Danfoss MCA 123 Operating guide

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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.

Receive PDOs (PLC

Drive)

Transmit PDOs (Drive PLC)

PCD 9

write

PDO 23

PCD 0

CTW

PCD 1

REF

PCD 9

read

PCD 0

STW

PCD 1

MAV

PDO 23

130BC177.10

How to Control the Frequenc...

Operating Instructions

5 How to Control the Frequency Converter

5.1 PDO Communication

The frequency converter uses the following proles:

Frequency converter proles

•

CANOpen DS 402 prole

•

For each of the two proles there is a set of SDO objects that is only accessible if the prole is activated in parameter 8-10 Control Word Prole. The change is active at the next power-up. Congure the PDO communication, where a subset of SDOs can be mapped into PDOs for cyclic communication.

PDO communication is reserved for high-speed cyclic access to parameters for control and status of the frequency converter. The PLC sends out process control data, and the frequency converter responds with a PDO containing process status data. In the Danfoss POWERLINK interface, both PDOs can be congured freely.

Select the signals for transmission from the master to the frequency converter via the PLCs PLC sets Parameter 12-21 Process Data

parameter 12-22EN-22 Process Data Cong Read and parameter 12-23 Process Data Cong Write Size, which can

be used to control that the conguration has been sent correctly from the PLC.

conguration tool. The

Cong Write,

5.2 Process Data

Use the process data part of the PDO for controlling and monitoring the frequency converter via the POWERLINK.

5.2.1 Process Control Data

The example in Table 5.1 shows control and reference sent from the PLC to the frequency converter, and status word and Main Actual Value sent from the frequency converter to the PLC.

Master to slave

0 1 2 ...... 9

PCD write

Table 5.1 Process Control Data (PCD)

CTW MRV PCD ...... PCD

PCD 0 contains a 16-bit control word where each bit controls a specic function of the frequency converter, see chapter 5.3 Control Prole. PCD 1 contains a 16-bit speed setpoint in percentage format. See chapter 5.2.3 Reference Handling.

The content of PCD 2 to PCD 9 is read only.

5 5

The POWERLINK option has only one PDO available: PDO

23. The PDO 23 is

exible in size and is adjustable to t all needs (max. 10 PCDs). The selection is made in the master conguration and is then automatically downloaded to the frequency converter during the transition from Init to PreOp. No manual setting of PPO types in the frequency converter is required.

Option [1] Standard telegram 1 is equivalent to PDO 23.

Illustration 5.1 Standard Telegram

Process Status Data

5.2.2

Process data sent from the frequency converter contain information about the current state of the frequency converter.

Slave to master

0 1 2 ...... 9

STW MAV PCD ...... PCD

PCD read

Table 5.2 Process Status Data

PCD 0 contains a 16-bit status word where each bit contains information regarding a possible state of the frequency converter. PCD 1 contains per default the value of the current speed of the frequency converter in percentage format (see chapter 5.2.3 Reference Handling).

How to Control the Frequenc...

MCA 123 POWERLINK

5.2.3 Reference Handling

The reference handling in FC Series is an advanced mechanism that sums up references from dierent sources.

For more information on reference handling, refer to the

VLT® AutomationDrive Design Guide.

Limit [Hz]

limit the actual frequency converter output.

parameter 4-19 Max Output Frequency limits the maximum output and can also inuence the maximum speed of the motor.

For reference and MAV formats, see Table 5.3.

Illustration 5.2 Reference Handling

Table 5.3 Reference and MAV Formats

The reference, or speed setpoint (MRV, sent via POWERLINK), is always transmitted to the frequency converter in percentage format as integers represented in hexadecimal (0-4000 hex).

NOTICE

Negative numbers are formed as a complement of two.

and parameter 4-14 Motor Speed High Limit [Hz]

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

NOTICE

Depending on the setting of parameter 3-00 Reference Range the reference and MAV are scaled accordingly:

The data type for MRV and MAV is 16-bit standardise value, which can express a range from -200% to +200% (8001 to 7FFF).

Illustration 5.3 Scaling of MAV and Reference

NOTICE

If parameter 3-00 Reference Range is set to [0] Min - Max, a negative reference is handled as 0%.

The speed limit settings depend on parameter 0-02 Motor Speed Unit and can be set to RPM or Hz. If parameter 0-02 Motor Speed Unit is set to RPM, parameter 4-11 Motor Speed Low Limit [RPM] and parameter 4-13 Motor Speed High Limit [RPM] limit the actual frequency converter output. If parameter 0-02 Motor Speed Unit is set to Hz, parameter 4-12 Motor Speed Low

Parameter 1-00 Conguration Mode set to [0] Speed open loop. Parameter 3-00 Reference Range set to [0] Min - Max. Parameter 3-02 Minimum Reference set to 100 RPM. Parameter 3-03 Maximum Reference set to 3000 RPM.

MRV/MAV Actual speed

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

Table 5.4

5.2.4

Process Control Operation

In process control operation parameter 1-00 Conguration Mode is set to [3] Process. The reference range in parameter 3-00 Reference Range is always [0] Min-Max.

- MRV represents the process setpoint.

- MAV expresses the actual process feedback (range ±200%).

Speed ref.CTW

Master-follower

130BA274.11

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

Bit no.:

How to Control the Frequenc...

Operating Instructions

5.2.5 Inuence of the Digital Input

Terminals upon FC Control Mode

The inuence of the digital input terminals upon control of the frequency converter can be programmed in

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

NOTICE

The parameter 8-01 Control Site overrules the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select, and terminal 37 Coasting Stop (safe)

overrules any parameter.

Each digital input signal can be programmed to logic AND, logic OR, or to have no relation to the corresponding bit in the control word. This way, eldbus only, eldbus AND Digital Input, or Ether Fieldbus OR Digital input terminal can initiate a specic control command, that is stop/coast.

CAUTION

To control the frequency converter via POWERLINK, set

parameter 8-50 Coasting Select to either [1] Bus, or to [2] Logic AND. Then set parameter 8-01 Control Site to [0] Digital and ctrl.word or [2] control word only.

5.3 Control Prole

The frequency converter can be controlled according to the DS 402 prole, or the Danfoss FC prole. Select the desired control Prole. The choice of prole aects the control and status word only. The change of parameter 8-10 Control Word Prole is activated at the next power-up.

Object 6060 Modes of operation can also control the desired control prole which can be readout by object 6061 Modes of operation display. Value -1 indicates frequency converter prole. Value 2 indicates DS 402 Velocity mode. If the frequency converter is run in DS 402 prole, the DS 402 prole must be selected (for example, by parameter 8-10 Control Word Prole or object 6060). The four process data Control Word, Reference, Status Word and Main Actual Value will the information in according to the specication. Make sure that the prole selected is also the prole used in the PLC.

prole in parameter 8-10 Control Word

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)

Illustration 5.4 Control Word Prole

Bit Bit value=0 Bit value=1

00 Switch o Switch on 01 Disable voltage Enable voltage 02 Quick stop Run 03 Disable operation Enable operation 04 Disable ramp Enable ramp 05 Freeze Run enable 06 Ramp stop Start 07 No function Reset 08 Reserved 09 Reserved 10 Reserved 11 Jog 1 OFF Jog 1 ON 12 Reserved 13 Setup select (LSB) 14 Setup select (MSB) 15 Forward Reversing

Table 5.5 Denition of Control Bits

Explanation of the control bits

Bit 00, Switch OFF/ON Bits 00, Switch OFF/ON Bit 00=“0” - executes transition 2, 6 or 8. Bit 00=“1” - executes transition 3.

Bit 01, Disable/Enable Voltage Bit 01=“0” - executes transition 9, 10 or 12. Bit 01=“1” - enables voltage.

Bit 02, Quick stop/Run Bit 02="0" - executes transition 7, 10 or 11. Bit 02="1" - quick stop not active.

5 5

Bit 03, Disable/enable Operation Bit 03="0" - executes transition 5. Bit 03="1" - enables operation.

Bit 04, Quick-stop/ramp

Output freq.STW

Bit no.:

Follower-master

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

130BA273.11

How to Control the Frequenc...

MCA 123 POWERLINK

Bit 04="0" - executes transition 7 or 11, Quick stop. Bit 04="1" - enables ramp.

5.4.2 Status Word According to DS 402

Prole

Bit 05, Freeze output frequency/run enable Bit 05="0" - the given output frequency is maintained even if the reference is changed. Bit 05="1" - the frequency converter is again able to regulate, and the given reference is followed.

Bit 06, Ramp stop/start

Illustration 5.5 Status Word Prole

Bit 06="0" - the frequency converter controls the motor down to stop. Bit 01="1" - gives a start command to the frequency converter.

Bit 07, No function/reset Reset of trip. Bit 07="0" - there is no reset. Bit 07="1" - a trip is reset.

Bit 08, 09 and 10 DSP402 reserved.

Bit 11, Jog 1 OFF/ON Activation of pre-programmed speed in parameter 8-90 Bus

Jog 1 Speed

JOG 1 is only possible if Bit 04="0", and bit 00-03="1".

Bit 12 Danfoss reserved.

Bit Bit value=0 Bit value=1

00 Not ready to switch ON Ready to switch ON 01 Switched OFF Switched ON 02 Operation disabled Operation enabled 03 No malfunction Malfunction 04 Voltage disabled Voltage enabled 05 Quick stop Run 06 Switch on disable Switch on enable 07 No warning Warning 08 Not running Running 09 Remote disabled Remote enabled 10 Set point not reached Set point reached 11 Speed limit not active Speed limit active 12 Reserved 13 Reserved 14 Reserved 15 Reserved

Table 5.7 Denition of Status Bits

Bits 13/14, Selection of Setup Bits 13 and 14 are used for selecting among the four menu

Explanation of the status bits

set-ups in accordance with Table 5.6:

Bit 00, Not ready to switch on/Ready to switch on

Set-up Bit 14 Bit 13

0 0 1 0 1 2 1 0 3 1 1 4

Bit 00="0" - state less than “Ready to switch on”. Bit 00="1" - state at least = “Ready to Switch on”.

Bit 01, Switch o/Switch on Bit 00="0" - state less than “Switched on”. Bit 00="1" - state at least = “Switched on”.

Table 5.6 Set-up Selection Table

Bit 15, Forward/reversing Bit 15="0" - no reversing. Bit 15="1" - reversing.

Bit 02, Operation disable/Operation enable Bit 00="0" - state less than “Operation enable”. Bit 00="1" - state at least = “Operation enable”.

NOTICE

In factory setting reversing is set to [digital] in parameter 8-54 Reversing Select.

Bit 03, No fault/trip Bit 03="0" - the frequency converter is not in a fault condition. Bit 03="1" - the frequency converter has tripped and needs a reset signal to run.

Bit 04, Voltage disable/Voltage enable Bit 04="0" - control word bit 01="1". Bit 04="1" - control word bit 01="0".

How to Control the Frequenc... Operating Instructions

Bit 05, Quick stop/Run Bit 05="0" - control word bit 02="1". Bit 05="1" - control word bit 02="0".

Bit 06, Start enable/Start disable Bit 06="0" - state is not “Switch on disable”. Bit 06="1" - state = “Switch on enable”.

Bit 07, No warning/Warning Bit 07="0" - no warning situation. Bit 07="1" - a warning has occurred.

Bit 08, Danfoss reserved

Bit 09, Remote disable/Remote enable Bit 09="0" - the frequency converter has been stopped with the stop key on the LCP, or [Local] has been selected in parameter 3-13 Reference Site. Bit 09="1" - it is possible to control the frequency converter via the serial port.

Bit 10, setpoint not reached/Set point reached Bit 10="0" - the actual motor speed is dierent from the speed reference set. This situation can occur while the speed is ramped up/down during start/stop. Bit 10="1" - the present motor speed equals the speed reference set.

Bit 11, Speed limit not active/speed limit active Bit 11="0" - the output frequency is out of the range set in parameters 4-11/4-12 Motor Speed low Limit RPM/Hz or parameters 4-13/4-14 Motor Speed high Limit RPM/Hz. Bit 11="1" - the output frequency is within the mentioned range.

Bit 12, DSP 402 reserved

Bit 13, DSP 402 reserved

Bit 14, Running/Not running Bit 14="0" - the motor is not running. Bit 14="1" - the frequency converter has a valid start signal or that the output frequency is greater than 0 Hz.

Bit 15, Danfoss reserved

8-10 Control

Option: Function:

[0] * FC prole [7] CANOpen DSP 402

FC Prole is the default control prole for the frequency converter, whereas CANOpen DSP 402 is the CiA standardized control transition state machine.

