Danfoss MCA 120 Programming guide

MAKING MODERN LIVING POSSIBLE

Programming Guide

VLT® PROFINET MCA 120

VLT® Frequency Converter Series FC 102 • FC 103 • FC 202 FC 301/302 • FCD 302

www.danfoss.com/drives

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 Certifications

1.6 Symbols, Abbreviations and Conventions

2 Safety

2.1 Safety Symbols

2.2 Qualified Personnel

2.3 Safety Precautions

3 Configuration

3.1 Configure the PROFINET Network

3.2 Configure the Controller

3.2.1 GSDML File 7

3.3 Configure the Frequency Converter

3 3 3 3 3 4 4

5 5 5 5

7 7 7

3.3.1 VLT Parameters 9

4 Control

4.1 PPO Types

4.2 PCV Parameter Access

4.3 Process Data

4.3.1 Process Control Data 14

4.3.2 Process Status Data 14

4.3.3 Reference Handling 15

4.3.4 Process Control Operation 15

4.3.5 Influence of the Digital Input Terminals upon FC Control Mode 16

4.4 Control Profile

4.5 PROFIdrive Control Profile

4.5.1 Control Word according to PROFIdrive Profile (CTW) 16

4.5.2 Status Word according to PROFIdrive Profile (STW) 17

4.5.3 PROFIdrive State Transition Diagram 19

4.6 FCDrive Control Profile

4.6.1 Control Word according to FC Profile (CTW) 20

10 10 11 14

16 16

4.6.2 Status Word according to FC Profile (STW) 21

5 Acyclic Communication (DP-V1)

5.1 Features of an IO Controller System

23 23

Contents

VLT® PROFINET MCA 120

5.2 Features of an IO-Supervisor System

5.3 Addressing Scheme

5.4 Acyclic Read/Write Request Sequence

5.5 Data Structure in the Acyclic Telegrams

5.6 Header

5.7 Parameter Block

5.8 Data Block

6 Parameters

6.1 Parameter Group 0-** Operation/Display

6.2 Parameter Group 8-** Communication and Option

6.3 Parameter Group 9-** PROFIdrive

6.4 Parameter Group 12-** Ethernet

6.5 PROFINET-specific Parameters

6.6 Object and Data Types Supported

7 Application Examples

7.1 Example: Process Data with PPO Type 6

23 24 25 26 26 26 26

28 28 28 32 36 39 42

44 44

7.2 Example: Control Word Telegram using Standard Telegram 1/PPO3

7.3 Example: Status Word Telegram using Standard Telegram 1/PPO3

7.4 Example: PLC Programming

8 Troubleshooting

8.1 No Response to Control Signals

8.2 Warnings and Alarms

8.2.1 Warning and Alarm Messages 52

8.2.2 Alarm and Warning List 53

Index

45 46 47

49 49 51

Introduction

1 Introduction

Programming Guide

1.1 Purpose of the Manual

The VLT® PROFINET MCA 120 Programming Guide provides information about configuring the system, controlling the frequency converter, parameter access, programming, troubleshooting, as well as some typical application examples. The programming guide is intended for use by qualified

personnel who are familiar with the VLT® frequency converters, with PROFINET 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® 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.

Design Guide provides detailed

Edition Remarks Software version

MG90U1xx 1½ slot 1.xx MG90U3xx 1 slot 2.00-2.11 MG92D1xx 1 slot 3.0x

Table 1.1 Document and Software Version

1.4 Product Overview

This programming guide relates to PROFINET interface ordering number 130B1135 (uncoated), ordering number 130B1235 (conformal coated), and to the FCD 302 PROFINET interface.

The PROFINET interface is designed to communicate with any system complying with the PROFINET schema version

2.2 and 2.3 standards. Since the introduction in 2001, PROFINET has been updated to handle low and medium performance requirement supported by PROFINET RT up to high-end servo performance in PROFINET IRT. PROFINET is the Ethernet-based Fieldbus offering the most scalable and versatile technology today. PROFINET provides the network tools to deploy standard Ethernet technology for manufacturing applications while enabling Internet and enterprise connectivity.

The VLT® Programming Guide provides greater

•

detail on working with parameters and many application examples.

The VLT® PROFINET MCA 120 Installation Guide

•

provides information about installing the PROFINET and troubleshooting.

