Danfoss vacon nx, optc7 User guide

vacon nx

ac drives

optc7

devicenet option board

user manual

INDEX

Document code: DPD00897A

Date: 19.01.2012

1. GENERAL ........................................................................................................................... 3

2. DEVICENET OPTION BOARD TECHNICAL DATA ................................................................. 4

2.1 General ..................................................................................................................................... 4

2.2 DeviceNet features and functionality ....................................................................................... 4

3. DEVICENET ......................................................................................................................... 5

3.1 Introduction .............................................................................................................................. 5

3.2 DeviceNet physical layer and media ........................................................................................ 5

4. DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS ................................................ 6

4.1 DeviceNet option board ............................................................................................................ 6

4.2 LED indications ......................................................................................................................... 7

4.3 Connection of DeviceNet drop-line cable ................................................................................. 9

5. INSTALLATION OF VACON NX DEVICENET OPTION BOARD ............................................. 11

5.1 Board information sticker ...................................................................................................... 13

6. COMMISSIONING .............................................................................................................. 14

6.1 DeviceNet Configuration Tool................................................................................................. 14

6.2 Setting DeviceNet parameters with the control keypad ........................................................ 15

7. VACON DEVICENET INTERFACE ....................................................................................... 17

7.1 I/O Messaging ......................................................................................................................... 17

7.1.1 Input and Output Assemblies ......................................................................................... 18

7.1.2 Control Supervisor Behaviour ........................................................................................ 21

7.2 Explicit Messaging .................................................................................................................. 24

7.2.1 List of Object Classes ..................................................................................................... 24

7.2.2 List of services ................................................................................................................ 24

7.2.3 List of data types ............................................................................................................ 25

7.2.4 Reset service .................................................................................................................. 25

8. FAULT TRACKING ............................................................................................................. 26

GENERAL vacon • 3

WARNING!

1. GENERAL

Instead of sending and receiving information to and from frequency converters through I/O, you can connect them to a fieldbus.

Vacon NX frequency converters can be connected to the DeviceNet using a fieldbus board. The converter can then be controlled, monitored and programmed from the Host system.

If you purchase your DeviceNet Option Board separately, please note that the it shall be installed in slot E on the control board of the frequency converter.

Internal components and circuit boards are at high potential when the frequency converter is connected to the power source. This voltage is extremely dangerous and may cause death or severe injury if you come into contact with it.

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

4 • vacon DEVICENET OPTION BOARD TECHNICAL DATA

DeviceNet connections

Communications

Product Type

0x02 (AC Drive)

Electrical

Environment

Safety

Network size

Up to 64 nodes

Network length

Baud rate

Distance

Data packets Bus topology

Bus addressing System features

2. DEVICENET OPTION BOARD TECHNICAL DATA

2.1 General

Interface Pluggable connector (5.08mm) Data transfer method CAN Transfer cable 2 wire twisted shielded cable with 2 wire bus power

cable and drain Electrical isolation 500 VDC ODVA 2.0 Compliant Baud rate 125, 250 and 500 kbaud Product code 0x02 (2)

Vendor ID 0 x 1BB (Vacon) DeviceNet

Other

Ambient operating temperature Storing temperature –40°C…60°C Humidity <95%, no condensation allowed Altitude Max. 1000 m Vibration 0.5 G at 9…200 Hz Fulfils EN50178 standard

Table 2-1. DeviceNet technical data

Network supply voltage:

11…25V DC

Network input current:

28 mA typical, 125 mA inrush (24V DC)

All other power derived from VACON inverter power supply

–10°C…55°C

2.2 DeviceNet features and functionality

Selectable end-to-end network distance varies with speed

125 Kbps 500 m

250 Kbps 250 m

500 Kbps 100 m

0-8 bytes

Linear (trunkline/dropline); power and signal on the same network cable Peer-to-peer with Multi-Cast (one-to-many); Multi-Master and Master/Slave special case; polled or change-of-state (exception-based) Removal and replacement of devices from the network under power

Table 2-2. DeviceNet features and functionality

DEVICENET vacon • 5

Node

Tap

Trunk line

Drop line

Terminator

Node

Zero drop

Short drops

3. DEVICENET

3.1 Introduction

DeviceNet is an open network based on CAN that is designed to connect low cost industrial control devices (such as limit switches, photoelectric sensors, motor starters, process sensors, frequency converters, panel displays and operator interfaces) to a network and eliminate expensive hardwiring. The direct connectivity provides improved communication between devices as well as important device-level diagnostics not easily accessible or available through hardwired I/O interfaces. The DeviceNet Model is application independent; it provides the communication services needed by various types of applications. Many of today’s lower level industrial control devices must retain their low cost/low resource characteristics even when directly connected to a network. DeviceNet takes this into consideration by defining a specific instance of the Model for communications typically seen in a Master/Slave application. This is referred to as the Predefined Master/Slave Connection Set. DeviceNet allows the interchangeability of simple devices while making interconnectivity for more complex devices possible. In addition to reading the state of discrete devices, DeviceNet provides the capability to report temperatures, to read the load current in a motor starter, to change the deceleration rate of drives, or to count the number of packages that have passed on a conveyor in the previous hour.

3.2 DeviceNet physical layer and media

The basic trunkline-dropline topology provides separate twisted pair busses for both signal and power distribution. Thick or thin cable can be used for either trunklines or droplines. End-to-end network distance varies with data rate and cable size.

and

Devices can be powered directly from the bus cable.

Nodes can be removed or inserted from the network without powering down the network.

communicate with each other using the same

Power taps can be added at any point in the network which makes redundant power supplies possible. The trunkline current rating is 8 amps. An opto-isolated design option allows externally powered devices (e.g. AC drives starters and solenoid valves) to share the same bus cable. Other CAN-based networks allow only a single power supply (if at all) for the entire network.

Figure 3- 1. Thick or thin cable can be used for either trunklines or droplines

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

6 • vacon DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS

Signal

Connector

Description

V+ 5 Communication power supply, +24V

Grounding plate

4. DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS

Vacon DeviceNet Board is connected to the fieldbus through a 5-pin pluggable bus connector (board OPTC7). The communication with the control board of the frequency converter takes place through the standard Vacon Interface Board Connector.