Prole

prole, featuring the special DSP 402

5 5

How to Control the Frequenc... MCA 123 POWERLINK

Illustration 5.6 DSP 402 State Machine

How to Control the Frequenc... Operating Instructions

5.4.3 DSP 402 State Transitions

Transition State Control

word

- Start condition 0000 0000 0 1 2 3 4 5

6 7 8

13 14 15 16

Start-up⇒Not ready to switch on Switch On Disabled⇒Switch On Disabled Not Ready to Switch On⇒Switched On Ready to Switch On⇒Switched On Switched On⇒Ready to Switch On Operation Enabled⇒Switched On

Switched On⇒Ready to Switch On Ready to Switch On⇒Switch On Disable Operation Enable⇒Ready to Switch On

Operation Enable⇒Switch On Disable

Switched On⇒Switched On Disable

Operation Enabled⇒Quick Stop Active

Quick Stop Active⇒Switch On Disabled

All states⇒Fault Reaction Active Fault Reaction Active⇒Fault Fault⇒Switch On Disabled Quick Stop Active⇒Operation Enable (not

supported)

0000 0200 0000, 0001 0240 0006 0231 0007 0233 000F 0237 0007 0233 Motor ramps to 0 RPM with programmed ramp down

0006 0231 0001, 0000 0240 0006 0231 If the motor is not braked, and the power section is

0001, 0000 0240 If the motor is not braked, and the power section is

0002 0207 Motor ramps to 0 RPM with programmed quick ramp

0003 0217 Motor ramps to 0 RPM with programmed quick ramp

0001, 0000 0240 If the motor is not braked, and the power section is

xxxx 023F xxxx 023F 0000 0240 -

- - -

Status word

Action

parameter.

5 5

switched o immediately, the motor is free to rotate.

parameter.

switched o immediately, the motor is free to rotate.

Table 5.8 DSP 402 State Transitions

5.5

Danfoss FC Control Prole

5.5.1 Control Word according to FC Prole (CTW)

To select Danfoss FC protocol in the control word,

parameter 8-10 Control Word Prole must be set to [0] frequency converter prole. The control word is used to

send commands from a master (PLC or PC) to a slave (frequency converter).

Bit Bit value=0 Bit value=1

00 Reference value external selection lsb 01 Reference value external selection msb 02 DC brake Ramp 03 Coasting No coasting 04 Quick stop Ramp 05 Hold output frequency Use ramp 06 Ramp stop Start 07 No function Reset 08 No function Jog 09 Ramp 1 Ramp 2 10 Data invalid Data valid 11 No function Relay 01 active 12 No function Relay 04 active 13 Parameter set-up selection lsb 14 Parameter set-up selection msb 15 No function Reverse

Table 5.9 Bit Values for FC Control Word

How to Control the Frequenc...

MCA 123 POWERLINK

Explanation of the control bits Bits 00/01 Reference value

Bits 00 and 01 are used to choose between the four reference values, which are pre-programmed in parameter 3-10 Preset Reference according to Table 5.10.

NOTICE

In parameter 8-56 Preset Reference Select a selection is made to dene how Bit 00/01 gates with the corresponding function on the digital inputs.

Bit 01 Bit 00 Programmed

ref. value

0 0 1 [0]

0 1 2 [1]

1 0 3 [2]

1 1 4 [3]

Table 5.10 Programmed Reference Values for Bits

Bit 02, DC brake

Bit 02=“0” - leads to DC braking and stop. Braking current and duration are set in parameter 2-01 DC Brake Current and parameter 2-02 DC Braking Time. Bit 02=“1” - leads to ramping.

Bit 03, Coasting

Bit 03=“0” - causes the frequency converter to immediately coast the motor to a standstill. Bit 03=“1” - enables the frequency converter to start the motor if the other starting conditions have been fullled.

Parameter

Parameter 3-10 Preset

Reference

Parameter 3-10 Preset

Reference

Parameter 3-10 Preset

Reference

Parameter 3-10 Preset

Reference

NOTICE

In parameter 8-50 Coasting Select a selection is made to

dene how Bit 03 gates with the corresponding function on a digital input.

Bit 04, Quick stop

Bit 04=“0” - causes a quick stop, ramping the motor speed down to stop via parameter 3-81 Quick Stop Ramp Time. Bit 04=“1” - the frequency converter ramps the motor speed down to stop via parameter 3-81 Quick Stop Ramp Time.

Bit 05, Hold output frequency

Bit 05=“0” - causes the present output frequency (in Hz) to freeze. The frozen output frequency can only be changed with the digital inputs (parameter 5-10 Terminal 18 Digital Input to parameter 5-15 Terminal 33 Digital Input) programmed to Speed up and Speed down. Bit 05=“1” - use ramp.

NOTICE

If Freeze output is active, stop the frequency converter with

Bit 03 Coasting stop

•

Bit 02 DC braking

•

Digital input (parameter 5-10 Terminal 18 Digital

•

Input to parameter 5-15 Terminal 33 Digital Input) programmed to DC braking, Coasting stop, or Reset and coasting stop.

Bit 06, Ramp stop/start

Bit 06=“0” - causes a stop, in which the motor speed is ramped down to stop via the selected ramp down parameter. Bit 06=“1" - permits the frequency converter to start the motor, if the other starting conditions have been

fullled.

NOTICE

In parameter 8-53 Start Select a selection is made to

dene how Bit 06 Ramp stop/start gates with the corresponding function on a digital input.

Bit 07, Reset

Bit 07="0" - does not cause a reset. Bit 07="1" - causes the reset of a trip. Reset is activated on the signals leading edge, that is, when changing from logic "0" to logic "1".

Bit 08, Jog

Bit 08="0" - no function. Bit 08="1" - parameter 3-19 Jog Speed [RPM] determines the output frequency.

Bit 09, Selection of ramp 1/2

Bit 09="0" - ramp 1 is active (parameter 3-40 Ramp 1 Type to parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start). Bit 09="1" - ramp 2 (parameter 3-50 Ramp 2 Type to parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start) is active.

Bit 10, Data not valid/Data valid

Is used to tell the frequency converter whether it should use or ignore the control word. Bit 10="0" - the control word is ignored. Bit 10="1" - the control word is used. This function is relevant, because the control word is always contained in the telegram, regardless of which type of telegram is used. Thus, it is possible to turn wished to use it when updating or reading parameters.

Bit 11, Relay 01

Bit 11="0" - relay 01 not activated. Bit 11="1" - relay 01 activated, provided Control word bit 11 has been chosen in parameter 5-40 Function Relay.

Bit 12, Relay 04

Bit 12="0" - relay 04 has not been activated.

o the control word, if it is not

How to Control the Frequenc...

Operating Instructions

Bit 12="1" - relay 04 has been activated, provided Control word bit 12 has been chosen in parameter 5-40 Function Relay.

Bit 13/14, Selection of set-up

Bits 13 and 14 are used to choose from the four menu setups according to Table 5.11:

The function is only possible when [9] Multi-Set-up is selected in parameter 0-10 Active Set-up.

Set-up Bit 14 Bit 13

1 0 0 2 0 1 3 1 0 4 1 1

Table 5.11 Selection of Set-up

NOTICE

In parameter 8-55 Set-up Select a selection is made to

dene how Bit 13/14 gates with the corresponding function on the digital inputs.

Bit 15 Reverse

Bit 15="0" - no reversing. Bit 15="1" - reversing.

Status Word according to FC Prole

5.5.2 (STW)

The status word is used to inform the master (for example, a PC) of the operation mode of the slave (frequency converter).

Refer to chapter 8 Application Examples for an example of a status word telegram using PPO type 3.

Bit Bit=0 Bit=1

00 Control not ready Control ready 01 Frequency converter not

ready 02 Coasting Enable 03 No error Trip 04 No error Error (no trip) 05 Reserved 06 No error Triplock 07 No warning Warning 08 Speed reference Speed=reference 09 Local operation Bus control 10 Out of frequency limit Frequency limit ok 11 No operation In operation 12 Frequency converter OK Stopped, autostart 13 Voltage OK Voltage exceeded 14 Torque OK Torque exceeded 15 Timer OK Timer exceeded

Table 5.12 Denition of Status Bits

Frequency converter ready

Explanation of the status bits Bit 00, Control not ready/ready

Bit 00="0" - the frequency converter has tripped. Bit 00="1" - the frequency converter controls are ready, but the power component is not necessarily receiving any power supply (in case of 24 V external supply to controls).

Bit 01, frequency converter ready

Bit 01="0" - the frequency converter is not ready for operation. Bit 01="1" - the frequency converter is ready for operation, but there is an active coasting command via the digital inputs or via serial communication.

Bit 02, Coasting stop

Bit 02="0" - the frequency converter has released the motor. Bit 02="1" - the frequency converter can start the motor when a start command is given.

Bit 03, No error/trip

Bit 03="0" - the frequency converter is not in fault mode. Bit 03="1" - the frequency converter is tripped, and that a reset signal is required to re-establish operation.

Bit 04, No error/error (no trip)

Bit 04="0" - the frequency converter is not in fault mode. Bit 04=“1” - there is a frequency converter error but no trip.

Bit 05, Not used

Bit 05 is not used in the status word.

Bit 06, No error/triplock

Bit 06="0" - the frequency converter is not in fault mode. Bit 06=“1” - the frequency converter is tripped, and locked.

Bit 07, No warning/warning

Bit 07="0" - there are no warnings. Bit 07="1" - a warning has occurred.

5 5

How to Control the Frequenc...

Bit 08, Speed reference/speed = reference

Bit 08="0" - the motor is running, but that the present speed is dierent from the preset speed reference. It could, for example, be the case while the speed is being ramped up/down during start/stop. Bit 08="1" - the present motor present speed matches the preset speed reference.

Bit 09, Local operation/bus control

Bit 09="0" - [Stop/Reset] is activated on the control unit, or that Local control in parameter 3-13 Reference Site is selected. It is not possible to control the frequency converter via serial communication. Bit 09="1" - it is possible to control the frequency converter via the eldbus/serial communication.

Bit 10, Out of frequency limit

Bit 10="0" - the output frequency has reached the value in

parameter 4-11 Motor Speed Low Limit [RPM] or parameter 4-13 Motor Speed High Limit [RPM].

Bit 10="1" - the output frequency is within the dened limits.

Bit 11, No operation/in operation

Bit 11="0" - the motor is not running. Bit 11="1" - the frequency converter has a start signal or the output frequency is greater than 0 Hz.

Bit 12, frequency converter OK/stopped, auto start

Bit 12="0" - there is no temporary over temperature on the frequency converter. Bit 12="1" - the frequency converter has stopped because of over temperature, but the unit has not tripped and resumes operation once the over temperature stops.

Bit 13, Voltage OK/limit exceeded

Bit 13="0" - there are no voltage warnings. Bit 13="1" - the DC voltage in the frequency converters intermediate circuit is too low or too high.

Bit 14, Torque OK/limit exceeded

Bit 14="0" - the motor current is lower than the torque limit selected in parameter 4-16 Torque Limit Motor Mode or parameter 4-17 Torque Limit Generator Mode. Bit 14="1" - the torque limits in parameter 4-16 Torque Limit

Motor Mode and parameter 4-17 Torque Limit Generator Mode have been exceeded.

Bit 15, Timer OK/limit exceeded

Bit 15="0" - the timers for motor thermal protection and VLT thermal protection, respectively, have not exceeded 100%. Bit 15="1" - one of the timers has exceeded 100%.

MCA 123 POWERLINK

Communication Prole Area Operating Instructions

6 Communication Prole Area

6.1 Description - Communication Prole Area

This chapter describes the general layout of the supported POWERLINK communication area. The process data objects are dened in this area.

