Danfoss MCA 105 Programming guide

MAKING MODERN LIVING POSSIBLE

Programming Guide

VLT® CANopen MCA 105

VLT® AutomationDrive FC 301/302

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 CANopen Network

3.2 Congure the Master

3.3 Congure the Frequency Converter

4 Control

4.1 PDO Communication

4.1.1 PDO Conguration 15

4.1.2 PDO Mapping Syntax 17

4.1.3 PDO Transmission Modes 17

4.1.4 PDO Triggering Modes 17

4.1.5 Inhibit Time 17

4.1.6 Event Timer 17

4.2 Control Prole

4.3 DSP 402 Control Prole

4.4 Danfoss FC control prole

4.4.1 Control Word according to FC Prole (parameter 8-10 = FC prole) 22

4.4.2 Status Word according to FC Prole (parameter 8-10 = FC prole) 23

4.5 Reference Handling

5 Parameter Access

5.1 Danfoss Specic Objects (2000h-5FFFh)

6 Parameters

6.1 Parameter List

7 Object Directory

Contents

VLT® CANopen MCA 105

7.1 Communication Prole Area (1000h-1FFFh)

7.1.1 Communication Object Overview 37

7.1.2 1000h Device Type 38

7.1.3 1001h Error Register 38

7.1.4 1002h Manufacturer Status Register 38

7.1.5 1003h Predened Error Field 38

7.1.6 1005h COB-ID Sync Message Object 38

7.1.7 1008h Manufacturer Device Name 38

7.1.8 1009h Manufacturer Hardware Version 38

7.1.9 100Ah Manufacturer Software Version 39

7.1.10 100Ch Guard Time 39

7.1.11 100Dh Life Time Factor 39

7.1.12 1010h Store Parameters 39

7.1.13 1011h Restore Default Parameters 39

7.1.14 1014h COB ID Emergency Object 39

7.1.15 1017h Producer Heartbeat Time 39

7.1.16 1018h Identity Object 39

8 Troubleshooting

8.1 Warnings and Alarms

8.2 Troubleshooting

Index

Introduction Programming Guide

1 Introduction

1.1 Purpose of the Manual

The VLT® CANopen MCA 105 Programming Guide provides information about conguring the system, controlling the frequency converter, parameter access, programming, as well as troubleshooting. The programming guide is intended for use by qualied

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 conguring 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.

Edition Remarks Software 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. Congure 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 identier (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 denes device proles for devices belonging to specic classes. For other devices, dene a custom class to make it CANopen compatible. All of the above enhances the interchangeability and interoperability of the network.

1 1

Introduction

VLT® CANopen MCA 105

Symbols, Abbreviations, and

1.6 Conventions

Abbreviation Denition

CAN Controller area network

CiA CAN in automation

COB Communication object

COB-ID Communication object identier

CTW Control word

EDS Electronic data sheet

EMC Electromagnetic compatibility

EMCY Emergency message

I/O Input/output

LCP Local control panel

Illustration 1.1 Topology

VLT® CANopen MCA 105 is designed to communicate with any master abiding by the DeviceNet standard. And it is intended for use with:

VLT® AutomationDrive FC 301.

•

VLT® AutomationDrive FC 302.

•

Approvals and Certications

1.5

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

LED Light emitting diode

LSB Least signicant bit

MAV Main actual value (actual output)

MRV Main reference value

MSB Most signicant bit

NMT Network management

N/A Not applicable

OD Object directory

PCD Process data

PDO Process data object

PLC Programmable logic controller

PNU Parameter number

REC Receive error counter

RPDO Receive process data object

RPM Revolutions per minute; unit for the speed of a

revolving motor

RTR Remote transmission request frame

RX Receive data

STW Status word

SDO Service data object

SYNC Object for synchronisation of process data

TEC Transmit error counter

TPDO Transmit process data object

TX Transmit data

Table 1.2 Symbols and Abbreviations

Conventions

Numbered lists indicate procedures. Bullet lists indicate other information and description of illustrations. Italicised text indicates:

Cross-reference.

•

Link.

•

Parameter name.

•

Footnote.

•

Parameter group.

•

Parameter option.

•

Alarms/warnings.

•

Safety Programming Guide

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 authorised to install, commission, and maintain equipment, systems, and circuits in accordance with pertinent laws and regulations. Additionally, 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:

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 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 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 specied 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.

Ensure the correct grounding of the equipment

•

by a certied electrical installer.

2 2

Safety

VLT® CANopen MCA 105

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 manual.

•

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.

Conguration Programming Guide

3 Conguration

3.1 Congure the CANopen Network

3.1.1 Object Model

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

0000h Not used

0001h–025Fh Data types

0260h–0FFFh Reserved

1000h–1FFFh Communication object area

2000h–5FFFh Manufacturer-specic area

6000h–9FFFh Standardised device prole area

A000h–FFFFh Reserved

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

3 3

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 congure 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-Identiers (ID)

Each communication object has a unique identity (COB-ID) comprising the function code and the node ID (node address), see Illustration 3.2.

