Danfoss MCA 123 Operating guide

MAKING MODERN LIVING POSSIBLE

Operating Instructions

MCA 123 POWERLINK

vlt-drives.danfoss.com

Safety Operating Instructions

Safety

This publication contains information proprietary to Danfoss. By accepting and using this manual, the user agrees that the information contained herein is used solely for operating equipment from Danfoss or equipment from other vendors if such equipment is intended for communication with Danfoss equipment over a 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 functions properly in every physical, hardware, or software environment.

Although Danfoss has tested and reviewed the documentation within this manual, Danfoss gives no warranty or representation, either expressed or implied, with respect to this documentation. This includes its quality, performance, or rness 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 prots or revenue, loss or damage of equipment, loss of computer programs, loss of data, the costs to substitute these, or any claims by third parties.

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

2. The o-command on the serial bus does not disconnect the equipment from mains and should not 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 the 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. 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.

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

It has been assumed that all devices are sitting behind a rewall that does packet ltering and the environment has implemented restrictions on the software that can run inside the rewall. All nodes are assumed to be "trusted" nodes.

WARNING

HIGH VOLTAGE

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

Safety MCA 123 POWERLINK

1. The motor can be brought to a stop with bus commands while the frequency converter is connected to mains. These stop functions do NOT provide protection against unintended starts.

2. While parameters are being changed, there is a risk that motor starts.

3. Electronic faults in the frequency converter and cease of

temporary overload

•

faults in supply mains, or

•

fault in the motor connection

•

can cause an unintended start.

WARNING

ELECTRICAL HAZARD

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

Contents Operating Instructions

Contents

1 Introduction

1.1 General Information

1.1.1 About this Manual 3

1.1.2 Assumptions 3

1.1.3 Hardware 3

1.1.4 Background Knowledge 3

1.1.5 Available Literature 3

1.1.6 Abbreviations 4

2 How to Install

2.1 Installation

2.1.1 How to Install Option in Frequency Converter 5

2.1.2 Network 5

2.1.3 POWERLINK Cables 6

2.1.4 LED Behaviour 6

2.1.5 Topology 7

2.1.6 EMC Precautions 8

3 3

5 5

3 How to Congure

3.1 Congure the Parameters

3.1.1 IP Settings 10

3.1.2 Ethernet Link Parameters 10

3.2 Congure the Frequency Converter

3.2.1 VLT Parameters 10

3.3 Congure the POWERLINK Network

4 Congure the Master

4.1 Importing the XDD File

4.2 Setting Up the Master

5 How to Control the Frequency Converter

5.1 PDO Communication

5.2 Process Data

5.2.1 Process Control Data 15

5.2.2 Process Status Data 15

5.2.3 Reference Handling 16

10 10

12 12 12

15 15 15

5.2.5 Inuence of the Digital Input Terminals upon FC Control Mode 17

5.3 Control Prole

5.4 DS 402 Control Prole

5.4.1 Control Word According to DSP 402 Prole (Parameter 8-10=DSP 402 prole) 17

17 17

Contents MCA 123 POWERLINK

5.4.2 Status Word According to DS 402 Prole 18

5.4.3 DSP 402 State Transitions 21

5.5 Danfoss FC Control Prole

6 Communication Prole Area

6.1 Description - Communication Prole Area

6.2 1000-1FFF Communication Object Area

6.3 2000-5FFF Danfoss Specic Object Area

6.4 6000-Device prole Object Area

7 Parameters

7.1 Parameter Group 8-** Communication and Option

7.2 Parameter Group 12-** Ethernet

7.3 POWERLINK - Specic Parameter List

8 Application Examples

8.1 Example: Process Data with PDO 23

8.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value

9 Troubleshooting

9.1 LED Status

25 25 25 31 31

34 34 38 41

44 44 46

48 48

9.2 Communication Problems

9.2.1 No Communication with the Frequency Converter 49

9.2.2 Endless Power-down - Power-up Cycle 52

9.3 Warnings and Alarms

9.3.1 Alarm and Warning Words 52

Index

Introduction

Operating Instructions

1 Introduction

1.1 General Information

1.1.1 About this Manual

Chapters

chapter 1 Introduction chapter 2 How to Install chapter 3 How to

contain essential information for quick installation and setup.