4.1 DeviceNet option board

N A

M

1 2 3 4 5

X1

Bus connector Jumper Interface board connector

Figure 4-1. Vacon DeviceNet option board OPTC7

V- 1 Communication power supply, Ground CAN_L 2 Communication signal, Low Drain 3 Cable shield (bare) CAN_H 4 Communication signal, High

Table 4-1. OPTC7 bus connector signals

DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS vacon • 7

LED is:

Meaning:

LED is:

Meaning:

X1

N A M

green/red

1 2 3 4 5

4.2 LED indications

The DeviceNet Option Board includes three LED status indicators next to the connector: Network status (N), Node address (A) and Module status (M). Network status provides information on the network connection status, Node address blinks the MAC ID of the unit while it is powered and Module status provides information on the DeviceNet module.

Figure 6-1. LED indications on the DeviceNet board

Network status LED (N)

OFF The OPTC7 is not on-line

- The device has not completed the Dup_MAC_ID test yet

- If the Module status LED is off, the device is not

powered Green The OPTC7 is on-line and allocated to a Master Blinking green Blinking red Red The OPTC7 cannot communicate on the network (Duplicate

Module status LED (M)

OFF There is no power applied to the OPTC7 Green The OPTC7 is operating normally Blinking green

Blinking red Red The option board has detected an Unrecoverable Fault

The OPTC7 has passed the Dup_MAC_ID test, is on-line, but is not allocated to a master One or more I/O connections are in the Timed-Out state

MAC ID or Bus-off)

The OPTC7 board is in Standby state or the device needs commissioning due to a missing, incomplete or incorrect configuration The option board has detected a Recoverable Fault

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

8 • vacon DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS

Node address LED (A)

This LED blinks the MAC ID of the unit while it is powered. The tens are displayed with red blinks and the ones with green blinks. The unit plays the tens, then the ones and finally delays about 2 seconds before repeating the sequence.

LED test

A LED test is performed at power-up. The following sequence is performed:

1. All LEDs off

2. All LEDs green (0.25 s)

3. All LEDs red (0.25 s)

4. All LEDs off

5. Start of normal operation

DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS vacon • 9

A

quency converter. Make a sufficiently wide opening for the cable by

B

Connect the 4 coloured wires into the bus connector in the following order from the

black, blue, NONE, white, red.

BK

BL

W

R

BK

BL

W

R

4.3 Connection of DeviceNet drop-line cable

The following instructions lead you through the connection of the OPTC7 to the Devicenet system and show you the power-up and grounding of the board.

Lead the DeviceNet drop-line cable through the right gridded hole on the bottom of the Vacon NX fre cutting the grid as wide as necessary (see step E on page 12)

left:

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

10 • vacon DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS

BK

BL

BA

R

W

C

Note!

X1

BK

BL

BA

W

R

X1

It is recommended that the bare wire is not connected to any of the terminals. If it however has to be connected, use the terminal 3 as shown in the picture:

If the bare wire is connected the

jumper

must be set to OFF-position.

INSTALLATION OF VACON NX DEVICENET OPTION BOARD vacon • 11

!

NOTE

IS SWITCHED OFF

A

B

5. INSTALLATION OF VACON NX DEVICENET OPTION BOARD

NOTE! These instructions apply only to field installations. Otherwise, the board has already been installed for you at the factory.

MAKE SURE THAT THE FREQUENCY CONVERTER AN OPTION OR FIELDBUS BOARD IS CHANGED OR ADDED!

Before taking any commissioning actions, carefully read the safety instructions in Vacon NX User’s Manual, Chapter 1.

Vacon NX frequency converter

Remove the cable cover.

BEFORE

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

12 • vacon INSTALLATION OF VACON NX DEVICENET OPTION BOARD

C

D

Install DeviceNet option board in slot E

plate (see below) fits tightly in the

E

F

X1

N A M

1 2 3 4 5

Open the cover of the control unit.

on the control board of the frequency converter. Make sure that the grounding

clamp.

Make a sufficiently wide opening for your cable by cutting the grid as wide as necessary.

Close the cover of the control unit and the cable cover.

INSTALLATION OF VACON NX DEVICENET OPTION BOARD vacon • 13

Drive m odified

:

Option board:

NXOPT................

IP54 upgrade/ Collar

in slot:

Date:...................

A B C D E

EMC level modified: H

Ý

T / T

Ý

H

Date:...................

1

2

3

5.1 Board information sticker

The DeviceNet option board package delivered by the factory includes a sticker (shown below). Please mark the board type (1), the slot into which the board is mounted (2) and the mounting date (3) on the sticker. Finally, attach the sticker on your drive.

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

14 • vacon COMMISSIONING

#

Attribute Name

Services

Default,

Data

Description

Polled Input Assembly Type

Polled Output Assembly Type

SafeState Type

Warning:

PresetDir

Warning:

6. COMMISSIONING

READ FIRST CHAPTER 8 'COMMISSIONING' IN VACON NX USER'S MANUAL (Document nr. ud00701, please visit Vacon’s internet site.

Note! You must select Fieldbus as the active control place, if you wish to control the frequency converter through fieldbus. See Vacon NX User’s Manual.

The recommended method for setting the DeviceNet parameters is with a

(see chapter 6.1). However, the parameters can also be set with the

Tool

DeviceNet Configuration

control keypad

(see chapter

6.2), but then it must be ensured that the parameter settings correspond to the settings in the Master system.

6.1 DeviceNet Configuration Tool

Before using the OPTC7 option board, you must configure the device baud rate and node address to the desired values. This can be done by using a DeviceNet Configuration tool (e.g. Netview or RSNetworx for DeviceNet). The default baud rate is 125 Kbaud and node address 63. All devices must have the same baud rate.

Since all new devices are factory set to node address 63, it is recommended that the address is changed. You must also check or set the following attributes before use:

Monitoring Data Class (0xAA) – Instance Attributes

120

0x78

121

0x79

110

0x6E

111

0x6F

Get_Attribute_Single, Set_Attribute_Single

Minimum, Type Maximum

71

C7 Input assembly used by the polled 70 73 75

107

C7 Output assembly used by the polled

21 20 23 25

101

0

C6 Selects Safe State response to errors

0 2

0

C1 Sets safe state direction of rotation if the

0 1

connection

which specify safe state operation. Currently only a loss of connection other than by de-allocation is a safe state error.

