The VLT® CANopen MCA 105 Programming Guide provides
information about conguring the system, controlling the
frequency converter, parameter access, programming, as
well as troubleshooting.
The programming guide is intended for use by qualied
personnel who are familiar with the VLT® frequency
converter, with CANopen technology, and with the PC or
PLC that is 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® AutomationDrive FC 301/FC 302
•
Operating Instructions provide the necessary
information for getting the frequency converter
up and running.
The VLT® AutomationDrive FC 301/FC 302 Design
•
Guide provides detailed information about
capabilities and functionality to design motor
control systems.
The VLT® AutomationDrive FC 301/FC 302
•
Programming Guide provides greater detail on
working with parameters and many application
examples.
The VLT® CANopen MCA 105 Installation Guide
•
provides information about installing the
CANopen and troubleshooting.
The VLT® CANopen MCA 105 Programming Guide
•
provides information about conguring the
system, controlling the frequency converter,
parameter access, programming, troubleshooting,
as well as some typical application examples.
Supplementary publications and manuals are available
from Danfoss. See vlt-drives.danfoss.com/Support/Technical-Documentation/ for listings.
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.
EditionRemarksSoftware version
MG92G1xx––
Table 1.1 Document and Software Version
1.4 Product Overview
This programming guide relates to the CANopen interface.
Ordering number:
130B1103 (uncoated)
•
130B1205 (coated)
•
CANopen is a low-level network that standardises
communications between industrial devices (sensors, limit
switches, motor controls) and high-level devices
(controllers). CANopen follows the open systems interconnection (OSI) model and is based on CAN technology for
media access control and physical signalling.
Congure CANopen systems to operate in a master-slave
or a distributed control architecture using peer-to-peer
communication. Up to 127 nodes in a multi-drop network
topology are supported. By using the same cable for
communication, the bus can power the communication
options directly. Nodes can be removed or inserted
without powering down the network.
Each node on the network has its own unique communication object identier (COB-ID) to distinguish it on the
network. The access control is based on the CSMA/CA
(carrier sense multiple access/collision avoidance) principle,
meaning that all nodes may have access to the network at
the same time. When 2 nodes attempt to get control of
the network bus simultaneously, the CAN protocol resolves
the issue by arbitration. In this way, collisions on the
network are avoided.
CANopen denes device proles for devices belonging to
specic classes. For other devices, dene a custom class to
make it CANopen compatible. All of the above enhances
the interchangeability and interoperability of the network.
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 Qualied Personnel
Correct and reliable transport, storage, installation,
operation, and maintenance are required for the troublefree and safe operation of the frequency converter. Only
qualied personnel are allowed to install and operate this
equipment.
Qualied personnel are dened as trained sta, who are
authorised to install, commission, and maintain equipment,
systems, and circuits in accordance with pertinent laws and
regulations. Additionally, the qualied 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 qualied personnel can result in death or serious
injury.
Only qualied 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:
Disconnect the frequency converter from the
•
mains.
Press [O/Reset] on the LCP before
•
programming parameters.
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 that
can remain charged even when the frequency converter
is not powered. Failure to wait the specied time after
power has been removed before performing service or
repair work, can result in death or serious injury.
Stop the motor.
•
Disconnect the AC mains and remote DC-link
•
supplies, including battery back-ups, UPS, and
DC-link connections to other frequency
converters.
Disconnect or lock the PM motor.
•
Wait for the capacitors to discharge fully before
•
performing any service or repair work. The
duration of waiting time is specied in the
relevant frequency converter operating
instructions, Chapter 2 Safety.
WARNING
LEAKAGE CURRENT HAZARD
Leakage currents exceed 3.5 mA. Failure to ground the
frequency converter properly can result in death or
serious injury.
Illustration 3.1 Functional Principle of CANopen Nodes
All information accessible via the CAN-bus is stored in the
object directory (OD).
The contents of the OD are organised in Table 3.1.
Object directory
index range
0000hNot used
0001h–025FhData types
0260h–0FFFhReserved
1000h–1FFFhCommunication object area
2000h–5FFFhManufacturer-specic area
6000h–9FFFhStandardised device prole area
A000h–FFFFhReserved
Table 3.1 Contents of the OD
For a complete overview of the supported objects in the
OD, refer to chapter 7 Object Directory.
Object type
33
3.1.2 Communication in CANopen
Communication with the frequency converter in CANopen
is achieved via service data objects (SDOs), process data
objects (PDOs), and network management (NMT).
PDOs represent real-time process data with high priority.
PDOs are only available if the node is in operational state.
SDOs represent non-time-critical data and are used to
congure the frequency converter. SDOs are only available
if node is in both operational and pre-operational state.
NMT functions monitor the network stability and include
synchronisation, detection of faults, and emergency
message transmission.
COB-Identiers (ID)
Each communication object has a unique identity (COB-ID)
comprising the function code and the node ID (node
address), see Illustration 3.2.
The node must have a start network-command from an
NMT-master to enter the operational state.
In operational state, both SDO and PDO communication
are possible.
The NMT-state of the node is displayed with the green NS
LED:
Flashing = Pre-operational.
•
Solid on = Operational.
•
Single ash = Stopped.
•
A reset node or reset communication-command from the
NMT-master makes the node jump to initialisation state
and directly on to pre-operational state.
Table 3.2 Communication Object
Transmit and receive is always seen from the node’s point
of view:
RX = Nodes receiving data (Controller -> node)
•
TX = Nodes transmitting data (node -> controller)
•
Example:
COB-ID 383 = PDO3 transmit, from node address
•
3.
