depending on the node address. The node
address is displayed in parameter fb102.
The IP configuration can not be changed by the user, with the exception of the gateway
address. Values that do not correspond to the configuration specified by fb102 are re-
jected. The user can specify any gateway address, which is stored non-volatile.
Further information about the IP configuration and the node address can be found in
chapter 5.5 Check the fieldbus status.

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Configuration of the KEB POWERLINK CN

10.4 Configuration of the KEB POWERLINK CN

A tool for configuring the POWERLINK master is required to configure a POWERLINK
CN. (e.g.: the B&R Tool Automation Studio (AS))
A device description file (XDD) is required to import a KEB CN into AS. The XDD of the
KEB CN can be generated via the COMBIVIS fieldbus wizard. (=> Chapter 5.6.4 Fieldbus
wizard)

➢ In contrast to other device description files (e.g. EtherCAT ESI file) the XDD
i file generated by COMBIVIS does not contain the preset mapping.
➢ The mapping must be set in the POWERLINK Master configuration tool after
the XDD file has been imported.

Not all parameters of the KEB CN are displayed in the AS interface. Parameters that are
not writable (AccessType = ro) and cannot be used as process data (PDOMapping = no)
are not displayed in the AS interface.
A complete overview of all parameters supported by the CN is provided by the device de-
scription file or the interface of the KEB configuration tool COMBIVIS.

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Data transmission

11 EtherNet/IPTM interface
EtherNet/IP™ is a communication protocol which is mainly used in industrial applications.
It enables the exchange of information between devices. EtherNet/IP ™ is based on stand-
ardized Ethernet and TCP/IP technology. It is used to transport communication packets
based on CIP (Common Industrial Protocol). The EtherNet/IP™ protocol and the CIP are
managed by the ODVA (Open DeviceNet Vendors Association).

11.1 Data transmission

EtherNet/IP™ uses a producer/consumer model to exchange time-critical information. The
transmitter (producer) provides information for the recipient (consumer). This procedure
enables the producer to provide the data to several consumers without a need to transmit
the data multiple times.
EtherNet/IP™ uses the standard of the IEEE 802.3 specification. In order to achieve the
best possible deterministic behavior, it is recommended to use commercial switch tech-
nology with 100 Mbps bandwidth and full duplex cables.

Explicit messaging (parameterization channel)

The "explicit messaging" enables the access of the master (scanner) to read or write to
each parameter in the KEB drive converter. This function can also be used to execute
special management functions which are referred to as services. The available services
are:
Service code Service name Service description
0x01 Get_Attributes_All Read all attributes of an object. (not sup-
ported by all classes)
0x0E Get_Attribute_Single Read one attribute of an object.
0x10 Set_Attribute_Single Write one attribute of an object.
0x05 Reset Reset an object. (Only supported by ob-
jects of class 0x01).

With each message, the user must define the type of service as well as the class, in-
stance, and the attribute of the object. All KEB objects are compliant with the CiA DS301
object specification. Each parameter is defined by an index and a sub-index.

11.1.1.1 Class
The class determines the type of the object to be accessed. In this case, the value 0x64
or 100 decimal describes the parameter objects.

11.1.1.2 Instance
The instance represents the index and the address of the parameter in the inverter. Fur-
ther information about the parameter index can be found in the application description.

11.1.1.3 Attribute
The attribute corresponds to the sub-index of the parameter with an offset of 0x64 or 100
decimal.

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Data transmission

11.1.1.4 Example READ

As an example, the system time is read by the inverter here. The parameter is ru53: sys-
tem time with the index 0x2C35 or 11317 decimal. The sub-index is 0x00 or 0 decimal
plus an offset of 0x64 or 100 decimal. get_attribute_single is used as service.

Service: 0x0E (Get_Attribute_Single)

Class: 0x64
Instance: 0x2C35
Attribute: 0x64

11.1.1.5 Example WRITE

As an example for the write access, parameter vl05 velocity max is written with value
1000. The index of parameter is 0x2305 or 8965 decimal. The sub index corresponds to
0x00 or 0 decimal plus the offset mentioned above. set_attribute_single is used as ser-
vice.

Service: 0x10 (Set_Attribute_Single)

Class: 0x64
Instance: 0x2305
Attribute: 0x64
Data: 0x03E8 or 1000 decimal

Implicit Messaging (process data communication)

"Implicit Messaging" enables a dedicated communication between producers and con-
sumers. Application-specific data can be exchanged via this communication path. This is
also called I/O connection.
This document uses the terms process output data (PD-Out) and process input data (PD-
In) to describe the direction of the process data. PD-Out and PD-In describe the process
data from the perspective of the control.
PD-Out refers to the data which are transmitted from the control (scanner) to the inverter
(adapter).
PD-In refers to the data which are transmitted from the inverter (adapter) to the control
(scanner).
The inverter supports different combinations (assemblies) of the process data for the
communication. The combinations 100 and 101 are special, manufacturer-specific combi-
nations of KEB for controlling the inverter based on the CiA402 application profile. The
combinations 20 and 70 are used for the "basic speed control", which is based on the CIP
provided by ODVA.

