Danfoss MCA 121 Design guide

MCA 121 EtherNet/IP Contents

Contents

1 Safety

Safety Note 3 Safety Regulations 3 Warning against Unintended St art 4

2 Introduction

About this Manual 5 Technical Overview 5 Assumptions 5 Hardware 5 Background Knowledge 5 Available Literature 6 ODVA Conformance 6 Abbreviations 6

3 How to Install

The EtherNet/IP Option 7 How to Install Option in Frequency Converter 8

LED Behaviour 9 Topology 10 Network 11 Recommended Design Rules 12 EMC Precautions 13

4 How to Configure

IP Settings 15 Ethernet Link Parameters 16 Configuring the Scanner 17 IP traffic 19

5 How to Control

How to Control 21 I/O Assembly Instances 21 EtherNet/IP Connections 22 Class 1 connection 22 Class 3 connection 23

Unconnected Messages, UCMM 23 Control Word Profile 23 Change of State, COS 24 Danfoss FC Control Profile 25 Danfoss FC Control Profile

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Contents MCA 121 EtherNet/IP

Status Word according to FC ProfileDrive Profile (STW) 26 ODVA Control Profile 27 Control Word under Instances 20/70 and 21/71 27 Status Word under Instances 20/70 and 21/71 28 Reference Handling 29 Bus Speed Reference Value under Instances 100-101-103/150-151-153 29 Bus Speed Reference Value under Instances 20/70 and 21/71 30

6 Parameters

Parameter Group 8-** 31 Parameter Group 12-** 35 IP Settings 35 Ethernet Link Parameters 36 Process Data 37 EtherNet/IP 38 Other EtherNet Services 39 Advanced EtherNet Settings 40 Parameter List 42 Data Types 44 Data Types Supported by FC 200/FC 300 44

7 Troubleshooting

Step-by-step Troubleshooting 45 Alarm Word and Warning Word 45

8 Appendix

Supported CIP Objects 51

Index

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MCA 121 EtherNet/IP 1 Safety

1Safety

1.1.1 Copyright, Limitation of Liability and Revision Rights

This publication contains information proprietary to Danfoss. By accepting and u sing this manual the user agrees that the information contained herein will be used solely for operating equipment from Danfoss or equipment from other vendors provided that such equipment is intended for communication with Danfoss equipment over an Ethernet serial communication link. This publication is protected under the Copyright laws of Denmark and most other countries.

Danfoss does not guarantee that a software program produced according to the guidelines provided in this manual will function properly in every physical, hardware or software environment.

Although Danfoss has tested and reviewed the documentation within this manual, Danfoss makes no warranty or representation, either express or implied, with respect to this documentation, including its quality, performance, or fitness for a particular purpose.

In no event shall Danfoss be liable for direct, indirect, special, incidental, or consequential damages arising out of the use, or the inability to use information contained in this manual, even if advised of the possibility of such damages. In particular, Danfoss is not responsible for any costs including but not limited to those incurred as a result of lost profits or revenue, loss o r damage of equipment , loss of compu ter programs, loss of data, the costs t o substitute these, or any claims by third parties.

Danfoss reserves the right to revise this publication at any time and to make changes in its contents without prior notice or any obligation to notify previous users of such revisions or changes.

1.1.2 Safety Note

The voltage of the frequency converter is dangerous whenev er connected to mains. Incorrect installation of the motor, frequency converter or fieldbus may cause damage to the equipment, serious perso nal injury or death. Consequently, the instructions in this manual, as well as national and local rules and safety regulations, must be complied with.

1.1.3 Safety Regulations

1. The frequency converter must be disconnected from mains if repair work is to be carried out. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.

2. The [OFF] key on the LCP of the frequency converter does not disconnect the equipment from mains and is thus not to be used as a safety switch.

3. Correct protective earthing or grounding of the equipment must be established, the user must be protected against supply voltage, and th e motor must be protected against overload in accordance with applicable national and local regulations.