COB-ID 185 = PDO1 transmit, from node address
•
5.
COB-ID 604 = SDO receive, to node address 4.
•
3.1.3 Controlling the Network
In each CANopen node, a state machine controls the
dierent states of the node.
After power-up, the node transmits a boot-up message
with the COB-ID: 700h + Node ID, and goes from initialisation to pre-operational state.
In this state, SDO communication is possible, but not PDO
communication.
Illustration 3.3 Controlling the Network
3.1.4 Error Control
CANopen oers 2 ways of error-control: Node guarding
and Heartbeat.
In node guarding, the NMT-master sends a remote-frame
(RTR) cyclically: 700 + node ID.
The node replies with its actual status.
The node (frequency converter) monitors the reception of
the RTR-frames, and thereby monitors the presence of the
NMT-master.
Congure the monitoring of the NMT-master via:
OD: 100C Guard time in [ms].
•
OD: 100D Life time factor.
•
If Guard Time x Life Time Factor has expired, the action
programmed in the parameter 8-04 Control Word TimeoutFunction is executed.
The option can also be congured as heartbeat producer
via:
OD: 1017 Producer Heartbeat time [ms].
•
The MCA 105 option continuously transmits heartbeats
(RTRs with the frequency converters actual status) that can
be monitored by, for example, an NMT-master.
NOTICE
The MCA105 option does not support the heartbeat
consumer function.
Emergency object (EMCY)
The emergency object is used to signal error states, and is
sent automatically if an alarm in the frequency converter
occurs containing the data described in the following. If
the alarm is removed, another emergency telegram is sent
out with the contents 0, signalling the end of the
frequency converter’s alarm state.
Congure the behaviour of the EMCY object via
parameter 8-07 Diagnosis Trigger.
If parameter 8-07 Diagnosis Trigger is set to [0] Disable, the
EMCY is not sent at all. If it is set to Trigger alarms, it is
sent if an alarm occurs. If it is set to Trigger alarms andwarnings, it is sent if an alarm or a warning occurs.
OD 1014h contains the COB-ID of the node’s EMCY
message. This is xed to 80h + node ID.
The EMCY always consists of 8 bytes with the full data as
described in Table 3.3.
Table 3.3 EMCY Consists of 8 Bytes with the Full Data
*= For more information on EMCY codes, refer to
chapter 8 Troubleshooting.
Bit 01, alarm word 1 has an active alarm (parameter 16-90)
Bit 11, alarm word 2 has an active alarm (parameter 16-91)
Bit 20, Reserved
Bit 31, warning word 1 has an active warning (parameter
Bit 41, warning word 2 has an active warning (parameter
Bit 5–7 0, reserved
16-92)
16-93)
OD:
1001h
Vendor-specic information
Bus error counters
The frequency converter contains 2 CAN-bus error
counters:
Parameter 10-05 Readout Transmit Error Counter
•
(TEC).
Parameter 10-06 Readout Receive Error Counter
•
(REC).
These counters determine the error-state of the CANopen
node.
Illustration 3.4 Bus Error Counters
TEC is incremented with 8 if a transmit-error occurs and
decremented with 1 if a transmission is successful.
REC is incremented with 1 if a receive error is detected (8
if the transmitting node is in error active-mode) and
decremented with 1 if a reception is successful.
In normal operation the node is in error active state.
If the TEC or REC exceeds the value: 127, the node enters
error passive state.
In Error passive state, the error-ag is not transmitted
dominantly but recessively.
This means that an error passive node, as receiver, cannot
block communication from other nodes.
A node in error passive state has a lower prioritised access
to the bus.
If the TEC exceeds 255 (248 + 8), the node enters bus o
state.
In bus o state, the MS LED turns solid red, and a warning
34 is issued.
Power-cycle the frequency converter to leave the bus o
state.
All CANopen objects and frequency converter parameters
can be accessed via SDOs (service data objects).
For a description of supported SDO abort codes, refer to
chapter 8 Troubleshooting.
33
COB-ID
Transmit SDO1409 (581h)–1535 (5FFh)580h + Node ID
Receive SDO1537 (601h)–1663 (67Fh)600h + Node ID
Table 3.5 COB-ID’s for SDO Communication
COB-ID CSOD-Index Sub-ind.Data
600+ID See following text 01200000 00 00 00
Table 3.6 Structure of a SDO-message (Request)
To restore default parameters the value “64616F6C” (load)
must be written to the appropriated sub-index in OD:
1011h
OD index Subindex Description
0Number of entries
1011h
Table 3.10 Restoring OD Entries
* requires power cycle
1Restore all parameters + OD entries*
2Restore all communication parameters +
OD entries and restart
NOTICE
Frequency converter displays Alarm 80 “Drive initialised”
after restores.
The CS-eld contains the command and response
speciers. See Table 3.7 and Table 3.8.
CommandCS
Write request 4 bytes23h
Write request 2 bytes2Bh
Write request 1 byte2Fh
Read request (any)40h
3.2 Congure the Master
3.2.1 EDS File
A large part area of the system conguration is the setting
of application-related parameters. EDS (electronic data
sheet) les simplify the setting up of most of the CANopen
congurable parameters. The EDS le contains all
Table 3.7 Command
supported communication-specic objects (OD 1000h
+ 1FFFh) and a selected number of manufacturer-specic
ResponseCS
Write response (any)60h
Read response 4 bytes43h
Read response 2 bytes4Bh
Read response 1 byte4Fh
Error response80h
Table 3.8 Response
Saving OD entries
objects (frequency converter parameters) in the OD range
2000h–5FFFh.