The VLT® PROFINET MCA 120 Programming Guide

•

provides information about configuring 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.

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.

VLT® PROFINET MCA 120 is intended for use with:

VLT® HVAC Drive FC 102

•

VLT® Refrigeration Drive FC 103

•

VLT® AQUA Drive FC 202

•

VLT® AutomationDrive FC 301/302

•

VLT® Decentral Drive FCD 302

•

Terminology

In this manual, several terms for Ethernet are used.

PROFINET, is the term used to describe the

•

PROFINET protocol. Ethernet, is a common term used to describe the

•

physical layer of the network, and does not relate to the application protocol.

Introduction

VLT® PROFINET MCA 120

1.5 Approvals and Certifications

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

1.6 Symbols, Abbreviations and Conventions

Abbreviation Definition

CC Control card CTW Control word DCP Discovery and configuration protocol DHCP Dynamic host configuration protocol EMC Electromagnetic compatibility I/O Input/Output IP Internet protocol IRT Isochronous real time LCP Local control panel LED Light emitting diode LSB Least significant bit MAV Main actual value (actual speed) MSB Most significant bit MRV Main reference value PC Personal computer PCD Process control data PLC Programmable logic controller PNU Parameter number PPO Process parameter object REF Reference (=MRV) RT Real time STW Status word

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

•

Safety Programming Guide

2 Safety

2.1 Safety Symbols

The following symbols are used in this document:

WARNING

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

CAUTION

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

NOTICE

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

2.2 Qualified Personnel

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

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

2.3

Safety Precautions

WARNING

HIGH VOLTAGE

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

Installation, start-up, and maintenance must be

•

performed by qualified personnel only.

WARNING

UNINTENDED START

When the frequency converter is connected to AC mains, DC power 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 by means of an external switch, a serial bus command, an input reference signal from the LCP or LOP, via remote operation using MCT 10 software, or after a cleared fault condition. To prevent unintended motor start:

Disconnect the frequency converter from mains.

•

Press [Off/Reset] on the LCP, before

•

programming parameters. The frequency converter, motor, and any driven

•

equipment must be fully wired and assembled when the frequency converter is connected to AC mains, DC power 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. Failure to wait the specified time after power has been removed before performing service or repair work, can result in death or serious injury.

Stop 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, before

•

performing any service or repair work. The duration of waiting time is specified in the relevant frequency converter operating instructions,Chapter 2 Safety.

2 2

Safety

VLT® PROFINET MCA 120

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 certified electrical installer.

WARNING

EQUIPMENT HAZARD

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

Ensure that only trained and qualified

•

personnel perform installation, start up, and maintenance.

Ensure that electrical work conforms to national

•

and local electrical codes. Follow the procedures in this document.

•

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.

130BD782.10

Configuration

Programming Guide

3 Configuration

3.1 Configure the PROFINET Network

Ensure that all PROFINET devices connected to the same bus network have a unique station name (host name).

Set the PROFINET host name of the frequency converter via 12-08 Host Name, or via hardware switches.

3.2 Configure the Controller

3.2.1 GSDML File

To configure a PROFINET controller, the configuration tool needs a GSDML file for each type of device on the network. The GSDML file is a PROFINET xml file containing the necessary communication setup data for a device. Download the GSDML file for the FC 102, , FC 202, FC 301/302, and FCD 302 frequency converters at www.danfoss.com/BusinessAreas/DrivesSolutions/profinet. The name of the GSDML file can vary compared to this manual. Download the latest version from the website. The following example shows an FC 302. The steps for FCD 302 and the other frequency converter series are the same.

Frequency converter

series

FC 102 FC 202

FC 301/302

FCD 302 GSDML-V2.2-

Table 3.1 GSDML file

The first step in configuration of the PROFINET controller is to import the GSDML file in the configuration tool. The following steps outlined show how to add a new GSDML file to the Simatic Manager software tool. For each frequency converter series, a GSDML file is typically imported once only, following the initial installation of the software tool.