4. The earth leakage currents are higher than 3.5 mA.

5. Protection against motor overload is not included in the factory setting. If this function is desired, set par. to data value ETR trip or data value ETR warning.

NB!

The function is initialised at 1.16 x rated motor current and rated motor frequency. For the North American market; the ETR functions provide class 20 motor overload protection in accordance with NEC.

6. Do not remove the plugs for the motor and mains supply while the frequency converter is connected to mains. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.

7. Please note that the frequency converter has more voltage inputs than L1, L2 and L3, when load sharing (linking of DC intermediate circuit) and external 24 V DC have been installed. Check that all voltage inputs have been disconnected and that the necessary time has passed before commencing repair work.

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1 Safety MCA 121 EtherNet/IP

1.1.4 Warning against Unintended Start

1. The motor can be brought to a stop by means of digital commands, bus commands, references or a local stop, while the freq uency converter is connected to mains. If personal sa fet y considerations make it necessary to ensure that no unintended start occurs, these stop functions are not sufficient.

2. While parameters are being changed, the motor may start. Consequently, the [OFF] key must always be activated.

3. A motor that has been stopped may start if faults occur in the electronics of the frequency converter , or if a temporary ove rload or a fault in the supply mains or the motor connection ceases.

Touching the electrical parts may be fatal - even after the equipment has been disconnected from mains.

Also make sure that other voltage inputs have been disconnected, such as external 24 V DC, load sharing (linkage of DC intermediate circuit), as well as the motor connection for kinetic back up.

Please take note of discharge times and further safety guidelines from the section: “Safety and conformity”, in the respective Design Guide (MG.33.Ax.yy).

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MCA 121 EtherNet/IP 2 Introduction

2Introduction

2.1.1 About this Manual

First time users can obtain the most essential information for quick installation and set-up in these chapters:

Introduction How to Install How to Configure the System

For more detailed information including the full range of set-up options and diagnosis tools please refer to the ch apters:

How to Configure the System How to Control the FC 200/FC 300 How to Access FC 200/FC 300 Parameters Parameters Troubleshooting

Terminology:

In this manual several terms for Ethernet is used.

-EtherNet/IP, is the term used to describe the CIP/ODVA application protocol.

-Ethernet, is a common term u sed to describe the ph y sical layer of the network and does not relate to the application protocol.

2.1.2 Technical Overview

EtherNet/IP™ was introduced in 2001 and today is the most developed, proven and complete industri al Ethernet network solut ion available for manufacturing automation. EtherNet/IP is a member of a family of networks that implements the Common Industrial Protocol (CIP encompasses a comprehensive suite of messages and services for a variety of manufacturing automati on applications, including control, safety, syn chronization, motion, configuration and information. As a truly media-independent protocol that is su pported by hundred s of vendors from around the world, CIP provides users with unified communication architecture throughou t the manufacturing enterprise.

™

) at its upper layers. CIP

EtherNet/IP provides users with the network tools to deploy standard Ethernet technology for manufacturing applications while ena bling Intern et and enterprise connectivity.

2.1.3 Assumptions

These operating instructions are under the conditions that the Danfoss EtherNet/IP option is used in conjunction with a Danfoss FC 200/FC 300 frequency converter, inclusive that the installed controller supports the interfaces described in this document and that all the requirements stipulated in the controller, as well as the frequency converter, are strictly observed along with all limitations herein.

2.1.4 Hardware

This manual relates to the EtherNet/IP option MCA 121, type no. 130B1119 (un-coated) and 130B1219 (coated).

2.1.5 Background Knowledge

The Danfoss EtherNet/IP Option Card is designed to communicate with any system complying with the CIP EtherNet/IP standard. Familiarity with this technology is assumed. Issues regarding hardware or software produced by other manufact urers, including commissioning tools, are beyond the scope of this manual, and are not the responsibility of Danfoss.

For information regarding commissioning tools, or communication to a non-Danfoss node, please consult the appropriate manua ls.