Danfoss provides a generic English EDS le covering all
voltage and power sizes for o-lineconguration.
Download the EDS le from www.danfoss.com/Busines-
In standard conguration, all parameters + OD entries are
stored in volatile (RAM) memory only. To store current
network conguration in non-volatile memory, use OD
index 1010h.
To save parameters, write the value 65766173 (save) to the
NOTICE
The EDS les do not contain all parameters but a
selected, limited number of parameters with generic
minimum, maximum, and default values.
Pay particular attention to the following parameters when
conguring an VLT® AutomationDrive FC 300 with a
CANopen interface. Refer to chapter 6 Parameters for more
details about each parameter.
Parameter 0-40 [Hand on] Key on LCP
If the [Hand On] key on the frequency converter is pressed,
control of the frequency converter via the CANopen
interface is disabled.
Parameter 8-02 Control Word Source
After initial power-up, the frequency converter automatically detects whether a
A, and sets parameter 8-02 Control Word Source to [OptionA]. 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.
Parameter 8-10 Control Word
Select between the Danfoss FC Prole and the DSP 402
prole for CANopen. Refer to chapter 4 Control.
Parameter 8-01 Control Site and parameter 8-50 Coasting
Select to parameter 8-56 Preset Reference Select
Refer to chapter 4 Control.
Selection of how to gate the CANopen control commands
with digital input command of the control card.
Set Parameter 8-01 Control Site to: [2] Control word onlyor
[0] Digital and ctrl. word.
eldbus option is installed in slot
Prole
Parameter 8-03 Control Word Timeout Time to
parameter 8-05 End-of-Timeout Function
The reaction in the event of a bus timeout is set via these
parameters:
Parameter 10-01 Baud Rate Select
•
Default is 125 kbps.
Parameter 10-02 MAC ID
•
Default is 127.
NOTICE
When parameter 8-01 Control Site is set to [2] Control
word only, the settings in parameter 8-50 Coasting Select
to parameter 8-56 Preset Reference Select are overruled,
and all act on bus-control.
The real-time data transfer is performed by process data objects (PDO).
The PDOs correspond to entries in the device object dictionary and provide the interface to the application objects.
44
Illustration 4.1 PDO Types
NOTICE
Control word (CTW), status word (STW), reference (REF), and Main Actual Value (MAV) are xed in PDO type 1–3. PDO
type 4 is free congurable.
All receive and transmit PDOs can be congured via the OD.
Map process data into receive and transmit PDOs via parameter 10-50 Process Data Cong Write. and parameter 10-51 ProcessData Cong Read. or via OD: 1600–1603 for receive PDOs and OD: 1A00–1A03 for transmit PDOs.
Sub-index 1–4 contains the mapped objects.
Example: Object 6041 status word is xed in PDO 1 and
PDO 2 as the rst transmit-word.
That is, OD 1A00h and 1A01h sub-index 1 holds the value
of 60410010 (6041 = object number, 00 = sub-index, 10 =
length of data = 16 bits)
Example: To map parameter 16-14 Motor current (32-bit
data) in PDO 3, it must be mapped in 2 PDO-words.
Parameter 16-14 Motor current is according to manufacturer
object 264E.
1A02h [3] = 264E0020 (264E = object number, 00 = subindex, 20 = length of data = 32 bits)
1A02h [4] = 264E0020 (264E = object number, 00 = subindex, 20 = length of data = 32 bits)
4.1.3 PDO Transmission Modes
Sub-index 2 contains the setting of the transmission mode.
The following PDO transmission modes are distinguished:
Synchronous transmission.
•
Asynchronous transmission.
•
Remotely requested
The transmission of asynchronous PDO’s may be initiated
on receipt of a remote request initiated by another device.
Transmission
type
0xx
1–240xx
241–251Reserved
252
253
254x
255x
Table 4.3 PDO Transmission
PDO transmission
Cyclic Acyclic Synchronous Asynchronous RTR
only
Not supported
4.1.5 Inhibit Time
Sub-index 3 contains the inhibit time.
This time denes a minimum interval for PDO transmission.
The value is dened as multiple of 0.1 ms.
Default value is 300 = 30 ms.
Minimum value is 0.
Maximum value is 32767 = 3.2 s.
Data length = 2 bytes.
44
4.1.4 PDO Triggering Modes
The CANopen communication prole distinguishes 2
message triggering modes:
Event driven.
•
Remotely requested.
•
Event driven
Message transmission is triggered by the occurrence of an
object-specic event.
For synchronous PDOs, this is the expiration of the
specied transmission period, synchronised by the
reception of the SYNC object.
For acyclically transmitted synchronous PDOs and
asynchronous PDO’s, the triggering of a message
transmission is an application-specic event specied in
the device prole.
4.1.6 Event Timer
Sub-index 5 contains the inhibit time for transmit PDOs.
If an event timer is congured for a TPDO (value not equal
to 0), the elapsed timer causes the transmission of this
TPDO.
The event timer can be congured as multiple of 1 ms.
Default value is 0.
Maximum value is 32767 = 32 s.
Data length = 2 bytes.