Firmware version (15-61 Option SW

Version)

1.00-1.99 GSDML-V2.2-

2.00-2.15 GSDML-V2.3-

2.15

GSDML-V2.3-

GSDML file

FC-20090620.xml

FC-20131010.xml

FCD-20090620.x

FCD-20131010.x

Danfoss-

3 3

Illustration 3.1 Import the GSDML File in the Configuration Tool

Illustration 3.2 Add a New GSDML File to the Simatic Manager Software Tool

The FC 102//FC 202/FC 301/FC 302/FCD 302 GSDML file is now imported and is accessible via the following path in the hardware catalogue:

130BE027.10

130BE030.10

130BE028.10

130BE029.10

Configuration

VLT® PROFINET MCA 120

NOTICE

The name must match the name in 12-08 Host Name. If the check mark Assign IP address via the IO controller is set, the controller downloads the IP address to the IO device with the corresponding device name. The IP

address is stored in the non-volatile memory of the frequency converters.

Illustration 3.3 Path in the Hardware Catalogue

Open a project, set up the hardware, and add a PROFINET Master system. Select Danfoss FC PN, then drag and drop it onto the PROFINET IO system.

To enter the device name, open the properties for the inserted frequency converter. See Illustration 3.4.

Illustration 3.4 Open the Properties for the Inserted Frequency Converter to Enter the Device Name

Illustration 3.5 Set Up the Hardware and add a PROFINET Master System

The next step is to set up the peripheral input and output data. Data set up in the peripheral area is transmitted cyclically via telegrams/PPO types. In the example below, a PPO type 6 is dragged and dropped to slot 1.

Illustration 3.6 Set up the Peripheral Input and Output Data

Configuration Programming Guide

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

PPO type 6

PCD word number

Input address Set-up STW MAV

Table 3.2 PCD Read (VLT to PLC)

PCD word number

Output address Set-up CTW MRV

Table 3.3 PCD Write (PLC to VLT)

0 1 2 3

256–257 258–

259

0 1 2 3

256–

257

258–

259

260–261 262–263

9-16 PCD Read

Configuration

260–261 262–263

9-15 PCD Write

Configuration

9-16 PCD Read

Configuration

9-15 PCD Write

Configuration

NOTICE

When 8-01 Control Site is set to [2] Control word only, then the settings in Parameter8-50 Coasting Select to Parameter 8-56 Preset Reference Select is overruled, and only act on Bus-control.

3 3

Assign the PCDs via 9-16 PCD Read Configuration for inputs and 9-15 PCD Write Configuration for outputs.

Download the configuration file to the PLC. The PROFINET system starts data exchange when the PLC is set to Run mode.

3.3

Configure the Frequency Converter

3.3.1 VLT Parameters

The following parameters are important when configuring the frequency converter with a PROFINET interface.

0-40 [Hand on] Key on LCP. If [Hand On] is

•

activated, control of the frequency converter via the PROFINET interface is disabled.

After an initial power-up, the frequency converter

•

automatically detects whether a fieldbus option is installed in slot A, and sets parameter 8-02 Control Word Source to [Option A]. When an option is added, changed, or removed from an already commissioned frequency converter, it does not change parameter 8-02 Control Word Source but enters Trip mode, and the frequency converter displays an error

Parameter 8-10 Control Word Profile. Select

•

between the Danfoss frequency converter profile and the PROFIdrive profile

8-50 Coasting Select to 8-56 Preset Reference Select.

•

Select how to gate PROFINET control commands with the digital input command of the control card.

Control

4 Control

VLT® PROFINET MCA 120

4.1 PPO Types

The PROFIBUS profile for frequency converters specifies a number of communication objects (parameter process data objects, PPO). The PROFIBUS profile for frequency

converters is suitable for data exchange between a process controller (for example PLC) and a frequency converter. All PPOs are defined for cyclic data transfer (that is, DP V0), so that process data (PCD) and parameters (PCA) can be transferred from the master to the slave and vice versa.

Pure process data objects

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

Illustration 4.1 shows the available PPO types:

PCD 1: The first 2 bytes of the process data area

•

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

PCD 2: The next 2 bytes (PCD 2) are fixed for PCD

•

write entries (see 9-15 PCD Write Configuration [1]), but configurable for PCD read entries (see 9-16 PCD Read Configuration [1]).

PCD 3-10: In the remaining bytes, from PCD 3

•

and on, the process data can be parameterised with process signals, see parameter 9-23 Parameters for Signals.

The signals for transmission from the master to the frequency converter are determined by the setting in 9-15 PCD Write Configuration (request from master to the frequency converter).

The signals for transmission from the frequency converter to the master (response from the frequency converter to master) are determined by the setting in 9-16 PCD Read Configuration .