Illustration 3.2 COB-ID

Conguration

VLT® CANopen MCA 105

Object Function

code

(binary)

NMT 0000 0 –

SYNC 0001 125 (1005h)

Time stamp 0010 256 –

EMERGENCY 0001 129 (81h)–255

PDO1 (tx) 0011 385 (181h)–511

PDO1 (rx) 0100 513 (201h)–

PDO2 (tx) 0101 641 (281h)–

PDO2 (rx) 0110 769 (301h)–895

PDO3 (tx) 0111 897 (381h)–1023

PDO3 (rx) 1000 1025 (401h)–1151

PDO4 (tx) 1001 1153 (481h)–1279

PDO4 (rx) 1010 1281 (501h)–1407

SDO (tx) 1011 1409 (581h)–1535

SDO (rx) 1100 1537 (601h)–1663

NMT error control

(Nodeguarding)

1110 1793 (701h)–1919

Resulting COB-ID Communi-

cation

parameter in

1014h

(FFh)

1800h

(1FFh)

1400h

639(27Fh)

1801h

767(2FFh)

1401h

(37Fh)

1802h

(3FFh)

1402h

(47Fh)

1803h

(4FFh)

1403h

(57Fh)

1200h – ...

(5FFh)

1200h – ...

(67Fh)

1016h, 1017h

(77Fh)

(100Eh)

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

•

COB-ID 185 = PDO1 transmit, from node address

•

COB-ID 604 = SDO receive, to node address 4.

•

3.1.3 Controlling the Network

In each CANopen node, a state machine controls the dierent 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 oers 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. Congure 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 Timeout Function is executed.

Conguration Programming Guide

The option can also be congured 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.

Congure 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 and warnings, 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.

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

EMCY code*

(OD: 1003 [1])

Table 3.3 EMCY Consists of 8 Bytes with the Full Data

*= For more information on EMCY codes, refer to chapter 8 Troubleshooting.

Bit 0 1, alarm word 1 has an active alarm (parameter 16-90)

Bit 1 1, alarm word 2 has an active alarm (parameter 16-91)

Bit 2 0, Reserved

Bit 3 1, warning word 1 has an active warning (parameter

Bit 4 1, warning word 2 has an active warning (parameter

Bit 5–7 0, reserved

16-92)

16-93)

OD:

1001h

Vendor-specic 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.

3 3

Table 3.4 Byte 3 Description

Conguration

VLT® CANopen MCA 105

3.1.5 SDO Communication

Restoring OD entries

To restore factory defaults, use OD index 1011h.

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.

COB-ID

Transmit SDO 1409 (581h)–1535 (5FFh) 580h + Node ID

Receive SDO 1537 (601h)–1663 (67Fh) 600h + Node ID

Table 3.5 COB-ID’s for SDO Communication

COB-ID CS OD-Index Sub-ind. Data

600+ID See following text 01 20 00 00 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

0 Number of entries

1011h

Table 3.10 Restoring OD Entries

* requires power cycle

1 Restore all parameters + OD entries*

2 Restore 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 speciers. See Table 3.7 and Table 3.8.

Command CS

Write request 4 bytes 23h

Write request 2 bytes 2Bh

Write request 1 byte 2Fh

Read request (any) 40h

3.2 Congure the Master

3.2.1 EDS File

A large part area of the system conguration is the setting of application-related parameters. EDS (electronic data sheet) les simplify the setting up of most of the CANopen congurable parameters. The EDS le contains all

Table 3.7 Command

supported communication-specic objects (OD 1000h + 1FFFh) and a selected number of manufacturer-specic

Response CS

Write response (any) 60h

Read response 4 bytes 43h

Read response 2 bytes 4Bh

Read response 1 byte 4Fh

Error response 80h

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-line conguration.

Download the EDS le from www.danfoss.com/Busines-

sAreas/DrivesSolutions/Softwaredownload/ DDFieldbus_Setup_Files.htm.

In standard conguration, all parameters + OD entries are stored in volatile (RAM) memory only. To store current network conguration 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.

appropriated sub-index in OD: 1010h.

OD index Subindex Description

0 Number of entries

1 Save all parameters + OD entries

1010h

Table 3.9 Saving OD Entries

2 Save all communication parameters + OD

entries

3 Reserved

4 Save edit set-up (Danfoss specic)

130BA936.10

Conguration Programming Guide

3.2.2 Conguring the CANopen Master

The following example shows the details in setting up the CANopen conguration on a Moeller XC-CPU201 PLC.

3 3

Illustration 3.5 Setting up the Baud Rate and Node-ID on the CanMaster (CANopen Scanner)

Illustration 3.6 Appending a CANopen Node, from EDS File Library, by Rght-clicking CanMaster

Conguration

VLT® CANopen MCA 105

Illustration 3.7 Conguring the CAN Parameters like Node-ID, Node-guarding, Heartbeat, and so on, on Node

Illustration 3.8 Conguring Receive and Transmit PDO-mapping. Here PDO 1402 with Parameter 3-12 Catch up/slow Down Value and

Parameter 4-11 Motor Speed Low Limit [RPM]

Conguration Programming Guide

Illustration 3.9 PLC Memory Mapping

3 3

3.3 Congure the Frequency Converter

3.3.1 Frequency Converter Parameters

Pay particular attention to the following parameters when

conguring 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 [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.

Parameter 8-10 Control Word

Select between the Danfoss FC Prole and the DSP 402 prole 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

Prole

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.

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