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	3
1.1 Purpose of the Manual	3
1.2 Additional Resources	3
1.3 Document and Software Version	3
1.4 Product Overview	3
1.5 Approvals and Certi€cations	4
1.6 Symbols, Abbreviations, and Conventions	4
2 Safety	5
2.1 Safety Symbols	5
2.2 Quali€ed Personnel	5
2.3 Safety Precautions	5
3 Con€guration	7
3.1 Con€gure the CANopen Network	7
3.2 Con€gure the Master	10
3.3 Con€gure the Frequency Converter	13
4 Control	14
4.1 PDO Communication	14
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	18
4.3 DSP 402 Control Pro€le	20
4.4 Danfoss FC control pro€le	22
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	25
5 Parameter Access	26
5.1 Danfoss Speci€c Objects (2000h-5FFFh)	26
6 Parameters	27
6.1 Parameter List	35
7 Object Directory	37

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Contents

VLT® CANopen MCA 105

7.1 Communication Pro€le Area (1000h-1FFFh)	37
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	40
8.1 Warnings and Alarms	40
8.2 Troubleshooting	43
Index	46

MG92G102

Introduction Programming Guide

1 Introduction	1	1
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

1.3 Document and Software Version

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

Edition	Remarks	Software version

MG92G1xx	–	–

Table 1.1 Document and Software Version

1.4 Product Overview

This programming guide relates to the CANopen interface. Ordering number:

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.

•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.

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Introduction

VLT® CANopen MCA 105

1 1

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.

1.5Approvals and Certi€cations

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

1.6Symbols, Abbreviations, and 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

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.

MG92G102

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 staƒ, 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.

2.3 Safety Precautions

WARNING

HIGH VOLTAGE

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

•Only quali€ed personnel must perform installation, start-up, and maintenance.

2 2

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.

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Safety VLT® CANopen MCA 105

WARNING

EQUIPMENT HAZARD

2 2 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.

MG92G102

Con€guration Programming Guide

3 Con€guration

3.1 Con€gure the CANopen Network
3.1.1 Object Model	3 3

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	Object type
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.

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

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Con€guration

VLT® CANopen MCA 105

		Object	Function	Resulting COB-ID	Communi-
			code		cation
			(binary)		parameter in
					OD

		NMT	0000	0	–
3	3	SYNC	0001	125	(1005h)

		Time stamp	0010	256	–
		EMERGENCY	0001	129 (81h)–255	1014h
		EMERGENCY	0001	129 (81h)–255	1014h
				(FFh)

		PDO1 (tx)	0011	385 (181h)–511	1800h
				(1FFh)

		PDO1 (rx)	0100	513 (201h)–	1400h
				639(27Fh)

		PDO2 (tx)	0101	641 (281h)–	1801h
				767(2FFh)

		PDO2 (rx)	0110	769 (301h)–895	1401h
				(37Fh)

		PDO3 (tx)	0111	897 (381h)–1023	1802h
				(3FFh)

		PDO3 (rx)	1000	1025 (401h)–1151	1402h
				(47Fh)

		PDO4 (tx)	1001	1153 (481h)–1279	1803h
				(4FFh)

		PDO4 (rx)	1010	1281 (501h)–1407	1403h
				(57Fh)

		SDO (tx)	1011	1409 (581h)–1535	1200h – ...
				(5FFh)

		SDO (rx)	1100	1537 (601h)–1663	1200h – ...
				(67Fh)

		NMT error control	1110	1793 (701h)–1919	1016h, 1017h
		(Nodeguarding)		(77Fh)	(100Eh)

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.

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.

Illustration 3.3 Controlling the Network

3.1.4 Error Control

CANopen oƒers 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:

3.1.3 Controlling the Network

In each CANopen node, a state machine controls the diƒerent 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.

•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.

MG92G102

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:	Vendor-speci€c information
(OD: 1003 [1])		1001h	Vendor-speci€c information
(OD: 1003 [1])		1001h

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
	16-92)

Bit 4	1, warning word 2 has an active warning (parameter
	16-93)

Bit 5–7	0, reserved

Table 3.4 Byte 3 Description

Bus error counters
The frequency converter contains 2 CAN-bus error
counters:
•	Parameter 10-05 Readout Transmit Error Counter
•	(TEC).	3
•	3	3

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 oƒ state.

In bus oƒ state, the MS LED turns solid red, and a warning 34 is issued.

Power-cycle the frequency converter to leave the bus oƒ state.

MG92G102

Con€guration VLT® CANopen MCA 105

3.1.5 SDO Communication Restoring OD entries

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

OD-Index

Sub-ind.

Data

600+ID

See following text

Table 3.6 Structure of a SDO-message (Request)

The CS-€eld contains the command and response

speci€ers. See Table 3.7 and Table 3.8.

Command

Write request 4 bytes

23h

Write request 2 bytes

2Bh

Write request 1 byte

2Fh

Read request (any)

40h

Table 3.7 Command

Response

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

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 appropriated sub-index in OD: 1010h.

OD index	Subindex	Description

	0	Number of entries

	1	Save all parameters + OD entries

1010h	2	Save all communication parameters + OD
1010h		entries
		entries

	3	Reserved

	4	Save edit set-up (Danfoss speci€c)

Table 3.9 Saving OD Entries

To restore factory defaults, use OD index 1011h.

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	1	Restore all parameters + OD entries*

	2	Restore all communication parameters +
	2	Restore all communication parameters +
		OD entries and restart

Table 3.10 Restoring OD Entries

* requires power cycle

NOTICE

Frequency converter displays Alarm 80 “Drive initialised” after restores.

3.2Con€gure the Master

3.2.1EDS 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 supported communication-speci€c objects (OD 1000h

+ 1FFFh) and a selected number of manufacturer-speci€c objects (frequency converter parameters) in the OD range 2000h–5FFFh.

Danfoss provides a generic English EDS €le covering all voltage and power sizes for oƒ-line con€guration.

Download the EDS €le from www.danfoss.com/BusinessAreas/DrivesSolutions/Softwaredownload/ DDFieldbus_Setup_Files.htm.

NOTICE

The EDS €les do not contain all parameters but a selected, limited number of parameters with generic minimum, maximum, and default values.

MG92G102

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)

130BA936.10

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

MG92G102

Con€guration

VLT® CANopen MCA 105

3 3

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]

MG92G102

Con€guration	Programming Guide

3 3

Illustration 3.9 PLC Memory Mapping

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 €eldbus option is installed in slot 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 Pro€le

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.

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.

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.

MG92G102

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