6.2 1000-1FFF Communication Object Area

Index [hex] Object (symbolic name) Name Type Read/write

1000 VAR Device type UNSIGNED32 ro 1001 VAR Error register UNSIGNED8 ro 1006 VAR Communication cycle period UNSIGNED32 rw

1008 VAR Manufacturer device name VISIBLE_STRING ro 1009 VAR Manufacturer hardware version VISIBLE_STRING ro 100A VAR Manufacturer software version VISIBLE_STRING ro 1010 ARRAY Store parameters UNSIGNED32 rw 1011 ARRAY Restore default parameters UNSIGNED32 rw

0x1C14 VAR DLL_CNLossOfSocTolerance_U32 UNSIGNED32 rw 0x1E40 RECORD NWL_IpAddrTable_1_REC NWL_IpAddrTable_TYPE ro/rw 0x1E4A RECORD RECORD NWL_IpGroup_REC NWL_IpGroup_TYPE ro/rw

1018 RECORD Identity object Identity (23h) ro 1020 RECORD CFM_VerifyConguration_REC CFM_VerifyConguration_TYPE ro 1030 RECORD NMT_InterfaceGroup_0h_REC NMT_InterfaceGroup_0h_TYPE ro 1031 RECORD NMT_InterfaceGroup_1h_REC NMT_InterfaceGroup_0h_TYPE ro

1300 VAR SDO_SequLayerTimeout_U32 UNSIGNED32 rw 1400 RECORD PDO_RxCommParam_16h_REC UNSIGNED8 ro 1600 ARRAY PDO_RxMappParam_00h_AU64 UNSIGNED64 rw 1800 ARRAY PDO_TxCommParam_16h_REC UNSIGNED8 ro 1A00 ARRAY PDO_TxMappParam_00h_AU64 UNSIGNED64 rw

1C0A RECORD DLL_CNCollision_REC UNSIGNED32 rw 1C0B RECORD DLL_CNLossSoC_REC UNSIGNED32 rw 1C0F RECORD DLL_CNCRCError_REC UNSIGNED32 rw 1C14 VAR DLL_CNLossOfSocTolerance_U32 UNSIGNED32 rw 1E40 RECORD NWL_IPAddrTable_1_REC NWL_IpAddrTable_TYPE ro/rw 1E4A RECORD RECORD NWL_IpGroup_REC NWL_IpGroup_TYPE ro/rw 1F81 VAR NMT_NodeAssignment_AU32 1F82 VAR NMT_FeatureFlags_U32 UNSIGNED32 ro 1F83 VAR NMT_EPLVersion_U8 UNSIGNED8 ro 1F8C VAR NMT_CurrNMTState_U8 UNSIGNED8 ro 1F93 RECORD NMT_EPLNodeID_REC UNSIGNED8 ro 1F98 VAR NMT_CycleTiming_REC UNSIGNED32 ro 1F99 VAR NMT_CNBasicEthernetTimeout_U32 UNSIGNED32 rw 1F9A VAR NMT_HostName_VSTR VISIBLE_STRING32 rw 1F9B VAR NMT_MultiplCycleAssign_AU8 UNSIGNED8 rw 1F9E VAR NMT_ResetCmd_U8 UNSIGNED8 rw

6 6

Communication Prole Area MCA 123 POWERLINK

Index [hex] Object (symbolic name) Name Type Read/write

2000-5FFF Vendor specic area

603F VAR Error Code UNSIGNED16 ro 6040 VAR Control word UNSIGNED16 rw 6041 VAR Status word UNSIGNED16 ro 6042 VAR vl_target_velocity SIGNED16 rw 6043 VAR vl_velocity_demand SIGNED16 ro 6044 VAR vl_velocity_actual_value SIGNED16 ro 6046 ARRAY vl_velocity_min_max_amount UNSIGNED32 ro 6048 RECORD vl_velocity_acceleration See description ro 6049 RECORD vl_velocity_deceleration See description ro 6060 VAR Modes of operation SIGNED8 rw 6061 VAR Modes of operation display SIGNED8 ro 6502 VAR Supported drive mode UNSIGNED32 ro 6504 VAR Drive manufacture VISIBLE_STRING ro

See chapter 6.3 2000-5FFF Danfoss Specic Object

Area

Table 6.1 Communication Object Overview

1000h Device Type

6.2.1

This object describes the type of device and its functionality. It is composed of a 16-bit eld describing the device prole used, and a second 16-bit eld providing additional information about optional functionality of the device.

Additional information Device prole number Mode bits Type bits Bits

31.. 24 23.. 16 15.. 0 0 1 (frequency converters) 0=FC Prole

402=DS 402

Table 6.2 1000h Device Type

1001h Error Register

6.2.2

1006h Communication Cycle Period

6.2.3

This object denes the communication cycle time interval in μs. This object is reset to its default value by object 1011h. This object is set from the MN.

6.2.4 1008h Manufacturer Device Name

This object contains the device name as dened in parameter 15-40 FC Type.

Index Meaning

1008h for example, FC 302

Table 6.4 1008h Manufacturer Device Name

1009h Manufacturer Hardware

6.2.5 Version

This object is the error register of the device. Only bit 0 and bit 5 is supported. The two bits are active (high) if an alarm is active in alarm word 1 or alarm word 2.

This object contains the hardware version for the POWERLINK interface.

Bit Meaning

0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communications error (overrun, error state) 5 Device prole specic 6 Reserved (always zero) 7 Manufacturer specic

Table 6.3 1001h Error Register

100Ah Manufacturer Software Version

6.2.6

This object contains the Danfoss software version as displayed in parameter 15-49 SW ID Control Card.

1010h Store Parameters

6.2.7

In the standard conguration, the contents of parameters written via eldbus are stored in volatile memory. The changed data will be lost after a power cycle. This index permits non-volatile storage of all frequency converter parameters which have been changed. Writing to one of the indexes will set parameter 12-28 Store Data Values.

Communication

Prole Area Operating Instructions

Index, sub-index Meaning

1010h 0 Number sub-index supported 1010h 1 Save option parameters 1010h 2 All 1010h 3 Not supported

Table 6.5 1010h Store Parameters

Writing the value “save” (0x65766173) to sub-index 1, stores all frequency converter parameters of all set-ups into non-volatile memory, all other values are rejected.

6.2.8 1011h Restore Default Parameters

To restore factory default settings:

1. Write the value “load” to sub-index 1.

2. Initiate the next power cycle manually.

The default value is restored.

Index, sub-index Meaning

1011h 0 Number of sub-index supported 1011h 1 Restore all default parameters and restart

Table 6.6 1011h Restore Default Parameters

Writing the value “load” (0x64616F6C) restores all frequency converter parameters of all set-ups to factory values, except the communications parameters. All other values are rejected, and abort code 0x08000020 is returned. The frequency converter has to be power cycled before the changes get active and the motor must be in the state coast or stopped.

1018h Identity Object

6.2.9

This object contains general information about the device.

The vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer.

The manufacturer-specic product code (sub-index 2h) identies a specic device version.

The manufacturer-specic revision number (sub-index 3h) consists of a major revision number and a minor revision number.

Index, sub-index Meaning

1018h 0 Number of entries 1018h 1 Vendor ID 1018h 2 Product code 1018h 3 Revision number (major revision number and

minor revision number)

1018h 4 Serial number

Table 6.7 1018h Identity Object

6.2.10 1020h CFM_VerifyConguration_REC

This object contains the devices local conguration date and time. The object values are set by managing node or conguration tool.

Index, subindex

1020h 0 Number of entries 1020h 1 ConfDate_U32, Days since January 1, 1984 1020h 2 ConfTime_U32, milliseconds after midnight 1020h 3 ConfId_U32, assigned by the conguration tool 1020h 4 VerifyConfInvalid_BOOL, Value False indicates

Table 6.8 1020h

6.2.11

This object is used to congure and retrieve parameters of the network interfaces (physical or virtual) via SDO.

Index, sub-index Meaning

1030h 0 Number of entries 1030h 1 InterfaceIndex_U16 1030h 2 InterfaceDescription_VSTR t 1030h 3 InterfaceType_U8 1030h 4 InterfaceMtu_U16 1030h 5 InterfacePhysAddress_OSTR 1030h 6 InterfaceName_VSTR 1030h 7 InterfaceOperStatus_U8 1030h 8 InterfaceAdminState_U8 1030h 9 Valid_BOOL

Table 6.9 1030h NMT_InterfaceGroup_0h_REC

6.2.12

Meaning

that conguration was not modied since last storage of ConfId_U32

CFM_VerifyConguration_REC

1030h NMT_InterfaceGroup_0h_REC

1031h NMT_InterfaceGroup_1h_REC

6 6

This object is used to congure and retrieve parameters of the network interfaces (physical or virtual) via SDO.

Communication

Prole Area MCA 123 POWERLINK

Index, sub-index Meaning

1031h 0 Number of entries 1031h 1 InterfaceIndex_U16 1031h 2 InterfaceDescription_VSTR t 1031h 3 InterfaceType_U8 1031h 4 InterfaceMtu_U16 1031h 5 InterfacePhysAddress_OSTR 1031h 6 InterfaceName_VSTR 1031h 7 InterfaceOperStatus_U8 1031h 8 InterfaceAdminState_U8 1031h 9 Valid_BOOL

Table 6.10 1031h NMT_InterfaceGroup_1h_REC

6.2.13

1300h SDO_SequLayerTimeout_U32

This object provides a timeout value in [ms] for the connection abort recognition of the SDO sequence Layer.

Default value is 30000. This object is linked to parameter 12-62 SDO Timeout.

6.2.14

1400h PDO_RxCommParam_16h_REC

Index, subindex

1600h 0 Number of sub-index supported 1600h 1 parameter 12-21 Process Data Cong Write, [0]

1600h 2 parameter 12-21 Process Data Cong Write, [1]

1600h 3 parameter 12-21 Process Data Cong Write, [2]

1600h 4 parameter 12-21 Process Data Cong Write, [3]

1600h 5 parameter 12-21 Process Data Cong Write, [4]

1600h 6 parameter 12-21 Process Data Cong Write, [5]

1600h 7 parameter 12-21 Process Data Cong Write, [6]

1600h 8 parameter 12-21 Process Data Cong Write, [7]

1600h 9 parameter 12-21 Process Data Cong Write, [8]

1600h 10 parameter 12-21 Process Data Cong Write, [9]

Table 6.13 1600h PDO_RxCommParam_00h _AU64

Meaning

Index

This object describes attributes of PDO Communication for RPDO. Object indices describe the Node ID and PDO

For every PDO channel up to ten objects can be mapped.

Mapping Version. Mapping Version must be set by congu-

ration tool depending on PDO mapping.

oset related to the start address of the PDO payload

The and the length of data is provided for every mapped

High Nibble Main version Sub version

Table 6.11 Mapping Version Structure

PDOs diering main version will be rejected. PDOs diering sub version is accepted. Mapping version 0

indicates that no mapping version is available.

Index, sub-index Meaning

1400h 0 Number of sub-index supported 1400h 1 NodeID_U8 1400h 2 MappingVersion_U8

Table 6.12 1400h PDO_RxCommParam_16h_REC

6.2.15

1600h PDO_RxCommParam_00h _AU64

This objects indices describe mapping of object contained in RPDO payload to object dictionary entries.

Low Nibble

object.

Octet

oset

0-1 Index Index of the object to be mapped 2 Sub-index Sub-index of the object to be mapped 3 reserved 4-5 Oset Oset related to start of PDO payload (Bit

6-7 Length Length of the mapped object (Bit count)

Table 6.14 Description of Octet Oset

Bits 63 .. 48 47 .. 32 31 .. 24 23 .. 16 Name Length Oset Reserved Sub-index Encoding UNSIGNED16 UNSIGNED16 - UNSIGNED8

Bits 15 .. 0 Name Index Encoding UNSIGNED16

Name Description

count)

MSB

LSB

Table 6.15 Internal Mapping of PDO Mapping Entry

Communication

Prole Area Operating Instructions

6.2.16 1800h PDO_TxCommParam_16h_REC

This object describes attributes of PDO Communication for RPDO. Object indices describe the Node ID and PDO Mapping Version. Mapping Version must be set by congu- ration tool depending on PDO mapping. Access is read/ write. Mapping version 0 indicates that no mapping version is available.

Index, sub-index Meaning

1400h 0 Number of sub-index supported 1400h 1 NodeID_U8 1400h 2 MappingVersion_U8

Table 6.16 1800h PDO_TxCommParam_16h_REC

6.2.17

1A00h PDO_TxMappParam_00h_AU64

This objects indices describe mapping of object contained in RPDO payload to object dictionary entries.

Index, subindex

1A00h0 Number of sub-index supported 1A00h1 parameter 12-22EN-22 Process Data Cong Read, [0]

1A00h2 parameter 12-22EN-22 Process Data Cong Read, [1]

1A00h3 parameter 12-22EN-22 Process Data Cong Read, [2]

1A00h4 parameter 12-22EN-22 Process Data Cong Read, [3]

1A00h5 parameter 12-22EN-22 Process Data Cong Read, [4]

1A00h6 parameter 12-22EN-22 Process Data Cong Read, [5]

1A00h7 parameter 12-22EN-22 Process Data Cong Read, [6]

1A00h8 parameter 12-22EN-22 Process Data Cong Read, [7]

1A00h9 parameter 12-22EN-22 Process Data Cong Read, [8]

1A00h10 parameter 12-22EN-22 Process Data Cong Read, [9]

Table 6.17 1A00h PDO_TxMappParam_00h_AU64

Map up to ten objects for every PDO channel.

The oset related to the start address of the PDO payload and the length of data is provided for every mapped object.

Meaning

Index

Octet

oset

0-1 Index Index of the object to be mapped 2 Sub-index Sub-index of the object to be mapped 3 Reserved 4-5 Oset Oset related to start of PDO payload (Bit

6-7 Length Length of the mapped object (Bit count)

Table 6.18 Description of Octet Oset

Bits 63 .. 48 47 .. 32 31 .. 24 23 .. 16 Name Length Oset Reserved Sub-index Encoding UNSIGNED16 UNSIGNED16 - UNSIGNED8

15 .. 0 Index UNSIGNED16

Table 6.19 Internal Mapping of PDO Mapping Entry

6.2.18

Name Description

count)

MSB

LSB

1C0Ah DLL_CNCollision_REC

This object contains information regarding collisions on the network.