In parameter 8-10 Control Word Prole, it is possible to select:
Option:Function:
[0] *FC prole
44
4.2.2 DSP 402 State Transitions
8–10 Control Prole
In parameter 8-10 Control Word Prole, it is possible to select:
Option:Function:
[5]CANopen DSP
[0] FC Prole is the default control prole for VLT frequency
converters, whereas [5] CANopen DSP 402 is the CiA
standardised control prole, featuring the special DSP 402
transition state machine.
Bit 05 = 0 means that the given output frequency is
4.3.1 Control Word According to DSP 402
Prole
(parameter 8-10 = DSP 402 prole)
maintained even if the reference is changed.
Bit 05 = 1 means that the frequency converter is again
able to regulate, and the given reference is followed.
Bit 06, Ramp stop/start:
Bit 06 = 0 The frequency converter controls the motor
down to stop.
Bit 01 = 1 A start command to the frequency converter is
44
given.
Bit 07, No function/reset:
Illustration 4.3 Control Word
Reset of trip.
Bit 07 = 0 means that there is no reset.
Bit 07 = 1 means that a trip is reset.
BitBit value = 0Bit value = 1
00Switch oSwitch on
01Disable voltageEnable voltage
02Quick stopRun
03Disable operationEnable operation
04Disable rampEnable ramp
05FreezeRun enable
06Ramp stopStart
07No functionReset
08Reserved
09Reserved
10Reserved
11Jog 1 OFFJog 1 ON
12Reserved
13Setup select (LSB)
14Setup select (MSB)
15ForwardReversing
Bit 08, 09, and 10:
DSP402 reserved.
Bit 11, Jog 1 OFF/ON:
Activation of pre-programmed speed in parameter 8-90 Bus
Jog 1 Speed (bus jog 1).
Jog 1 is only possible if bit 04 = 0, and bits 00–03 = 1.
Bit 12:
Danfoss reserved.
Bits 13/14, Selection of setup:
Bits 13 and 14 are used for selecting among the 4 menu
set-ups in accordance with Table 4.6.
Set-upBit 14Bit 13
001
012
103
114
Table 4.5 Control Bits
Explanation of the control bits
Bit 00, Switch o/on:
Bit 00 = 0 executes transition 2, 6, or 8.
Bit 00 = 1 executes transition 3.
Bit 01, Disable/enable voltage:
Bit 01 = 0 executes transition 9, 10, or 12.
Bit 01 = 1 enables voltage.
Bit 02, Quick stop/run:
Bit 02 = 0 execute transition 7, 10, or 11.
Bit 02 = 1 Quick stop not active.
Bit 03, Disable/enable operation:
Bit 03 = 0 executes transition 5.
Bit 03 = 1 Enables operation.
Bit 04, Quick-stop/ramp:
Bit 04 = 0 executes transition 7 or 11, Quick stop.
Bit 04 = 1 Enables ramp.
Bit 15 = "0" leads to no reversing.
Bit 15 = "1" leads to reversing.
NOTICE
In factory setting, reversing is set to [0] Digital input in
parameter 8-54 Reversing Select.
Output freq.STW
Bit
no.:
Follower-master
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
130BA273.11
ControlProgramming Guide
4.3.2 Status Word According to DSP 402
Illustration 4.4 Status Word
BitBit value = 0Bit value = 1
00Not ready to switch
01Switched OFFSwitched ON
02Operation disabledOperation enabled
03No malfunctionMalfunction
04Voltage disabledVoltage enabled
05Quick stopRun
06Switch on disableSwitch on enable
07No warningWarning
08Reserved
09Remote disabledRemote enabled
10Setpoint not reachedSetpoint reached
11Speed limit not
12Reserved
13Reserved
14Not runningRunning
15Reserved
Table 4.7 Status Bits
Explanation of the status bits
Bit 00, Not ready to switch on/ready to switch on:
Bit 00 = 0 state less than Ready to switch on.
Bit 00 = 1 state at least = Ready to Switch on.
Bit 01, Switch o/switch on:
Bit 00 = 0 state less than switched on.
Bit 00 = 1 state at least = switched on.
Bit 02, Operation disable/operation enable:
Bit 00 = 0 state less than operation enable.
Bit 00 = 1 state at least = operation enable.
Bit 03, No fault/trip:
Bit 03 = 0 means that the frequency converter is not in a
fault condition.
Bit 03 = 1 means that the frequency converter has tripped
and needs a reset signal to run.
Bit 04, Voltage disable/voltage enable:
Bit 04 = 0 means that control word bit 01 = 1.
Bit 04 = 1 means that control word bit 01 = 0.
Bit 05, Quick stop/run:
Bit 05 = 0 means that control word bit 02 = 1.
Bit 05 = 1 means that control word bit 02 = 0.
Bit 06 = 0 state is not switch on disable.
Bit 06 = 1 state is switch on enable.
Bit 07, No warning/warning:
Bit 07 = 0 means that there is no warning. situation.
Bit 07 = 1 means that a warning has occurred.
Bit 08
Danfoss reserved.
Bit 09, Remote disable/remote enable:
44
Bit 09 = 0 means that the frequency converter has been
stopped with the [stop] key on the LCP, or that [Local] has
been selected in parameter 3-13 Reference Site.
Ready to switch ON
Bit 09 = 1 means that it is possible to control the
frequency converter via the serial port.
Bit 10, Setpoint not reached/setpoint reached:
Bit 10 = 0 means that the actual motor speed is dierent
from the speed reference set. This can be the case while
the speed is ramped up/down during start/stop.