For more detailed information, including the full range of set-up options and diagnosis tools, refer to the chapters:

chapter 4 chapter 5 How to Control the Frequency Converter chapter 7 Parameters chapter 8 Application Examples chapter 9 Troubleshooting

Terminology

In this manual the term Ethernet is used to describe the physical layer of the network and does not relate to the application protocol.

Assumptions

1.1.2

These Operating Instructions are under the conditions that the Danfoss POWERLINK option is used with a Danfoss

VLT® AutomationDrive FC 301/FC 302 or FCD 302 frequency converter. The installed controller must support the interfaces described in this manual. Strictly observe all the requirements stipulated in the controller and the frequency converter, along with all limitations herein.

Hardware

1.1.3

This manual relates to the POWERLINK option MCA 123, ordering number 130B5546 (uncoated) and 130B5646 (conformal coated).

1.1.4

Background Knowledge

The Danfoss POWERLINK option card is designed to communicate with any system complying with the POWERLINK standard. Familiarity with this technology is assumed. Issues regarding hardware or software produced by other manufacturers, including commissioning tools, are

Congure

Congure the Master

beyond the scope of this manual, and not the responsibility of Danfoss.

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

1.1.5 Available Literature

The VLT® AutomationDrive Operating Instructions provide the necessary information for getting the frequency converter up and running.

Danfoss technical literature is also available online at

www.danfoss.com/BusinessAreas/DrivesSolutions/

The VLT technical information about the frequency converter design and applications including encoder, resolver, and relay options.

The VLT® AutomationDrive Probus Operating Instructions provide the information required for controlling, monitoring, and programming the frequency converter via a Probus eldbus.

The VLT Instructions provide the information required for controlling, monitoring, and programming the frequency converter via a DeviceNet eldbus.

The MCT 10 Set-up Software Operating Instructions provide information for installation and use of the software on a PC.

The VLT provides information for installing the IP21/Type 1 option.

The VLT Instruction provides information for installing the 24 V DC Back-up option.

The VLT Instructions.

The MCA 121 Ethernet/IP Operating Instructions. The MCA 120 PROFINET Operating Instructions. The MCA 124 EtherCAT Operating Instructions. The MCA 122 Modbus TCP Operating Instructions.

AutomationDrive Design Guide entails all

AutomationDrive DeviceNet Operating

AutomationDrive IP21/Type 1 Instruction

AutomationDrive 24 V DC Back-up

AutomationDrive CANOpen Operating

AutomationDrive Modbus TCP Operating

Introduction MCA 123 POWERLINK

1.1.6 Abbreviations

Abbreviation

API Actual Packet Interval ASnd AsynchronousSend CC Control card CTW Control word DCP Discovery and Conguration Protocol DHCP Dynamic Host Conguration Protocol Conguration EMC Electromagnetic Compatibility I/O Input/Output IP Internet Protocol PDO Process Data Object LCP Local Control Panel LED Light Emitting Diode LSB Least Signicant Bit MAV Main Actual Value (actual output) MN Managing Node MSB Most Signicant Bit MRV Main Reference Value N/A Not applicable PC Personal Computer PCD Process Control Data PLC Programmable Logic Controller PNU Parameter Number REF Reference (=MRV) SDO Service Data Object SoC Start Of Cycle Frame SoA Start Of Asynchronous STW Status Word

Denition

Table 1.1 Overview of Abbreviations

EtherNet Port1

EtherNet Port2

MCA 121 Option A EtherNet/IP 130B1119 MS MS1 MAC-00-1B-08-00-00-22 MS2 SW.ver.