Index, sub-index Meaning

1C0Ah 0 Number of entries 1C0Ah 1 CumulativeCnt_U32 1C0Ah 2 1C0Ah 3

Table 6.20 1C0Ah DLL_CNCollision_REC

6.2.19

1C0Bh DLL_CNLossSoC_REC

parameter 12-68 Cumulative Counters parameter 12-68 Cumulative Counters

This object contains information regarding loss of SoC on the network.

Index, sub-index Meaning

1C0Bh 0 Number of entries 1C0Bh 1

1C0Bh 2

1C0Bh 3

Table 6.21 1C0Bh DLL_CNLossSoC_REC

6.2.20

1C0Fh DLL_CNCRCError_REC

CumulativeCnt_U32, [2]

parameter 12-68 Cumulative Counters

ThresholdCnt_U32, [2]

parameter 12-67 Threshold Counters

Threshold_U32, [2] parameter 12-66 Threshold

This object contains information regarding “CRC Errors” on the network. CumulativeCnt_U32 increases with one each time a CRC error occurs. CumulativeCnt_U32 decrements

6 6

Communication

Prole Area MCA 123 POWERLINK

with one for each cycle without an error. When CumulativeCnt_U32 is equal or larger than ThresholdCnt_U32, the drive issues Warning 34 in the display.

Index, sub-index Meaning

1C0Fh 0 Number of entries 1C0Fh 1

1C0Fh 2

1C0Fh 3

CumulativeCnt_U32, [5]

parameter 12-68 Cumulative Counters

ThresholdCnt_U32, [5]

parameter 12-67 Threshold Counters Threshold_U32, [5] parameter 12-66 Threshold

Binary value NMT state

0001 1100 NMT_CS_NOT_ACTIVE (Default) 0001 1101 NMT_CS_PRE_OPERATIONAL_1 0101 1101 NMT_CS_PRE_OPERATIONAL_2 0110 1101 NMT_CS_READY_TO_OPERATE 1111 1101 NMT_CS_OPERATIONAL 0100 1101 NMT_CS_STOPPED 0001 1110 NMT_CS_BASIC_ETHERNET

Table 6.25 NMS State

6.2.24 1F93h NMT_EPLNodeID_REC

Table 6.22 1C0Fh DLL_CNCRCError_REC

This object contains the POWERLINK NodeID.

6.2.21

Feature ags indicate communication prole specic properties of the frequency converter.

Bit Name Remark

0 Isochronous 1 SDO by UDP/IP Not supported 2 SDO by ASnd 3 SDO by PDO Not supported 4 NMT Info Services Not supported 5 Extended NMT State Commands Not supported 6 Dynamic PDO Mapping 7 NMT Service by UDP/IP Not supported 8 Conguration Manager Not supported 9 Multiplexed Access 10 NodeID setup by SW Not supported 11 MN Basic Ethernet Mode Not supported 12 Routing Type 1 Support Not supported 13 Routing Type 2 Support Not supported 14 SDO Read/Write All by Index Not supported 15 SDO Read/Write Multiple Parameter by

16..31 Reserved

6.2.22

The object holds the POWERLINK communication prole version that is implemented.

1F82 NMT_FeatureFlags_U32

Index

Table 6.23 Bit Description

1F83h NMT_ EPLVersion_U8

Not supported

Index, sub-index Meaning

1F93h 0 Number of entries 1F93h 1

1F93h 2 NodeIDByHW_BOOL, DIP switch reading

Table 6.26 1F93h NMT_EPLNodeID_REC

6.2.25

1F98h NMT_CycleTiming_REC

NodeID_U8, [5] parameter 12-68 Cumulative

Counters

This object contains node-specic timing parameters which inuence the POWERLINK cycle timing.

Index, subindex

1F98h 0 Number of entries 1F98h 1 IsochrTxMax-

1F98h 2 IsochrRxMax-

1F98h 3 PResMaxLatency_U32 Latency, xed to 10 (nS) 1F98h 4 PReqActPayloa-

1F98h 5 PResActPayloa-

1F98h 6 ASndMaxLatency_U32 Latency, xed to 10 (nS) 1F98h 7 MultiplCycleCnt_U8 Set by MN during congu-

1F98h 8 AsyncMTU_U16 Congurable in the range

Meaning Remark

Number of transmit bits,

Payload_U16

dLimit_U16

320=10 signals, 32 bit each Number of receive bits, 320=10 signals, 32 bit each

Set by MN during congu-

ration Set by MN during conguration

ration

of 300 to 1500

High nibble Low nibble

POWERLINK Main Version POWERLINK Sub Version

Table 6.24 Implemented Communication Prole

6.2.23

1F8C NMT_CurrNMTState_U8

Table 6.27 Node-specic Timing Parameters

6.2.26

1F99h NMT_CNBasicEthernetTimeout_U32

This object species the time in µs for which the option must wait for SoC before switching to basic Ethernet

This object holds the node‘s current NMT state.

mode.

Communication Prole Area Operating Instructions

Index, subindex

1F99 NMT_CNBasicEthernet-

Meaning Remark

Timeout_U32

Table 6.28 Basic Ethernet Timeout

Time in microseconds before switching to basic Ethernet mode. Default 5000000 (5 s) Mapped to

parameter 12-63 Basic Ethernet Timeout

6.2.27 1F9Ah NMT_HostName_VSTR _U32

Index, subindex

1F9A NMT_HostName_VSTR Mapped to

Table 6.29 DNS Host Name

6.2.28

This object is used to reset the frequency converter, communication or conguration.

Hex value NMT service

FFh NMTInvalidService 2Bh NMTSwReset 28h NMTResetNode 2Ah NMTResetConguration 29h NMTResetCommunication

Table 6.30 Reset Command

6.3

Meaning Meaning

parameter 12-08 Host Name

1F9E NMT_ResetCmd_U8

2000-5FFF Danfoss Specic Object Area

6.3.1 2000h–5FFFh Vendor Specic Object

Area

The area 2000h to 5FFFh holds the indexes for accessing the Danfoss frequency converter parameters. All parameters in the frequency converter are linked to indexes in this area. The rst index available is index

2001h. This index is linked to the frequency converters parameter 0-01 Language. The rest of the POWERLINK index follows the same rule, where the frequency converters parameter number plus 2000h gives the POWERLINK index. For example, reading the running hours in parameter 15-01 Running Hours, is calculated by 2000h + parameter number in hex number=2000h+5DD=index 25DDh. The XDD le only contains a subset of the frequency converters parameters. This subset has the indexes that are required for setting up the PDO communication. All parameters can be read or written via SDO communication from the PLC. Table 6.31 shows a few indexes and their mapping.

Index Parameter

2001h parameter 0-01 Language 2002h parameter 0-02 Motor Speed Unit 2003h parameter 0-03 Regional Settings .. 2078h parameter 1-20 Motor Power [kW] 2079h parameter 1-22 Motor Voltage .. 24B1h parameter 12-01 IP Address 24B2h parameter 12-02 Subnet Mask

Table 6.31 2000h-5FFFh Vendor Specic Object Area

6.4

6000-Device prole Object Area

6.4.1 6000h–9FFFh Standardised Device Prole Area

The area 6000h to 9FFFh holds the indexes specied by the IEC for various device proles. The Danfoss POWERLINK does support three proles, FC Prole, MCO, and the DS 402 prole, velocity mode. The prole is selected via

parameter 8-10 Control Word

via Index 6060h Modes of operation. The prole area has up to 13 indexes depending on the selection made in

parameter 8-10 Control Word Prole.

Table 6.32 shows the support of indexes, depending on

setting of parameter 8-10 Control Word Prole (Index 6060h)

Prole, Control Word Prole, or

6 6

Communication Prole Area MCA 123 POWERLINK

Index Name parameter 8-10 Control

Word Prole =FC Prole

603Fh Error code - - √ 6040h Control word - - √ 6041h Status word - - √ 6042h Vl_target_velocity - - √ 6043h Vl_velocity_demand - - √ 6044h Vl_velocity_actual_value - - √ 6046h Vl_velocity_min_max_amount - - √ 6048h Vl_velocity_acceleration - - √ 6049h Vl_velocity_deceleration - - √ 6060h Modes of operation √ √ √ 6061h Modes of operation display √ √ √ 6502h Supported frequency converter mode √ √ √ 6504h Frequency converter manufacture √ √ √

Table 6.32 6000h-9FFFh Standardised Device Prole Area

parameter 8-10 Control Word Prole= MCO

parameter 8-10 Control Word Prole= DS 402

603Fh Error Code

6.4.2

Error signaling mechanism is used to signal alarms and events generated on the frequency converter to the MN. The error code consist of 8 byte of data, where: Byte 0 (zero) is a copy of object 1001h. Byte 1 & 2, not used. Byte 3 contains: Bit 0=1, Alarmword 1 has an active Alarm (parameter 16-90 Alarm Word). Bit 1=1, Alarmword 2 has an active Alarm (Future ext. parameter 16-91 Alarm Word 2). Bit 2=0, Reserved. Bit 3=1, Warningword 1 has an active Warning (parameter 16-92 Warning Word). Bit 4=1, Warningword 2 has an active Warning (Future ext. parameter 16-93 Warning Word 2). Bit 5-7=0, Reserved. Byte 4 and 5, Prole specic. Byte 6 and 7, reserved.

6040h Control Word

6.4.3

This object contains the control word in accordance with DS 402. The control word consists of 16 bit, these 16 bit are used for controlling the frequency converter (for example, start, stop, reset). The control word is described in chapter 5.4 DS 402 Control Prole.

6041h Status Word

6.4.4

6043h vl_velocity_demand

6.4.6

The vl_velocity_demand is the velocity of the system after the ramp controller. The velocity is in RPM.

6.4.7 6044h vl_actual_velocity_value

The vl_actual_velocity_value is the velocity at the motor shaft. The velocity is in RPM, and is obtained from parameter 16-17 Speed [RPM]. The velocity is in RPM.

6.4.8 6046h vl_velocity_min_max_amount

The vl_ velocity_min_max_amount is the minimum and maximum RPM at the motor shaft. The two values are obtained from parameter 3-02 Minimum Reference and

parameter 3-03 Maximum Reference. The readout values in parameter 3-02 Minimum Reference and parameter 3-03 Maximum Reference will be truncated.

Index, sub-index Meaning

1046h 0 Number of sub-index supported 1046h 1 vl_velocity_min_max_amount 1046h 2 vl_velocity_min_amount

This object contains the Status word in accordance to DS

402. The status word consists of 16 bit. The 16 bits show the state and status of the frequency converter (for example, running, ramping, on speed). The Status word is described in chapter 5.4 DS 402 Control

6042h vl_target_velocity

6.4.5

The vl_target_velocity is the required velocity of the system. The velocity is in RPM.

Prole.

Table 6.33 Minimum/Maximum RPM at Motor Shaft

6048h vl_velocity_acceleration

6.4.9

The vl_ velocity_acceleration index species the slope of the acceleration ramp. It is generated as the quotient of the delta_speed and delta_time. The Delta time is stored in parameter 3-41 Ramp 1 Ramp Up Time, and the Delta speed is store locally in the options non volatile memory. After a power down the delta speed will be generated from the frequency converter parameter 1-25 Motor Nominal Speed.

Communication Prole Area Operating Instructions

This can give a dierent readout from the frequency converter, but the slope value is maintained.

Index, sub-index Meaning

1048h 0 Number of sub-index supported 1048h 1 Delta speed 1048h 2 Delta time

Table 6.34 6048h vl_velocity_acceleration

6.4.10 6049h vl_velocity_deceleration

The vl_ velocity_deceleration index species the slope of the deceleration ramp. It is generated as the quotient of the delta_speed and delta_time. The Delta time is stored in parameter 3-42 Ramp 1 Ramp Down Time, and the Delta speed is stored locally in the options non volatile memory. After a power down, the delta speed is generated from the frequency converter parameter 1-25 Motor Nominal Speed. This can give a converter, but the slope value is maintained.

Index, sub-index Meaning

1049h 0 Number of sub-index supported 1049h 1 Delta speed 1049h 2 Delta time

Table 6.35 6049h vl_velocity_deceleration

dierent readout from the frequency

Index, 6061h value

-2 MCO prole (only possible if MCO305 is

-1 FC Prole 2 DS 402 prole

Table 6.37 6061h Modes of Operation Display

Meaning

mounted)

6.4.13 6502h Supported Frequency

Converter Mode

This index informs the user of which operating mode the frequency converter is capable of. Bit 1 is set, indicating that the frequency converter can run DS 402 velocity mode, bit 16 FC prole and 17 indicates MCO prole.