Review the application for safe operation before specifying a value for this attribute. 0 = DriveFault (falut and stop) 1 = No Action (hold last speed) 2 = Preset Speed/Direction

Safe State Behaviour attribute specifies “Preset Speed/Direction”

Review the application for safe operation before specifying a value for this attribute. Inverter will require external stop. 0 = Forward 1 = Reverse

COMMISSIONING vacon • 15

PresetRPM

Warning:

PresetTq

reference (0,00%) if

Warning:

G1G5

READY

E:NXOPTC7

READY

G1G2

READY

enter

P1P4

READY

Expander boards

Parameters

Mac ID

63

CHANGE VALUE

CONFIRM CHANGE

63

Mac ID

112

0x70

113

0x71

Get_Attribute_Single,

Table 6- 1. Monitoring Data Class – Instance Attributes

6.2 Setting DeviceNet parameters with the control keypad

If the control keypad is used in setting the parameters of the Vacon DeviceNet board, certain values to appropriate parameters must be given in menu NX User's Manual, Chapter 7). Note! If you use the keypad for setting the parameters, make sure that the settings correspond to the settings in the Master system.

Expander board menu (M7) The

Expander board menu

connected to the control board and 2) to reach and edit the parameters associated with the expander board. Enter the following menu level slots A to E with the

Browser buttons

line of the display you also see the number of parameter groups associated with the board. If you still press the

Menu button right

two groups: Editable parameters and Monitored values. A further press on the takes you to either of these groups.

DeviceNet parameters

To set the DeviceNet board parameters, enter the level P7.5.1.# from the Give desired values to all DeviceNet parameters (see Figure 6-1 and Table 6-1). Note: The DeviceNet cable must be connected before any parameters can be edited. See page 6.

Get_Attribute_Single, Set_Attribute_Single

Set_Attribute_Single

0

C7 Sets safe state speed reference (RPM) if

0

30000

0

C7 Sets safe state torque

0

10000

the Safe State Behaviour attribute specifies “Preset Speed/Direction”

Review the application for safe operation before specifying a value for this attribute. Inverter will require external stop.

the Safe State Behaviour attribute specifies “Preset Speed/Direction”

Review the application for safe operation before specifying a value for this attribute. Inverter will require external stop.

M7 (for locating the expander board menu see Vacon

makes it possible for the user 1) to see what expander boards are

(G#) with the

Menu button right

. At this level, you can browse through

to see what expander boards are connected. On the lowermost

once you will reach the parameter group level where there are

Menu button right

Parameters

group (G7.5.1).

Figure 6-1. Changing the DeviceNet board parameter values

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

16 • vacon COMMISSIONING

#

Name

Default

Range

Description

Note!

DeviceNet status

1 MAC ID 63 0…63 2 BAUD RATE 125 kBaud 1 - 125 kBaud

2 - 250 kBaud 3 - 500 kBaud

3 I/O POLL TYPE 21/71 1 – 20/70

2 – 21/71 3 – 23/73 4 – 25/75 5 – 101/107

Table 6-1. DeviceNet parameters

Communication speed in baud

If the value of this parameter is changed, the new value will be valid after the next power-up.

Note!

• Every device that is connected to the bus must have an individual MAC ID

• Before the values of these parameters can be changed, the drive must be in STOP-mode and

the communication power supply

must be connected

DeviceNet status

To see the present status of the DeviceNet Fieldbus, enter the

menu (G7.5.2)

. See Figure 6-2 and Table 6-2 below.

Devicenet Status

page from

Monitor

Figure 6-2. DeviceNet status

0 Non-existent or no bus power 1 Configuring state 3 Established 4 Time out

Table 6-2. DeviceNet status indications

VACON DEVICENET INTERFACE vacon • 17

Data (Output Assembly)

Data (Input Assembly)

Master

Slave

7. VACON DEVICENET INTERFACE

DeviceNet provides two different types of messaging. They are called

Messaging

7.1 I/O Messaging

I/O polling messages are for time-critical, control-oriented data. The messages are transferred between the devices all the time and they are used for continuous control of the frequency converter. They provide a dedicated, special-purpose communication path between a producing application (master) and one or more consuming applications (slaves). They are exchanged across single or multi-cast connections and typically use high priority identifiers. I/O polling messages contain no protocol in the 8-byte data field. The meaning of the message is implied by the connection ID (CAN identifier). Before messages are sent using these IDs, both the device sending and receiving them must be configured. The configuration contains the source and destination object attribute addresses for the master and the slave.

.

I/O Messaging

and

Explicit

Figure 7-1. DeviceNet I/O Messaging

The contents of the data message can be chosen the following way: Monitoring Data Object (0xAA), Instance 1; Attributes 120 (Input Assembly) and 121 (Output Assembly). See the following chapter for the Input and Output Assemblies.

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

18 • vacon VACON DEVICENET INTERFACE

Byte 3

Speed Reference (High Byte)

Byte 0

NetRef

NetCtrl

FaultReset

RunRev

RunFwd

Byte 3

Speed Reference* (High byte)

7.1.1

Input and Output Assemblies

Output 20

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 FaultReset RunFwd Byte 1 Byte 2 Speed Reference (Low Byte)

Output 21 (Default)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 NetRef NetCtrl FaultReset RunRev RunFwd Byte 1 Byte 2 Speed Reference (Low Byte) Byte 3 Speed Reference (High Byte)

Output 23

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 NetRef NetCtrl FaultReset RunRev RunFwd Byte 1 Byte 2 Speed Reference (Low Byte) Byte 3 Speed Reference (High Byte) Byte 4 Torque Reference (Low Byte) Byte 5 Torque Reference (High Byte)

Output 25

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Byte 1 Byte 2 Speed Reference (Low Byte) Byte 3 Speed Reference (High Byte) Byte 4 Process Reference (Low Byte) Byte 5 Process Reference (High Byte)

Output 101

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 NetRef NetCtrl FaultReset RunRev RunFwd Byte 1 Byte 2 Speed Reference* (Low byte)

Byte 4 Process Reference 1 (Low byte) Byte 5 Process Reference 1 (High byte) Byte 6 Process Reference 2 (Low byte) Byte 7 Process Reference 2 (High byte)