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Data transmission

11.1.2.1 Assembly parameters

The different "assemblies" that are available on KEB devices are described below. The
selection of the active "Assembly", as well as the selection of the IP configuration method,
is made via parameter fb113 EtherNet/IP Configuration.
Further information on the IP configuration can be found in chapter 5.5.1 Checking MAC
addresses and IP configuration.

fb113 EtherNet/IP Configuration 0x2B71

Bit Function Value Plaintext Description
0 Static IP configuration is static
IP configuration
0...1 1 Bootp IP configuration is set via Bootp
method
2 DHCP IP configuration is set via DHCP
Assembly In- 0 Basic Speed Control 20/70 KEB specific
3
stances 4 KEB Control 100/101 CIP Basic Speed Control

11.1.2.1.1 KEB Control 100/101

Parameters co00 controlword and st00 statusword are required for the KEB specific as-
semblies 100 and 101. The bits of the controlword and statusword parameters are shown
below. A more detailed description can be found in the Programming Manual | Control
Application / Compact / Pro.

co00 controlword 0x2500

Bit Function Value Plaintext Description
x None 0 empty controlword Waiting for control command
State change to switch on in state ma-
0 Switch on 1 switch on
chine
State change to enable voltage in state
1 Enable Voltage 2 enable voltage
machine
2 No Quick Stop 4 no quick stop Value of 0 activates quickstop
State change to enable operation to
3 Enable Operation 8 enable operation
move the motor.
Operation Mode Definition depends upon the operating
4 16 op. mode spec. 4
Specific modes
Operation Mode Definition depends upon the operating
5 32 op. mode spec. 5
Specific modes
Operation Mode Definition depends upon the operating
6 64 op. mode spec. 6
Specific modes
7 Fault Reset 128 fault reset Activates a reset to clear a drive error
Stop is not supported in most operating
8 Stop 256 halt
modes
Operation Mode Definition depends upon the operating
9 512 op. mode spec. 9
Specific modes
10 Reserved 1024 Reserved Reserved
Manufacturer Manufacturer specific use
11 2048 manufacturer spec. 11
Specific

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Data transmission

co00 controlword 0x2500

Bit Function Value Plaintext Description
Manufacturer Manufacturer specific use
12 4096 manufacturer spec. 12
Specific
Manufacturer Manufacturer specific use
13 8192 manufacturer spec. 13
Specific
Manufacturer Manufacturer specific use
14 16384 manufacturer spec. 14
Specific
Activates brake functions depending
15 Brake Control 32768 brake ctrl 15
on co21 brake control mode settings

st00 statusword 0x2100

Bit Function Value Plaintext Description
x None 0 empty statusword Waiting for status
0 State Machine 1 ready to switch on Display of state in State Machine
1 State Machine 2 switched on Display of state in State Machine
2 State Machine 4 operation enabled Display of state in State Machine
3 Fault 8 fault 1 = fault
1 = Operating voltage in power circuit
4 State Machine 16 voltage enabled
is OK
1 = quick stop not actve / 0 = quick
5 Quick Stop 32 no quick stop
stop active
6 State Machine 64 switch on disabled Display of state in State Machine
7 Warning 128 warning 1 = There is a warning status
8 Synchronus 256 synchron Indicates drive synchronus to fieldbus
9 Remote 512 remote 1 = Drive is controlled via bus
10 Target Reached 1024 target reached 1 = Target postion or speed reached
11 Internal Limit 2048 internal limit active 1 = A limit has been reached
12 Mode Specific 4096 op. mode spec. 12 Setpoint acknowledge in pp-mode
13 Mode Specific 8192 op. mode spec. 13 Following error for positioning
Manufacturer Manufacturer specific use
14 16384 manufacturer spec. 14
Specific
Manufacturer Braking state for brake control
15 32768 manufacturer spec. 15
Specific

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Data transmission

11.1.2.1.2 Basic Speed Control 20/70

The process data assembly for the "CIP Basic Speed Control" is displayed below. This is
a simple configuration of the application to set start and stop commands and the refer-
ence speed.

Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault Run
0
Reset Fwd

20 1
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)
0 Running1 Faulted
1
70
2 Speed Actual (Low Byte)
3 Speed Actual (High Byte)

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EtherNet/IP™ objects

11.2 EtherNet/IP™ objects

Identity Object (class code: 0x01)

The Identity Object contains parameters that allow identification and provide general in-
formation about the device. These parameters can be used for electronic coding, general
status displays and for determining the devices on the network.

11.2.1.1 Class attribute

Class Instance Attribute Name Type Access

1 0 1 Revision UINT RO
1 0 2 Max Instance UINT RO
1 0 6 Max. Class Attribute UINT RO
1 0 7 Max. Instance Attribute UINT RO

11.2.1.2 Instance Attribute

Class Instance Attribute Name Type Access

1 1 1 Vendor ID UINT RO
1 1 2 Device Type UINT RO
1 1 3 Product Code UINT RO
Revision STRUCT of RO
1 1 4 Major USINT RO
Minor USINT RO
1 1 5 State WORD RO
1 1 6 Serial Number UDINT RO
1 1 7 Product Name SHORT STRING RO
1 1 8 State USINT RO
1 1 9 Configuration UINT RO

Assembly object (class code: 0x04)

The assembly object contains parameters which connect the attributes of several objects.
This allows data to be sent or received from or to each of these objects via a single con-
nection.
Asssembly objects can be used to connect input or output data. KEB process output data
(PD-Out) are sent from a controlling scanner, while process input data (PD-In) are output
from the drive converter to the control (scanner) or network.

11.2.2.1 Class attribute

Class Instance Attribute Name Type Access

4 0 1 Revision UINT RO

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EtherNet/IP™ objects

11.2.2.2 Instance Attribute

Class Instance Attribute Name Type Access

4 100 4 Size in Bytes UINT RO
4 100 3 KEB Data ARRAY of BYTE RW
4 100 4 Size in Bytes UINT RO
Basic Speed Control
4 20 3 ARRAY of BYTE RW
Data
4 20 4 Size in Bytes UINT RO
Basic Speed Control
4 70 3 ARRAY of BYTE RW
Data
4 70 4 Size in Bytes UINT RO

TCP/IP Interface Object (class code: 0xF5)

The TCP/IP interface object provides a mechanism to configure the network interface of
the device. The physical connection contains parameters such as the IP address or the
network mask.