130BT797.10

How to Install

2 How to Install

2.1 Installation

Operating Instructions

2.1.1 How to Install Option in Frequency Converter

Before installing the option, make sure that the installed rmware revision supports the POWERLINK option. Following minimum versions of the frequency converter rmware are required:

POWERLINK option

rmware version

1.01

1.12 FC 301 6.81

Table 2.1 Minimum Firmware Versions

Items required for installing the eldbus option in the frequency converter

Fieldbus option

•

Fieldbus option adaptor frame for the FC Series.

•

This frame is deeper than the standard frame to allow space for the eldbus option beneath.

Strain relief (only for A1 and A2 enclosures)

•

Frequency converter minimum

rmware version

FC 301 6.72 FC 302 6.72

FC 302 6.81 FCD 302 6.81

Illustration 2.2 Strain Relief for A1 and A2 Enclosures

Instructions

1. Remove LCP panel from the FC Series.

2. Remove the frame located beneath and discard it.

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

4. Remove knock-out on the

eldbus option adaptor

frame.

5. Push the eldbus option adaptor frame for the FC Series into place.

6. Replace the LCP and attach cable.

2 2

Illustration 2.1 Fieldbus Option Adaption Frame

NOTICE

Do not strip and earth the Ethernet cable via the strain relief-plate! The earthing of screened Ethernet cable is done through the RJ-45 connector on the option.

NOTICE

After installing the MCA 123 POWERLINK option, set

parameter 8-01 Control Site to: [2] Control word only or [0] Digital and ctrl. word. parameter 8-02 Control Word Source to: [3] Option A

2.1.2 Network

It is important that the media selected for Ethernet data transmission meets the required properties. Usually CAT 5e and six cables are recommended for industrial applications. Both types are available as unscreened twisted pair and screened twisted pair. Generally, screened cables are recommended for use in industrial environments and with frequency converters. A maximum cable-length of 100 m is allowed between network devices.

MCA123 POWERLINK

SW. ver. TM. ver.

S/E LED

L/C LED P1

L/C LED P2

Port 1 Port 2

Option A 130B1489

MAC 00-1B-08-00-00-00

Address

8 7 6 5 4 3 2 1

ON OFF

130BD146.11

3 4 5

How to Install MCA 123 POWERLINK

2.1.3 POWERLINK Cables

Cable type Specication

S/E LED

Illustration 2.4 S/E LED Status - Power OFF or State

Ethernet standard Standard Ethernet (in accordance with IEEE

802.3), 100Base-TX (Fast Ethernet)

Cable Type S/FTP (screened foiled twisted pair, ISO (IEC

Damping 23.2 dB (at 100 MHz and 100 m each) Crosstalk

11801 or EN 50173), CAT 5e

24 dB (at 100 MHz and 100 m each)

Illustration 2.5 S/E LED Status - Green (A)/Red (B) Flash

damping Return loss 10 dB (100 m each) Surge impedance

Table 2.2 Specication of POWERLINK Cables

LED Behaviour

2.1.4

The option has 3 bicolored LEDs that allow a fast and detailed diagnosis. The three LEDs are each linked to its

100 Ω

Illustration 2.6 S/E LED Status - Flickering Green

Illustration 2.7 S/E LED Status - Solid Green

unique part of the POWERLINK option:

LED label Description

Status/Error Module Status, reects the activity on the

POWERLINK slave. Link/Collision Port 1 Link/Collision Port 2

Link/Collision Port 1, reects the activity on the

POWERLINK port 1.

Link/Collision Port 2, reects the activity on the

POWERLINK port 2.