*

NOTE! Speed Reference is 0...10 000

VACON DEVICENET INTERFACE vacon • 19

Byte 0

AtReference

RefFromNet

CtrlFromNet

Ready

Running2

Running1

Alarm

Faulted

Input 70

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 Running1 Faulted Byte 1 Byte 2 Speed Actual (Low Byte) Byte 3 Speed Actual (High Byte)

Input 71 (Default)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Byte 1 Drive State Byte 2 Speed Actual (Low Byte) Byte 3 Speed Actual (High Byte)

Input 73

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 AtReference RefFromNet CtrlFromNet Ready Running2 Running1 Alarm Faulted Byte 1 Drive State Byte 2 Speed Actual (Low Byte) Byte 3 Speed Actual (High Byte) Byte 4 Torque Actual (Low Byte) Byte 5 Torque Actual (High Byte)

Input 75

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 AtReference RefFromNet CtrlFromNet Ready Running2 Running1 Alarm Faulted Byte 1 Drive State Byte 2 Speed Actual (Low Byte) Byte 3 Speed Actual (High Byte) Byte 4 Process Actual (Low Byte) Byte 5 Process Actual (High Byte)

Input 107

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 AtReference RefFromNet CtrlFromNet Ready Running2 Running1 Alarm Faulted Byte 1 Drive State

Byte 2 Speed Actual* (Low Byte) Byte 3 Speed Actual* (High Byte) Byte 4 Process Actual 1 (Low Byte) Byte 5 Process Actual 1 (High Byte) Byte 6 Process Actual 2 (Low Byte) Byte 7 Process Actual 2 (High Byte)

*

NOTE! Speed Actual is 0...10 000

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

20 • vacon VACON DEVICENET INTERFACE

Programming of Output 101 and Input 107

You can select with Output byte 1 what Process data you want to read in Process Actual 1 and 2.

Output 101

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 NetRef NetCtrl FaultReset RunRev RunFwd Byte 1 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

These output bits 4…7 are for Process Actual 1.

Example: If the value of bits 4…7 is 1 then Process Actual 1 is Process Data 1 If the value of bits 4…7 is 2 then Process Actual 1 is Process Data 2 If the value of bits 4…7 is 3 then Process Actual 1 is Process Data 3

Etc.

Input 107

Byte 4 Process Actual 1 (Low Byte) Byte 5 Process Actual 1 (High Byte)

These output bits 0…3 are for Process Actual 2

Example: If the value of bits 0…3 is 1 then Process Actual 2 is Process Data 1 If the value of bits 0…3 is 2 then Process Actual 2 is Process Data 2 If the value of bits 0…3 is 3 then Process Actual 2 is Process Data 3 Etc.

Input 107

Byte 6 Process Actual 2 (Low Byte) Byte 7 Process Actual 2 (High Byte)

NOTE! If the value of the other 4-bit group is 0 then Process Actual is Speed Actual.

Example:

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 NetRef NetCtrl FaultReset RunRev RunFwd Byte 1 0 0 1 1 0 0 0 0

If you set byte 1 as in the example then Process Actual 1 is Process Data 3 and Process Actual 2 is Speed Actual.

VACON DEVICENET INTERFACE vacon • 21

NonExist

Faulted

Ready

Stopping

Fault_Stop

Power_On

Stop_Complete

Complete

Run

Stop

Power_Off

DriveFault

Enabled

Startup

DriveFault

Complete

SafeChange

DriveFault OR SafeFault

7.1.2

Control Supervisor Behaviour

The State Transition Diagram provides a graphical description of the states and corresponding state transitions for the control supervisor.

Control Supervisor State Transition Diagram

Reset

Fault_Reset

Initialization

ChangeDir

Fault_Stop

Figure 7- 2. Control Supervisor State Transition Diagram

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

22 • vacon VACON DEVICENET INTERFACE

Input Conditions

Results

Old State

CtrlFromNet

Run1Var

Run2Var

IdleMode

FwdMode

RevMode

Event

New State

Action

NonExist

x x x x x x Power_On

Startup

Faulted := 0; Ready := 0

Enabled

1 0 0 x x

x

Stop

Stopping

(Initiate Stop)

DN_NOT_READY

2

Control Supervisor State transition Diagram Explanation

x x x x x x x Power_Off NonExist x

(except

NonExist)

Startup x x x x x x DriveFault Faulted Faulted := 1; FaultCode := x Startup x x x x x x Initialization

Ready x x x x x x DriveFault Faulted Faulted := 1; FaultCode := x; Ready := 0 Ready 1 1 0 0 x x Run (Fwd) Enabled FwdMode := 1 (Start Forward) Ready 1 0 1 0 x x Run (Rev) Enabled RevMode := 1 (Start Reverse)

Enabled x x x x x x DriveFault Fault_Stop Faulted := 1; FaultCode := x (Initiate Faulted Stop)

x x x x x x Reset Startup Faulted := 0; Ready := 0

FwdMode := 0; RevMode := 0 Run1Var := 0; Run2Var := 0

Ready Ready := 1

Complete

FwdMode := 0; RevMode := 0; Ready := 0

Enabled 1 1 0 0 0 1 ChangeDir (Fwd) Enabled FwdMode := 1; RevMode := 0 (Change to Forward) Enabled 1 0 1 0 1 0 ChangeDir (Rev) Enabled FwdMode := 0; RevMode := 1 (Change to Reverse) Enabled 1 x x x x x SafeFault Fault_Stop Faulted := 1; FaultCode := x (Initiate Faulted Stop)

Enabled 1 x x x x x SafeChange Enabled FwdMode := Run1Var := NOT PresetDir

Stopping x x x x x x DriveFault Fault_Stop Faulted := 1; FaultCode := x (Initiate Faulted Stop)

Stopping 1 1 0 0 x x Run (Fwd) Enabled FwdMode := 1 (Start Forward) Stopping 1 0 1 0 x x Run (Rev) Enabled RevMode := 1 (Start Reverse) Stopping x 0 0 x x x Stop_Complete Ready

Fault_Stop x x x x x x Fault_Stop Complete Faulted

Faulted x x x x x x Fault_Reset Ready Faulted := 0; Ready := 1

FwdMode := 0; RevMode := 0; Ready := 0 Run1Var := 0; Run2Var := 0

RevMode := Run2Var := PresetDir SpeedRef := PresetSpeed TorqueRef := PresetTorque

Ready := 0

Table 7- 1. Explanation of the Control Supervisor State Transition Diagram

Start Forward, Start Reverse, Change to Forward, Change to Reverse, and Stop (Not Faulted Stop) are static outputs of the Control Supervisor state machine. They are commands to the drive when CtrlFromNet=1. When CtrlFromNet=0, control commands are from another source.