Bit 10 = 1 means that the present motor speed equals the
speed reference set.
Bit 11, Speed limit not active/speed limit active:
Bit 11 = 0 means that the output frequency is out of the
range set in parameter 4-11 Motor Speed Low Limit [RPM]/
parameter 4-12 Motor Speed Low Limit [Hz] or
Speed limit active
parameter 4-13 Motor Speed High Limit [RPM]/
parameter 4-14 Motor Speed High Limit [Hz].
Bit 11 = 1 means that the output frequency is within the
mentioned range.
Bit 12
DSP 402 reserved.
Bit 13
DSP 402 reserved.
Bit 14, Running/not running:
Bit 14 = 0 means that the motor is not running.
Bit 14 = 1 means that the frequency converter has a valid
start signal or that the output frequency is greater than 0
Hz.
Bit 15
Danfoss reserved.
Speed ref.CTW
Master-follower
130BA274.11
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit
no.:
Control
VLT® CANopen MCA 105
4.4 Danfoss FC control prole
4.4.1 Control Word according to FC Prole
(parameter 8-10 = FC prole)
44
Illustration 4.5 Control Word
BitBit value = 0Bit value = 1
00Reference valueExternal selection lsb
01Reference valueExternal selection msb
02DC brakeRamp
03CoastingNo coasting
04Quick stopRamp
05Hold output
frequency
06Ramp stopStart
07No functionReset
08No functionJog
09Ramp 1Ramp 2
10Data invalidData valid
11No functionRelay 01 active
12No functionRelay 04 active
13Parameter set-upSelection lsb
14Parameter set-upSelection msb
15No functionReverse
Table 4.8 Control Bits
Explanation of the control bits
Bits 00/01
Bits 00 and 01 are used to select between the 4 reference
values, which are pre-programmed in parameter 3-10 PresetReference according to Table 4.9.
Set-upBit 14Bit 13
100
201
310
411
Table 4.9 Set-up
Use ramp
Bit 02, DC brake:
Bit 02 = 0 leads to DC brake and stop. Braking current and
duration are set in parameter 2-01 DC Brake Current and
parameter 2-02 DC Braking Time.
Bit 02 = 1 leads to ramping.
Bit 03, Coasting:
Bit 03 = 0 causes the frequency converter to immediately
release the motor (the output transistors are "shut o"), so
that it coasts to a standstill.
Bit 03 = 1 enables the frequency converter to start the
motor if the other starting conditions are fullled.
NOTICE
In parameter 8-50 Coasting Select, a selection is made to
dene how bit 03 gates with the corresponding function
on a digital input.
Bit 04, Quick stop:
Bit 04 = 0 causes a stop, in which the motor speed is
ramped down to stop via parameter 3-81 Quick Stop RampTime.
Bit 05, Hold output frequency:
Bit 05 = 0 causes the present output frequency (in Hz) to
freeze. The frozen output frequency can then be changed
only with the digital inputs (parameter 5-10 Terminal 18Digital Input to parameter 5-15 Terminal 33 Digital Input)
programmed to speed up and speed down.
NOTICE
If freeze output is active, the frequency converter can
only be stopped by the following:
Bit 03 Coasting stop.
•
Bit 02 DC braking.
•
Digital input (parameter 5-10 Terminal 18 Digital
•
Input to parameter 5-15 Terminal 33 Digital
Input) programmed to DC braking, coasting stop
or reset and coasting stop.
Bit 06, Ramp stop/start:
Bit 06 = 0 causes a stop, in which the motor speed is
ramped down to stop via the selected ramp-down
parameter.
Bit 06 = 1 permits the frequency converter to start the
motor, if the other starting conditions are fullled.
NOTICE
In parameter 8-56 Preset Reference Select a selection is
made to dene how bit 00/01 gates with the
corresponding function on the digital inputs.
NOTICE
In parameter 8-53 Start Select a selection, is made to
dene how bit 06 Ramp stop/start gates with the
corresponding function on a digital input.
Bit 07 = 0 does not cause a reset.
Bit 07 = 1 causes the reset of a trip. Reset is activated on
the signal’s leading edge, for example, when changing
from logic 0 to logic 1.
Bit 08, Jog:
Bit 08 = 1 causes the output frequency to be determined
by parameter 3-19 Jog Speed [RPM].
Bit 09, Selection of ramp 1/2:
Bit 09 = 0 means that ramp 1 is active
(parameter 3-40 Ramp 1 Type to parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start).
Bit 09 = 1 means that ramp 2 (parameter 3-50 Ramp 2 Type
to parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start) is
active.
Bit 10, Data not valid/data valid:
Is used to tell the frequency converter whether the control
word is to be used or ignored.
Bit 10 = 0 causes the control word to be ignored.
Bit 10 = 1 causes the control word to be used. This
function is relevant, because the control word is always
contained in the telegram, regardless of which type of
telegram is used, for example, it is possible to turn o the
control word if it is not to be used it with updating or
reading parameters.
Bit 11, Relay 01:
Bit 11 = 0 Relay 01 is not activated.
Bit 11 = 1 Relay 01 activated, provided control word bit 11
is selected in parameter 5-40 Function Relay.
Bit 12, Relay 04:
Bit 12 = 0 Relay 04 is not activated.
Bit 12 = 1 Relay 04 is activated, provided control word bit
12 has been selected in parameter 5-40 Function Relay.