Illustration 2.8 S/E LED Status - Blinking Red

Illustration 2.9 S/E LED Status - Single Green Flash

Table 2.3 LEDs

Illustration 2.3 Overview of the Option

Item # Description

1 POWERLINK port 1 2 POWERLINK port 2 3 Status/error 4 Link/collision port 1 5 Link/collision port 2 6 Node ID dip switches

Table 2.4 Legend to Illustration 2.3

Illustration 2.10 S/E LED Status - Red (B)/Green (A) Flash

Illustration 2.11 S/E LED Status - Double Green Flash

Illustration 2.12 S/E LED Status - Tripple Green Flash

Illustration 2.13 S/E LED Status - Yellow Flash

How to Install Operating Instructions

LED ash

pattern

Power OFF or State

Flickering Green

Solid green POWERLINK

Blinking greed Single green

ash

Red/green

ash

Double green ash

Tripple green ash Yellow ash Wink command Node Identication

Table 2.5 S/E LED Pattern

Powerlink option state Description

NMT_GS, NMT_GS_INITIALISATION NMT_CS_NOT_ACTIVE, Basic Ethernet mode POWERLINK

NMT_CS_Stopped PLC has stopped

NMT_CS_PRE_OPERATIONAL_1 POWERLINK

NMT_CS_PRE_OPERATIONAL_1 Communication to

NMT_CS_PRE_OPERATIONAL_2 POWERLINK

NMT_CS_READY_TO_OPERATE POWERLINK

No power supplied to drive or Initialising

interface is in basic Ethernet mode

interface is on operational state

the Network

interface is in Preoperation mode state 1

PLC lost

interface is in Preoperation mode state 2

interface is

activated from MCT10

Illustration 2.16 L/C LED Status - Power-up Green (A)/Red (B)

Illustration 2.17 L/C LED Status - Collision Red (B)/Green (A)

Illustration 2.18 L/C LED Status - Yellow Flash

LED ash

pattern

Power OFF or no link

Link NMT_GS_INITIALISATION Only shown once at

Power up Various states Link established Collision Yellow ash Wink command Node Identication

Powerlink option state Description

NMT_GS, NMT_GS_INITIALISATION NMT_CS_NOT_ACTIVE

No power supplied to drive or Initialising

power up

activated from MCT 10 Set-up Software

2 2

L/C LED

Illustration 2.14 L/C LED Status - Power OFF or No Link

Illustration 2.15 L/C LED Status - Link

Topology

2.1.5

Table 2.6 L/C LED Pattern

The POWERLINK module features a built-in POWERLINK controlled node and a two-port hub. This module enables the possibility for connecting several POWERLINK options in a line topology. If more than eight frequency converters are connected in line, it requires special attention towards the timing in the network.

It is important in a POWERLINK system, that the connection is done correctly.

130BD147.10

How to Install MCA 123 POWERLINK

Illustration 2.19 Line Topology

Take care that following design rules are followed

1. Do not connect any non-POWERLINK device (e.g. a PC) to any free port as to avoid malfunction of the complete POWERLINK network.

2. In a line topology, power all frequency converters either by mains or by a 24 V DC option card, for the built-in POWERLINK slave controller to work.

3. To achieve interference-free operation of the Ethernet, observe the following EMC precautions. The correct handling of the motor cable screen is vital for the overall performance of the system. If the rules are not followed, it leads to loss of the control and malfunction of the system. The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise between the cables. Normally, a minimum distance of 200 mm (8 inches) is sucient, but maintaining the greatest possible distance between the cables is recommended. Especially where cables run in parallel, over long distances, or if frequency converters with a bigger power size are installed. More information can be found in the norm IEC 61000-5-2:1997.

4. When crossing of cables is unavoidable, the Ethernet cable must cross motor and brake resistor cables at an angle of 90°.

5. Always observe relevant national and local regulations, for example regarding protective earth connection.

2.1.6 EMC Precautions

To achieve interference-free operation of the Ethernet, observe the following EMC precautions. Additional EMC

information is available in the VLT® AutomationDrive Design

Guide.