Drive State for Control Supervisor:

DN_NON_EXISTANT 0 DN_STARTUP 1

DN_READY 3 DN_ENABLED 4 DN_STOPPING 5 DN_FAULT_STOP 6 DN_FAULTED 7

VACON DEVICENET INTERFACE vacon • 23

Other logic equations

RefFromNet = (NetRef) AND (EnableFieldbus) IF (RefFromNet) {

(Write reference frequency or torque to the drive whenever SpeedRef or TorqueRef are written)

}

When performing changes to achieve programmed Safe State: (1) Run/Stop/Direction can be changed because CtrlFromNet must equal 1 when in the Enabled State (2) Reference in the drive can be changed to PresetSpeed or PresetTorque only if (RefFromNet = 1)

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

24 • vacon VACON DEVICENET INTERFACE

0x02

Message Router

0x05

DeviceNet Connection

0xAA

Monitoring Data

0E

Get_Attribute_Single

Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y

Y

7.2 Explicit Messaging

Explicit Messaging is used in commissioning and parametrizing of the DeviceNet board. Explicit messages provide multipurpose, point-to-point communication paths between two devices. They provide the typical request/response-oriented network communication used to perform node configuration and problem diagnosis. Explicit messages typically use low priority identifiers and contain the specific meaning of the message right in the data field. This includes the service to be performed and the specific object attribute address.

7.2.1

List of Object Classes

The Communication Interface supports the following object classes:

Class Object 0x01 Identity

0x03 DeviceNet 0x04 Assembly

0x28 Motor Data 0x29 Control Supervisor 0x2A AC/DC Drive 0xA0 Parameter

7.2.2

List of services

The Services supported by these object classes are shown below

Service Code

(in hex)

05 Reset (Type 0, 1) Y Y

10 Set_Attribute_Single Y Y Y Y Y Y Y Y Y 14 Error Response Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y 18 Get Member Y Y Y Y Y Y Y Y Y 4B Allocate_Master/Slave_Connection_Set Y 4C Release_Master/Slave_Connection_Set Y Vendor Specific Services 47 CH Get Member Y Y Y Y Y Y Y Y Y

Service Name

Identity

Message Router

Class

Inst

Class

Inst

Assembly

DeviceNet

Class

Inst

Connection

Class

Inst

Class

Inst

Control

Motor Data

Class

Supervisor

AC/DC Drive

Inst

Class

Inst

Class

Inst

See APPENDIX 2 for the Interface Object profiles.

Other Objects

Class

Inst

VACON DEVICENET INTERFACE vacon • 25

Data Type Name

Data Type Code (in hex)

Data Type Description

BOOL

C1

Logical Boolean with values TRUE

USINT

C6

Unsigned 8–bit integer value

Type Code

Description

Value:

Type of Reset:

7.2.3

List of data types

The attribute list that follows includes information on the Data Type of each attribute. The following tables explain the Data, Structure, and Array Type codes used in the Data Type column.

Elementary Data Types

and FALSE

SINT C2 Signed 8–bit integer value

INT C3 Signed 16–bit integer value

UINT C7 Unsigned 16–bit integer value

UDINT C8 Unsigned 32–bit integer value

BYTE D1 bit string - 8-bits

WORD D2 bit string - 16-bits

SHORT_STRING DA character sting (1 byte per

character, 1 byte length indicator)

Constructed Data Types

A1 Abbreviated array type encoding A2 Formal structure type encoding

7.2.4

Reset service

The following table lists the different types of resets supported by the Identity Object. Resetting the OPTC7 interface to its out-of-box configuration will set ALL attributes to their default values and change the response of the drive to a loss of communications with the OPTC7. The device will have to be re-configured for your application before resuming normal operation.

Resetting the VACON inverter to its out-of-box configuration will set ALL inverter parameters to their default values. Before restarting the inverter, you must verify that it is properly configured for your application.

0 Emulate as closely as possible the cycling of power to the

OPTC7 DeviceNet Interface. This value is the default if this parameter is omitted. The VACON drive shall be stopped if it is running.

1 Return the OPTC7 DeviceNet Interface AND the VACON

Drive as closely as possible to the out–of–box (factory default) configuration, then emulate cycling of power as closely as possible. The VACON Drive shall be stopped if it is running.

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

26 • vacon FAULT TRACKING

Fault

code

Fault

Possible cause

Correcting measures

37

38

39

40

Device

Unknown option board.

53

Fieldbus fault

The data connection between the

Check the installation.

54

Code

Parameter

Min

Max

Unit

Step

Default

ID

Note

Response to fieldbus

0 1 2 3

8. FAULT TRACKING

The table below presents the faults related to the DeviceNet option board. For more information, see also Vacon NX User's Manual, Chapter 9.

DeviceNet option board status LEDs have been described in more detail in Chapter 4.2

The

Device change Option board changed. Reset Device added Option board added. Reset Device removed Option board removed. Reset

unknown

DeviceNet Master and the DeviceNet option board is broken

If installation is correct contact the nearest Vacon distributor.

Slot fault Defective option board or slot Check the board and slot.

Contact the nearest Vacon distributor.

Table 8-1. DeviceNet option board faults

You can define with parameters how the frequency converter shall react to certain faults:

=No response

P2.7.22

P2.7.23

fault

Response to slot

fault

0 3 1 0 733

0 3 1 0 734

=Alarm =Fault,stop acc. to 2.4.7 =Fault,stop by coasting =No response =Alarm =Fault,stop acc. to 2.4.7 =Fault,stop by coasting

Table 8-2. Frequency converter responses to faults

FAULT TRACKING vacon • 27

VACON Event Name

Event Code

Event Description

No event

0x00

Default value in EventList entries.

error with the drive.

I/O Connection Timeout – Preset Direction and Speed

Explicit Connection Released – No Action

0x1B

Control Supervisor remains in Enabled State.