11.2.3.1 Class attribute

Class Instance Attribute Name Type Access

F5 0 1 Revision UINT RO
F5 0 2 Max Instance UINT RO

11.2.3.2 Instance Attribute

Class Instance Attribute Name Type Access

F5 1 1 State DWORD RO
F5 1 2 Configuration Capability DWORD RO
F5 1 3 Configuration Control DWORD RW
Physical Link STRUCT of
F5 1 4 Path Size UINT RO
Path EPATH RO
Interface Configuration STRUCT of
IP Address UDINT RW
Network Mask UDINT RW
F5 1 5 Gateway Address UDINT RW
Name Server UDINT RW
Name Server 2 UDINT RW
Domain Name STRING RW
F5 1 6 Host Name STRING RW

Ethernet link object (class code: 0xF6)

The Ethernet link object contains connection-specific status information for the IEEE
802.3 interface. The interface supports two instances for the two connected ports.

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EtherNet/IP™ objects

11.2.4.1 Class attribute

Class Instance Attribute Name Type Access

F6 0 1 Revision UINT RO
F6 0 2 Max Instance UINT RO
F6 0 3 Number of Instances UINT RO

11.2.4.2 Instance Attribute

Ac-
Class Instance Attribute Name Type
cess
F6 1,2 1 Interface Speed UDINT RO
F6 1,2 2 Interface Flags DWORD RO
ARRAY of
F6 1,2 3 Physical Address RO
USINT
Interface Counters STRUCT of
IN Octets UDINT RO
IN Ucast Packets UDINT RO
IN Non-Ucast Packets UDINT RO
IN Discards UDINT RO
IN Errors UDINT RO
F6 1,2 4
IN Unknown Protocols UDINT RO
OUT Octets UDINT RO
OUT Ucast Packets UDINT RO
OUT Non-Ucast Packets UDINT RO
OUT Discards UDINT RO
OUT Errors UDINT RO
Media Counters STRUCT of
Alignment Errors UDINT RO
FCS Errors UDINT RO
Single Collisions UDINT RO
Multiple Collisions UDINT RO
SQE Test Errors UDINT RO
F6 1,2 5 Deferred Transmissions UDINT RO
Late Collisions UDINT RO
Excessive Collisions UDINT RO
MAC Transmit Errors UDINT RO
Carrier Sense Errors UDINT RO
Frame Too Long UDINT RO
MAC Receive Errors UDINT RO
Interface Control STRUCT of
F6 1,2 6 Control Bits WORD RO
Forced Interface Speed UINT RO
F6 1,2 7 Interface Type USINT RO
F6 1,2 8 Interface State USINT RO

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Status codes

Ac-
Class Instance Attribute Name Type
cess
F6 1,2 9 Admin State USINT RW
SHORT
F6 1,2 10 Interface Label RW
STRING
Interface Capability STRUCT of
Capability Bits WORD RO
Speed/Duplex Options STRUCT of
F6 1,2 11 Array Count USINT RO
ARRAY of
Speed/Duplex Array
STRUCT of
Interface Speed UINT RO
Interface Duplex Mode USINT RO

KEB inverter object (class code: 0x64)

The KEB inverter object enables access to the manufacturer-specific parameters of the
inverter. This class enables the writing and reading of objects. Services Get_Attrib-
ute_Single and Set_Attribute_Single can be used to access these parameters.

11.2.5.1 Class attribute

There are no class attributes for this class.

11.2.5.2 Instance Attribute

Parameter access to the inverter parameters is described as example in 11.1.1 Explicit
messaging (parameterization channel). A list with all index values of the inverter parame-
ters can be found in the Programming Manual | Control Application / Compact / Pro.

Class Instance Attribute Name Type Access

0x64 Index Sub Index Parameter Name Type RO/RW

11.3 Status codes

The following table lists the general status messages which can be contained in a re-
sponse message. The "extended code field" is available for the future description of gen-
eral status messages.

Status codes Name of the status Description

0x00, 0 Success The service was successfully executed by the object.
0x01, 1 Connection failure The connection to the device has failed.
The required resources for the requested service are not
0x02, 2 Resource unavailable
available.
0x03, 3 Invalid parameter value The parameter value of the request is not supported.
An error occurred during the evaluation of the communica-
0x04, 4 Path segment error
tion path.
The communication path references an unknown object
0x05, 5 Path destination unknown
class, instance or unknown attribute.
0x06, 6 Partial transfer Only a part of the data could be transferred.
0x07, 7 Connection lost The connection to the device has been lost.

104 © 2021 KEB Automation KG

Status codes

Status codes Name of the status Description

The requested service is not supported by the selected ob-
0x08, 8 Service not supported
ject.
0x09, 9 Invalid attribute value The selected attribute is not supported by the object.
An attribute in the Get_Attribute_List or Set_Attribute_List
0x0A, 10 Attribute list error
has a non-zero status.
0x0B, 11 Already in requested state The object is already in the requested state.
The object can not execute the requested service in the cur-
0x0C, 12 Object state conflict
rent state.
The requested creation of the object has failed, since the
0x0D, 13 Object already exists
object already exists.
0x0E, 14 Attribute not settable The selected attribute cannot be changed.
0x0F, 15 Privelage violation Authorization check failed
The current state of the device prohibits the requested ser-
0x10, 16 Device state conflict
vice.
0x11, 17 Reply data too large The response memory is too small for the data to be sent.
The selected service attempts to perform an operation that
0x12, 18 Fragmentation of primitive
fragments a primitive data type.
0x13, 19 Not enough data The data provided by the service are not enough.
0x14, 20 Attribute not supported The selected attribute is not supported.
0x15, 21 Too much data The service has provided too much data.
0x16, 22 Object does not exist The selected object does not exist.
0x17, 23 Service fragmentation Service fragmentation is not active.
0x18, 24 No stored attribute data The attribute of the selected object was not stored.
0x19, 25 Store operation failure The attribute of the selected object could not be stored.
The selected service request packet was too large to be
Routing failure, request
0x1A, 26 sent over the network. The routing service has aborted the
packet too large
transmission.
The selected service response packet was too large to be
Routing failure, response
0x1B, 27 sent over the network. The routing service has aborted the
packet too large
transmission.
Missing attribute list entry The selected service does not have a suitable attribute to
0x1C, 28
data perform the selected behavior.
The selected service returns the list of invalid attributes with
0x1D, 29 Invalid attribute value list
associated status information.
0x1E, 30 Embedded service error An embedded service has triggered an error.
A vendor-specific error has occurred. This error occurs if no
0x1F, 31 Vendor specific error
other general error code can be assigned to the behavior.
A parameter belonging to the request is invalid. The param-
0x20, 32 Invalid parameter eter does not meet the requirements of the specification or
application.
0x21, 33 Write-once already written An attempt was made to write-once already written.
An invalid reply was received. The received service code is
0x22, 34 Invalid reply non-compliant with the sent service code or the reply is less
than the minimum expected size.
The received message is larger than the corresponding
0x23, 35 Buffer overflow
memory. The message has been rejected.
0x24, 36 Invalid message format The format of the received message is not supported.
The key segment contained as the first segment in the path
0x25, 37 Key failure in path
does not correspond to the target module.