6.4.14

6504h Frequency Converter Manufacturer

This index does readout the name of the frequency converter manufacturer. Data is coded as a string.

Index, sub-index Meaning

6504Ch 0 Manufacturer “DANFOSS DRIVES”

Table 6.38 6504h Drive Manufacturer (read only)

6 6

6.4.11

This index is used for selection the Danfoss FC prole, MCO prole, or the DS 402 prole. The index links directly to parameter 8-10 Control Word Prole. If this value is changed while in operation, the option enters the “Error PREOP” state.

Index, 6060h value

-2 MCO prole (only possible if MCO305 is

-1 FC Prole 2 DS 402 prole

6.4.12

This index is used to display which mode the frequency converter is in. The mode can be changed via index 6060. The values are the same as used for index 6060.

6060h Modes of Operation

Meaning

mounted)

Table 6.36 6060h Modes of Operation

6061h Modes of Operation Display

Parameters MCA 123 POWERLINK

7 Parameters

7.1 Parameter Group 8-** Communication and Option

8-01 Control Site

Option: Function:

The setting in this parameter overrides the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select.

[0] Digital and

ctrl.word

[1] Digital only Control by using digital inputs only.

[2] Controlword

only

8-02 Control Word Source

Option: Function:

None

[0] [1] FC RS485 [2] FC USB [3] Option A [4] Option B [5] Option C0 [6] Option C1 [30] External Can

Control by using both digital input and control word.

Control by using control word only.

NOTICE

This parameter cannot be adjusted while the motor runs.

Select the source of the control word: 1 of 2 serial interfaces or 4 installed options. During initial power-up, the frequency converter automatically sets this parameter to [3] Option A, if it detects a valid in slot A. When the option is removed, the frequency converter detects a conguration change, sets parameter 8-02 Control Word Source to default setting RS485, and trips. If an option is installed after initial power-up, the setting of parameter 8-02 Control Word Source does not change, but the frequency converter trips and shows: Alarm 67, Option Changed.

retrotting a bus option into a

When frequency converter that did not have a bus option installed earlier, change the control to bus-based. This change is required for safety reasons to avoid an unintended change.

eldbus option installed

8-03 Control Word Timeout Time

Range: Function:

1 s* [ 0.1 -

18000 s]

Enter the maximum time expected to pass between the reception of 2 consecutive telegrams. If this time is exceeded, it indicates that the telegram communication has stopped. The function selected in parameter 8-04 Control Word Timeout Function is then carried out. A valid control word triggers the timeout counter.

8-04 Control Word Timeout Function

Select the timeout function. The timeout function activates when the control word fails to be updated within the time period specied in parameter 8-03 Control Word Timeout Time.

Option: Function:

[0] O Resumes control via eldbus (eldbus or

standard) using the most recent control word.

[1] Freeze output Freezes output frequency until communi-

cation resumes.

[2] Stop Stops with auto restart when communi-

cation resumes.

[3] Jogging Runs the motor at jog frequency until

communication resumes.

[4] Max. speed Runs the motor at maximum frequency until

communication resumes.

[5] Stop and trip Stops the motor, then resets the frequency

converter to restart:

Via the eldbus.

•

Via [Reset].

•

Via a digital input.

•

[7] Select setup1Changes the set-up after reestablishment of

communication following a control word timeout. If communication resumes after a timeout, parameter 8-05 End-of-Timeout Function denes whether to resume the set- up used before the timeout, or to retain the set-up endorsed by the timeout function.

NOTICE

To change the set-up after a timeout, congure as follows: Set parameter 0-10 Active Set-up to [9] Multi set-up and select the relevant link in parameter 0-12 This Set-up Linked to.

[8] Select setup

See [7] Select set-up 1.

Parameters Operating Instructions

8-04 Control Word Timeout Function

Select the timeout function. The timeout function activates when the control word fails to be updated within the time period specied in parameter 8-03 Control Word Timeout Time.

Option: Function:

[9] Select setup

[10] Select setup

[26] Trip

See [7] Select set-up 1.

8-05 End-of-Timeout Function

Option: Function:

Select the action after receiving a valid control word following a timeout. This parameter is active only when parameter 8-04 Control Timeout

Function is set to:

[7] Set-up 1.

•

[8] Set-up 2.

•

[9] Set-up 3.

•

[10] Set-up 4.

•

[0] Hold set-upRetains the set-up selected in

parameter 8-04 Control Timeout Function and displays a warning until parameter 8-06 Reset Control Timeout toggles. Then the frequency converter resumes its original set-up.

[1] Resume

set-up

Resumes the set-up active before the timeout.

8-06 Reset Control Word Timeout

This parameter is active only when [0] Hold set-up has been selected in parameter 8-05 End-of-Timeout Function.

Option: Function:

[0] Do not reset

[1] Do reset Returns the frequency converter to the original

Retains the set-up specied in parameter 8-04 Control Word Timeout Function, following a control word timeout.

set-up following a control word timeout. The frequency converter performs the reset and then immediately reverts to the [0] Do not reset setting.

8-07 Diagnosis Trigger

This parameter enables and controls the frequency converter diagnosis/Emergency function. In Probus, it expands the diagnosis data to 24 byte. In EtherCAT, it activates the transmission of the Emergency object. In POWERLINK, it enables the Error signaling. The Emergency/Error signaling object consists of 8 byte of data, where byte 3 indicates an active alarm or warning. Bit 0=1 Alarmword 1 has an active Alarm. Bit 1=1 Alarmword 2 has an active Alarm. Bit 2, reserved, Bit 3=1 Warningword 1 has an active warning. Bit 4=1 Warningword 2 has an active warning. Bits 5-7, reserved.

Option: Function:

[0] Disable [1] Trigger on alarms [2] Trigger alarm/warn.

NOTICE

The following is only valid for Probus and EtherCAT.

[0] Disable: Do not send extended diagnosis/

emergency data even if they appear in the frequency converter.

[1] Trigger on alarms: Send extended diagnosis/

emergency data when one or more alarms appear in alarm parameter 16-90 Alarm Word or

parameter 9-53 [2] Trigger alarms/warn.: Send extended diagnosis/

emergency data if one or more alarms or warnings appear in alarm parameter 16-90 Alarm Word, parameter 9-53 warning parameter 16-92 Warning Word.

Enabling diagnosis can cause increased bus eldbus types support Diagnosis functions.

8-08 Readout Filtering

If the speed feedback value readouts on eldbus are uctuating, this function is used. Select ltered, if the function is required. A power cycle is required for changes to take eect.

Option: Function:

[0] Motor Data

Std-Filt.

[1] Motor Data LP-

Filter

Probus Warning Word.

Probus Warning Word, or

trac. Not all

Normal eldbus readouts.

Filtered eldbus readouts of the following parameters:

Parameter 16-10 Power [kW ]. Parameter 16-11 Power [hp]. Parameter 16-12 Motor Voltage. Parameter 16-14 Motor current. Parameter 16-16 Torque [Nm]. Parameter 16-17 Speed [RPM]. Parameter 16-22 Torque [%]. Parameter 16-25 Torque [Nm] High.

7 7

Parameters MCA 123 POWERLINK

8-10 Control Word Prole

Select the interpretation of the control and status words corresponding to the installed eldbus. Only the selections valid for the eldbus installed in slot A are visible in the LCP display. If the parameter is changed while the frequency converter is in operation mode, the frequency converter goes to error state, and the control of the frequency converter is lost. This parameter should not be changed while the motor is running, since it can lead to a unknown state of the prole.

Option: Function:

[0] * FC Prole [7] CANopen DSP 402

8-13 Congurable Status Word STW

Option: Function:

This parameter enables conguration of bits

12–15 in the status word. [0] No function [1] * Prole Default Function corresponds to the prole default

selected in parameter 8-10 Control Prole.

[2] Alarm 68

Only

[3] Trip excl.

Alarm 68

[10] T18 DI status. The bit indicates the status of terminal 18.

[11] T19 DI status. The bit indicates the status of terminal 19.

[12] T27 DI status. The bit indicates the status of terminal 27.

[13] T29 DI status. The bit indicates the status of terminal 29.

[14] T32 DI status. The bit indicates the status of terminal 32.

[15] T33 DI status. The bit indicates the status of terminal 33.

[16] T37 DI status The bit indicates the status of terminal 37.

[21] Thermal

warning

[30] Brake fault

(IGBT)

Only set in case of an Alarm 68.

Set in case of a trip, except if Alarm 68

executes the trip.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

0 indicates terminal 37 is low (Safe Torque

stop).

1 indicates terminal 37 is high (normal).

The thermal warning turns on when the

temperature exceeds the limit in the motor,

the frequency converter, the brake resistor,

or the thermistor.

Output is logic 1 when the brake IGBT is

short-circuited. Use this function to protect

the frequency converter if there is a fault

on the brake modules. Use the output/relay

to cut out the main voltage from the

frequency converter.

8-13 Congurable Status Word STW

Option: Function:

[40] Out of ref.

range

[60] Comparator 0

[61] Comparator 1

[62] Comparator 2

[63] Comparator 3

[64] Comparator 4

[65] Comparator 5

[70] Logic Rule 0

[71] Logic Rule 1

[72] Logic Rule 2

[73] Logic Rule 3

[74] Logic Rule 4

[75] Logic Rule 5

[80] SL Digital

Output A

[81] SL Digital

Output B

[82] SL Digital

Output C

See parameter group 13-1* Comparators. If comparator 0 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-1* Comparators. If comparator 1 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-1* Comparators. If comparator 2 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-1* Comparators. If comparator 3 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-1* Comparators. If comparator 4 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-1* Comparators. If comparator 5 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-4* Logic Rules. If logic rule 0 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-4* Logic Rules. If logic rule 1 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-4* Logic Rules. If logic rule 2 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-4* Logic Rules. If logic rule 3 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-4* Logic Rules. If logic rule 4 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter group 13-4* Logic Rules. If logic rule 5 is evaluated as TRUE, the output goes high. Otherwise, it is low. See parameter 13-52 SL Controller Action. The output goes high whenever the smart logic action [38] Set digital out A high is executed. The output goes low whenever the smart logic action [32] Set digital out A low is executed. See parameter 13-52 SL Controller Action. The input goes high whenever the smart logic action [39] Set digital out B high is executed. The input goes low whenever the smart logic action [33] Set digital out B low is executed. See parameter 13-52 SL Controller Action. The input goes high whenever the smart logic action [40] Set digital out C high is executed. The input goes low whenever the smart

Parameters Operating Instructions

8-13 Congurable Status Word STW

Option: Function:

logic action [34] Set digital out C low is

executed. [83] SL Digital

Output D

[84] SL Digital

Output E

[85] SL Digital

Output F

See parameter 13-52 SL Controller Action. The

input goes high whenever the smart logic

action [41] Set digital out D high is executed.

The input goes low whenever the smart

logic action [35] Set digital out D low is

executed.

See parameter 13-52 SL Controller Action. The

input goes high whenever the smart logic

action [42] Set digital out E high is executed.

The input goes low whenever the smart

logic action [36] Set digital out E low is

executed.

See parameter 13-52 SL Controller Action. The

input goes high whenever the smart logic

action [43] Set digital out F high is executed.

The input goes low whenever the smart

logic action [37] Set digital out F low is

executed.

8-14 Congurable Control Word CTW

Option: Function:

This parameter is not valid in software versions below 4.93.

[0] None The information in this bit is ignored by the

frequency converter.

[1] Prole

default

[2] CTW

Valid, active low

[3] Safe

Option Reset

[4] PID error

inverse

[5] PID reset

I part

[6] PID

enable

The functionality of the bit is depending on the selection in parameter 8-10 Control Word Prole.

If set to 1, the frequency converter ignores the remaining bits of the Control Word.

This function is only available in bits 12-15 of the control word, if a a safe option is mounted in the frequency converter. The reset is executed on a 0>1 transition, and reset the safe option as set in parameter 42-24.

When enabled, it inverts the resulting error from the process PID controller. Available only if

parameter 1-00 Conguration Mode is set to [6] Surface Winder, [7] Extended PID Speed OL or [8] Extended PID Speed CL.

When enabled, resets the I-part of the process PID controller. Equivalent to parameter 7-40 Process PID

I-part Reset. Available only if parameter 1-00 Conguration Mode is set to [6] Surface Winder, [7] Extended PID Speed OL or [8] Extended PID Speed CL.

When enabled, enables the extended process PID controller. Equivalent to parameter 7-50 Process PID Extended PID. Available only if

8-14 Congurable Control Word CTW

Option: Function:

parameter 1-00 Conguration Mode is set to [6] Surface Winder, [7] Extended PID Speed OL or [8] Extended PID Speed CL.

8-50 Coasting Select

Option: Function:

Select control of the coasting function via the terminals (digital input) and/or via the bus.

