Danfoss MCA 101 Programming guide

Name: Danfoss MCA 101
Brand: Danfoss
SKU: 18781746
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MAKING MODERN LIVING POSSIBLE

Programming Guide

VLT® PROFIBUS DP MCA 101

VLT® Frequency Converter Series FC 102 • FC 103 • FC 202

FC 301/302 • FCD 302 • FCP 106 • FCM 106

vlt-drives.danfoss.com

Contents	Programming Guide

Contents

1 Introduction	3
1.1 Purpose of the Manual	3
1.2 Additional Resources	3
1.3 Document and Software Version	3
1.4 Product Overview	3
1.5 Approvals and Certifications	4
1.6 Symbols, Abbreviations, and Conventions	5
2 Safety	6
2.1 Safety Symbols	6
2.2 Qualified Personnel	6
2.3 Safety Precautions	6
3 Configuration	8
3.1 Configure the PROFIBUS Network	8
3.2 Configure the Master	9
3.2.1 GSD File	9
3.3 Configure the Frequency Converter	11
3.3.1 Frequency Converter Parameters	11
3.3.2 LEDs	12
4 Control	13
4.1 PPO Types	13
4.2 Process Data	15
4.2.1 Process Control Data	15
4.2.2 Process Status Data	15
4.2.3 Reference Handling	15
4.2.4 Process Control Operation	16
4.2.5 Influence of the Digital Input Terminals on FC Control Mode	16
4.3 Control Profile	16
4.4 PROFIdrive Control Profile	17
4.4.1 Control Word According to PROFIdrive Profile (CTW)	17
4.4.2 Status Word According to PROFIdrive Profile (STW)	18
4.4.3 PROFIdrive State Transition Diagram	20
4.5 Danfoss FC Control Profile	21
4.5.1 Control Word According to FC Profile (CTW)	21
4.5.2 Status Word According to FC Profile (STW)	22
4.6 Synchronize and Freeze	23
4.6.1 Sync/Unsync	23
4.6.2 Freeze/Unfreeze	24

MG37G202

Contents

VLT® PROFIBUS DP MCA 101

5 Parameter Access	25
5.1 Parameter Access in General	25
5.2 DP-V1 Parameter Access	25
5.3 PCV Parameter Access	31
5.4 PROFIBUS DP Parameter and Data Type	33
6 Parameters	36
6.1 8-** PROFIBUS Parameters	36
6.2 9- and 16- PROFIBUS Parameters	39
6.3 PROFIBUS-specific Parameter List	46
7 Application Examples	48
7.1 Example 1: Process Data with PPO Type 6	48
7.2 Example 2: Control Word Telegram using PPO Type	49
7.3 Example 3: Status Word Telegram using PPO Type	50
7.4 Example 4: PLC Programming	51
8 Troubleshooting	53
8.1 Diagnosis	53
8.2 No Response to Control Signals	53
8.3 Warnings and Alarms	56
8.4 Fault Messages via DP Diagnosis	58
8.5 Extended Diagnosis	59
Index	60

MG37G202

Introduction Programming Guide

1 Introduction	1	1
1 Introduction

1.1 Purpose of the Manual

The VLT® PROFIBUS DP MCA 101 Programming Guide provides information about:

•Configuring the system.

•Controlling the frequency converter.

•Parameter access.

•Programming.

•Troubleshooting.

•Typical application examples.

The programming guide is intended for use by qualified personnel familiar with the VLT® frequency converter, with PROFIBUS technology, and with the PC or PLC used as a master in the system.

Read the instructions before programming and follow the procedures in this manual.

1.3 Document and Software Version

This manual is regularly reviewed and updated. All suggestions for improvement are welcome. Table 1.1 shows the document version and the corresponding software version.

Edition		Remarks	Software
			version

MG37G2xx	•	Information about VLT® DriveMotor	5.20
		FCP 106/FCM 106 added.
	•	New feature for fast PCD communi-
		cation for MCO 305.

Table 1.1 Document and Software Version

1.4 Product Overview

VLT® is a registered trademark.

1.2 Additional Resources

Resources available for the frequency converters and optional equipment:

•The VLT® Operating Instructions provide the necessary information for getting the frequency converter up and running.

•The VLT® Design Guide provides detailed information about capabilities and functionality to design motor control systems.

•The VLT® Programming Guide provides greater detail on working with parameters and many application examples.

•The VLT® PROFIBUS DP MCA 101 Installation Guide provides information about installing the PROFIBUS and troubleshooting.

•The VLT® PROFIBUS DP MCA 101 Programming Guide provides information about configuring the system, controlling the frequency converter, parameter access, programming, troubleshooting, and some typical application examples.

Supplementary publications and manuals are available from Danfoss. See vlt-drives.danfoss.com/Support/Technical- Documentation/ for listings.

1.4.1 Features of PROFIBUS DP-V1

•2 different state machines can be selected: PROFIdrive profile or Danfoss FC profile.

•Communication using PROFIBUS DP-V1, master class 1, and master class 2.

•Backward compatibility: New protocol extensions retain all the functions of the previous versions.

•Intelligent base for future technologies such as OPC, FDT/DTM, PROFINET.

•Bus timeout reaction.

•PLC/CPU stop reaction.

•8 PPO types available.

•Numerous relevant process data (PCD) types available.

•Automatic detection of baud rate and PPO type.

•Extended diagnosis available.

•Alarms and warnings available as text messages within the PLC.

•Configuration via MCT 10 Set-up Software.

•Equally long bus cycle time configurable in PLC system.

•Improved network efficiency, since the cyclic parameter channel is no longer required.

•Short bus cycle times compared to industrial Ethernet.

•Backwards compatibility with DP.

MG37G202

Introduction

VLT® PROFIBUS DP MCA 101

1	1	1.4.2 Technical Overview

for general parameter access as an alternative to the PCV parameter channel.

PROFIBUS

PROFIBUS is an international standard for fieldbus communication in automation technology (IEC 61158 and IEC 61784). The member companies of the PROFIBUS International User Community support the standard.

For information about PROFIBUS and downloads for PROFIBUS DP and the PROFIdrive profile, refer to www.Pro€bus.com.

PROFIBUS DP-V1

The PROFIBUS DP protocol enables communication between PROFIBUS masters and slaves.

Configure communication via MCT 10 Set-up Software.

Cyclic/acyclic communication

•PLC communicates with telegrams of constant length.

•Fits time-critical requirements.

•Cyclic transmission via PPO types.

•Extended diagnosis.

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PLC

PC tool

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Master class 1

Master class 2

Illustration 1.2 PROFIBUS DP-V1

The PROFIBUS DP extension DP-V1 allows acyclic as well as cyclic data communication. This feature can be used by a DP master class 1, for example PLC, as well as a DP master class 2, for example PC tool.

1.5 Approvals and Certifications

More approvals and certifications are available. For more information, contact a local Danfoss partner.

Illustration 1.1 PROFIBUS DP-V0

Features of a master class 1 connection:

•Cyclic data exchange (DP-V0).

•Acyclic read/write on parameters.

•Extended diagnosis.

The acyclic connection is fixed and cannot be changed during operation.

Features of a master class 2 connection:

•Initiate/abort acyclic connection.

•Acyclic read/write on parameters.

The acyclic connection can be established (initiated) or removed (aborted) dynamically even when a master class 1 is active on the network. Use the DP-V1 acyclic connection

MG37G202

Introduction Programming Guide

1.6	Symbols, Abbreviations, and		1	1
	Conventions
	Conventions

CAN		Controller area network

CTW		Control word

DP		Distributed periphery

DTM

DU		Data unit

EEPROM		Electrical erasable programmable read-only memory

EMC		Electromagnetic compatibility

FDT		Field device tool

HMI

IND		Sub index

LCD		Liquid crystal display

LCP		Local control panel

LED		Light emitting diode

MAV		Main actual value

MC1		Master class 1

MC2		Master class 2

MRV		Main reference value

OPC

PC		Personal computer

PCD		Process data

PCA		Parameter characteristics

PCV		Parameter characteristics value

PDU		Protocol data unit

PLC		Programmable logic control

PNU		Parameter number

PPO		Parameter-process data

PVA		Parameter value

RC		Request/response characteristics

SAP		Service access point

SMP		Spontaneous message

STW		Status word

Table 1.2 Symbols and Abbreviations

Conventions

Numbered lists indicate procedures.

Bullet lists indicate other information and description of illustrations.

Italicized text indicates:

•

Cross-reference. Link.

Footnote. Parameter name.

Parameter group name. Parameter option.

* indicates a default setting in a parameter.

MG37G202

Safety

VLT® PROFIBUS DP MCA 101

2 Safety

2 2

2.1 Safety Symbols

The following symbols are used in this manual:

WARNING

Indicates a potentially hazardous situation that could result in death or serious injury.

CAUTION

Indicates a potentially hazardous situation that could result in minor or moderate injury. It can also be used to alert against unsafe practices.

NOTICE

Indicates important information, including situations that can result in damage to equipment or property.

2.2 Qualified Personnel

Correct and reliable transport, storage, installation, operation, and maintenance are required for the troublefree and safe operation of the frequency converter. Only qualified personnel are allowed to install and operate this equipment.

Qualified personnel are defined as trained staff, who are authorized to install, commission, and maintain equipment, systems, and circuits in accordance with pertinent laws and regulations. Also, the qualified personnel must be familiar with the instructions and safety measures described in these operating instructions.

2.3 Safety Precautions

WARNING

HIGH VOLTAGE

Frequency converters contain high voltage when connected to AC mains input, DC supply, or load sharing. Failure to perform installation, start-up, and maintenance by qualified personnel can result in death or serious injury.

•Only qualified personnel must perform installation, start-up, and maintenance.

WARNING

UNINTENDED START

When the frequency converter is connected to AC mains, DC supply, or load sharing, the motor may start at any time. Unintended start during programming, service, or repair work can result in death, serious injury, or property damage. The motor can start with an external switch, a fieldbus command, an input reference signal from the LCP or LOP, via remote operation using MCT 10 Set-up Software, or after a cleared fault condition.

To prevent unintended motor start:

•Press [Off/Reset] on the LCP before programming parameters.

•Disconnect the frequency converter from the mains.

•Completely wire and assemble the frequency converter, motor, and any driven equipment before connecting the frequency converter to AC mains, DC supply, or load sharing.

WARNING

DISCHARGE TIME

The frequency converter contains DC-link capacitors, which can remain charged even when the frequency converter is not powered. High voltage can be present even when the warning LED indicator lights are off. Failure to wait the specified time after power has been removed before performing service or repair work can result in death or serious injury.

•Stop the motor.

•Disconnect AC mains and remote DC-link power supplies, including battery back-ups, UPS, and DC-link connections to other frequency converters.

•Disconnect or lock PM motor.

•Wait for the capacitors to discharge fully. The minimum duration of waiting time is specified in the chapter Safety in the operating instructions supplied with the frequency converter.

•Before performing any service or repair work, use an appropriate voltage measuring device to make sure that the capacitors are fully discharged.

MG37G202

Safety Programming Guide

WARNING

LEAKAGE CURRENT HAZARD	2 2
Leakage currents exceed 3.5 mA. Failure to ground the

frequency converter properly can result in death or serious injury.

•Ensure the correct grounding of the equipment by a certified electrical installer.

WARNING

EQUIPMENT HAZARD

Contact with rotating shafts and electrical equipment can result in death or serious injury.

•Ensure that only trained and qualified personnel perform installation, start-up, and maintenance.

•Ensure that electrical work conforms to national and local electrical codes.

•Follow the procedures in this guide.

CAUTION

INTERNAL FAILURE HAZARD

An internal failure in the frequency converter can result in serious injury when the frequency converter is not properly closed.

•Ensure that all safety covers are in place and securely fastened before applying power.

MG37G202

Configuration

VLT® PROFIBUS DP MCA 101

3 Configuration

3.1 Configure the PROFIBUS Network

3 3 Ensure that all PROFIBUS stations connected to the same bus network have a unique station address.

Select the PROFIBUS address of the frequency converter via:

•Hardware switches.

•Parameter 9-18 Node Address.

•The PROFIBUS command SSA (set station address).

3.1.1Setting the PROFIBUS Address using the DIP Switches

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ON		1
ON
1	2
PROFIBUS Option A

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	MS		OFF
		Code No. 130B1100

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	SW. ver. XX.XX		Address
		ON	ON
						2

To set the PROFIBUS address using the DIP switches:

1.Switch off the supply.

2.Select an address in the range 0–125. Factory setting is 127.

3.For location of the DIP switches, refer to

Illustration 3.1 and Illustration 3.2.

4.Set the switches according to the address, see

Table 3.1.

Switch	8	7	6	5	4	3	2	1

Address	Not	+64	+32	+16	+8	+4	+2	+1
value	used

5	Not	OFF	OFF	OFF	OFF	ON	OFF	ON
	used

35	Not	OFF	ON	OFF	OFF	OFF	ON	ON
	used

82	Not	ON	OFF	ON	OFF	OFF	ON	OFF
	used

Table 3.1 Examples: Setting the PROFIBUS Address using the DIP Switches

NOTICE

Switch off the supply before changing the DIP switches.

1Termination switch

2DIP switches

Illustration 3.1 Location and Sequence of the DIP Switches

The DIP switches in the FCD 302 are placed below the inverter part, see Illustration 3.2.

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Illustration 3.2 FCD 302 Dip Switches

Setting the PROFIBUS address via parameter 9-18 Node Address

1.Switch off the supply.

2.Set the DIP switch to 126 or 127 (factory switch setting).

3.Set the address via parameter 9-18 Node Address or the PROFIBUS SSA-command.

4.The address change comes into effect at the next power-up.

MG37G202

Configuration

Programming Guide

Setting the PROFIBUS address with set station address command

1.Switch off the supply.

2.Set the DIP switch to 126 or 127 (factory switch setting).

3.Set the address via the set station address command. Use the set station address command to lock the programmed address and to change the address. To unlock the address setting, change parameter 9-18 Node Address or the address switch, followed by a power cycle. A new

	address is effective immediately after applying	Illustration 3.3 Install GSD File
	the set station address command.	Illustration 3.3 Install GSD File
	the set station address command.

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3 3

3.2 Configure the Master

3.2.1 GSD File

To configure a PROFIBUS master, the configuration tool needs a GSD file for each type of slave on the network. The GSD file is a PROFIBUS DP standard text file containing the necessary communications set-up data for a slave. Download the GSD file for the relevant frequency converter series vlt-drives.danfoss.com/products/engineering- software/software-download/€eldbus/.

PROFIBUS SW version	GSD file
(parameter 15-61 Option SW
Version)

1.x	da01040A.GSD

2.x	da02040A.GSD

FCD 302	da01040B.GSD

Table 3.2 GSD File

The following example shows the procedure of configuring a PROFIBUS master for FC 301/FC 302, but the procedure is also valid for other frequency converter series.

1.Import the GSD file in the configuration tool.

2.Import the GSD file to the Simatic Manager software tool. Import a GSD file once only for each frequency converter series, following the initial installation of the software tool. See

Illustration 3.3.

3.Use the browser for the GSD file, install all files, and import both a GSD file and a bitmap for the device into the hardware catalog. See

Illustration 3.4 and Illustration 3.5.

Illustration 3.4 Import a GSD File and a Bitmap

Illustration 3.5 Add a GSD File

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MG37G202

3 3

Configuration

VLT® PROFIBUS DP MCA 101

4.Import and access the FC 301/FC 302 GSD file via the path in the hardware catalog, see

Illustration 3.6.

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8.Set up the peripheral input and output data. Data set up in the peripheral area is transmitted cyclically via PPO types. Drag and drop a PPO type 6 word consistent to the first slot, see Illustration 3.8. See the PPO types in

chapter 4 Control for more information.

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Illustration 3.6 Import and Access the GSD File

5.Open a project, set up the hardware, and add a PROFIBUS master system.

6.Select FC 300, then drag and drop it onto the PROFIBUS in the hardware diagram.

7.A window for the address of the FC 300 appears. Select the address from the scroll-down list. Ensure that the address setting matches the previous address setting in parameter 9-18 Node Address. See Illustration 3.7.

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Illustration 3.7 Select the Address

Illustration 3.8 Drag and Drop PPO Type 6 Word Consistent to the First Slot

The configuration tool automatically assigns addresses in the peripheral address area. In this example, the input and output areas have the following configurations:

PPO type 6

PCD word	1	2	3	4
number

Input	256–257	258–259	260–261	262–263
address

Set-up	STW	MAV	Parameter 9-	Parameter 9-
			16 PCD Read	16 PCD
			Con€gu-	Read Con€g-
			ration.2	uration.3

Table 3.3 PCD Read (Frequency Converter to PLC)

PCD word	1	2	3	4
number

Output	256–257	258–259	260–261	262–263
address

Set-up	CTW	MRV	Parameter 9-	Parameter 9-
			15 PCD Write	15 PCD
			Con€gu-	Write
			ration.2	Con€gu-
				ration.3

Table 3.4 PCD Write (PLC to Frequency Converter)

MG37G202

Configuration	Programming Guide

Alternative: For PROFIBUS SW version 2.x and higher, autoconfiguration of process data is supported. This feature makes it possible to configure the process data (parameter 9-15 PCD Write Con€guration and

parameter 9-16 PCD Read Con€guration) from the PLC/ master. To use auto-configuration, make sure to enable the feature under DP slave properties. See Illustration 3.9.

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Illustration 3.9 Enable Feature under DP Slave Properties

NOTICE

DP-V1 diagnosis is supported for PROFIBUS SW version 2.x and higher. The default setting of the VLT® PROFIBUS

DP MCA 101 is DP-V1 diagnosis. If DP-V0 diagnosis is required, change the setting under DP slave properties.

3.3Configure the Frequency Converter

3.3.1Frequency Converter Parameters

The following parameters are important when configuring
the frequency converter with a PROFIBUS interface:		3	3
•	Parameter 0-40 [Hand on] Key on LCP. Pressing	3	3
	[Hand on] disables control of the frequency
	converter via PROFIBUS.
•	Parameter 8-02 Control Word Source. After an
	initial power-up, the frequency converter
	automatically detects whether a fieldbus option is
	installed in slot A. The frequency converter then
	sets parameter 8-02 Control Word Source to [3]
	Option A. If an option is added to, changed in, or
	removed from an already commissioned
	frequency converter, it does not change
	parameter 8-02 Control Word Source. Instead, the
	frequency converter enters trip mode and shows
	an error.
•	Parameter 8-10 Control Word Pro€le. Select
	between the Danfoss FC Profile and the
	PROFIdrive profile.
•	Parameter 8-50 Coasting Select to
	parameter 8-56 Preset Reference Select. Select how
	to gate PROFIBUS control commands with digital
	input command of the control card.
•	Parameter 8-03 Control Word Timeout Time to
	parameter 8-05 End-of-Timeout Function. Set the
	reaction in the event of a bus timeout via these
	parameters.
•	Parameter 9-18 Node Address.
•	Parameter 8-07 Diagnosis Trigger.

NOTICE

The setting in parameter 8-01 Control Site overrides the settings in parameter 8-50 Coasting Select to

parameter 8-56 Preset Reference Select, and they all act on bus control.

Illustration 3.10 DP-V1 Diagnosis

Download the configuration file to the PLC. The PROFIBUS system is able to go online, and it starts to exchange data when the PLC is set to run mode.

MG37G202

Configuration

VLT® PROFIBUS DP MCA 101

3.3.2 LEDs

The 2 bicolor LEDs in the VLT® PROFIBUS DP MCA 101 indicate the status of PROFIBUS communication.

3 3 The LED marked NS (FCD 302: NS2) indicates the network status, that is, the cyclic communication to the PROFIBUS master. When this light is a constant green, data exchange between the master and the frequency converter is active.

The LED marked MS (FCD 302: BUS MS) indicates the module status, that is, acyclic DP-V1 communication from either a PROFIBUS master class 1 (PLC) or a master class 2 (MCT 10 Set-up Software, FDT tool). When this light is a constant green, DP-V1 communication from master classes 1 and 2 is active.

For details of the full range of communications status indicated by the LEDs, refer to chapter 8 Troubleshooting.

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Illustration 3.11 FCD 302 LED Panel

MG37G202

Control	Programming Guide

4 Control

4.1 PPO Types

The PROFIBUS profile for frequency converters specifies a number of communication objects (parameter process data objects, PPO). The PROFIBUS profile for frequency converters is suitable for data exchange between a process controller (for example PLC) and a frequency converter. All PPOs are defined for cyclic data transfer (DP-V0) for transferring process data (PCD) and parameters (PCA) from the master to the slave, and conversely.

Pure process data objects

PPO types 3, 4, 6, 7, and 8 are pure process data objects for applications requiring no cyclic parameter access. The PLC sends out process control data, and the frequency converter then responds with a PPO of the same length, containing process status data.

Illustration 4.1 shows the available PPO types:

•PCD 1: The first 2 bytes of the process data area (PCD 1) comprise a fixed part present in all PPO types.

•PCD 2: The next 2 bytes are fixed for PCD write entries (see parameter 9-15 PCD Write Con€guration [1]), but configurable for PCD read entries (see parameter 9-16 PCD Read Con€guration [1]).

•PCD 3–10: In the remaining bytes, the process data can be parameterized with process signals, see parameter 9-23 Parameters for Signals.

The setting in parameter 9-15 PCD Write Con€guration determines the signals for transmission (request) from the master to the frequency converter.

The setting in parameter 9-16 PCD Read Con€guration determines the signals for transmission (response) from the frequency converter to the master.

Parameter channel and process data

PPO types 1, 2, and 5 consist of a parameter channel and 4 4 process data. Use the parameter channel for reading

and/or updating of parameters (successively). Alternatively, for better utilization of I/O and PLC capacity, access parameters via DP-V1. To access via DP-V1, select a pure process data object (PPO type 3, 4, 6, 7, or 8).

Select the PPO type in the master configuration. The selection is automatically recorded in the frequency converter. No manual setting of PPO types in the frequency converter is required. Read the current PPO type in parameter 9-22 Telegram Selection. The setting [1] Standard telegram 1 is equivalent to PPO type 3.

In addition, all PPO types can be set up as word-consistent or module-consistent. The process data area can be wordor module-consistent, whereas the parameter channel must always be module-consistent.

•Word-consistent data is transmitted as individual, independent words between the PLC and the frequency converter.

•Module-consistent data is transmitted as sets of interrelated words transferred simultaneously between the PLC and the frequency converter.

MG37G202

Control

VLT® PROFIBUS DP MCA 101

Standard telegram
1
1	CTW/STW	REF/MAV	(The old PPO type 3)

Danfoss telegram

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PPO 1

PCV

CTW/STW

REF/MAV

PCD 2

PCD 3

PPO 2

PCV

CTW/STW

REF/MAV

Read/

Write

PPO 3

CTW/STW

REF/MAV

PPO 4

PCV

CTW/STW

REF/MAV

PCD 2

PCD 3

PCD 4

PCD 5

Read/

Write

PCD 2

PCD 3

PCD 4

PCD 5

PPO 6

CTW/STW

REF/MAV

Read/

Write

PCD 2

PCD 3

PCD 4

PCD 5

PCD 6

PCD 7

PPO 7

CTW/STW

REF/MAV

Read/

Write

PCD 2

PCD 3

PCD 4

PCD 5

PCD 6

PCD 7

PCD 8

PCD 9

PPO 8

CTW/STW

REF/MAV

Read/

Write

Illustration 4.1 Available PPO Types

MG37G202

Control	Programming Guide

4.2 Process Data

Use the process data part of the PPO to control and monitor the frequency converter via the PROFIBUS.

4.2.1 Process Control Data

Process control data (PCD) is the process data sent from the PLC to the frequency converter.

Master/slave

1	2	3	.......	10

CTW	MRV	PCD	.......	PCD

			PCD write

Table 4.1 Process Control Data

PCD 1 contains a 16-bit control word, and each bit controls a specific function of the frequency converter, see

chapter 4.3 Control Pro€le.

PCD 2 contains a 16-bit speed setpoint in percentage format. See chapter 4.2.3 Reference Handling.

The settings in parameter 9-15 PCD Write Con€guration and parameter 9-16 PCD Read Con€guration define the content of PCD 3 to PCD 10.

4.2.2 Process Status Data

Process status data is the process data sent from the frequency converter and contains information about the current state.

Slave/master

1	2	3	......	10

STW	MAV	PCD	......	PCD

			PCD read

Table 4.2 Process Status Data

4.2.3 Reference Handling

The reference handling is an advanced mechanism that sums up references from different sources, as shown in

Illustration 4.2.

For more information on reference handling, refer to the

design guide of the relevant frequency converter.

4 4

Illustration 4.2 Reference

The reference, or speed setpoint, is sent via PROFIBUS and is always transmitted to the frequency converter in percentage format as integers shown in hexadecimal (0– 4000 hex).

The reference (MRV) and feedback (MAV) are always scaled equally. The setting of parameter 3-00 Reference Range determines the scaling of the reference and feedback (MAV), see Illustration 4.3.

PCD 1 contains a 16-bit status word, and each bit contains information regarding a possible state of the frequency converter.

PCD 2 contains per default the value of the current speed of the frequency converter in percentage format (see chapter 4.2.3 Reference Handling). PCD 2 can be configured to contain other process signals.

The settings in parameter 9-16 PCD Read Con€guration define the content of PCD 3 to PCD 10.

Illustration 4.3 Reference (MRV) and Feedback (MAV), Scaled

NOTICE

When parameter 3-00 Reference Range is set to [0] Min - Max, a negative reference is handled as 0%.

The actual output of the frequency converter is limited by the speed limit parameters Motor Low/High Speed Limit [RPM/Hz] in parameter 4-11 Motor Speed Low Limit [RPM] to parameter 4-14 Motor Speed High Limit [Hz].

MG37G202

Control

VLT® PROFIBUS DP MCA 101

The final speed limit is set in parameter 4-19 Max Output Frequency.

Table 4.3 lists the reference (MRV) and the feedback (MAV) formats.

		MRV/MAV	Integer in hex	Integer in decimal

		100%	4000	16384
4	4	100%	4000	16384

		75%	3000	12288
		75%	3000	12288

		50%	2000	8192

		25%	1000	4096

		0%	0	0

		-25%	F000	-4096

		-50%	E000	-8192

		-75%	D000	-12288

		-100%	C000	-16384

Table 4.3 Reference/Feedback (MRV/MAV) Format

NOTICE

Negative numbers are formed as complement of 2.

NOTICE

The data type for MRV and MAV is an N2 16-bit standardized value, expressing a range from -200% to +200% (8001 to 7FFF).

Example

The following settings determine the speed, as shown in

Table 4.4:

•Parameter 1-00 Con€guration Mode set to [0] Speed open loop.

•Parameter 3-00 Reference Range set to [0] Min-Max.

•Parameter 3-02 Minimum Reference set to 100 RPM.

•Parameter 3-03 Maximum Reference set to 3000 RPM.

MRV/MAV		Actual speed [RPM]

0%	0 hex	100

25%	1000 hex	825

50%	2000 hex	1550

75%	3000 hex	2275

100%	4000 hex	3000

Table 4.4 Actual Speed for MRV/MAV

4.2.4 Process Control Operation

In process control operation, parameter 1-00 Con€guration Mode is set to [3] Process.

The reference range in parameter 3-00 Reference Range is always [0] Min - Max.

•MRV is the process setpoint.

•MAV expresses the actual process feedback (range

±200%).

4.2.5Influence of the Digital Input Terminals on FC Control Mode

In parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select, set the influence of the digital input terminals on the control of the frequency converter.

NOTICE

The setting of parameter 8-01 Control Site overrules the settings in parameter 8-50 Coasting Select to

parameter 8-56 Preset Reference Select. The setting of terminal 37 coast stop (safe) overrules any other parameter.

Program each of the digital input signals to logic AND, logic OR, or to have no relation to the corresponding bit in the control word. In this way, the following signal sources initiate a specific control command, for example stop/ coast:

•Fieldbus only.

•Fieldbus AND digital input.

•Either fieldbus OR digital input terminal.

NOTICE

To control the frequency converter via PROFIBUS, set parameter 8-50 Coasting Select to either [1] Bus or [2] Logic AND. Then set parameter 8-01 Control Site to [0] Digital and ctrl.word or [2] Controlword only.

For more detailed information and examples of logical relationship options, see chapter 8 Troubleshooting.

4.3 Control Profile

Control the frequency converter according to:

•The PROFIdrive profile, see chapter 4.4 PROFIdrive Control Pro€le, or

•The Danfoss FC control, see chapter 4.5 Danfoss FC Control Pro€le.

Select the control profile in parameter 8-10 Control Word Pro€le. The choice of profile affects the control word and status word only.

Chapter 4.4 PROFIdrive Control Pro€le and

chapter 4.5 Danfoss FC Control Pro€le provide a detailed description of control and status data.

MG37G202

Control	Programming Guide

4.4 PROFIdrive Control Profile

This section describes the functionality of the control word and status word in the PROFIdrive profile.

4.4.1Control Word According to PROFIdrive Profile (CTW)

The control word is used to send commands from a master (for example a PC) to a slave.

Bit	Bit=0	Bit=1

00	OFF 1	ON 1

01	OFF 2	ON 2

02	OFF 3	ON 3

03	Coasting	No coasting

04	Quick stop	Ramp

05	Hold frequency output	Use ramp

06	Ramp stop	Start

07	No function	Reset

08	Jog 1 OFF	Jog 1 ON

09	Jog 2 OFF	Jog 2 ON

10	Data invalid	Data valid

11	No function	Slow down

12	No function	Catch up

13	Parameter set-up	Selection lsb

14	Parameter set-up	Selection msb

15	No function	Reverse

Table 4.5 Control Word Bits

Explanation of the control bits Bit 00, OFF 1/ON 1

Normal ramp stops using the ramp times of the actual selected ramp.

Bit 00=0 stops and activates the output relay 1 or 2 if the output frequency is 0 Hz, and if [31] Relay 123 is selected in parameter 5-40 Function Relay.

When bit 0=1, the frequency converter is in state 1, Switching on inhibited.

Refer to Illustration 4.4.

Bit 01, OFF 2/ON 2

Coast stop.

Bit 01=0 coast stops and activates the output relay 1 or 2 if the output frequency is 0 Hz, and if [31] Relay 123 is selected in parameter 5-40 Function Relay.

When bit 01=1, the frequency converter is in state 1, Switching on inhibited. Refer to Illustration 4.4.

Bit 02, OFF 3/ON 3

Quick stop using the ramp time of parameter 3-81 Quick Stop Ramp Time.

Bit 02=0 quick stops and activates the output relay 1 or 2 if the output frequency is 0 Hz, and if [31] Relay 123 is selected in parameter 5-40 Function Relay.

When bit 02=1, the frequency converter is in state 1, Switching on inhibited.

Refer to Illustration 4.4.

Bit 03, coasting/no coasting

Bit 03=0 leads to a coast stop.

When bit 03=1, if the other start conditions are fulfilled, the frequency converter can start.

NOTICE

The selection in parameter 8-50 Coasting Select

determines how bit 03 is linked with the corresponding 4 4 function of the digital inputs.

Bit 04, quick stop/ramp

Quick stop using the ramp time of parameter 3-81 Quick Stop Ramp Time.

When bit 04=0, a quick stop occurs.

When bit 04=1, if the other start conditions are fulfilled, the frequency converter can start.

NOTICE

The selection in parameter 8-51 Quick Stop Select determines how bit 04 is linked with the corresponding function of the digital inputs.

Bit 05, hold frequency output/use ramp

When bit 05=0, the present output frequency is maintained, even if the reference value is modified. When bit 05=1, the frequency converter can perform its regulating function again according to the respective reference value.

Bit 06, ramp stop/start

Normal ramp stop using the ramp times of the actual ramp selected. In addition, if [31] Relay 123 is selected in parameter 5-40 Function Relay, and if the output frequency is 0 Hz, this bit activates output relay 01 or 04.

Bit 06=0 stops the frequency converter.

When bit 06=1, if the other start conditions are fulfilled, the frequency converter can start.

NOTICE

The selection in parameter 8-53 Start Select determines how bit 06 is linked with the corresponding function of the digital inputs.

Bit 07, no function/reset

Reset after switching off. Acknowledges event in fault buffer.

When bit 07=0, no reset occurs.

When there is a slope change of bit 07 to 1, a reset occurs after switching off.

Bit 08, jog 1 OFF/ON

Activation of the pre-programmed speed in

parameter 8-90 Bus Jog 1 Speed. JOG 1 is only possible if bit 04=0 and bits 00–03=1.

Bit 09, jog 2 OFF/ON

Activation of the pre-programmed speed in

parameter 8-91 Bus Jog 2 Speed. JOG 2 is only possible if bit 04=0 and bits 00–03=1.

MG37G202

Control

VLT® PROFIBUS DP MCA 101

Bit 10, data invalid/valid

Tells the frequency converter whether to use or ignore the control word.

Bit 10=0 ignores the control word, making it possible to turn off the control word when updating/reading parameters.

Bit 10=1 uses the control word. This function is relevant, because the control word is always contained in the telegram, regardless of which type of telegram is used.

4 4 Bit 11, no function/slow down

Used to reduce the speed reference value by the amount given in parameter 3-12 Catch up/slow Down Value.

When bit 11=0, no modification of the reference value occurs.

When bit 11=1, the reference value is reduced.

Bit 12, no function/catch up

Used to increase the speed reference value by the amount given in parameter 3-12 Catch up/slow Down Value.

When bit 12=0, no modification of the reference value occurs.

When bit 12=1, the reference value is increased.

If both slowing down and accelerating are activated (bits 11 and 12=1), slowing down has priority, and the speed reference value is reduced.

Bits 13/14, set-up selection

Bits 13 and 14 are used to select between the 4 parameter set-ups according to Table 4.6.

The function is only possible if [9] Multi Set-up has been selected in parameter 0-10 Active Set-up. The selection in parameter 8-55 Set-up Select determines how bits 13 and 14 are linked with the corresponding function of the digital inputs. Changing set-up while running is only possible if the set-ups have been linked in

parameter 0-12 This Set-up Linked to.

Set-up	Bit 13	Bit 14

1	0	0

2	1	0

3	0	1

4	1	1

Table 4.6 Parameter Set-ups

Bit 15, no function/reverse

Bit 15=0 causes no reversing.

Bit 15=1 causes reversing.

NOTICE

In the factory setting, reversing is set to [0] Digital in parameter 8-54 Reversing Select.

NOTICE

Bit 15 causes reversing only when Ser. communication, Logic or, or Logic and is selected.

4.4.2Status Word According to PROFIdrive Profile (STW)

The status word is used to notify a master (for example a PC) about the status of a slave.

Bit	Bit=0	Bit=1

00	Control not ready	Control ready

01	Drive not ready	Drive ready

02	Coasting	Enable

03	No error	Trip

04	OFF 2	ON 2

05	OFF 3	ON 3

06	Start possible	Start not possible

07	No warning	Warning

08	Speed ≠ reference	Speed = reference
09	Local operation	Bus control

10	Out of frequency limit	Frequency limit ok

11	No operation	In operation

12	Drive OK	Stopped, auto start

13	Voltage OK	Voltage exceeded

14	Torque OK	Torque exceeded

15	Timer OK	Timer exceeded

Table 4.7 Status Word Bits

Explanation of the status bits Bit 00, control not ready/ready

When bit 00=0, bit 00, 01, or 02 of the control word is 0 (OFF 1, OFF 2, or OFF 3) - or the frequency converter is switched off (tripped).

When bit 00=1, the frequency converter control is ready, but power is not necessarily supplied to the unit (in the event of 24 V external supply of the control system).

Bit 01, VLT not ready/ready

Same significance as bit 00, however, power is supplied to the unit. The frequency converter is ready when it receives the necessary start signals.

Bit 02, coasting/enable

When bit 02=0, bit 00, 01, or 02 of the control word is 0 (OFF 1, OFF 2, or OFF 3 or coasting) - or the frequency converter is switched off (trip).

When bit 02=1, bit 00, 01, or 02 of the control word is 1, and the frequency converter has not tripped.

Bit 03, no error/trip

When bit 03=0, no error condition exists in the frequency converter.

When bit 03=1, the frequency converter has tripped and requires a reset signal before it can start.

Bit 04, ON 2/OFF 2

When bit 01 of the control word is 0, bit 04=0. When bit 01 of the control word is 1, bit 04=1.

Bit 05, ON 3/OFF 3

When bit 02 of the control word is 0, bit 05=0. When bit 02 of the control word is 1, bit 05=1.

MG37G202

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