NOTICE

The correct handling of the motor cable screen is vital for the overall performance of the system. If the rules are not followed, it can lead to loss of the control and malfunction of the system.

min. 200 mm

90 ° crossing

Ethernet Cable

130BA908.11

How to Install Operating Instructions

2 2

Illustration 2.20 Correct Crossing of Ethernet Cable

How to Congure MCA 123 POWERLINK

3 How to Congure

3.1 Congure the Parameters

3.1.1 IP Settings

All IP-related parameters are located in parameter group

12-0* IP Settings: The parameters are all set to POWERLINK standard values, so no setting is needed. In POWERLINK, the parameter 12-00 IP Address Assignment is xed to the option "From node ID". The IP address follows the setting in parameter 12-60 Node ID, so that the IP address is

192.168.100.xxx, where xxx is the node ID. For parameter 12-02 Subnet Mask, the IP addres is

255.255.255.0 and cannot be changed.

The POWERLINK option oers two ways of node ID assignment via parameter or DIP switch.

Ethernet Link Parameters

3.1.2

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

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

Each port has unique Ethernet link parameters.

Parameter 12-10 Link Status displays Link or No Link according to the status of the present port.

Parameter 12-11 Link Duration displays the duration of the link on the present port. If the link is broken, the counter is reset.

Parameter 12-12 Auto Negotiation is a feature that enables two connected Ethernet devices to select common transmission parameters, such as speed and duplex mode. In POWERLINK, this feature is changed.

xed to OFF and cannot be

xed to

In POWERLINK, the Link Duplex is xed to Half Duplex, and cannot be changed.

3.2 Congure the Frequency Converter

3.2.1 VLT Parameters

Pay particular attention to the following parameters when conguring the frequency converter with a eldbus interface.

Parameter 0-40 [Hand on] Key on LCP. If the [Hand

•

on] key on the frequency converter is activated, control of the frequency converter via the eldbus interface is disabled.

After an initial power-up, the frequency converter

•

automatically detects whether a eldbus option is installed in slot A. It then sets parameter 8-02 Control Word Source to [Option A]. Adding, changing, or removing an option from an already commissioned frequency converter does not change parameter 8-02 Control Word Source. However, it causes a trip mode, and the frequency converter displays an error.

Parameter 8-10 Control Word

•

between the Danfoss FC

prole. The change of parameter 8-10 Control Word Prole is active at the next power-up.

Parameter 8-50 Coasting Select to

•

parameter 8-56 Preset Reference Select. Selection of how to gate digital input command of the control card.

eldbus control commands with

Prole. Select

Prole and the DS 402

NOTICE

When parameter 8-01 Control Site is set to [2] Control word only, Bus-control overrules the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select.

Parameter 8-03 Control Word Timeout Time to

•

parameter 8-05 End-of-Timeout Function. The reaction in the event of a bus time-out is set via these parameters.

3.3

Congure the POWERLINK Network

Parameter 12-13 Link Speed - displays the link speed for each port. If no link is present, “None” is displayed. In POWERLINK, this feature is xed to 100 MBaud and cannot be changed.

Parameter 12-14 Link Duplex - displays the duplex mode for each port.

Using the hardware switches, it is possible to select an address range 0–239 (factory setting 1) according to

All POWERLINK stations that are connected to the same bus network must have a unique node address. The node address of the frequency converter can be selected via:

Hardware switches (from version 1.12)

•

parameter 12-60 Node ID

•

Setting the NODE Address using the Hardware Switches

Table 3.1:

How to Congure Operating Instructions

Switch 8 7 6 5 4 3 2 1 Address value 128 +64 +32 +16 +8 +4 +2 +1 E.g. address 5 OFF OFF OFF OFF OFF ON OFF ON E.g. address 35 OFF OFF ON OFF OFF OFF ON ON E.g. address 82 OFF ON OFF ON OFF OFF ON OFF E.g. address 157 ON OFF OFF ON ON ON OFF ON

Table 3.1

NOTICE

The switches are only read during power-up. Changes are active after the next power up, and can be read in parameter 12-60 Node ID. Note the location and sequence of the hardware switches as illustrated in Illustration 2.3.