APPENDIX 1

Vacon DeviceNet Interface Errors

The OPTC7 DeviceNet interface records the following events in the Event List FIFO:

Drive Communication Error 0x01

I/O Connection Timeout – Fault_Stop 0x02 Control Supervisor transitions to Fault_Stop. I/O Connection Timeout – No Action 0x03 Control Supervisor remains in Enabled State.

0x04 Control Supervisor remains in Enabled State.

Explicit Connection Timeout – Fault_Stop 0x05 Control Supervisor transitions to Fault_Stop. Explicit Connection Timeout – No Action 0x06 Control Supervisor remains in Enabled State.

Explicit Connection Timeout – Preset Direction and Speed Low DeviceNet Voltage 0x08 Connection timeout may occur next. Bus Off 0x09 Connection timeout may occur next. CAN Overrun 0x0C Connection timeout may occur next. Configuration Consistency Value (CRC) mismatch

Microprocessor watchdog timeout 0x0F The device detected a serious problem with

Received explicit message is too big 0x10 Message is ignored. Received IO message is too big 0x11 Message is ignored. Parameter Range Error 0x12 An out-of-range parameter value exists in

I/O Connection Released – Fault_Stop 0x14 Control Supervisor transitions to Fault_Stop. I/O Connection Released – No Action 0x15 Control Supervisor remains in Enabled State.

I/O Connection Released – Preset Direction and Speed Receive_Idle – Fault_Stop 0x17 Control Supervisor transitions to Fault_Stop. Receive_Idle – No Action 0x18 Control Supervisor remains in Enabled State.

Receive_Idle – Preset Direction and Speed 0x19 Control Supervisor remains in Enabled State.

Explicit Connection Released – Fault_Stop 0x1A Control Supervisor transitions to Fault_Stop.

0x07 Control Supervisor remains in Enabled State.

0x0E The device’s configuration is incorrect or

0x16 Control Supervisor remains in Enabled State.

Inverter interface communication

Hold last speed

Run at preset direction and speed.

Hold last speed

Run at preset direction and speed.

incomplete. Major Recoverable Fault. An Identity Reset type 1 is needed for recovery.

itself. Major Unrecoverable Fault.

the drive.

Hold last speed

Run at preset direction and speed.

Hold last speed

Run at preset direction and speed.

Explicit Connection Released – Preset

Direction and Speed

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

Hold last speed

0x1C Control Supervisor remains in Enabled State.

Run at preset direction and speed.

28 • vacon FAULT TRACKING

Connection unable to read message

0x21

Error detected by connection object code

Connection unable to send message 0x22 Error detected by connection object code Consumer unable to read message 0x23 Error detected by connection object code Producer unable to send message 0x24 Error detected by connection object code Producer unable to send buffer 0x25 Error detected by connection object code Producer unable to send acknowledgment 0x26

Unexpected notification that message was sent Explicit reply is too big 0x31 Error detected by connection object code First fragment of an IO message is too big 0x34 Error detected by connection object code Reassembled IO message is too big 0x35 Error detected by connection object code IO message is too big for producer 0x36 Error detected by connection object code IO/Explicit message is too big for producer 0x37 Error detected by connection object code

0x27 Error detected by connection object code

FAULT TRACKING vacon • 29

5

Optional service list

Get_Attribute_Single

{1,16}

A2 04 C7 A1

180

N/A

186

N/A

190

N/A N/A

APPENDIX 2

OPTC7 Communication Interface Object Profiles

In the following list, attributes shown in

bold are stored in the non-volatile of the OPTC7 or Vacon drive and maintain their values after a power loss. All other settable attributes will power up at their default values.

Identity Object

Class Code 0x01

Identity Class (1) – Class attributes (0)

# Attribute Name Services Default, Data Description

Minimum, Type Maximum

1

Revision Get_Attribute_Single 1

0x01

2

Max Instance Get_Attribute_Single 1

0x02

3

Number of Instances Get_Attribute_Single 1

0x03

4

Optional attribute list Get_Attribute_Single {1,176}

0x04

C7 Revision of this object 1 1

C7 1 1

{1,176} {1,176}

A2 04 C7 A1

01 C7

0x05

6

Max Class Attribute ID

0x06

7

Max Instance

0x07

Attribute ID

176

Object Name Get_Attribute_Single "Identity"

0xB0

Class Attribute List Get Member,

0xB4

Instance Attribute

0xBA

List

Instance ID List Get Member,

0xBE

Get_Attribute_Single 190

Get_Attribute_Single 176

CH_Get_Member

Get Member, CH_Get_Member

CH_Get_Member

{1,16} {1,16}

190 190

176 176

"Identity" "Identity"

N/A N/A

N/A

01 C7

C7

DA ASCII Name for the object Class

A1 08 A2 06

C7 DA DA A1

01 C6

A1 08 A2 06

C7 DA DA A1

01 C6

A1 01 C7 Array of instance IDs supported by this

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service. Each Element describes an instance attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service.

class

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

30 • vacon FAULT TRACKING

Minimum,

Type

1

2

3

Product Code

Get_Attribute_Single

1

C7

This is a code assigned by the vendor to

{1,11}

8

N/A

0

9 0x09

Configuration Consistency Value

Get_Attribute_Single

N/A

C7

Contents identify configuration of device

176

User Label

N/A

Identity Class (1) - Instance Attributes (1) # Attribute Name Services Default, Data Description

Maximum

Vendor Id Get_Attribute_Single 443

0x01

Device Type Get_Attribute_Single 2

0x02

C7 Identification of each vendor by number

443 443

C7 Indication of the general type of product 2 2

0x03

4 0x04 Revision Get_Attribute_Single

5

Status Get_Attribute_Single N/A

0x05

6

Serial Number Get_Attribute_Single N/A

0x06

7

Product Name Get_Attribute_Single "OPTC7"

0x07

State Get_Attribute_Single

0x08

Get_Attribute_Single,

0xB0

Set_Attribute_Single

{1,11}

255

0x30940000

0x37FFFFFF

"OPTC7" "OPTC7"

65535

N/A N/A

1 1

A2 02 C6 C6 Revision of the item the Identity Object

D2 Summary Status of the Device. 0

C8 Serial Number of the device

DA Human readable identification

C6 Present state of the device as represented

5

0

DA User Supplied name for the Instance.