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Status codes

Status codes Name of the status Description

The size of the received routing path is too small or too
0x26, 38 Path size invalid
much routing data is included.
An attempt has been made to set an attribute that cannot
0x27, 39 Unexpected attribute
be set at this time.
0x28, 40 Invalid Member ID The received Member ID does not exist.
A request to modify a non-modifiable member was re-
0x29, 41 Member not settable
ceived.
0x2A-0xCF, 42-
Reserved Reserved for future extensions.
207
0xD0-0xFF,
Reserved Reserved for object class-specific error codes.
208-255

106 © 2021 KEB Automation KG

Status codes

12 Modbus/TCP interface
The Modbus protocol is a communication protocol based on the client/server architecture.
KEB devices support only the Modbus variant Modbus/TCP, where the Modbus data are
transmitted via TCP/IP. Modbus TCP is part of the IEC 61158 standard.
In the following chapter KEB device with Modbus/TCP support are synonymously called
server. Applications that access the KEB device via Modbus/TCP are called clients.

➢ Only one Special version of the KEB devices of control type A supports
i Modbus/TCP. For further information, please contact your sales partner.

Class 0 implementation is supported. Clients can read parameters from the server and
write them to the server. The functions 3: Read Multiple Registers and 16: Write Multiple
Registers are supported. All requested Modbus/TCP transactions are carried out with 16-
bit registers.
Each Modbus message is divided into user data and a prefixed identifier (Function Code)
that defines the function of the message.
A transaction in the client/server model is shown below.

Client Server

Initial request

Function Code Data Request Execute action

Send response

Receive response Function Code Data Response

2
1 1fghfh
Figure 7: Client / Server Model
1

As long as Modbus/TCP is the active fieldbus system, the current state of the Mod-
bus/TCP connection is displayed via the fieldbus LED of the device. Further information
on the light pattern in chapter 5.5.2 Checking the fieldbus STATUS LED (NET ST).

➢ If the client does not send a request to the server for more than 30 seconds,
i the established connection is rejected.

© 2021 KEB Automation KG 107

Address range

12.1 Address range

The server is divided into two address ranges. One for process data communication and
one for parameter access to individual parameters.
• 0x0000 → 0x1FFF: Process data mapping
• 0x2000 → 0xFFFF: Parameter channel access

0x0000
.
Process
.
data range
.
0x1FFF

0x2000
. Inverter pa-
. rameter
. channel
0xFFFF

1 2 1fghfh
Figure 8: Address range
1

The process data mapping is a continuous memory area that starts at address 0. All data
of the process data mapping are addressed in one access.
The number of registers available for mapping is determined by the length of the map-
ping. One register is available for each 16 bit process data mapping.
The parameter channel allows read or write access to individual parameters. The param-
eter channel has a maximum size of 2 registers on KEB devices. Modbus registers are 16
bit long by default.

➢ When accessing different data types, it is important to pay attention to the dif-
i ferent length of these parameters. KEB parameters can be 1, 2 or 4 bytes
long. To avoid data loss, the right size for setting the registers must be con-
sidered. This applies in particular to the access of parameter types "signed"
and "unsigned".

108 © 2021 KEB Automation KG

Supported functions

12.2 Supported functions

Function 3: Read Multiple Registers

This function is used to read registers. The start address of the first register and the num-
ber of registers are sent as a request.

Request read process data

Description Size Data
Function Code 1 byte 0x03
Address 2 bytes 0x0000 → 0x1FFF
Register number 2 bytes 0x0001 → Mapping length

Response read process data

Description Size Data
Function Code 1 byte 0x03
Size of the register values in 1 byte 2 * Register number
bytes
Register values 2 bytes * Register number Read out values

Request read parameter channel

Description Size Data
Function Code 1 byte 0x03
Address 2 bytes 0x2000 → 0xFFFF
Register number 2 bytes 0x0001 or 0x0002

Response read parameter channel

Description Size Data
Function Code 1 byte 0x03
Size of the register values in 1 byte 2 * Register number
bytes
Register values 2 bytes * Register number Read out values

© 2021 KEB Automation KG 109

Supported functions

Function 16: Write Multiple Registers

This function is used to write registers. The start address of the first register, the number
of registers, the number of bytes (2 * number of registers) and the values to be written are
sent as a request.

Request write process data

Description Size Data
Function Code 1 byte 0x10
Address 2 bytes 0x0000 → 0x1FFF
Register number 2 bytes 0x0001 → Mapping length
Size of the values in byte 1 byte 2 * Register number
Values to be written 2 bytes * Register number Values to be written

Response write process data

Description Size Data
Function Code 1 byte 0x10
Address 2 bytes 0x0000 → 0x1FFF
Register number 2 bytes 0x0001 → Mapping length

Request write parameter channel

Description Size Data
Function Code 1 byte 0x10
Address 2 bytes 0x2000 → 0xFFFF
Register number 2 bytes 0x0001 or 0x0002
Size of the values in byte 1 byte 2 * Register number
Values to be written 2 bytes * Register number Values to be written

Request write parameter channel

Description Size Data
Function Code 1 byte 0x10
Address 2 bytes 0x2000 → 0xFFFF
Register number 2 bytes 0x0001 or 0x0002

110 © 2021 KEB Automation KG

Error handling (exception handling)

12.3 Error handling (exception handling)

In case of a faulty transaction, the server sends an error message as response to the cli-
ent. An error message is always 2 bytes long. The most significant bit of the message is
set to 1.
The following client/server model shows the error handling with Modbus/TCP.