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 utilisation of I/O and thus PLC capacity, access parameters via DP V1, by selecting a pure process data object (PPO type 3, 4, 6, 7, or 8).

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

In addition, all PPO types can be set up as word-consistent or module-consistent. The process data area can be word or 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.

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 Programming Guide

4 4

Illustration 4.1 Available PPO Types

4.2

PCV Parameter Access

The PROFINET cyclical data exchange performs parameter access via the PCV channel. The PCV channel forms part of the PPOs described in chapter 4 Control.

Use the PCV channel to read and write parameter values, and read status for descriptive attributes of each parameter.

4.2.1 PCA Handling

The PCA part of PPO types 1, 2, and 5 performs several tasks. Using PCA, the master controls and supervises parameters, and requests a response from the slave. Then the slave responds to a request from the master. Requests and responses is a handshake procedure and cannot be batched. Therefore, when the master sends out a read/ write request, it must wait for the response before it sends a new request. The request or response data value is limited to maximum 4 bytes (see RC characteristics in Table 4.1), which implies that text strings are not transferable. For further information, see chapter 7 Application Examples.

PCA - Parameter Characteristics

4.2.2

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

RC SMP PNU

Table 4.1 PCA - Parameter Characteristics

RC: Request/response characteristics (Range 0..15) SMP: Spontaneous message (Not supported) PNU : Parameter no. (Range 1..1999)

Control

VLT® PROFINET MCA 120

4.2.3 Request/Response Handling

The RC portion of the PCA word defines:

The requests issued from the master to the slave.

•

Other portions of the PCV involved:

•

PVA: The PVA portion transmits word-

size parameter values in bytes 7 and 8, while long word size values require

RC Content

4.2.4

Request

The content of the RC portion of the PCA word for a request is listed in Table 4.2.

Request Function

0 No request 1 Request parameter value 2 Change parameter value (word) 3 Change parameter value (long word) 4 Request description element 5 Change description element 6 Request parameter value (array) 7 Change parameter value (array word) 8 Change parameter value (array long word) 9 Request number of array elements 10-15 Not used

Table 4.2 Request

Response

When the slave rejects a request from the master, the RC word in the PPO-read indicates the rejection by assuming the value 7. Bytes 7 and 8 in the PVA element carry the fault number.

The content of the RC portion of the PCA word for a response is listed in Table 4.3.

bytes 5–8 (32 bits). IND: When the response/request

contains array elements, the IND carries the array sub-index. When parameter descriptions are involved, the IND holds the record sub-index of the parameter description.

Response Function

0 No response 1 Transfer parameter value (word) 2 Transfer parameter value (long word) 3 Transfer description element 4 Transfer parameter value (array word) 5 Transfer parameter value (array long word) 6 Transfer number of array elements 7 Request rejected (including fault number, see

Table 4.4)

8 Not serviceable by PCV interface 9 Not used

10 Not used 11 Not used 12 Not used 13-15 Not used

Table 4.3 Response

Fault

Interpretation numb er

0 Illegal PNU 1 Parameter value cannot be changed. 2 Upper or lower limit exceeded. 3 Subindex corrupted. 4 No array 5 Data type false 6 Cannot be set by user (reset only). 7 Description element cannot be changed. 8 IR required PPO-write not available. 9 Description data not available. 10 Access group 11 No parameter write access 12 Key word missing. 13 Text in cyclical transmission not readable. 14 Name in cyclical transmission not readable. 15 Text array not available 16 PPO-write missing 17 Request temporarily rejected 18 Other fault 19 Data in cyclical transmission not readable. 130 There is no bus access to the parameter called. 131 Data change is not possible because factory set-up has

been selected.

Table 4.4 Fault Numbers

Control Programming Guide

4.2.5 Example

This example shows

How to use PPO type 1 to change the ramp-up

•

time to 10 s, in 3-41 Ramp 1 Ramp Up Time. How to command a start and speed reference of

•

50%.

Frequency converter parameter settings:

8-50 Coasting Select: Bus Parameter 8-10 Control Word Profile: PROFIdrive profile

4.2.5.1

PCA parameter characteristics

PCA part (byte 1-2). The RC part tells what the PCV part must be used for. The functions available are listed in chapter 4.2.1 PCA Handling.