Bit 13/14, Selection of set-up:
Bits 13 and 14 are used to select from the four menu setups according to Table 4.10.
Set-upBit 14Bit 13
100
201
310
411
NOTICE
In parameter 8-55 Set-up Select, a selection is made to
dene how bit 13/14 gates with the corresponding
function on the digital inputs.
Bit 15 Reverse:
Bit 15 = 0 causes no reversing.
Bit 15 = 1 causes reversing.
NOTICE
In the factory setting reversing is set to digital in
parameter 8-54 Reversing Select.
Bit 15 causes reversing only when Ser. communication,
Logic or, or Logic and is selected.
4.4.2 Status Word according to FC Prole
(parameter 8-10 = FC prole)
Illustration 4.6 Status Word
’BitBit value = 0Bit value = 1
00Control not readyControl ready
01Frequency converter
not ready
02CoastingEnable
03No errorTrip
04No errorError (no trip)
05Reserved-
06No errorTrip lock
07No warningWarning
08
Speed ≠ reference
09Local operationBus control
10Out of frequency
limit
11No operationIn operation
12Frequency converter
ok
13Voltage okVoltage exceeded
14Torque okTorque exceeded
15Timer okTimer exceeded
Frequency converter ready
Speed = reference
Frequency limit ok
Stopped, auto start
44
Table 4.10 Selection of Set-up
The function is only possible when [9] Multi set-ups are
selected in parameter 0-10 Active Set-up
Explanation of the status bits
Bit 00, Control not ready/ready:
Bit 00 = 0 means that the frequency converter has tripped.
Bit 00 = 1 means that the frequency converter controls are
ready, but that the power component is not necessarily
receiving any power supply (in case of 24 V external
supply to controls).
Bit 01, Frequency converter ready:
44
Bit 01 = 1. The frequency converter is ready for operation,
but there is an active coasting command via the digital
inputs or via serial communication.
Bit 02, Coasting stop:
Bit 02 = 0 The frequency converter has released the motor.
Bit 02 = 1 The frequency converter can start the motor
when a start command is given.
Bit 03, No error/trip:
Bit 03 = 0 means that the frequency converter is not in
fault mode.
Bit 03 = 1 means that the frequency converter is tripped,
and that a reset signal is required to re-establish operation.
Bit 04, No error/error (no trip):
Bit 04 = 0 means that the frequency converter is not in
fault mode.
Bit 04 = 1 means that there is a frequency converter error
but no trip.
Bit 05, Not used:
Bit 05 is not used in the status word.
Bit 06, No error/triplock:
Bit 06 = 0 means that the frequency converter is not in
fault mode.
Bit 06 = 1 means that the frequency converter is tripped,
and locked.
Bit 07, No warning/warning:
Bit 07 = 0 means that there are no warnings.
Bit 07 = 1 means that a warning has occurred.
Bit 08, Speed ≠ reference/speed = reference:
Bit 08 = 0 means that the motor is running, but that the
present speed is dierent from the preset speed reference.
It might, for example, be the case while the speed is being
ramped up/down during start/stop.
Bit 08 = 1 means that the present motor present speed
matches the preset speed reference.
Bit 09, Local operation/bus control:
Bit 09 = 0 means that [STOP/RESET] is pressed on the
control unit, or that local control in
parameter 3-13 Reference Site is selected. It is not possible
to control the frequency converter via serial communication.
Bit 09 = 1 means that it is possible to control the
frequency converter via the eldbus/ serial communication.
Bit 10, Out of frequency limit:
Bit 10 = 0 if the output frequency has reached the value in
parameter 4-11 Motor Speed Low Limit [RPM] or
parameter 4-13 Motor Speed High Limit [RPM].
Bit 10 = 1 means that the output frequency is within the
dened limits.
Bit 11, No operation/in operation:
Bit 11 = 0 means that the motor is not running.
Bit 11 = 1 means that the frequency converter has a start
signal or that the output frequency is greater than 0 Hz.
Bit 12, Frequency converter OK/stopped, auto start:
Bit 12 = 0 means that there is no temporary overtemperature on the inverter.
Bit 12 = 1 means that the inverter has stopped because of
overtemperature, but that the unit has not tripped and will
resume operation once the overtemperature stops.
Bit 13, Voltage OK/limit exceeded:
Bit 13 = 0 means that there are no voltage warnings.
Bit 13 = 1 means that the DC voltage in the frequency
converter’s DC link is too low or too high.
Bit 14, Torque OK/limit exceeded:
Bit 14 = 0 means that the motor current is lower than the
torque limit selected in parameter 4-18 Current Limit.
Bit 14 = 1 means that the torque limit in
parameter 4-18 Current Limit has been exceeded.
Bit 15, Timer OK/limit exceeded:
Bit 15 = 0 means that the timers for motor thermal
protection and frequency converter thermal protection,
respectively, have not exceeded 100%.
Bit 15 = 1 means that 1 of the timers has exceeded 100%.
In both FC prole and CANopen DSP 402, the reference is scaled as a normalised relative value in percent. The value is
transmitted in hexadecimal:
0% = 0 hex.
•
100% = 4000 hex.
•
-100% = C000 hex.
•
Depending of the setting of parameter 3-00 Reference Range, the reference is scaled from – Maximum to + Maximum or from
Minimum to Maximum.
Illustration 4.7 Reference Handling
44
The actual reference [Ref. %] in the frequency converter
depends on the settings in the following parameters:
Parameter 1-23 Motor Frequency.