[0] Digital

input

[1] Bus Activates start command via the serial communi-

[2] Logic AND Activates start command via the eldbus/serial

[3] Logic OR Activates start command via the eldbus/serial

Activates start command via a digital input.

cation port or eldbus option.

communication port, and 1 extra digital input.

communication port, or via 1 of the digital inputs.

8-51 Quick Stop Select

Select control of the quick stop function via the terminals (digital input) and/or via the bus.

Option: Function:

[0] Digital input [1] Bus [2] Logic AND [3] Logic OR

8-52 DC Brake Select

Option: Function:

Select control of the DC brake via the terminals (digital input) and/or via the eldbus.

NOTICE

When parameter 1-10 Motor Construction is set to [1] PM non-salient SPM, only selection [0] Digital input is available.

[0] Digital

input

8-53 Start Select

Option: Function:

[0] Digital

input

[1] Bus Activates a start command via the serial

Activates start command via a digital input.

Select control of the frequency converter start function via the terminals (digital input) and/or via the eldbus.

Activates a start command via a digital input.

communication port or eldbus option.

7 7

Parameters MCA 123 POWERLINK

8-53 Start Select

Option: Function:

[2] Logic

AND

[3] Logic OR Activates a start command via the eldbus/serial

Activates a start command via the eldbus/serial communication port, and additionally via 1 of the digital inputs.

communication port, or via 1 of the digital inputs.

8-54 Reversing Select

Option: Function:

[0] Digital

input

[1] Bus Activates the reverse command via the serial

[2] Logic AND Activates the reverse command via the eldbus/

[3] Logic OR Activates the reverse command via the eldbus/

Select control of the frequency converter reverse function via the terminals (digital input) and/or via the eldbus.

communication port, or eldbus option.

serial communication port, and additionally via 1 of the digital inputs.

serial communication port, or via 1 of the digital inputs.

8-55 Set-up Select

7.2 Parameter Group 12-** Ethernet

7.2.1 12-0* IP Settings

12-00 IP Address Assignment

Option: Function:

Selects the IP Address assignment method.

[0] MANUAL

[1] DHCP IP-address is assigned via DHCP server.

[2] BOOTP IP-address is assigned via BOOTP server.

[10] DCP DCP Assigned via the DCP protocol.

[20] From node

12-01 IP Address

Range: Function:

0 * [0 -

2147483647 ]

IP-address can be set in parameter 12-01 IP Address IP Address.

Address is set from parameter 12-60 Node ID only.

Congure the IP address of the option. Read-only if parameter 12-00 IP Address Assignment set to DHCP or BOOTP. In POWERLINK, the IP address follows the parameter 12-60 Node ID last byte and the rst part is xed to 192.168.100 (node ID).

Option: Function:

Select control of the frequency converter set-up selection via the terminals (digital input) and/or via the eldbus.

[0] Digital

input

[1] Bus Activates the set-up selection via the serial

[2] Logic

AND

[3] Logic OR Activates the set-up selection via the eldbus/

Activates the set-up selection via a digital input.

communication port, or eldbus option.

Activates the set-up selection via the eldbus/ serial communication port, and via 1 of the digital inputs.

serial communication port, or via 1 of the digital inputs.

8-90 Bus Jog 1 Speed

Range: Function:

100 RPM* [ 0 - par. 4-13

RPM]

Enter the jog speed. Activate this xed jog speed via the serial port or eldbus option.

12-02 Subnet Mask

Range: Function:

0 * [0 -

4244635647 ]

Congure the IP subnet mask of the option. Read-only if parameter 12-00 IP Address Assignment set to DHCP or BOOTP. In POWERLINK it is xed to

255.255.255.0.

12-03 Default Gateway

Range: Function:

0 * [0 -

2147483647 ]

Congure the IP default gateway of the option. Read-only if parameter 12-00 IP Address Assignment set to DHCP or BOOTP. In a non-routed network this address is set to the IP address of the IO Device

12-08 Host Name

Range: Function:

0 * [0 - 2147483647 ] Logical (given) name of option.

8-91 Bus Jog 2 Speed

Range: Function:

200 RPM* [ 0 - par. 4-13

RPM]

Enter the jog speed. Activate this xed jog speed via the serial port or eldbus option.

NOTICE

The display of the frequency converter only shows the rst 19 characters, but the remaining characters are stored in the frequency converter. If hardware switches are dierent from all ON or all OFF, the switches have priority.

Parameters Operating Instructions

12-09 Physical Address

Range: Function:

0 * [0 - 0 ] Read-only. Displays the physical (MAC) address of

the option.

7.2.2 12-1* Ethernet Link Parameters

7.2.3 12-1* Ethernet Link Parameters

Applies for the whole parameter group.

Index [0] is used for port 1, and Index [1] is used for port

2. For EtherCAT, index [0] is for the in-port and index [1] is for the out-port.

12-10 Link Status

Option: Function:

Read-only. Displays the link status of the Ethernet ports.

[0] No Link [1] Link

12-11 Link Duration

Range: Function:

Size related* [ 0 - 0 ] Read-only. Displays the duration of the

present link on each port in dd:hh:mm:ss.

12-12 Auto Negotiation

Option: Function:

Congures auto negotiation of Ethernet link parameters, for each port: ON or OFF.

[0] O

[1] On

Link Speed and Link Duplex can be congured in parameter 12-13 Link Speed and parameter 12-14 Link Duplex.

NOTICE

In POWERLINK, this parameter is xed to OFF setting.

12-13 Link Speed

Option: Function:

Forces the link speed for each port in 10 Mbps or 100 Mbps. If parameter 12-12 Auto Negotiation is set to: ON, this parameter is read-only and displays the actual link speed. If no link is present, None is displayed.

[0] None [1] 10 Mbps [2] 100

Mbps

NOTICE

In POWERLINK, this parameter is locked to 100 Mbs.

12-14 Link Duplex

Option: Function:

Forces the duplex for each port to full or half duplex. If parameter 12-12 Auto Negotiation is set to: [ON], this parameter is read-only.

[0] Half Duplex [1] Full Duplex

NOTICE

In POWERLINK this parameter is locked to half duplex.

7.2.4 12-2* Process Data

12-20 Control Instance

Range: Function:

[None, 20, 21, 23, 100, 101, 103]

12-21 Process Data Cong Write

Range: Function:

[[0 - 9] PCD read 0 - 9] Conguration of readable process

In POWERLINK, this parameter is read-only. The same applies for:

•

12-22 Process Data

Range: Function:

[[0 - 9] PCD read 0 - 9] Conguration of readable process

12-23 Process Data Cong Write Size

Range: Function:

16 * [8 - 32 ] Sets the number of bits being sent from the

12-24 Process Data Cong Read Size

Range: Function:

16 * [8 - 32 ] Sets the number of bits being sent to the

Read-only. Displays the connection to the master. In Ethernet/IP: If no CIP connection is present, None is displayed. In EtherCAT: If no connection is active None is displayed, else it displays the active PDO. In POWERLINK: If no connection is active None is displayed, else it displays the active PDO (23).

data.

parameter 12-22EN-22 Process Data Cong Read parameter 12-23 Process Data Cong Write Size parameter 12-24 Process Data Cong Read Size

Cong Read

data.

frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least signicant bit of the signal is transferred from the frequency converter.

frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least signicant bit of the signal is

7 7

Parameters MCA 123 POWERLINK

12-24 Process Data Cong Read Size

Range: Function:

transferred to the frequency converter. The preceding bits are set to zero.

12-28 Store Data Values

Option: Function:

[0] O [1] Store all setups [2] Store all setups

12-29 Store Always

Option: Function:

Activates function that always stores received

parameter data in non-volatile memory (EEPROM). [0] * O [1] On

7.2.5 12-6* Ethernet PowerLink

12-60 Node ID

Range: Function:

1 * [1 -

239 ]

Enter the Node ID in this parameter or alternatively in the hardware switch. In order to adjust the Node ID in parameter 12-60 Node ID, the hardware switch must be set to 0 or 255 (i.e. all switches set to [ON] or to [OFF]). Otherwise this parameter displays the actual setting of the switch. Setting this parameter will

rst be active at the next power up cycle.

12-66 Threshold

Range: Function:

15* [0 -

2000000000 ]

Parameter 12-66 Threshold holds six threshold values. If one of these thresholds are exceeded, the POWERLINK Interface exits operational mode. The parameters are set to optimal settings and should not be changed. The actual value of the counters can be read out via parameter 12-67 Threshold Counters.

12-67 Threshold Counters

Range: Function:

0* [0 -

4294967295 ]

Parameter 12-67 Threshold Counters hold 6 counters. The counter reects the actual value in the POWERLINK interface. Counters increases with a count of eight at detection of an error and decreases with a count of one when no errors are detected. The values are read only.

12-68 Cumulative Counters

Range: Function:

0 * [0 - 2147483647 ] Loss o SoC Cumulative. This parameter

reects the value in object 1C0Bh,

subindex 1.

12-69 Ethernet PowerLink Status

Range: Function:

0 * [0 - 4294967295 ]

12-62 SDO Timeout

Range: Function:

30000 ms*

[0 2000000000 ms]

parameter 12-62 SDO Timeout is the SDO Timeout in milliseconds. Value of this parameter is read during communication initialization into Object 1300h

12-63 Basic Ethernet Timeout

Range: Function:

5000.000 ms*

[0 -

2000000.000 ms]

Parameter 12-63 Basic Ethernet Timeout in microseconds. This

parameter is mapped to Object 1F99h. If the POWERLINK interface does not receive a SoC frame within the specied period of time, the interface shifts to standard Ethernet mode. This feature is from version 2.00 of the POWERLINK Interface.

rst available

7.2.6 12-8* Other Ethernet Services

12-80 FTP Server

Option: Function:

[0] Disabled Disables the built-in FTP server.

12-81 HTTP Server

Option: Function:

[0] Disabled

12-82 SMTP Service

Option: Function:

[0] Disabled

12-89 Transparent Socket Channel Port

Range: Function:

Size related*

[ 0 0 ]

Congures the TCP port number for the transparent socket channel. This congu- ration enables FC telegrams to be sent transparently on Ethernet via TCP. Default value is 4000, 0 means disabled. The MCT 10 Set-up Software uses this port.

Parameters Operating Instructions

7.2.7 12-9* Advanced Ethernet Settings

12-90 Cable Diagnostic

Option: Function:

Enables/disables advanced cable diagnosis function. If enabled, the distance to cable errors can be read out in parameter 12-93 Cable Error Length. The parameter resumes to the default setting of disable after the diagnostics have

nished.

[0] Disabled [1] Enabled

NOTICE

The cable diagnostics function is only issued on ports where there is no link (see parameter 12-10 Link Status, Link Status)

12-91 Auto Cross Over

Option: Function:

[0] Disabled Disables the auto cross-over function.

[1] Enabled Enables the auto cross-over function.

12-96 Port Cong

Enables/disables port-mirroring function. For troubleshooting with a network analyser tool.

Option: Function:

[0] Normal No port-mirroring

[1] Mirror Port 1 to 2 All network trac on port 1

is mirrored to port 2.

[2] Mirror Port 2 to 1 All network trac on port 2

is mirrored to port 1.

[10] Port 1 disabled [11] Port 2 disabled [254] Mirror Int. Port to 1 [255] Mirror Int. Port to 2

7 7

12-93 Cable Error Length

Range: Function:

0 * [0 -

65535 ]

If cable diagnostics is enabled in parameter 12-90 Cable Diagnostic, the built-in switch is possible via time domain reectometry (TDR). This measurement technique detects common cabling problems such as open circuits, short circuits, and impedance mismatches or breaks in transmission cables. The distance from the option to the error is displayed in meters with an accuracy of ±2 m. The value 0 means that no errors detected.