When a parameter is changed, select value 2 or 3. In this example, 3 is selected, because 3-41 Ramp 1 Ramp Up Time covers a long word (32 bits). 3-41 Ramp 1 Ramp Up Time=155 hex: In this example, byte 1 and 2 are set to 3155. See the values for bytes 1 and 2 in Table 4.5.

IND (bytes 3-4)

Used when reading/changing parameters with sub-index, for example 9-15 PCD Write Configuration. In the example bytes 3 and 4 are set to 00 hex. See the values for bytes 3 and 4 in Table 4.5.

PVA (bytes 5-8)

The data value of 3-41 Ramp 1 Ramp Up Time must be changed to 10.00 s. The value transmitted must be 1000, because the conversion index for 3-41 Ramp 1 Ramp Up Time is 2. This means that the value received by the frequency converter is divided by 100, such that the frequency converter perceives 1000 as 10.00. Bytes 5-8=1000=03E8 hex. See chapter 6.6 Object and Data Types Supported. See the values for bytes 5-8 in Table 4.5.

4.2.5.2

PCV

PCD

NOTICE

* For restart after power up:

Set bits 1 and 2 of the CTW to 1.

•

Toggle bit 0 from 0 to 1.

•

4.2.6 MRV

MRV is the speed reference, with data format Standardised value. 0 hex=0% and 4000 hex=100%. In the example, 2000 hex is used, corresponding to 50% of the maximum frequency in 3-03 Maximum Reference. See the values for bytes 11 and 12 in Table 4.5. The whole PPO therefore has the following values in hex:

Byte Value

PCA 1 31 PCA 2 55 IND 3 00

PCV

PCD

Table 4.5 Request Example: PPO Values in Hex

The process data within the PCD part acts immediately upon the frequency converter, and can be updated from the master as quickly as possible. The PCV part is a handshake procedure, which means that the frequency converter has to acknowledge the command, before a new one can be written.

Table 4.5 shows a positive response to the request example from Table 4.5.

IND 4 00 PVA 5 00 PVA 6 00 PVA 7 03 PVA 8 E8 CTW 9 04 CTW 10 7F MRV 11 20 MVR 12 00

4 4

Control word (CTW) according to PROFIdrive profile: Control words consist of 16 bits. The meaning of each bit is explained in chapter 4.5.1 Control Word according to

PROFIdrive Profile (CTW) and chapter 4.5.2 Status Word according to PROFIdrive Profile (STW). The following bit

pattern sets all necessary start commands: 0000 0100 0111 1111=047F hex.* 0000 0100 0111 1110=047E hex.* 0000 0100 0111 1111=047F hex. These are the values for bytes 9 and 10 in Table 4.5. Quick stop: 0000 0100 0110 1111=046F hex. Stop: 0000 0100 0011 1111=043F hex.

Control

VLT® PROFINET MCA 120

Byte Value

PCA 1 21 PCA 2 55 IND 3 00

PCV

PCD

Table 4.6 Response Example: Positive Response

IND 4 00 PVA 5 00 PVA 6 00 PVA 7 03 PVA 8 E8 STW 9 0F STW 10 07 MAV 11 20 MAR 12 00

The PCD part responds according to the state and parameterisation of the frequency converter.

PCV part response:

PCA: As the request telegram, but here the RC

•

part is taken from Table 4.3. In this example, RC is 2 hex, which is a confirmation that a parameter value of the type long word (32 bit) has been

In this case, the fault number is 2, which means that the upper or lower limit of the parameter is exceeded, see Table 4.4.

4.3 Process Data

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

4.3.1 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 4.8 Process Control Data

PCD 1 contains a 16-bit control word, and each bit controls a specific function of the frequency converter, see chapter 4.4 Control Profile.

transferred. IND is not used in this example. PVA: 03E8 hex in the PVA part tells that the value

•

of 3-41 Ramp 1 Ramp Up Time is 1000, which

PCD 2 contains a 16-bit speed setpoint in percentage format. See chapter 4.3.3 Reference Handling.

corresponds to 10.00. STW: 0F07 hex means that the motor is running

•

and there are no warnings or faults. MAV: 2000 hex indicates that the output

•

frequency is 50% of the maximum reference.

The content of PCD 3 to PCD 10 is determined by the settings in 9-15 PCD Write Configuration and 9-16 PCD Read Configuration.