•
Parameter 1-25 Motor Nominal Speed.
•
Parameter 3-02 Minimum Reference.
•
Parameter 3-03 Maximum Reference.
•
All references provided to the frequency converter are
added to the total reference value.
If a reference is to be controlled by the eldbus only,
ensure that all other reference inputs are 0.
This means that digital and analog input terminals should
not be used for reference signals.
Maintain the default setting (0%) for preset references in
parameter 3-10 Preset Reference.
If the bus speed reference is negative, and the control
word contains a run reverse signal, the frequency converter
runs clockwise (- - is +).
[1] Digital onlyControl by using digital inputs only.
[2] Controlword
only
Control by using both digital input and
control word.
Control by using control word only.
8-02 Control Word Source
Option:Function:
NOTICE
This parameter cannot be adjusted
while the motor runs.
Select the source of the control word: 1 of 2
serial interfaces or 4 installed options. During
initial power-up, the frequency converter
automatically sets this parameter to [3] Option
A, if it detects a valid
in slot A. When the option is removed, the
frequency converter detects a conguration
change, sets parameter 8-02 Control Word
Source to default setting RS485, and trips. If
an option is installed after initial power-up,
the setting of parameter 8-02 Control Word
Source does not change, but the frequency
converter trips and shows: Alarm 67, Option
Changed.
When retrotting a bus option into a
frequency converter that did not have a bus
option installed earlier, change the control to
bus-based. This change is required for safety
reasons to avoid an unintended change.
[0]None
[1]FC RS485
[2]FC USB
[3]Option A
[4]Option B
[5]Option C0
[6]Option C1
[30] External Can
8-03 Control Word Timeout Time
Range:Function:
1 s* [ 0.1 -
18000 s]
Enter the maximum time expected to pass
between the reception of 2 consecutive
telegrams. If this time is exceeded, it indicates
eldbus option installed
8-03 Control Word Timeout Time
Range:Function:
that the telegram communication has stopped.
The function selected in parameter 8-04 Control
Word Timeout Function is then carried out. A
valid control word triggers the timeout counter.
8-04 Control Word Timeout Function
Select the timeout function. The timeout function activates when
the control word fails to be updated within the time period
specied in parameter 8-03 Control Word Timeout Time.
Option:Function:
NOTICE
To change the set-up after a timeout,
congure as follows:
Set parameter 0-10 Active Set-up to [9]Multi set-up and select the relevant
link in parameter 0-12 This Set-upLinked to.
[0]OResumes control via eldbus(eldbus or
standard), using the most recent control
word.
[1]Freeze output Freezes output frequency until communi-
cation resumes.
[2]StopStops with auto restart when communi-
cation resumes.
[3]JoggingRuns the motor at jog frequency until
communication resumes.
[4]Max. speedRuns the motor at maximum frequency until
communication resumes.
[5]Stop and trip Stops the motor, then resets the frequency
converter to restart:
Via the eldbus.
•
Via [Reset].
•
Via a digital input.
•
[7]Select setup1Changes the set-up after reestablishment of
This object describes the type of device and its
functionality. It is composed of a 16-bit eld describing the
device prole used, and a second 16-bit eld providing
additional information about optional functionality of the
7.1.5 1003h Predened Error Field
Holds errors/alarms that has occurred on the frequency
converter. Setting index 0 to 0 erases the eld. Disabling
the diagnosis trigger (parameter 8-07 Diagnosis Trigger) also
disables the display of values in this object.
device.
Sub-indexMeaning
Additional informationDevice prole
number
Mode bitsType bitsBits
31.. 2423.. 1615.. 0
01 (frequency
converters)
Table 7.2 1000h Device Type
402 (dec.)
7.1.3 1001h Error Register
77
This object is the error register of the device. The device
can map internal errors in this byte. This entry is
0Number of stored errors
1Current error
2Last error
Table 7.5 1003h Predened Error Field
Byte 3Byte 2Byte 1Byte 0
Byte 4 of EMCY
object
Table 7.6 Values
Byte 3 of EMCY
object
Byte 1of
EMCY object
Byte 0 of EMCY
object
7.1.6 1005h COB-ID Sync Message Object
mandatory for all devices, and is a part of the emergency
object. Each bit of the error register is reserved for a
specied group of errors (alarms). Only bit 0 is supported.
The other error information can be read with object 603Fh,
This index denes the COB-ID of the synchronisation
object (SYNC). It also denes whether the device generates
the SYNC.
error code.
Value Meaning
Device does not generate SYNC message.
1
Device generates SYNC message (not supported).
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
if bit 29=0
X
if bit 29=1: bits 28-11 of 29-bit COB-ID
BitMeaning
0generic error
Table 7.3 Content of Error Register
7.1.4 1002h Manufacturer Status Register
Bit
31 (MSB)XDo not care
300
290
28 - 110
10 - 0 (LSB) XBits 10-0 of COB-ID
Table 7.7 Structure of the SYNC COB-ID
The contents of this object are completely manufacturerspecic, and inform of the state of the frequency converter
network.
Bits 29 and 30 must be static (not changeable). If a device
is not able to generate SYNC messages, an attempt to set
bit 30 generates an abort message (abort code: 0609
ValueMeaning
2Stopped
3Pre-operational
4Operational
Table 7.4 1002h Manufacturer Status Register
0030h).
Devices supporting the standard CAN frame type only
either ignore attempts to change bit 29 or respond with an
abort message (abort code: 0609 0030h).