7.3 POWERLINK - Specic Parameter List

Parameter Default value Range Conversion index Data type

Parameter 8-01 Control Site [0] Dig. & ctrl. word [0-2] - Uint8 Parameter 8-02 Control Word Source [0] FC RS485 [0-4] - Uint8 Parameter 8-03 Control Word Timeout Time 1 0.1-18000 -1 Uint32 Parameter 8-04 Control Word Timeout Function [0] O [0-10] - Uint8 Parameter 8-05 End-of-Timeout Function [0] Hold set-up [0-1] - Uint8 Parameter 8-06 Reset Control Word Timeout [0] Do not reset [0-1] - Uint8 Parameter 8-07 Diagnosis Trigger [0] Disable [0-3] - Uint8 Parameter 8-10 Control Word Prole [0] FC prole [0-x] - Uint8 Parameter 8-13 Congurable Status Word STW Parameter 8-50 Coasting Select [3] *Logic OR [0-3] - Uint8 Parameter 8-51 Quick Stop Select [3] *Logic OR [0-3] - Uint8

Parameters

Parameter Default value Range Conversion index Data type

Parameter 8-52 DC Brake Select [3] *Logic OR [0-3] - Uint8 Parameter 8-53 Start Select [3] *Logic OR [0-3] - Uint8 Parameter 8-54 Reversing Select [3] *Logic OR [0-3] - Uint8 Parameter 8-55 Set-up Select [3] *Logic OR [0-3] - Uint8 Parameter 8-56 Preset Reference Select [3] *Logic OR [0-3] - Uint8

Parameter 8-90 Bus Jog 1 Speed 100 rpm

Parameter 8-91 Bus Jog 2 Speed 200 rpm parameter 12-00 IP Address Assignment [20] *From node ID - - Unsigned 8 parameter 12-01 IP Address 192.168.100.xxx - - Unsigned 32 parameter 12-02 Subnet Mask 255.255.255.0 - - Unsigned 32 parameter 12-03 Default Gateway 0.0.0.0 - - Unsigned 32 parameter 12-08 Host Name - - String Parameter 12-09 Physical Address 00:1B:08:00:00:00 - - Visible string 17 Parameter 12-10 Link Status [0] No Link [0-1] - Unsigned 8 Parameter 12-11 Link Duration 00:00:00:00 - - Time di. w/date Parameter 12-12 Auto Negotiation [1] On [0-1] - Unsigned 8 Parameter 12-13 Link Speed [2] 100 Mbps [0-2] - Unsigned 8

Parameter 12-14 Link Duplex [0] Hal Duplex [0-1] - Unsigned 8[ parameter 12-20 Control Instance Application Dependent 0-255 parameter 12-21 Process Data Cong Write Application Dependent parameter 12-22EN-22 Process Data Cong Read 16 1-32 parameter 12-23 Process Data Cong Write Size 16 1-32 parameter 12-24 Process Data Cong Read Size 0 0-4294967295 parameter 12-28 Store Data Values parameter 12-29 Store Always [0] O parameter 12-60 Node ID [1] [0-240] Unsigned 8

parameter 12-62 SDO Timeout parameter 12-63 Basic Ethernet Timeout parameter 12-66 Threshold parameter 12-67 Threshold Counters parameter 12-68 Cumulative Counters

Parameter 12-80 FTP Server [0] Disable [0–1] - Unsigned 8 Parameter 12-81 HTTP Server [0] Disable [0–1] - Unsigned 8 Parameter 12-82 SMTP Service [0] Disable [0–1] - Unsigned 8 Parameter 12-89 Transparent Socket Channel Port [0] Disable [0–1] - Unsigned 8 Parameter 12-90 Cable Diagnostic [0] Disable [0-1] - Unsigned 8 Parameter 12-91 Auto Cross Over [0] Enable [0-1] - Unsigned 8 Parameter 12-93 Cable Error Length 0 0-200 0 Unsigned 16 Parameter 12-98 Interface Counters 0 0-65535 - Unsigned 16 Parameter 12-99 Media Counters 0 0-65535 - Unsigned 16 Parameter 16-84 Comm. Option STW 0 0-FFFF 0 V2 Parameter 16-90 Alarm Word 0 0-FFFF 0 Uint32 Parameter 16-92 Warning Word 0 0-FFFF 0 Uint32

MCA 123 POWERLINK

0-parameter 4-13 Motor Speed High Limit [RPM] 0-parameter 4-13 Motor Speed High Limit [RPM]

30000 [0-65535] Unsigned 16 [5000000] [0-4294967296] Unsigned 32 [15] [0-4294967296] Unsigned 32 [0] [0-4294967296] Unsigned 32 [0] [0-4294967296] Unsigned 32

67 Uint16

Table 7.1 Specic Parameters

Refer to the relevant Operating Instructions for a comprehensive parameter list.

Parameters Operating Instructions

7 7

Recieve PDO’s (PLC → Drive)

Transmit PDO’s (Drive

→ PLC )

PCD 0

CTW

PCD 1

REF

PCD 3

Digital Inputs

PCD 0

STW

PCD 1

MAV

PCD 2

Torque [Nm]

Sensor

Reversing

Ext. Device

Relay 04-05

230 VAC

130BD148.10

Application Examples MCA 123 POWERLINK

8 Application Examples

8.1 Example: Process Data with PDO 23

This example shows how to work with PDO 23, which consists of Control Word/Status Word and Reference/Main Actual Value. In the example the frequency converter is set to [0] FC prole in Parameter 8-10 Control Word Prole. The PDO contains up to ten objects, which can be programmed to monitor process signals.

From controller

From frequency

converter

0 1 2 3

CTW MRV PCD[2] PCD

04 7C 20 00 00 00 00 00

STW MAV PCD[2] PCD[3]

PCD

3F A6 00 08

Byte # 1 2 3 4 5 6 7 8

Table 8.1 Example of FC Prole

The application requires monitoring of the motor torque and digital input, so PCD 2 is set up to read the current motor torque. PCD 3 is set up to monitor the state of an

external sensor via the process signal digital input. The sensor is connected to digital input 18.

An external device is also controlled via control word bit 11 and the built-in relay of the frequency converter. Reversing is permitted only when the reversing bit 15 in the control word and the digital input 19 are set to high.

For safety reasons, the frequency converter stops the motor if the POWERLINK cable is broken, the master has a system failure, or the PLC is in stop mode.

Illustration 8.1 Application Example

Application Examples Operating Instructions

Program the frequency converter as shown in Table 8.2.

Parameter Setting

Parameter 4-10 Motor Speed Direction [2] Both directions Parameter 5-10 Terminal 18 Digital Input [0] No operation Parameter 5-11 Terminal 19 Digital Input [10] Reversing Parameter 5-40 Function Relay [36/37] Control word bit 11/12 Parameter 8-03 Control Word Timeout Time 1 s Parameter 8-04 Control Word Timeout Function [2] Stop Parameter 8-10 Control Word Prole [0] FC Prole Parameter 8-50 Coasting Select [1] Bus Parameter 8-51 Quick Stop Select [1] Bus Parameter 8-52 DC Brake Select [1] Bus Parameter 8-53 Start Select [1] Bus Parameter 8-54 Reversing Select [2] Logic AND Parameter 8-55 Set-up Select [1] Bus Parameter 8-56 Preset Reference Select [1] Bus

Table 8.2 Programming of Frequency Converter

8 8

Application Examples

MCA 123 POWERLINK

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

This example shows how the control word telegram relates to the controller and the frequency converter, using FC Control

Prole.

The control word telegram is sent from the PLC to the frequency converter. Standard Telegram 1 is used in the example to demonstrate the full range of modules. All the values shown are arbitrary, and are provided for demonstration purposes only.

PQW:

Bit no.:

0 4 7 C 2 0 0 0

0 1 2 3

CTW MRV PCD PCD

04 7C 20 00

256 258

CTW MRV

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 0 0 0 0 1 0 0 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0

PCD

260 262

Table 8.3 Standard Telegram 1 Example

Table 8.3 indicates the bits contained within the control word, and how they are presented as process data in Standard Telegram 1 for this example.

Table 8.4 indicates which bit functions, and which corresponding bit values are active for this example.

Function active

Bit Bit value=0 Bit value=1 Bit value

00 Reference value External selection lsb 0 01 Reference value External selection msb 0 02 DC brake Ramp 1 03 Coasting Enable 1 04 Quick stop Ramp 1 05 Freeze output Ramp enable 1 06 Ramp stop Start 1 07 No function Reset 0 08 No function Jog 0 09 Ramp 1 Ramp 2 0 10 Data not valid Valid 1 11 No function Relay 01 active 0 12 No function Relay 02 active 0 13 Parameter set-up Selection lsb 0 14 Parameter set-up Selection msb 0 15 No function Reversing 0

Function inactive

Table 8.4 Bit Functions

Application Examples Operating Instructions

8 8

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

Troubleshooting MCA 123 POWERLINK

9 Troubleshooting

9.1 LED Status

Illustration 9.1 LED Status

Illustration 9.7 S/E LED Status - Single Green Flash

Illustration 9.8 S/E LED Status - Red (B)/Green (A) Flash

Illustration 9.9 S/E LED Status - Double Green Flash

Item # Description

Illustration 9.10 S/E LED Status - Tripple Green Flash

1 POWERLINK port 1 2 POWERLINK port 2 3 Status/error 4 Link/collision port 1

5 Link/collision port 2

Illustration 9.11 S/E LED Status - Yellow Flash

6 Node ID dip switches

Table 9.1 Legend to Illustration 9.1

LED ash

Powerlink option state Description

pattern

Illustration 9.2 S/E LED Status - Power OFF or State

Power OFF or init State

Flickering Green

NMT_GS, NMT_GS_INITIALISATION NMT_CS_NOT_ACTIVE,

No power supplied to drive or Initialising

Basic Ethernet mode POWERLINK

interface is in basic Ethernet mode

Illustration 9.3 S/E LED Status - Green (A)/Red (B) Flash

Solid green POWERLINK

interface is on operational state

Illustration 9.4 S/E LED Status - Flickering Green

Blinking greed Single green

ash

NMT_CS_Stopped PLC has stopped

the Network

NMT_CS_PRE_OPERATIONAL_1 POWERLINK

interface is in Preoperation mode state 1

Illustration 9.5 S/E LED Status - Solid Green

Red/green

ash

Double green ash

NMT_CS_PRE_OPERATIONAL_1 Communication to

PLC lost

NMT_CS_PRE_OPERATIONAL_2 POWERLINK

interface is in Preoperation mode state 2

Illustration 9.6 S/E LED Status - Blinking Red

Tripple green ash

NMT_CS_READY_TO_OPERATE POWERLINK

interface is

Troubleshooting Operating Instructions

LED ash

pattern

Yellow ash Wink command Node Identication

Table 9.2 S/E LED Pattern

Illustration 9.12 L/C LED Status - Power OFF or No Link

Illustration 9.13 L/C LED Status - Link

Illustration 9.14 L/C LED Status - Power-up Green (A)/Red (B)

Illustration 9.15 L/C LED Status - Collision Red (B)/Green (A)

Illustration 9.16 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

Table 9.3 L/C LED Pattern

9.2

Communication Problems

Powerlink option state Description

activated from MCT10

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

9.2.1 No Communication with the Frequency Converter

If there is no communication with the frequency converter, proceed with the following checks:

Check 1: Is the cabling correct? Check that the cable is mounted correctly. Check if the corresponding L/C LED shows link activity.

Check 2: Does the hardware conguration match? Check that parameter 12-60 Node ID is congured to the same value in the PLC. For correct function, the Node ID must be set correctly. This parameter can also be set from the DIP switches. If the DIP switches are set, they have priority over the parameter.

Check 3: Is the correct XDD le installed? Download the correct XDD le from www.danfoss.com/BusinessAreas/DrivesSolutions/. Check that the process data matches the active prole in the drive.

Check 4: What is the value of parameter 12-69 Ethernet

PowerLink Status? Parameter 12-69 Ethernet PowerLink Status contains 32 bits,

which each is linked to internal information. The dierent bits give an overview over possible errors.

Bit

Description Value=[0] Value=[1] Comment

no.

0 Initialisation

State

1 Not Active

State

2 Basic

Ethernet State

3 Pre-

Operational 1 State

4 Pre-

Operational 2 State

5 Ready to

Operate State

6 Operational

State

7 Stopped

State

8 Reserved Value shall be

9 Reserved Value shall be

10 Reserved Value shall be

11 Reserved Value shall be

12 Reserved Value shall be

13 Reserved Value shall be

NMT_GS_INITIL

ASATION

NMT_CS_NOT_

ACTIVE

NMT_CS_BASIC

_ETHERNET

NMT_CS_PRE_

OPERATIONAL_ 1

NMT_CS_PRE_

OPERATIONAL_ 2

NMT_CS_OPER

ATIONAL

NMT_CS_STOP

PED

Value shall be

Mapped to Object 1F8Ch Mapped to Object 1F8Ch Mapped to Object 1F8Ch

Mapped to Object 1F8Ch

Mapped to Object 1F8Ch Mapped to Object 1F8Ch

read as 0

9 9

Troubleshooting

Bit

Description Value=[0] Value=[1] Comment

no.

14 Reserved Value shall be

15 Reserved Value shall be

16 Reserved Value shall be

17 Reserved Value shall be

18 Reserved Value shall be

19 Reserved Value shall be

20 Physical link

on Port 1

21 Physical link

on Port 2

22 Reserved Value shall be

23 Reserved Value shall be

24 W34 source

No Op State

25 W34 source

Alarm

26 W34 source

IP Address

Conict

27 W34 source

Invalid Node ID

28 W34 source

Incorrect PDO mapping

29 Reserved Value shall be

30 Reserved Value shall be

31 Reserved Value shall be

Table 9.4 POWERLINK Bits

No link present on Port 1 No link present on Port 2

Mapped to

IP address

Value read

Set on

Link present on Port 1

Link present on Port 2

MCA 123 POWERLINK

read as 0

read as 0 Mapped to object 1030h subindex 7 Mapped to object 1030h subindex 7

read as 0

object 178Ch

Alarm Word and Alarm Word 1

conict

detection in Basic Ethernet mode

from DIP switch

incorrect Tx or Rx PDO mapping

read as 0

Check 1: Is the control word valid?