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2 Introduction MCA 121 EtherNet/IP

2.1.6 Available Literature

Available Literature for FC 200/FC 300

- The VLT AutomationDrive Operating Instructions provide the neccessary information for getting the drive up and running.

- The VLT AutomationDrive Design Guide entails all technical information about the drive design and applications including encoder, resolver and

relay options.

- The VLT AutomationDrive Profibus Operating Instructions provide the information required for controlling, monitoring and programming the drive via a Profibus fieldbus.

- The VLT AutomationDrive Operating Instructions provide the information required for controlling, monitoring and programming the drive via a DeviceNet fieldbus.

- The VLT AutomationDrive MCT 10 Operating Instructions provide information for installation and use of the software on a PC.

- The VLT AutomationDrive IP21 / Type 1 Instruction pr ovides information for installing the IP21 / Type 1 op t io n .

- The VLT AutomationDrive 24 V DC Backup Instruction provi des information for installing the 24 V DC Backup option.

Danfoss Drives technical literature is also available online at www.danfoss.com/drive s .

2.1.7 ODVA Conformance

The EtherNet/IP option is tested to conform to the ODVA standards, and is certified, towards conformance test level version 3.

2.1.8 Abbreviations

Abbreviation Definition

API Actual Packet Interval CC Control Card CIP Common Industrial Protocol CTW Control Word DHCP Dynamic Host Configuration Protocol EIP EtherNet/IP EMC Electromagnetic Compatibility I/O Input/Output IP Internet Protocol LCP Local Control Panel LED Light Emitting Diode LSB Least Significant Bit MAR Major Reco verable fail MAU Major Unrecoverable fail MAV Main Actual Value (actual output) MSB Most Significant Bit MRV Main Reference Value N/A Not applicable ODVA Open DeviceNet Vendor Association PC Personal Computer PLC Programmable Logic Controller PNU Parameter Number REF Reference (= MRV) RTC Real Time Clock STP Spanning tree Protocol STW Status Word

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MCA 121 EtherNet/IP 3 How to Install

3How to Install

3.1.1 The EtherNet/IP Option

. .

Illustration 3.1: Overview of the option

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3 How to Install MCA 121 EtherNet/IP

3.1.2 How to Install Option in Frequency Converter

Items required for installing a fieldbus option in the frequency converter:

- The fieldbus option

- Fieldbus option adaptor frame for the FC 200/FC 300. This frame is deeper than the standard frame, to allow space for the fieldbus option

beneath

- Strain relief (only for A1 and A2 enclosures)

Instructions:

- Remove LCP panel from the FC 200/FC 300.

- Remove the frame located beneath and discard it.

- Push the option into place. The Ethernet connectors must be facing upwards.

- Remove both knock- ou ts on the fieldbus option adaptor frame.

- Push the fieldbus option adaptor frame for the FC 200/FC 300 into place.

- Replace the LCP and attach cable

NB!

Do not strip the Ethernet cable and ground it via the strain relief-plate! The grounding of screened Ethernet cable is done through the RJ-45 connector on the opti on.

NB!

After installing the MCA 121 option, be aware of the following parameter settings: par. 8-01 par.8-02

Control Site

Control Word Source

: [2]

Controlword only

: [3]

Option A

or [0]

Digital and ctrl. word

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MCA 121 EtherNet/IP 3 How to Install

3.1.3 LED Behaviour

The option has 3 bi-coloured LEDs according to ODVA specifications:

LED Label

MS Module Status NS1 Network Status Ethernet Port 1 NS2 Network Status Ethernet Port 2

The option LED’s operates according to ODVA specifications.

State LED Description

No power Off The device is un-powered Device operational Green: Solid green The device is operational Standby Green: Flashing green The device needs commission ing Minor fault Red: Flashing red The device has detected a recoverable fault Major fault Red: Solid red The device has detected an un-reco verable fault

Self test

Table 3.1: MS: Module Status

State LED Description

No IP-address (no power) Off

No connections Green: Flashing green

Connected Green: Solid green

Connection time-out Red: Flashing red One or more CIP connections have timed-out

Duplicate IP Red: Solid red

Self test

Description

Red: Flashing red/ Green:

Red: Green

green

Flashing red/green The EIP option is in self-test mode

The EIP option is in self-test mode

The device does not have a valid IP-address (or is un-powered) There are no established CIP connections to the device There is established (at least) one CIP connection to the device

The IP-address assigned to the device is already in use

Table 3.2: NS1 + NS2: Network Status (one per port)

During normal operation the MS and at least one NS LED will show a constant green light.