describe the device. Product code determined by interrogating the connected drive.

represents

Defined in ODVA DeviceNet spec. Bit 5 = User fault Bit 6 = Node fault Bit 7 = System fault

by the state transition diagram. 0 = Nonexistent 1 = Device Self Testing 2 = Standby 3 = Operational 4 = Major Recoverable Fault 5 = Major Unrecoverable Fault

Maximum of 8 characters

FAULT TRACKING vacon • 31

1

Revision

Get_Attribute_Single

1

C7

Revision of this object

176

"Message

ge

"Message

section. Individual elements are accessed

190

Instance ID List

Get Member,

N/A

A1 01 C7

Array of instance IDs supported by this

176

User Label

N/A

Message Router Object

Class Code 0x02

Message Router Class (2) - Class Attributes (0) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

0x01

2

Max Instance Get_Attribute_Single 1

0x02

3

Number of Instances Get_Attribute_Single 1

0x03

4

Optional attribute list Get_Attribute_Single {1,176}

0x04

5

Optional service list Get_Attribute_Single {1,16}

0x05

6

Max Class Attribute

0x06

ID

7

Max Instance

0x07

Attribute ID

Object Name Get_Attribute_Single

0xB0

180

Class Attribute List Get Member,

0xB4

186

Instance Attribute

0xBA

List

Get_Attribute_Single 190

Get_Attribute_Single 176

CH_Get_Member

Get Member, CH_Get_Member

{1,176} {1,176}

{1,16} {1,16}

Router"

"Messa

Router"

1 1

C7 1 1

A2 04 C7 A1

01 C7

A2 04 C7 A1

01 C7

C7

190 190

C7

176 176

DA ASCII Name for the object Class

N/A

A1 08 A2 06

N/A

C7 DA DA A1

N/A

01 C6

N/A

A1 08 A2 06

N/A

C7 DA DA A1

N/A

01 C6

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service. Each Element describes an instance attribute. The Array's elements are structs as described in the semantics

0xBE

Message Router Class (2) - Instance Attributes (1) # Attribute Name Services Default, Data Description

1 0x01 Object List Get_Attribute_Single N/A

0xB0

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

CH_Get_Member

Get_Attribute_Single, Set_Attribute_Single

N/A N/A

Minimum, Type Maximum

A2 04 C7 A1

N/A

01 C7

N/A

DA User Supplied name for the Instance.

N/A N/A

using the Get Member service.F97

class

Maximum of 8 characters

32 • vacon FAULT TRACKING

2

Max Instance

Get_Attribute_Single

1

C7

7

Max Instance

Get_Attribute_Single

176

C7

180

186

section. Individual elements are accessed

190

DeviceNet Object

Class Code 0x03

DeviceNet Class (3) - Class Attributes (0) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

1

Revision Get_Attribute_Single 2

0x01

C7 Revision of this object 2 2

0x02

3

Number of Instances Get_Attribute_Single 1

0x03

4

Optional attribute list Get_Attribute_Single {1,176}

0x04

5

Optional service list Get_Attribute_Single {1,16}

0x05

6

Max Class Attribute

0x06

ID

0x07

Attribute ID

176

Object Name Get_Attribute_Single "DeviceNet"

0xB0

Class Attribute List Get Member,

0xB4

Instance Attribute

0xBA

List

Get_Attribute_Single 190

CH_Get_Member

Get Member, CH_Get_Member

{1,176} {1,176}

{1,16} {1,16}

190 190

176 176

"DeviceNet" "DeviceNet"

N/A N/A N/A

1 1

C7 1 1

A2 04 C7 A1

01 C7

A2 04 C7 A1

01 C7

C7

DA ASCII Name for the object Class

A1 08 A2 06

C7 DA DA A1

01 C6

A1 08 A2 06

C7 DA DA A1

01 C6

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service.

Each Element describes an instance attribute. The Array's elements are structs as described in the semantics

Instance ID List Get Member,

0xBE

CH_Get_Member

using the Get Member service.

N/A

A1 01 C7 Array of instance IDs supported by this

N/A N/A

class

FAULT TRACKING vacon • 33

Minimum,

Type

MAC ID

Baud Rate

3

BOI [Bus Off

Get_Attribute_Single,

1

C1

176

User Label

DeviceNet Class (3) - Instance Attributes (1) # Attribute Name Services Default, Data Description

Maximum

1

0x01

0x02

0x03

Interrupt]

4

Bus-off Counter Get_Attribute_Single,

0x04

5

Allocation

0x05

Information

100

Bus-off Separation Get_Attribute_Single,

0x64

0xB0

Get_Attribute_Single, Set_Attribute_Single

Set_Attribute_Single

Get_Attribute_Single N/A

Set_Attribute_Single

Get_Attribute_Single, Set_Attribute_Single

63

255

N/A N/A

50

255 N/A N/A N/A

C6 Node Address.

0

C6 The baud rate of the device. 0 2

0 1 0

C6 0

A2 02 D1 C6 Allocation Choice Master's Mac ID Struct

C6 0

DA User Supplied name for the Instance.

00 = 125K 01 = 250K 02 = 500K

of: BYTE: Allocation Choice byte Bit 0 = explicit messaging Bit 1 = Polled I/O USINT:Master's Mac ID 0-63 valid 255 = unallocated

Maximum of 8 characters

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

34 • vacon FAULT TRACKING

2

Max Instance

Get_Attribute_Single

75

C7

7

Max Instance

Get_Attribute_Single

176

C7

180

186

section. Individual elements are accessed

176

User Label

Assembly Object

Class Code 0x04

Assembly Class (4) - Class Attributes (0) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

1

Revision Get_Attribute_Single 2

0x01

C7 Revision of this object 2 2

0x02

0x03

0x04

0x05

0x06

0x07

0xB4

0xBA

190 0xBE

3

Number of Instances Get_Attribute_Single 8

4

Optional attribute list Get_Attribute_Single {1,176}

5

Optional service list Get_Attribute_Single {1,16}

6

Max Class Attribute ID

Attribute ID

176

Object Name Get_Attribute_Single "Assembly"