Setting the NODE Address via parameter 12-60 Node ID

Setting the address via parameter 12-60 Node ID, is only possible if the hardware switches are set to 0 or 255 (factory setting). The address change becomes active at the next power-up. The node address has direct in parameter 12-01 IP Address. If the hardware switch is set to an illegal number, the frequency converter immediately issues Warning 34 in the display, and parameter 12-69 Ethernet PowerLink Status is set to 0 (zero).

inuence on the IP address

3 3

130BD136.10

130BD139.10

130BD137.10

130BD140.10

Congure the Master MCA 123 POWERLINK

4 Congure the Master

4.1 Importing the XDD File

To congure a POWERLINK Master, the conguration tool needs an XDD le for each type of slave on the network. The XDD le is a text le containing the necessary communications set-up data for a slave. Download the

le for the FC Series frequency converters at

XDD www.danfoss.com/BusinessAreas/DrivesSolutions/.

parameter 15-61 Option SW Version

1.02 FC 301: 0x0200008D_FC301_01.xdd

1.12 FC 301: 0x0200008D_FC301_08.xdd

Table 4.1 POWERLINK SW Version XDD File

The following steps show how to add a device to the Automation Studio Tool. For tools from other vendors, consult their relevant manuals.

1. In the Automation Studio, select the menu [Tools] and [Import Fieldbus Device].

File

FC 302: 0x0200008D_FC302_01.xdd

FC 302: 0x0200008D_FC302_08.xdd FCD 302: FCD 302: 0x0200008D_FCD302_08.xdd

Illustration 4.2 Selecting the XDD File

4.2 Setting Up the Master

Select the POWERLINK I/O master to open the POWERLINK interface in the Automation Studio Master.

1. Right click and select [Open POWERLINK].

Illustration 4.3 Open POWERLINK

Illustration 4.1 Automation Studio

2. Select the XDD le and the Automation studio, imports it to its library. To save the new info, select the [Save All] menu or the multiple oppy disc icon.

2. Right click the network icon, and select [Insert].

Illustration 4.4 Physical View

130BD145.11

130BD142.10

130BD141.10

130BD142.10

Congure

the Master Operating Instructions

3. Select [Danfoss FC 302].

Illustration 4.7 Select Parameters

Illustration 4.5 Select Controller Module

Danfoss FC Series is inserted in the POWERLINK master system.

Congure the I/O conguration, right click the

4. Danfoss Icon and select [Open I/O Conguration].

NOTICE

Make sure that maximum ten channels are selected in each direction; or the PLC enters into an endless restart of the network.

6. The POWERLINK the Danfoss FC Series frequency converter as its slave and communicates with the four words. The nal step is to map the I/Os to PLC variables, which is done in the I/O mapping. Select the I/O Mappings by right-clicking the [Danfoss FC 302] icon and selecting [Open I/O Mapping].

conguration does now contain

4 4

Illustration 4.6 I/O Conguration

5. By default the POWERLINK option does not have any process data assigned to its I/O mapping. Assign the process data by selecting the channels (FC Parameter) as read or write. Selecting the [+] sign in front of the channel menu expands the list and the parameters can be selected. In this example following has been selected:

Object 2690 eldbus control word 1

•

Object 2692 eldbus reference 1

•

Object 2643 status word

•

Object 2645 main actual value

•

Illustration 4.8 Mapping the I/Os ot the PLC Variables

Now, the mapping can be done directly to previous dened variables.

130BD143.10

130BD144.10

Congure the Master MCA 123 POWERLINK

Illustration 4.9 Previous Dened Variables

Variables can also be directly declared, via selecting the Channel Name for each signal and enter the attributes directly.

Illustration 4.10 Variables Directly Declared

This inserts the Danfoss FC 302 into the B&R system, and the frequency converter can now be controlled and supervised via the POWERLINK.

+ 42 hidden pages