Process Status Data

4.3.2

Table 4.7 shows a negative response to the request example from Table 4.5.

Byte Value

PCA 1 70 PCA 2 00 IND 3 00

PCV

PCD

Table 4.7 Response Example: Negative Response

IND 4 00 PVA 5 00 PVA 6 00 PVA 7 00 PVA 8 02 STW 9 0F STW 10 07 MAV 11 20 MAR 12 00

RC is 7 hex, which means that the request has been rejected, and the fault number can be found in the PVA part.

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 4.9 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 4.3.3 Reference Handling). PCD 2 can be configured to contain other process signals.

The content of PCD 3 to PCD 10 is determined by the settings in 9-16 PCD Read Configuration.

Control

Programming Guide

4.3.3 Reference Handling

The reference handling is an advanced mechanism that sums up references from different sources, as shown in Illustration 4.2.

For more information on reference handling, refer to the design guide of the relevant frequency converter.

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 represented in hexadecimal (0-4000 hex).

The final speed limit is set in

Table 4.10 lists the reference (MRV) and the feedback (MAV) formats.

MRV/MAV Integer in hex Integer in decimal

100% 4000 16,384

75% 3000 12,288 50% 2000 8,192 25% 1000 4,096

0% 0 0

-25% F000 -4,096

-50% E000 -8,192

-75% D000 -12,288

-100% C000 -16,384

Table 4.10 Reference/Feedback (MRV/MAV) Format

4-19 Max Output Frequency.

NOTICE

Negative numbers are formed as complement of 2.

NOTICE

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

4 4

The reference (MRV) and feedback (MAV) are always scaled equally. The setting of 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 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 4-11 Motor Speed Low Limit [RPM] to 4-14 Motor Speed High Limit [Hz].

Example

The following settings determine the speed, as shown in

Table 4.11:

1-00 Configuration Mode set to [0] Speed open

•

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

•

3-02 Minimum Reference set to 100 RPM.

•

3-03 Maximum Reference set to 3000 RPM.

•

MRV/MAV Actual speed [RPM]

0% 0 hex 100 25% 1000 hex 825 50% 2000 hex 1550 75% 3000 hex 2275 100% 4000 hex 3000

Table 4.11 Actual Speed for MRV/MAV

4.3.4

Process Control Operation

In process control operation, 1-00 Configuration Mode is set to [3] Process. The reference range in 3-00 Reference Range is always [0]

Min - Max.

MRV represents the process setpoint.

•

MAV expresses the actual process feedback

•

(range ±200%).

Control

4.3.5 Influence of the Digital Input

VLT® PROFINET MCA 120

4.5.1

Control Word according to PROFIdrive

Profile (CTW)

Terminals upon FC Control Mode

The control word is used to send commands from a master

Set the influence of the digital input terminals upon control of the frequency converter in 8-50 Coasting Select to 8-56 Preset Reference Select.

NOTICE

The setting of 8-01 Control Site overrules the settings in 8-50 Coasting Select to 8-56 Preset Reference Select. The

setting of terminal 37 Coast stop (safe) overrules any other parameter.

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

Fieldbus only,

•

Fieldbus AND digital input, or

•

Either fieldbus OR digital input terminal.

•

(e.g. 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

CAUTION

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

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

4.4

Control Profile

Control the frequency converter according to

the PROFIdrive profile, see chapter 4.5 PROFIdrive

•

Control Profile, or the Danfoss FC control profile, see

•

chapter 4.6 FCDrive Control Profile.

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

chapter 4.5 PROFIdrive Control Profile and chapter 4.6 FCDrive Control Profile provide a detailed

description of control and status data.

4.5

PROFIdrive Control Profile

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

Table 4.12 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" leads to the stop and activation of the output relay 1 or 2 if the output frequency is 0 Hz and if [Relay 123] has been selected in 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

Coasting stop. When bit 01="0", a coasting stop and activation of the output relay 1 or 2 occurs if the output frequency is 0 Hz and if [Relay 123] has been selected in 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 3-81 Quick Stop Ramp Time.

When bit 02="0", a quick stop and activation of the output relay 1 or 2 occurs if the output frequency is 0 Hz and if [Relay 123] has been selected in 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

Coasting stop Bit 03="0" leads to a stop. When bit 03="1", the frequency converter can start if the other start conditions are fulfilled.

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