Client Server

Initial request

Function Code Data Request Action leads to error

Send error message

Error message received Exception Function Code Exception Code

21
1 1fghfh
Figure 9: Exception handling

Error messages
Each error message consists of an identifier(Exception Function Code) and an error
code. The identifier of the error message corresponds to the identifier of the request with
the most significant bit set to 1.
Function 3 error message
Description Size Data
Exception Function Code 1 byte 0x83
Error code 1 byte 0x01

Function 16 error message

Description Size Data
Exception Function Code 1 byte 0x90
Error code 1 byte 0x01

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Modbus/TCP specific parameters

Error codes

Modbus error codes

code Name Description
The received function code is not supported by the server.
0x01 ILLEGAL FUNCTION It is possible that the function code will be supported in a
future version of the software.
The received data address or the combination of address
and number of registers is not supported by the server.
0x02 ILLEGAL DATA ADDRESS Possibly the length of the registers exceeds the permissi-
ble address range or the length of the registers does not
match the data type of the addressed parameter.
The received value is not permissible for the addressed pa-
0x03 ILLEGAL DATA VALUE
rameter.
A critical error occurred on the server while processing the
0x04 SLAVE DEVICE FAILURE
request. The device cannot correct the error on its own.

12.4 Modbus/TCP specific parameters

Configure IP addressing of the device (fb114)

To reach the KEB device via TCP/IP IP address, subnet mask and gateway must be con-
figured.
The default IP configuration is variable and can be set via parameter fb114. Similar to
Ethernet/IP, the IP configuration can be specified statically, via Bootp or via DHCP.
Further information on the IP configuration can be found in chapter 5.5.1 Checking MAC
addresses and IP configuration

fb114 ModbusTCP Configuration 0x2B72

Bit Function Value Text Description
0 Static IP configuration is static
IP configuration
0...1 1 Bootp IP configuration via bootp
method
2 DHCP IP configuration via DHCP

112 © 2021 KEB Automation KG

Modbus/TCP specific parameters

Addressing the subindex via the parameter channel (fb115)

The Modbus parameter channel allows access to individual parameters of the server.
However, the addressing specified by Modbus does not support subindices.
To be able to access also the subindexes of parameters, KEB devices provide the param-
eter fb115. If required, the subindex of the parameter to be addressed can be entered
here.
The value entered in fb115 is deleted by a restart of the device.

Index SubIndex Id-Text Name Function

Subindex for access via the param-
0x2B73 0 fb115 ModbusTCP SubIndex
eter channel

➢ If a parameter is addressed that does not support the subindex set in fb115,
i an error message is returned. When accessing parameters, always pay at-
tention to the set value in fb115.

© 2021 KEB Automation KG 113

Mapping parameters and Sync manager parameters

13 Annex
13.1 Mapping parameters and Sync manager parameters
RO ReadOnly
nPD not available for ProcessDataCommunication
V Variable
CAN CANopen Type ST Structure
Abbreviations
A Array
A S6A / F6A
Control board ver- S6K / F6K
HW K
sion
P S6P / F6P

Index SubIdx CAN Type Name Upper limit Lower limit Mult. Div Unit nPD RO HW

1009h 0 V STRING Hardware version 1 1 1 1 --- X X A,K,P

100Ah 0 V STRING Software version 4294967295 0 1 1 --- X X A,K,P

0 UINT8 1st RPDO communication parameter 2 2 1 1 --- X X

1400h 1 ST UINT32 cob-ID 4294967295 1 1 1 --- X --- A,K,P

2 UINT8 transmission type 255 0 1 1 --- X ---

0 UINT8 2nd RPDO communication parameter 2 2 1 1 --- X X

1401h 1 ST UINT32 cob-ID 4294967295 1 1 1 --- X --- A,K,P

2 UINT8 transmission type 255 0 1 1 --- X ---

0 UINT8 3rd RPDO communication parameter 2 2 1 1 --- X X

1402h 1 ST UINT32 cob-ID 4294967295 1 1 1 --- X --- A,K,P

2 UINT8 transmission type 255 0 1 1 --- X ---

0 UINT8 4th RPDO communication parameter 2 2 1 1 --- X X

1403h 1 ST UINT32 cob-ID 4294967295 1 1 1 --- X --- A,K,P

2 UINT8 transmission type 255 0 1 1 --- X ---

0 UINT8 8 0 1 1 --- X ---

1600h ST 1st receive PDO mapping A,K,P
1…8 UINT32 4294967295 0 1 1 --- X ---

0 UINT8 8 0 1 1 --- X ---

1601h ST 2nd receive PDO mapping A,K,P
1…8 UINT32 4294967295 0 1 1 --- X ---

0 UINT8 8 0 1 1 --- X ---

1602h ST 3rd receive PDO mapping A,K,P
1…8 UINT32 4294967295 0 1 1 --- X ---

0 UINT8 8 0 1 1 --- X ---

1603h ST 4th receive PDO mapping A,K,P
1…8 UINT32 4294967295 0 1 1 --- X ---

0 UINT8 1st TPDO communication parameter 5 5 1 1 --- X X

1 UINT32 cob-ID 4294967295 1 1 1 --- X ---

1800h 2 ST UINT8 transmission type 255 0 1 1 --- X --- A,K,P

3 UINT16 inhibit time 65535 0 1 1 ms X ---

4 UINT8 reserved 0 0 1 1 --- X X

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Mapping parameters and Sync manager parameters