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3 How to Install MCA 121 EtherNet/IP

3.1.4 Topology

The MCA 121 features a build-in Ethernet-switch, thus having two Etherne t RJ-45 connectors. This enables the po ssibility for connecting several EtherNet/ IP options in a line topology as an alternative to the typical star-topology.

The two ports are equal, in the sense that they are transparent for the option. If only one connector is used, either port can be used.

Illustration 3.2: Star topology

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDriv e

VLT

AutomationDr ive

VLT

AutomationDrive

130BA903.10

VLT

AutomationDriv e

Illustration 3.3: Line topology

NB!

For line topology please refer to section: “Recommended design rules” In a line topology all drives must be powered, either by mains or by their 24 V DC option cards, for the build-in switch to work.

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

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VLT

AutomationDriv e

130BA904.10

MCA 121 EtherNet/IP 3 How to Install

NB!

Please observe that mounting drives of different power-sizes in a line topology may result in unwanted power-off behaviour. Smaller drives discharge faster than bigge r drives. This c an result in loss of link in the line to pology, w hich may l ead to control word timeout. To avoid this, mount the drives with the longest discharge time first in the line topology.

VLT

AutomationD riv e

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDrive

130BA905.10

Illustration 3.4: Ring/redundant line topology

NB!

For this type of topology it is crucial that t he network switch supp orts Spanning Tree Pro tocol (STP) or Rapid Spacing Tree (RSTP), and that STP is enabled. For more information on Spanning Tree please refer to section

IP traffic

3.1.5 Network

It is of high importance that the media chosen for Ethernet data transmission are suitable. Usually CAT 5e and 6 cables are recommended for industrial applications. Both types of cable are available as Unshielded Twisted Pair and Shielded Twisted Pair. Generally shielded cables are recommended for use in industrial environments and with frequency converters. A maximum cable-length of 100 m is allowed between switches.

Optical fibres can be used for gapping longer distances and providing galvanic isolation.

For connecting EtherNet/IP devices both hubs and switches can be used. It is, however, recommended always to use suitable industrial graded Ethernet

IP Traffic

switches. For more information regarding IP-switching, please refer to section:

in this manual.

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3 How to Install MCA 121 EtherNet/IP

3.1.6 Recommended Design Rules

While designing Ethernet networks special attention and caution must be taken regarding active network components. While designing a network for line topolo gy it is important to notice that a small delay is added with each every switch in the line.

It is not recommended to connect more than 32 drives in a line at any API. Exceeding the recommended design rules, may result in failing communication.

VLT

AutomationDrive

AutomationDr ive

Max. 32 drives

AutomationDr ive

VLT

AutomationDr ive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDr ive

VLT

AutomationDrive

VLT

AutomationDrive

VLT

AutomationDr ive

VLT

AutomationDr ive

VLT

AutomationDr ive

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MCA 121 EtherNet/IP 3 How to Install

3.1.7 EMC Precautions

The following EMC precautions are recommended in order to achieve interference-free operation of the Ethernet network. Additional EMC information is available in the FC 200/FC 300 series Design Guide.

NB!

Relevant national and lo cal regulations, for example regarding protective earth connection, must be observed.

The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise from one cable to the other. Normally a distance of 200 mm (8 inches) is sufficient, but maintain ing the greate st possible dista nce between the cables is recommended, especially where cables run in parallel over long distances. When crossing is unavoidable, the Ethernet cable must cross motor and brake resistor cables at an angle of 90 degrees.