If bit 10=0 in the control word, the frequency converter does not accept the control word.

Check 2: Is the relationship between bits in the control word and the terminal I/Os correct?

Check the logical relationship in the frequency converter. Dene the desired logical relationship in

parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select according to the following range of

options. Select the FC control mode, digital input and/or serial communication, using parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select.

If parameter 8-01 Control Site is set to digital only, the frequency converter does not react on commands sent via the control word.

Table 9.5 to Table 9.12 show a coast command's eect upon the frequency converter for the full range of parameter 8-50 Coasting Select settings.

The

eect of control mode upon the function of

parameter 8-50 Coasting Select, parameter 8-51 Quick Stop Select, and parameter 8-52 DC Brake Select is as follows:

If [0] Digital input is selected, the terminals control the coast and DC brake functions.

NOTICE

Coasting, quick stop, and DC brake functions are active for logic 0.

Terminal Bits 02/03/04 Function

0 0 Coast/DC brake/Q-Stop 0 1 Coast/DC brake/Q-Stop 1 0 No Coast/DC brake/Q-Stop 1 1 No Coast/DC brake/Q-Stop

Table 9.5 [0] Digital Input

If [1] Serial communication is selected, commands are activated only when given via serial communication.

Terminal Bits 02/03/04 Function

0 0 Coast/DC brake/Q-Stop 0 1 No Coast/DC brake/Q-Stop 1 0 Coast/DC brake/Q-Stop 1 1 No Coast/DC brake/Q-Stop

Table 9.6 [1] Serial Communication

If [2] Logic AND is selected, both signals must be activated to perform the function.

If the master is in stop mode, Warning 34 appears. Check that the master is in run mode. If the frequency converter is not in operational state, Warning 34 will appear (60 s after power up or immediately if the frequency converter has been in operational state).

Troubleshooting Operating Instructions

Terminal Bits 02/03/04 Function

0 0 Coast/DC brake/Q-Stop 0 1 No Coast/DC brake/Q-Stop 1 0 No Coast/DC brake/Q-Stop 1 1 No Coast/DC brake/Q-Stop

Table 9.7 [2] Logic AND

If [3] Logic OR is selected, activation of one signal activates the function.

Terminal Bits 02/03/04 Function

0 0 Coast/DC brake/Q-Stop 0 1 Coast/DC brake/Q-Stop 1 0 Coast/DC brake/Q-Stop 1 1 No Coast/DC brake/Q-Stop

Table 9.8 [3] Logic OR

The eect of control mode upon the function of

parameter 8-53 Start Select and parameter 8-54 Reversing Select:

If [0] Digital input is selected, the terminals control the start and reversing functions

Terminal Bits 06/15 Function

0 0 Stop/Counterclockwise 0 1 Stop/Counterclockwise 1 0 Start/Clockwise 1 1 Start/Clockwise

Table 9.9 [0] Digital input

If [1] Serial communication is selected, commands are activated only when given via serial communication.

Terminal Bits 02/03/04 Function

0 0 Stop/Counterclockwise 0 1 Start/Clockwise 1 0 Stop/Counterclockwise 1 1 Start/Clockwise

Table 9.10 [1] Serial Communication

[3] Logic OR is selected, activation of one signal activates

If the function.

Terminal Bits 02/03/04 Function

0 0 Stop/Counterclockwise 0 1 Start/Clockwise 1 0 Start/Clockwise 1 1 Start/Clockwise

Table 9.12 [3] Logic OR

The eect of control mode upon the function of

parameter 8-55 Set-up Select and parameter 8-56 Preset Reference Select:

If [0] Digital input is selected, the terminals control the setup and preset reference functions.

Terminal Bits 00/01,

13/14

Msb Lsb Msb Lsb Preset ref. set-up number

0 0 0 0 1 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 0 2 0 1 0 1 2 0 1 1 0 2 0 1 1 1 2 1 0 0 0 3 1 0 0 1 3 1 0 1 0 3 1 0 1 1 3 1 1 0 0 4 1 1 0 1 4 1 1 1 0 4 1 1 1 1 4

Table 9.13 [0] Digital Input

Function

If [1] Serial communication is selected, commands are activated only when given via serial communication.

9 9

If [2] Logic AND is selected, both signals must be activated to perform the function.

Terminal Bits 02/03/04 Function

0 0 Stop/Counterclockwise 0 1 Stop/Counterclockwise 1 0 Stop/Counterclockwise 1 1 Start/Clockwise

Table 9.11 [2] Logic AND

Troubleshooting

MCA 123 POWERLINK

Terminal Bits 00/01,

13/14

Msb Lsb Msb Lsb Preset ref. set-up number

0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 1 0 1 0 1 2 0 1 1 0 3 0 1 1 1 4 1 0 0 0 1 1 0 0 1 2 1 0 1 0 3 1 0 1 1 4 1 1 0 0 1 1 1 0 1 2 1 1 1 0 3 1 1 1 1 4

Table 9.14 [1] Serial Communication

Function

Terminal Bits 00/01,

13/14

Msb Lsb Msb Lsb Preset ref. set-up number

0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 2 0 1 0 1 2 0 1 1 0 4 0 1 1 1 4 1 0 0 0 3 1 0 0 1 4 1 0 1 0 3 1 0 1 1 4 1 1 0 0 4 1 1 0 1 4 1 1 1 0 4

Table 9.16 [3] Logic OR

Endless Power-down - Power-up Cycle

9.2.2

Function

If [2] Logic AND is selected, both signals must be activated to perform the function.

Check 1: Is the frequency converter set to Controlled Node = ON in the Automation Studio?

Terminal Bits 00/01,

Msb Lsb Msb Lsb Preset ref. set-up number

0 0 0 0 1 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 2 0 1 1 0 1 0 1 1 1 2 1 0 0 0 1 1 0 0 1 1 1 0 1 0 3 1 0 1 1 3 1 1 0 0 1 1 1 0 1 2 1 1 1 0 3 1 1 1 1 4

13/14

Function

The PLC can force the frequency converter into an endless power-down - power-up cycle. Set the value to OFF.

Is the XDD le correct? Check that the correct XDD le and rmware of the option are used. See chapter 4.1 Importing the XDD File for more information.

9.3

Warnings and Alarms

9.3.1 Alarm and Warning Words

Alarm word, Warning word, and POWERLINK Status word are shown in the display in Hex format. If there is more than one warning or alarm, a sum of all warnings or alarms is shown. Alarm word, warning word, and POWERLINK Status word can also be displayed using the serial bus in parameter 16-90 Alarm Word,

parameter 16-92 Warning Word, and parameter 12-69 Ethernet PowerLink Status.

Table 9.15 [2] Logic AND

If [3] Logic OR is selected, activation of 1 signal activates the function.

Troubleshooting Operating Instructions

Bit (Hex) Unit

diagnose bit

00000001 48 Brake check 28 00000002 49 Power card over

00000004 50 Earth fault 14 00000008 51 Control card over

00000010 52 Control word timeout 18 00000020 53 Over current 13 00000040 54 Torque limit 12 00000080 55 Motor thermistor over

00000100 40 Motor ETR over

00000200 41 Inverter overloaded 9 00000400 42 DC link under voltage 8 00000800 43 DC link over voltage 7 00001000 44 Short circuit 16 00002000 45 Inrush fault 33 00004000 46 Mains phase loss 4 00008000 47 AMA not OK 50 00010000 32 Live zero error 2 00020000 33 Internal fault 38 00040000 34 Brake overload 26 00080000 35 Motor phase U is missing 30 00100000 36 Motor phase V is missing 31 00200000 37 Motor phase W is missing 32 00400000 38 Fieldbus comm. fault 34 00800000 39 24 V supply fault 47 01000000 24 Mains failure 36 02000000 25 1.8 V supply fault 48 04000000 26 Brake resistor short circuit 25 08000000 27 Brake chopper fault 27 10000000 28 Option change 67 20000000 29 Drive initialisation 80 40000000 30 Safe stop 68 80000000 31 Mechanical brake low 63

Alarm word (parameter 16-90 Alarm Word)

temperature

temp.

temperature

Alarm no.

Bit (Hex) Unit

diagnose bit

00000001 112 Brake check 28 00000002 113 Power card over

00000004 114 Earth fault 14 00000008 115 Control card 65 00000010 116 Control word timeout 18 00000020 117 Over current 13 00000040 118 Torque limit 12 00000080 119 Motor thermistor over

00000100 104 Motor ETR over

00000200 105 Inverter overloaded 9 00000400 106 DC link under voltage 8 00000800 107 DC link over voltage 7 00001000 108 DC link voltage low 6 00002000 109 DC link voltage high 5 00004000 110 Mains phase loss 4 00008000 111 No motor 3 00010000 96 Live zero error 2 00020000 97 10 V low 1 00040000 98 Brake overload 26 00080000 99 Brake resistor short circuit 25 00100000 100 Brake chopper fault 27 00200000 101 Speed limit 49 00400000 102 Fieldbus comm. fault 34 00800000 103 24 V supply fault 47 01000000 88 Mains failure 36 02000000 89 Current limit 59 04000000 90 Low temperature 66 08000000 91 Voltage limit 64 10000000 92 Encoder loss 61 20000000 93 Output frequency limit 62 40000000 94 Unused 80000000 95 Warning word 2 (ext. stat.

Warning word (parameter 16-92 Warning Word)

temperature

temp.

temperature

word)

Alarm no.

9 9

Table 9.17 Alarm Word Bits

Table 9.18 Warning Word Bits

Troubleshooting

Bit (Hex) Comm. option STW (parameter 16-84 Comm.

Option STW)

00000001 parameterization ok 00000002 conguration ok 00000004 clearmode active 00000008 baudrate search 00000010 waiting for parameterization 00000020 waiting for conguration 00000040 in data exchange 00000080 not used 00000100 not used 00000200 not used 00000400 not used 00000800 MCL2/1 connected 00001000 MCL2/2 connected 00002000 MCL2/3 connected 00004000 data transport active 00008000 not used

Table 9.19 Status Word Bits

MCA 123 POWERLINK

NOTICE

Parameter 16-84 Comm. Option STW is not part of

extended diagnosis.

There is a clear distinction between alarms and warnings.

An alarm make the frequency converter enter a fault condition. After the cause for the alarm has been cleared, the master will have to acknowledge the alarm message before the frequency converter can start operating again. A warning condition triggers a warning which disappears when condition returns to normal, without interfering with the process.

Warnings

A single bit within a warning word represents warnings within the frequency converter. Bit status [0] False means no warning, while bit status [1] True means warning. Any bit change in the warning word is notied by a change of bit 7 in the status word.

Alarms

Following an alarm message, the frequency converter enters fault condition. When the fault has been removed and the controller has acknowledged the alarm message by setting bit 7 in the control word, the frequency converter resumes operation. A single bit within an alarm word represents alarms within the frequency converter. Bit status [0] False means no fault, while bit status [1] True means fault.

Index Operating Instructions

Index

Abbreviations........................................................................................... 4

Alarm word............................................................................................. 52

Assumptions............................................................................................. 3

Background Knowledge....................................................................... 3

Parameter.................................................................................................. iv

Parameters.............................................................................................. 10

PDO Communication.......................................................................... 15

Process Control Data........................................................................... 15

Process control operation.................................................................. 16

Process Status Data.............................................................................. 15

Probus....................................................................................................... 3

Cabling..................................................................................................... 41

Conguration...................................................................... 4, 34, 36, 39

Control Prole........................................................................................ 17

DC Back-up................................................................................................ 3

DeviecNet.................................................................................................. 3

EMC Precautions...................................................................................... 8

EtherCAT..................................................................................................... 3

Ethernet........................................................................................ 8, 39, 40

Hardware.............................................................................................. iii, 3

I/O................................................................................................................. 4

Installation....................................................................................... iii, 3, 5

IP Settings................................................................................................ 10

IP21/Type 1................................................................................................ 3

Reference................................................................................................... 4

Safety.......................................................................................................... iii

Topology.................................................................................................... 7

VLT Parameters...................................................................................... 10

Warning word........................................................................................ 52

LED............................................................................................................... 4

LED Status............................................................................................... 48

Literature.................................................................................................... 3

Network............................................................................................. 3, 5, 8

No communication.............................................................................. 49

No response to control signals........................................................ 50

Overview.................................................................................................... 6

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130R0387 MG92C202 Rev. 2013-02-11

*MG92C202*

Danfoss MCA 123 Operating guide

Specifications and Main Features

Frequently Asked Questions

User Manual