Index SubIdx CAN Type Name Upper limit Lower limit Mult. Div Unit nPD RO HW

1800h 5 ST UINT16 event time 65535 0 1 1 --- X --- A,K,P

0 UINT8 2nd TPDO communication parameter 5 5 1 1 --- X X

1 UINT32 cob-ID 4294967295 1 1 1 --- X ---

2 UINT8 transmission type 255 0 1 1 --- X ---

1801h ST A,K,P
3 UINT16 inhibit time 65535 0 1 1 ms X ---

4 UINT8 reserved 0 0 1 1 --- X X

5 UINT16 event time 65535 0 1 1 --- X ---

0 UINT8 3rd TPDO communication parameter 5 5 1 1 --- X X

1 UINT32 cob-ID 4294967295 1 1 1 --- X ---

2 UINT8 transmission type 255 0 1 1 --- X ---

1802h ST A,K,P
3 UINT16 inhibit time 65535 0 1 1 ms X ---

4 UINT8 reserved 0 0 1 1 --- X X

5 UINT16 event time 65535 0 1 1 --- X ---

0 UINT8 4th TPDO communication parameter 5 5 1 1 --- X X

1 UINT32 cob-ID 4294967295 1 1 1 --- X ---

2 UINT8 transmission type 255 0 1 1 --- X ---

1803h ST A,K,P
3 UINT16 inhibit time 65535 0 1 1 ms X ---

4 UINT8 reserved 0 0 1 1 --- X X

5 UINT16 event time 65535 0 1 1 --- X ---

0 UINT8 8 0 1 1 --- X ---

1A00h ST 1st transmit PDO mapping A,K,P
1…8 UINT32 4294967295 0 1 1 --- X ---

0 UINT8 8 0 1 1 --- X ---

1A01h ST 2nd transmit PDO mapping A,K,P
1…8 UINT32 4294967295 0 1 1 --- X ---

0 UINT8 8 0 1 1 --- X ---

1A02h ST 3rd transmit PDO mapping A,K,P
1…8 UINT32 4294967295 0 1 1 --- X ---

0 UINT8 8 0 1 1 --- X ---

1A03h ST 4th transmit PDO mapping A,K,P
1…8 UINT32 4294967295 0 1 1 --- X ---

0 4 4
1C00h A UINT8 Sync Manager Communication Type 1 1 --- X X A,K,P
1…4 4 0

0 1 1
1C12h A UINT16 sync manager 2 PDO assign 1 1 --- X --- K
1 1600h 1600h

0 2 2
1C12h A UINT16 sync manager 2 PDO assign 1 1 --- X --- A,P
1…2 1601h 1600h

1C13h 0 A UINT16 sync manager 3 PDO assign 1 1 1 1 --- X --- K

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Mapping parameters and Sync manager parameters

Index SubIdx CAN Type Name Upper limit Lower limit Mult. Div Unit nPD RO HW

1C13h 1 A UINT16 sync manager 3 PDO assign 1A00h 1A00h 1 1 --- X --- K

0 2 2
1C13h A UINT16 sync manager 3 PDO assign 1 1 --- X --- A,P
1…2 1A01h 1A00h

0 UINT8 Output sync manager para 32 32 1 1 --- X X

1 UINT16 Sync mode 3 0 1 1 --- X X

2 UINT32 Cycle Time 16000000 0 1 1000 us X X

4 UINT16 Sync modes supported 65535 0 1 1 --- X X

1C32h 5 ST UINT32 Minimum Cycle Time 16000000 0 1 1000 us X X A,K,P

6 UINT32 Calc and Copy Time 4294967295 0 1 1000 us X X

11 UINT16 SM Event Missed 65535 0 1 1 --- X X

12 UINT16 Cycle Time Too Small 65535 0 1 1 --- X X

32 UINT8 Sync Error 1 0 1 1 --- --- X

0 UINT8 Input sync manager para 32 32 1 1 --- X X

1 UINT16 Sync mode 3 0 1 1 --- X X

2 UINT32 Cycle Time 16000000 0 1 1000 us X X

4 UINT16 Sync modes supported 65535 0 1 1 --- X X

1C33h 5 ST UINT32 Minimum Cycle Time 16000000 0 1 1000 us X X A,K,P

6 UINT32 Calc and Copy Time 4294967295 0 1 1000 us X X

11 UINT16 SM Event Missed 65535 0 1 1 --- X X

12 UINT16 Cycle Time Too Small 65535 0 1 1 --- X X

32 UINT8 Sync Error 1 0 1 1 --- --- X

116 © 2021 KEB Automation KG

 Fieldbus parameters

13.2 Fieldbus parameters

RO ReadOnly
nPD not available for ProcessDataCommunication
V Variable
CAN CANopen Type ST Structure
Abbreviations
A Array
A S6A / F6A
Control board ver- S6K / F6K
HW K
sion
P S6P / F6P

For structures, the name of the structure is entered in the line of subindex 0 (number).
HW indicates the control types of the devices which support the specified parameter.