0xB

Class Attribute List Get Member,

Instance Attribute List

Instance ID List Get Member,

Get_Attribute_Single 190

"Assembly" "Assembly"

CH_Get_Member

Get Member, CH_Get_Member

CH_Get_Member

75 75

C7 8 8

A2 04 C7 A1

{1,176}

01 C7

{1,176}

A2 04 C7 A1

{1,16}

01 C7

{1,16}

C7

190 190

176 176

DA ASCII Name for the object Class

N/A

A1 08 A2 06

C7 DA DA A1

N/A N/A

01 C6

N/A

A1 08 A2 06

C7 DA DA A1

N/A N/A

01 C6

N/A

A1 01 C7 Array of instance IDs supported by this

N/A N/A

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service. Each Element describes an instance attribute. The Array's elements are structs as described in the semantics

using the Get Member service.

class

Assembly Class (4) – Basic Control (20) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3 0x03 Data Get_Attribute_Single N/A

0xB0

Get_Attribute_Single, Set_Attribute_Single

A2 05 A1 01

C1 D1 C3

N/A N/A

N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

FAULT TRACKING vacon • 35

176

User Label

N/A,

176

User Label

176

User Label

176

User Label

176

User Label

Assembly Class (4) - Speed Control (21) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3 0x03 Data Get_Attribute_Single N/A

0xB0

Get_Attribute_Single, Set_Attribute_Single

A2 05 A1 01

C1 D1 C3

N/A N/A

DA User Supplied name for the Instance.

N/A,

N/A

Maximum of 8 characters

Assembly Class (4) – Torque Control (23) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3 0x03 Data Get_Attribute_Single N/A

0xB0

Get_Attribute_Single, Set_Attribute_Single

A2 05 A1 01

N/A

C1 D1 C3

N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

Assembly Class (4) – Extended Process Control (25) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3 0x03 Data Get_Attribute_Single N/A

0xB0

Get_Attribute_Single, Set_Attribute_Single

A2 05 A1 01

N/A

C1 D1 C3

N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

Assembly Class (4) – Extended Vendor Control (101) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3 0x03 Data Get_Attribute_Single N/A

Get_Attribute_Single,

0xB0

Set_Attribute_Single

A2 05 A1 01

N/A

C1 D1 C3

N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

Assembly Class (4) - Basic Status (70) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3 0x03 Data Get_Attribute_Single N/A

0xB0

Get_Attribute_Single, Set_Attribute_Single

A2 05 A1 01

N/A

C1 D1 C3

N/A N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

36 • vacon FAULT TRACKING

176

User Label

Minimum,

Type

176

User Label

3 0x03

Data

Get_Attribute_Single

N/A

A2 05 A1 01

176

User Label

176

User Label

Assembly Class (4) - Speed Status (71) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3 0x03 Data Get_Attribute_Single N/A

0xB0

Get_Attribute_Single, Set_Attribute_Single

A2 05 A1 01

C1 D1 C3

N/A N/A

N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

Assembly Class (4) - Torque Status (73) # Attribute Name Services Default, Data Description

Maximum

3 0x03 Data Get_Attribute_Single N/A

0xB0

Get_Attribute_Single, Set_Attribute_Single

A2 05 A1 01

N/A

C1 D1 C3

N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

Assembly Class (4) - Extended Process Control (75) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

N/A

C1 D1 C3

N/A

0xB0

Get_Attribute_Single, Set_Attribute_Single

N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

Assembly Class (4) - Extended Vendor Status (107) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3 0x03 Data Get_Attribute_Single N/A

Get_Attribute_Single,

0xB0

Set_Attribute_Single

A2 05 A1 01

C1 D1 C3

N/A N/A

N/A

DA User Supplied name for the Instance.

N/A N/A

Maximum of 8 characters

FAULT TRACKING vacon • 37

4

Optional attribute list

Get_Attribute_Single

{1,176}

A2 04 C7 A1

176

Object Name

Get_Attribute_Single

"DeviceNet

DA

ASCII Name for the object Class

180

186

section. Individual elements are accessed

190

Instance ID List

Get Member,

N/A

A1 01 C7

Array of instance IDs supported by this

DeviceNet Connection Object Class Code 0x05

DeviceNet Connection Class (5) - Class Attributes (0) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

1

Revision Get_Attribute_Single 1

0x01

2

Max Instance Get_Attribute_Single 2

0x02

3

Number of Instances Get_Attribute_Single 2

0x03

C7 Revision of this object 1 1

C7 2 2

0x04

5

Optional service list Get_Attribute_Single {1,16}

0x05

6

Max Class Attribute

0x06

ID

7

Max Instance

0x07

Attribute ID

0xB0

Class Attribute List Get Member,

0xB4

Instance Attribute

0xBA

List

0xBE

Get_Attribute_Single 190

Get_Attribute_Single 176

CH_Get_Member

Get Member, CH_Get_Member

CH_Get_Member

{1,176} {1,176}

{1,16} {1,16}

190 190

176 176

Connection"

N/A N/A N/A

N/A N/A

01 C7

A2 04 C7 A1

01 C7

C7

A1 08 A2 06

C7 DA DA A1

01 C6

A1 08 A2 06

C7 DA DA A1

01 C6

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service. Each Element describes an instance attribute. The Array's elements are structs as described in the semantics

using the Get Member service.

class

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

38 • vacon FAULT TRACKING

Produced Connection

Produced Connection Produced Connection

176

User Label

DeviceNet Connection Class (5) - Explicit Connection Instance (1) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

1

State Get_Attribute_Single 0

0x01

2

Instance Type Get_Attribute_Single 0

0x02

3

Transport Class Trigger

0x03

4

Produced Connection

0x04

Id

5

Consumed

0x05

Connection Id

6

Inital Comm

0x06

Characteristics

7

0x07

Size

8

Consumed

0x08

Connection Size

9

Expected Packet Rate Get_Attribute_Single,

0x09

12

Watchdog Timeout

0x0C

Action

13

0x0D

Path Length

14

0x0E

Path

15

Consumed

0x0F

Connection Path Length

16

Consumed

0x10

Connection Path

0xB0

Get_Attribute_Single 0x83

Get_Attribute_Single N/A

Get_Attribute_Single 0x21

Get_Attribute_Single 41

Set_Attribute_Single

Get_Attribute_Single, