Danfoss MCA 101 Programming guide

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

1.1 Purpose of the Manual

1.2 Additional Resources

1.3 Document and Software Version

1.4 Product Overview

1.5 Approvals and Certications

1.6 Symbols, Abbreviations, and Conventions

2 Safety

2.1 Safety Symbols

2.2 Qualied Personnel

2.3 Safety Precautions

3 Conguration

3.1 Congure the PROFIBUS Network

3.2 Congure the Master

3.2.1 GSD File 9

3.3 Congure the Frequency Converter

3.3.1 Frequency Converter Parameters 11

3.3.2 LEDs 12

4 Control

4.1 PPO Types

4.2 Process Data

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 Inuence of the Digital Input Terminals on FC Control Mode 16

4.3 Control Prole

4.4 PROFIdrive Control Prole

4.4.1 Control Word According to PROFIdrive Prole (CTW) 17

4.4.2 Status Word According to PROFIdrive Prole (STW) 18

4.4.3 PROFIdrive State Transition Diagram 20

4.5 Danfoss FC Control Prole

4.5.1 Control Word According to FC Prole (CTW) 21

4.5.2 Status Word According to FC Prole (STW) 22

4.6 Synchronize and Freeze

4.6.1 Sync/Unsync 23

4.6.2 Freeze/Unfreeze 24

Contents

VLT® PROFIBUS DP MCA 101

5 Parameter Access

5.1 Parameter Access in General

5.2 DP-V1 Parameter Access

5.3 PCV Parameter Access

5.4 PROFIBUS DP Parameter and Data Type

6 Parameters

6.1 8-** PROFIBUS Parameters

6.2 9-** and 16-** PROFIBUS Parameters

6.3 PROFIBUS-specic Parameter List

7 Application Examples

7.1 Example 1: Process Data with PPO Type 6

7.2 Example 2: Control Word Telegram using PPO Type

7.3 Example 3: Status Word Telegram using PPO Type

7.4 Example 4: PLC Programming

8 Troubleshooting

8.1 Diagnosis

8.2 No Response to Control Signals

8.3 Warnings and Alarms

8.4 Fault Messages via DP Diagnosis

8.5 Extended Diagnosis

Index

Introduction Programming Guide

1 Introduction

1.1 Purpose of the Manual

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

Conguring the system.

•

Controlling the frequency converter.

•

Parameter access.

•

Programming.

•

Troubleshooting.

•

Typical application examples.

•

The programming guide is intended for use by qualied

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.

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

•

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 conguring 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.

Design Guide provides detailed

Document and Software Version

1.3

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

Table 1.1 Document and Software Version

Information about VLT® DriveMotor

•

FCP 106/FCM 106 added.

New feature for fast PCD communi-

•

cation for MCO 305.

5.20

1.4 Product Overview

1.4.1 Features of PROFIBUS DP-V1

2 dierent state machines can be selected:

•

PROFIdrive prole or Danfoss FC prole.

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.

Conguration via MCT 10 Set-up Software.

•

Equally long bus cycle time congurable in PLC

•

system.

Improved network eciency, since the cyclic

•

parameter channel is no longer required.

Short bus cycle times compared to industrial

•

Ethernet.

Backwards compatibility with DP.

•

1 1

130BA078.11

PLC

130BA079.11

PLC

Master class 1

PC tool

Master class 2

Introduction

VLT® PROFIBUS DP MCA 101

1.4.2 Technical Overview

PROFIBUS

PROFIBUS is an international standard for eldbus 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 prole, refer to www.Probus.com.

PROFIBUS DP-V1

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

Congure 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.

•

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

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.

Illustration 1.1 PROFIBUS DP-V0

Features of a master class 1 connection:

Cyclic data exchange (DP-V0).

•

The acyclic connection is xed and cannot be changed during operation.

Features of a master class 2 connection:

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

Acyclic read/write on parameters.

•

Extended diagnosis.

Initiate/abort acyclic connection.

Acyclic read/write on parameters.

Approvals and Certications

1.5

More approvals and certications are available. For more information, contact a local Danfoss partner.

Introduction Programming Guide

1.6 Symbols, Abbreviations, and 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

1 1

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.

Safety

VLT® PROFIBUS DP MCA 101

2 Safety

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 Qualied Personnel

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

Qualied personnel are dened as trained sta, who are authorized to install, commission, and maintain equipment, systems, and circuits in accordance with pertinent laws and regulations. Also, the qualied personnel must be familiar with the instructions and safety measures described in these operating instructions.

Safety Precautions

2.3

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 qualied personnel can result in death or serious injury.

Only qualied personnel must perform instal-

•

lation, 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 eldbus 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 [O/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 o. Failure to wait the specied 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 specied 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.

Safety Programming Guide

WARNING

LEAKAGE CURRENT HAZARD

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 certied electrical installer.

WARNING

EQUIPMENT HAZARD

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

Ensure that only trained and qualied personnel

•

perform installation, start-up, and maintenance.

Ensure that electrical work conforms to national

•

and local electrical codes.

Follow the procedures in this guide.

•

2 2

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.

130BD878.10

1 2

SW. ver. XX.XX

ON OFF

Code No. 130B1100

Termination

Address

ON OFF

S600

S300

LD202 LD200

LD201 LD203

ON ON

8 7 6 5 4 3 2 1

PROFIBUS Option A

130BB708.10

Conguration

VLT® PROFIBUS DP MCA 101

3 Conguration

3.1 Congure the PROFIBUS Network

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).

3.1.1 Setting the PROFIBUS Address using

the DIP Switches

To set the PROFIBUS address using the DIP switches:

1. Switch o 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.

1 Termination switch

2 DIP 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.

Switch 8 7 6 5 4 3 2 1

Address

value

5 Not

35 Not

82 Not

Table 3.1 Examples: Setting the PROFIBUS Address using the

DIP Switches

NOTICE

Not

+64 +32 +16 +8 +4 +2 +1

used

OFF OFF OFF OFF ON OFF ON

used

OFF ON OFF OFF OFF ON ON

used

ON OFF ON OFF OFF ON OFF

used

Illustration 3.2 FCD 302 Dip Switches

Switch o the supply before changing the DIP switches.

Setting the PROFIBUS address via parameter 9-18 Node

Address

1. Switch o 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 eect at the next power-up.

130BC915.10

130BC913.11

Conguration Programming Guide

Setting the PROFIBUS address with set station address command

1. Switch o 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 eective immediately after applying the set station address command.

3.2 Congure the Master

3.2.1 GSD File

To congure a PROFIBUS master, the conguration tool needs a GSD le for each type of slave on the network. The GSD le is a PROFIBUS DP standard text le containing the necessary communications set-up data for a slave. Download the GSD converter series vlt-drives.danfoss.com/products/engineering- software/software-download/eldbus/.

le for the relevant frequency

3 3

Illustration 3.3 Install GSD File

PROFIBUS SW version

(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 a PROFIBUS master for FC 301/FC 302, but the procedure is also valid for other frequency converter series.

1. Import the GSD

2. Import the GSD le to the Simatic Manager software tool. Import a GSD le 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 le, install all les, and import both a GSD le and a bitmap for the device into the hardware catalog. See Illustration 3.4 and Illustration 3.5.

le in the conguration tool.

GSD le

conguring

Illustration 3.4 Import a GSD File and a Bitmap

Illustration 3.5 Add a GSD File

130BA564.11

130BC912.11

130BC911.11

Conguration

VLT® PROFIBUS DP MCA 101

4. Import and access the FC 301/FC 302 GSD le via the path in the hardware catalog, see Illustration 3.6.

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 rst slot, see

Illustration 3.8. See the PPO types in chapter 4 Control for more information.

Illustration 3.6 Import and Access the GSD File

Illustration 3.8 Drag and Drop PPO Type 6 Word Consistent to

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.

the First Slot

The conguration tool automatically assigns addresses in the peripheral address area. In this example, the input and output areas have the following congurations:

PPO type 6

PCD word

number

Input

address

Set-up STW MAV Parameter 9-

1 2 3 4

256–257 258–259 260–261 262–263

Parameter 9-

16 PCD Read

Congu-

ration.2

16 PCD

Read Cong-

uration.3

Table 3.3 PCD Read (Frequency Converter to PLC)

PCD word

number

Output

address

Illustration 3.7 Select the Address

Set-up CTW MRV Parameter 9-

Table 3.4 PCD Write (PLC to Frequency Converter)

1 2 3 4

256–257 258–259 260–261 262–263

Parameter 9-

15 PCD Write

Congu-

ration.2

15 PCD

Write

Congu-

ration.3

130BT322.11

Conguration Programming Guide

Alternative: For PROFIBUS SW version 2.x and higher, autoconguration of process data is supported. This feature

makes it possible to congure 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-conguration, make sure to enable the feature under DP slave properties. See Illustration 3.9.