Index SubIdx CAN Type Name Upper limit Lower limit Mult. Div Unit nPD RO HW

2B0Ah 0 V UINT16 sync interval 16000 0 1 1 µs X --- A,K,P

2B0Bh 0 V UINT16 Set sync level 1000 0 1 10 µs X --- A,K,P

2B0Ch 0 V UINT16 KP sync PLL 256 0 1 1 --- X --- A,K,P

2B0Dh 0 V UINT8 DIN66019 node id 238 1 1 1 --- X --- A,K

2B0D 0 V UINT8 drive node ID 238 1 1 1 --- X --- P

2B0Eh 0 V UINT8 DIN66019 baud rate 12 0 1 1 --- X --- A,K,P

0 UINT8 node IDs 2 2 1 1 --- X X P

2B0Fh 1 ST UINT8 application node ID 255 0 1 1 --- X --- P

2 UINT8 debugger node ID 255 0 1 1 --- X --- P

2B10h 0 V UINT8 Fieldbus node injection 255 1 1 1 --- X --- P

2B13h 0 V UINT16 measured sync interval 65535 0 2 3 µs --- X A

2B13h 0 V UINT16 measured sync interval 65535 0 4 5 µs --- X K

2B13h 0 V UINT16 measured sync interval 65535 0 64 75 µs --- X P

2B14h 0 V UINT8 ETC invalid frame count P0 255 0 1 1 --- X X K,P

2B15h 0 V UINT8 ETC RX error count P0 255 0 1 1 --- X X K,P

2B16h 0 V UINT8 ETC invalid frame count P1 255 0 1 1 --- X X K,P

2B17h 0 V UINT8 ETC RX error count P1 255 0 1 1 --- X X K,P

2B18h 0 V UINT8 ETC for. RX error count P0 255 0 1 1 --- X X K,P

2B19h 0 V UINT8 ETC for. RX error count P1 255 0 1 1 --- X X K,P

2B1Ah 0 V UINT8 ETC processing unit error count 255 0 1 1 --- X X K,P

2B1Bh 0 V UINT16 ETC min. sync delay 32000 0 8 25 µs X --- K,P

2B1Ch 0 V UINT16 ETC max. sync delay 32000 0 8 25 µs X --- K,P

2B1Dh 0 V UINT16 ETC no frame per sync cnt 32000 0 1 1 --- X --- K,P

2B1Eh 0 V UINT16 ETC mult. frames per sync cnt 32000 0 1 1 --- X --- K,P

2B1Fh 0 V UINT16 no PDO data per sync cnt 32000 0 1 1 --- X --- A,K,P

2B20h 0 V UINT8 LED 'DEV ST' blink status 1 0 1 1 --- --- --- A,K,P

2B25h 0 V INT16 ETC PD access min. sync delay 3200 0 8 25 µs X --- K;P

2B26h 0 V INT16 ETC PD access max. sync delay 3200 0 8 25 µs X --- K;P

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 Fieldbus parameters

Index SubIdx CAN Type Name Upper limit Lower limit Mult. Div Unit nPD RO HW

2B3Ch 0 V UINT8 process data size selection 4 0 1 1 --- X --- A,K,P

2B40h 0 V UINT8 CAN node ID 127 1 1 1 --- X --- A,K,P

2B42h 0 V UINT8 CAN baud rate 8 1 1 1 --- X --- A,K,P

2B43h 0 V UINT16 fieldbus configuration 15 0 1 1 --- X --- A,K,P

2B44h 0 V UINT8 fieldbus selection 6 0 1 1 --- X --- A

2B44h 0 V UINT8 fieldbus selection 2 0 1 1 --- X --- K

2B44h 0 V UINT8 fieldbus selection 1 0 1 1 --- X --- P

2B45h 0 V UINT16 CAN lost messages 65535 0 1 1 --- --- X A,K

0 UINT8 CAN options 7 7 1 1 --- X X A,K

1 UINT32 CAN option code 4294967295 0 1 1 --- X --- A,K

2 UINT16 Tx PDO base ID 65535 0 1 1 --- X --- A,K

3 UINT16 Rx PDO base ID 65535 0 1 1 --- X --- A,K

2B46h ST
4 UINT16 Tx PDO1 cycle time 10000 10 1 1 --- X --- A,K

5 UINT16 Tx PDO2 cylce time 10000 10 1 1 --- X --- A,K

6 UINT16 Tx PDO3 cycle time 10000 10 1 1 --- X --- A,K

7 UINT16 Tx PDO4 cycle time 10000 10 1 1 --- X --- A,K

2B47h 0 V UINT32 fieldbus options 2 1 1 1 --- --- --- P

2B48h 0 V UINT32 change cnt 4294967295 0 1 1 --- --- --- P

0 UINT8 MRTE module 3 3 1 1 --- X X A

1 UINT8 MRTE module support 1 0 1 1 --- X --- A

2B50h ST
2 UINT8 MRTE module state 255 0 1 1 --- X X A

3 UINT16 MRTE module version 255 0 1 1 --- X X A

0 UINT8 fieldbus state 6 6 1 1 --- X X A,K,P

1 UINT16 EtherCAT fieldbus state 65535 0 1 1 --- X X A,K,P

2 UINT16 CANopen fieldbus state 65535 0 1 1 --- X X A,K,P

3 UINT16 VARAN fieldbus state 65535 0 1 1 --- X X K

2B5Ah ST
3 UINT16 PROFINET fieldbus state 65535 0 1 1 --- X X A

4 UINT16 POWERLINK fieldbus state 65535 0 1 1 --- X X A

5 UINT16 EtherNet/IP fieldbus state 65535 0 1 1 --- X X A

6 UINT16 ModbusTCP fieldbus state 65535 0 1 1 --- X X A

0 UINT8 fieldbus error code 6 6 1 1 --- X X A,K,P

1 UINT16 EtherCAT fieldbus error code 65535 0 1 1 --- X X A,K,P

2 UINT16 CANopen fieldbus error code 65535 0 1 1 --- X X A,K,P

3 UINT16 VARAN fieldbus error code 65535 0 1 1 --- X X K

2B5Bh ST
3 UINT32 PROFINET fieldbus error code 9568255 0 1 1 --- X X A

4 UINT16 POWERLINK fieldbus error code 65535 0 1 1 --- X X A

5 UINT16 EtherNet/IP fieldbus error code 65535 0 1 1 --- X X A

6 UINT16 ModbusTCP fieldbus error code 65535 0 1 1 --- X X A

118 © 2021 KEB Automation KG

 Fieldbus parameters

Index SubIdx CAN Type Name Upper limit Lower limit Mult. Div Unit nPD RO HW

2B64h 0 V UINT8 node ID switch value 255 0 1 1 --- X X A

2B65h 0 V UINT8 adjusted node ID value 255 0 1 1 --- X --- A

2B66h 0 V UINT8 effective node ID 255 0 1 1 --- X X A

2B66h 0 V UINT8 effective node ID 255 0 1 1 --- X --- P

2B67h 0 V UINT32 FB MAC Address (Base) 4211081215 0 1 1 --- X --- A

2B68h 0 V UINT32 PNET MAC Address (Port1) 4211081215 0 1 1 --- X --- A

2B69h 0 V UINT32 PNET MAC Address (Port2) 4211081215 0 1 1 --- X --- A

2B69h 0 V UINT32 MAC Address (EoE Channel) 4211081215 0 1 1 --- X --- P

2B6Ah 0 V UINT32 MAC Address (EthChannel) 4211081215 0 1 1 --- X X P

2B6Ah 0 V UINT32 MAC Address (EthChannel) 4211081215 0 1 1 --- X --- A,K

0 240 240
2B6Bh A UINT8 PROFINET NameOfStation 1 1 --- X X A
1 - 240 32 122

0 UINT8 Ethernet over fieldbus IP configuration 3 3 1 1 --- X X A,K,P

1 UINT32 IP address 4294967295 0 1 1 --- X --- A,K,P

2B6Ch ST
2 UINT32 subnet mask 4294967295 0 1 1 --- X --- A,K,P

3 UINT32 gateway address 4294967295 0 1 1 --- X --- A,K,P

0 UINT8 basic IP configuration 3 3 1 1 --- X X A,P

1 UINT32 IP address 4294967295 0 1 1 --- X --- A,P

2B6Dh ST
2 UINT32 subnet mask 4294967295 0 1 1 --- X --- A,P

3 UINT32 gateway address 4294967295 0 1 1 --- X --- A,P

0 2 2
2B6Eh A UINT8 Scan names 1 1 --- X --- P
1-2 32 0

0 8 8
2B6Fh A UINT8 POWERLINK RPDO offset 1 1 --- X --- A
1-8 255 0

0 8 8
2B70h A UINT8 POWERLINK TPDO offset 1 1 --- X --- A
1-8 255 0

2B71h 0 V UINT8 EtherNet/IP Configuration 6 0 1 1 --- X --- A

2B72h 0 V UINT8 ModbusTCP Configuration 2 0 1 1 --- X --- A

2B73h 0 V UINT8 ModbusTCP Subindex 255 0 1 1 --- X --- A

© 2021 KEB Automation KG 119

 Solutions for KEB specific fieldbus error codes

13.3 Solutions for KEB specific fieldbus error codes

The following table describes KEB specific fieldbus errors. The listed solutions should be
carried out in consultation with a KEB service employee. If other error codes occur in
fb91, please check whether they are error codes of the respective fieldbus system. If this
is not the case, please contact KEB Support.

Error code Description Solution

INIT_ERR_PD PD mapping error, PD mapping Check and reactivate the PD
is deactivated. mapping, then perform a soft-
ware reset.
INIT_ERR_INV_NODE_ID Node address value is not sup- Change node address value or
ported by the selected fieldbus active fieldbus system and per-
system. form a software reset.
INIT_ERR_FB_TYPE_INVALID Selected fieldbus system is not Change fieldbus system or
supported in the current configu- check connection to MRTE mod-
ration. ule(fb80). After changes soft-
ware reset.
INIT_ERR_I2C No access to I2C, detection of Check the physical connection
the MRTE module and reading between the MRTE module and
of the node address is not possi- the control board. Perform soft-
ble. ware reset.
INIT_ERR_BASE_DRV_NOT_ONLINE Driver of the MRTE module Check the connection between
does not receive a response the MRTE module and the con-
from the MRTE module. trol board. (fb80)
INIT_ERR_NETX_BASE Error in the initialization of the Check the connection between
MRTE module driver. the MRTE module and the con-
trol board. (fb80)
INIT_ERR_INV_NODE_ID Error during configuration due to Set node address value by fb100
incorrect node address or fb101 to a valid value for
POWERLINK CN
XXX_NO_STACK_INIT_ERR MRTE module file for selected Check files in the file system via
fieldbus system is not in the file KEB FTP. Check MRTE module
system version via fb80.
XXX_MAC_ADDR_ERROR Missing MAC addresses. Add MAC addresses (fb103 –
fb105).
XXX_SLAVE_FLAGS_INIT_ERR Error in communication between Check software version, con-
software and MRTE module. tents of the file system and NetX
version. Follow the start-up man-
ual (chapter 5)
ECAT_DMA_ERROR Error in the communication with Hardware error. Please contact
the EtherCAT Core your KEB support.
ECAT_DCSYNCMISSEDERROR No process data received be- Checking the EtherCAT master
tween two SYNCs configuration
ECAT_INVALID_SYNC_CYCLE_TIME Specified cycle time is not sup- Check is22 and fb19 (cycle time
ported by the slave must be integer multiple of
MidIRQ cycle)
CAN301_ERROR_GENERIC_ERROR Special case: Is displayed when Check ru01 and ru02.
CAN is the active fieldbus sys-
tem and an error has occurred in
the drive.

120 © 2021 KEB Automation KG

Revision history

13.4 Revision history

Version Chapter Change Date

00 First version created 26.10.2020
5.3.4 Changed behaviour of the node address on the P cards 26.10.2020
described
7.5.1 Added instructions for correct configuration of EoE net- 02.02.2021
works
5.5.1.3, Note that the node address values 0, 240 and 255 for 25.02.2021
10.3.2 POWERLINK invalid are added.
6.8 Description of the "transmission type" revised 01.03.2021
6.6 Added information about data length for CAN SDO tele- 01.04.2021
grams
12 Chapter about Modbus/TCP added 18.05.2021
5 Modbus/TCP added to the general fieldbus chapter 19.05.2021
5.8 General chapter about the fieldbus watchdog added 19.05.2021
13.2 List with fieldbus parameters updated 20.05.2021
01 Editorial changes 28.05.2021
02 5.3.1, 12 Modbus/TCP supplement only available as special version 05.08.2021

© 2021 KEB Automation KG 121

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