VLT

Au to mati on D ri v e

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4 How to Configure MCA 121 EtherNet/IP

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MCA 121 EtherNet/IP 4 How to Configure

4 How to Configure

4.1.1 IP Settings

All IP-related parameters are located in parameter group 12-0*:

12-00 IP Address Assignment 12-01 IP Address 12-02 Subnet Mask 12-03 Default Gateway 12-04 DHCP Server 12-05 Lease Expires 12-06 Name Servers 12-07 Domain Name 12-08 Host Name 12-09 Physical Address

The MCA 121 option offers several ways of IP address assignment.

Setting up drive with manual assigned IP address:

Par. Name Value

12-00 12-01 12-02 12-03

*= Class C IP address example. Any valid IP address can be entered.

NB!

A power-cycle is necessary after setting the IP parameters manually.

Setting up drive with automatic (BOOTP/DHCP) assigned IP address:

Par. Name Value

12-00 12-01 12-02 12-03

By IP address assigned by DHCP/BOOTP server, the assigned

Server

, the IP address of the found DHCP or BOOTP server is displayed. For DHCP only: The remaining leas e-time ca n be re ad-out in par . 12- 05

Expires

Par. 12-09, DHCP or BOOTP, the physical MAC address is linked with a fixed IP address.

IP Address Assignment IP Address Subnet Mask Default Gateway

Physical Address

IP Address Assignment IP Address Subnet Mask Default Gateway

[1] DHCP/[2] BOOTP Read only Read only Read only

IP Address

reads out the MAC address of option, which is al so printed on the label of the option. If using fixed leases together with

and

Subnet Mask

[0] MANUAL

192.168.0.xxx*

255.255.255.0* optional

can be read out in par. 12-01 and 12-02. In p ar. 12-04

DHCP Lease

NB!

If no DHCP or BOOTP reply has been received after 4 attempts (e.g. if the DHCP/BOOTP server has been powered off), the option will fallback to the last good known IP address.

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4 How to Configure MCA 121 EtherNet/IP

Par. 12-03,

Par. 12-06, Par. 12-07, Par. 12-08, Are used with Domain Name Server systems and are a ll optional. If DHCP or BOOTP is select ed as IP a ddress assignment, these pa rameters a re read only.

Default Gateway

Name Servers Domain Name Host Name

NB!

It is only possible to assign valid class A, B and C IP address to the option. The valid ranges are shown in the below table:

Class A 1.0.0.1 - 126.255.255.254 Class B 128.1.0.1 - 191.255.255.254 Class C 192.0.1.1 - 223.255.254.254

is optional and only used in routed networks.

4.1.2 Ethernet Link Parameters

Parameter group 12-1* holds information Ethernet Link information:

12-10 Link Status 12-11 Link Duration 12-12 Auto Negotiation 12-13 Link Speed 12-14 Link Duplex

Please note the Ethernet Link Parameters are unique per port.

Par. 12-10, Par. 12-10, Par. 12-11,

Par. 12-12, duplex mode. In this process, the connected devices first share their capabilities as for these parameters and then choose the fastest transmission mode they both support. By default this function is enabled. Incapability between the connected devices, may lead to decreased commu n ic ation performance. To prevent this, Auto Negotiation can be disabled. If par. 12-12 is set to OFF, link speed and duplex mode can be configured manually in par. 12-13 and 12-14.

Par. 12-13,

Par. 12-14, Half-duplex provides communication in both directions, but only in on e dir ection at a time (not simulta n eously). Full-duplex allows communication in both directions, and unlike half -duplex, allows for this to happen simu l t aneously.

Link Status Link Status Link Duration

Auto Negotiation

Link Speed

Link Duplex

and par. 12-11, will display Link or No Link according to the status of the present port.

will display the duration of the link on the present port. If the link is broken the counter will be reset.

– is a feature that enables two connected Ethernet devices to choose common transmission parameters, such as speed and

– displays/sets the link speed per port. “Non e” is displayed if no link is present.

– displays/sets the duplex mode per port.

Link Duration

displays information on the link status, per port.