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.

Congure the Frequency Converter

3.3

3.3.1 Frequency Converter Parameters

The following parameters are important when conguring the frequency converter with a PROFIBUS interface:

Parameter 0-40 [Hand on] Key on LCP. Pressing

•

[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 eldbus 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 Prole and the PROFIdrive prole.

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.

•

3 3

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 conguration le 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.

130BC259.10

Conguration

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.

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.

Illustration 3.11 FCD 302 LED Panel

Control Programming Guide

4 Control

4.1 PPO Types

The PROFIBUS prole for frequency converters species a number of communication objects (parameter process data objects, PPO). The PROFIBUS prole for frequency converters is suitable for data exchange between a process controller (for example PLC) and a frequency converter. All PPOs are dened 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

•

(PCD 1) comprise a xed part present in all PPO types.

PCD 2: The next 2 bytes are

•

entries (see parameter 9-15 PCD Write Congu- ration [1]), but congurable 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.

rst 2 bytes of the process data area

xed for PCD write

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 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 conguration. 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.

4 4

CTW/STW

REF/MAV

PCD 2 Read/

Write

PCD 3 Read/

Write

Standard telegram

PCD 4 Read/

Write

PCD 5

Read/

Write

PPO 4

PPO 6

PPO 7

PPO 8

Danfoss telegram

(The old PPO type 3)

PCV

CTW/STW REF/MAV

PCD 2 Read/

Write

PCD 3

Read/

Write

PCD 4 Read/

Write

PCD 5 Read/

Write

CTW/STW

REF/MAV

PCD 2 Read/

Write

PCD 3

Read/

Write

PCD 4 Read/

Write

PCD 5 Read/

Write

PCD 6 Read/

Write

PCD 7 Read/

Write

PCD 8 Read/

Write

PCD 9 Read/

Write

CTW/STW REF/MAV

PCD 2 Read/

Write

PCD 3 Read/

Write

PCD 4

Read/

Write

PCD 5

Read/

Write

PCD 6 Read/

Write

PCD 7 Read/ Write

CTW/STW REF/MAV

PPO 3

CTW/STW REF/MAV

PCD 2 Read/

Write

PCD 3

Read/

Write

PPO 2

PCV

CTW/STW

REF/MAV

PPO 1

PCV

130BD911.10

Control

VLT® PROFIBUS DP MCA 101

Illustration 4.1 Available PPO Types

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

specic function of the frequency converter, see

a 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 dene the content of PCD 3 to PCD 10.

4.2.3 Reference Handling

The reference handling is an advanced mechanism that sums up references from dierent 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).

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

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 congured to contain other process signals.

The settings in parameter 9-16 PCD Read Conguration dene the content of PCD 3 to PCD 10.

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.

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].

Control

VLT® PROFIBUS DP MCA 101

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

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

formats.

MRV is the process setpoint.

•

MAV expresses the actual process feedback (range

•

±200%).

4.2.5 Inuence of the Digital Input

MRV/MAV Integer in hex Integer in decimal

100% 4000 16384

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.

Terminals on FC Control Mode

In parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select, set the inuence 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 specic control command, for example stop/ coast:

Fieldbus only.

•

Fieldbus AND digital input.

•

Either eldbus 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.

Control Prole

4.3

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

Control the frequency converter according to:

The PROFIdrive prole, 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 prole in parameter 8-10 Control Word Prole. The choice of prole aects the control word and status word only.

4.2.4 Process Control Operation

Chapter 4.4 PROFIdrive Control Prole and 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.

chapter 4.5 Danfoss FC Control Prole provide a detailed

description of control and status data.

Control Programming Guide

4.4 PROFIdrive Control Prole

This section describes the functionality of the control word and status word in the PROFIdrive prole.

4.4.1 Control Word According to

PROFIdrive Prole (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 fullled,

the frequency converter can start.

NOTICE

The selection in parameter 8-50 Coasting Select

determines how bit 03 is linked with the corresponding

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 fullled,

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 modied.

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 fullled,

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 o. Acknowledges event in fault

buer.

When bit 07=0, no reset occurs.

When there is a slope change of bit 07 to 1, a reset occurs

after switching o.

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.

4 4

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 o 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.

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 modication 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 modication 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.

4.4.2 Status Word According to PROFIdrive Prole (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

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 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 signicance 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 o (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.

Speed ≠ reference

o (tripped).

Speed = reference

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