The rst transmission of SYNC object starts within 1 sync
cycle after setting bit 30 to 1.
7.1.7 1008h Manufacturer Device Name
This object contains the device name as dened in
parameter 15-40 FC Type.
7.1.8 1009h Manufacturer Hardware
Version
This object contains the MCB 105 hardware version.
This object contains the Danfoss software version as
displayed in parameter 15-49 SW ID Control Card.
7.1.10 100Ch Guard Time
This object is used in node guarding, an error control
service used in addition to the heartbeat mechanism to
detect failure in the CAN network.
Node guarding provides the only possible verication of
the master’s availability on the bus, for the frequency
converter’s timeout functionality.
This object contains the gap between 2 master requests in
ms.
7.1.11 100Dh Life Time Factor
This object contains the lifetime factor used in node
guarding. This factor multiply by the contents of 100Ch
denes the time after which the slave has to be polled by
the master’s node guarding request. If this time has
elapsed without the slave being polled by a guard
telegram, the slave issues warning 34.
7.1.12 1010h Store Parameters
In the standard conguration, the contents of parameters
written via eldbus are stored in volatile memory, for
example, the changed data is lost after a power cycle. This
index permits non-volatile storage of all frequency
converter parameters which have been changed.
Sub-indexMeaning
0Number of entries
1Save all parameters + OD entries
2Save all communication parameters +
OD entries (All set-ups)
3Reserved
4Save “edit set-up” (Danfoss specic)
Table 7.8 1010h Store Parameters
Writing the value “save” (0x65766c173) to subindex 1 saves
all frequency converter parameters of all set-ups into nonvolatile memory. Sub-index 4 does the same for the edit
set-up. This is handled via parameter 10-31 Store DataValues.
7.1.13 1011h Restore Default Parameters
The parameters is set to default after the next power cycle,
which has to be initiated manually.
Sub-indexMeaning
0Number of entries
1Restore all default parameters
2Restore all default parameters + restart
Table 7.9 1011h Restore Default Parameters
7.1.14 1014h COB ID Emergency Object
This object denes the COB-ID under which the emergency
object (EMCY) is sent.
7.1.15 1017h Producer Heartbeat Time
The heartbeat acts as an error control service to detect a
failure in the CAN network. The heartbeat mechanism for a
device is established through cyclically transmitting a
message by a heartbeat producer. 1 or more devices in the
network are aware of this heartbeat message. If the
heartbeat cycle fails for the heartbeat producer, the local
application on the heartbeat consumer is informed about
that event.
The producer heartbeat time denes the cycle time of the
heartbeat. The producer heartbeat time remains at default
0 if it is not used.
7.1.16 1018h Identity Object
This object contains general information about the device.
The vendor ID (sub-index 1h) contains a unique value
allocated to each manufacturer.
The manufacturer-specic product code (sub-index 2h)
identies a specic device version.
The manufacturer-specic revision number (sub-index 3h)
consists of a major revision number and a minor revision
number.
Sub-indexMeaning
0Number of entries
1Vendor ID (200008 dec.)
2Product code
3Revision number (major revision
number and minor revision number)
4Serial number
Table 7.10 1018h Identity Object
77
Use this object to set the frequency converter to factory
default, by writing the value load (0x64616F6C) to
subindexes.
Refer to the relevant operating instructions for an
overview of warning and alarm types and for the full list
of warnings and alarms.
Alarm word, warning word, and CANopen warning word
are shown on the frequency converter display in hex
format. When there is more than 1 warning or alarm, the
sum of all warnings or alarms is shown. Alarm word,
warning word, and DeviceNet warning word can also be
displayed using the serial bus in:
8.2.3 No Communication with the
frequency converter?
If there is no communication with the frequency converter,
proceed with the following checks:
8.2.4 Check 3: Is the Cabling Correct?
Check that the cables are connected to the correct
terminals as shown in the diagram.
Pin numberTerminalColourName
1––Reserved
2CAN_LBlueCAN LOW
88
3Drain(bare)Screen
4CAN_HWhiteCAN HIGH
5––Reserved
Table 8.7 Cabling
8.2.5 Check 4: Is the Correct EDS File
Installed?
Download the correct EDS le from www.danfoss.com/
drives and www.danfoss.com/BusinessAreas/DrivesSolutions/
Softwaredownload/DDFieldbus_Setup_Files.htm.
8.2.6 Check 5: Is the bus connection
terminated at both ends?
If not, terminate the bus connection with termination
resistors at the initial and nal nodes. Termination is
performed between terminal 2 (CAN_L) and 4 (CAN_H)
with a resistor:
121 Ω.
•
1% metal lm.
•
¼ W.
•
8.2.7 SDO Abort Codes
The abort code describes the error code when an SDO
generates a failure.
Abort codeDescription
0503 0000hToggle bit not alternated.
0504 0000hSDO protocol timed out.
0504 0001hClient/server command specier not valid or
unknown.
0504 0002hInvalid block size (block mode only).
0504 0003hInvalid sequence number (block mode only).
0504 0004hCRC error (block mode only).
0504 0005hOut of memory.
0601 0000hUnsupported access to an object.
0601 0001hAttempt to read a write-only object.
0601 0002hAttempt to write a read-only object.
0602 0000hObject does not exist in the object dictionary.
0604 0041hObject cannot be mapped to the PDO.
0604 0042hThe number and length of the objects to be
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of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.