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MCA 121 EtherNet/IP 4 How to Configure

4.1.3 Configuring the Scanner

EDS file

Danfoss provides a generic English EDS (Electronic Data Sheet) file covering al l v olt age and power sizes, for off-line configu ration. The EDS file can be downloaded from:

http://www.danfoss.com/BusinessAreas/DrivesSolutions/Softwaredownload/DDFieldbus_Setup_Files.htm

NB!

The current version of the major EtherNet/IP configuration tools does not support EDS-files for EtherNet/IP devices.

Configuring a Rockwell Master

For configuring a FC 200/FC 300 with MCA121 for op eration w ith a Rockwell (Allen-Bradley) Scanner via EtherNet/IP, the FC 200/F C 300 m ust be add ed

Generic Ethernet Module

as a Under the

General

-tab, enter information about: Name of device, IP Address, Assembly Instance and Data size

Under the

NB!

Configuration

Under

NB!

Please note that the example shows a 20/70 assembly instance connection. This requires par. 8-10 Other supported connections are shown in section:

Connection

-tab, enter information about: RII and fault conditions.

in the Connection Parameters a “4” must be entered as Assembly Instance.

I/O Assembly Instanced

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Control Profile

to be set to: ODVA.

4 How to Configure MCA 121 EtherNet/IP

The

Module Info Reset Module

The

– This tap holds generic information.

– This button will make a simulated Power-cycle of the drive.

NB!

For more information on the CIP class 1 Forward Open command, please refer to section:

Control

-chapter.

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EtherNet/IP Connections

under the

How to

MCA 121 EtherNet/IP 4 How to Configure

4.1.4 IP traffic

The use of Ethernet based network for industrial automation purposes, calls for careful and thorough network design. Especially the use of active ne twork components like switches and routers requires detailed know-how about the behaviour of IP tr affic.

Some important issues:

Multicast

Multicast traffic; is traffic that is addressed to a number of recipients. Each host processes the received multicast packet to deter mine if it is the targe t for the packet. If not, the IP package is discarded. This causes an excessive network load of each node in the network since they are flooded with multicast packages. The nature of EtherNet/IP traffic is that all Originator-to-Target traffic is Unicast (point-to-point) but Target-to-Originator traffic is optional Multicast. This enables that several listen only -connections can be made to a single host.

In switched networks hosts also have the risk of becoming flooded with multicast traffic. A switch usually forwards traffic by MAC address tables build by looking into the source address field of all the frames it r e c eives. A multicast MAC address is never used as a source address for a packet. Such addresses do not appear in the MAC address table, and the switch has no method for learning them, so it will just forward all multicast traffic to all connected hosts.

IGMP

IGMP (Internet Group Management Protocol) is an integrated part of IP. It allows hosts to join or leave a multicast host group. Group membership information is exchanged between a specific host and the nearest multicast router.

For EtherNet/IP networks it is essential that the switches used, supports IGMP Snooping. IGMP Snooping enables the switch to “listen in" on the IGMP conversation between hosts and routers. By doing this the switch will recognise which hosts are members of which groups, thus being able to forward multicast traffic only to the appropriate hosts.

Spanning Tree Protocol (STP)

For an Ethernet network to function properly, only one active path can exist between two nodes. Spanning-Tree Protocol is a link management protocol that provides path redundancy while preventing undesirable loops in the network. When loops occur, some switches see stations appear on both sides of it self. This condition confuses the forwarding algorithm and allows for duplicate frames to be forwarded.

To provide path redundancy, Spanning-Tree Protocol defines a tree that spans all switches in an extended network. Spanning-Tree Protocol forces certain redundant data paths into a standby (blocked) state. If one network segment in the Spanning-Tree Protocol becomes unreachable, or if Spanning-Tree Protocol costs change, the spanning-tree algorithm reconfigures the spanning-tree topology and re-establishes the link by activating the standby path.

Spanning-Tree Protocol operation is necessary if the FC 200/FC 300’s are running in a ring/redundant line topology.

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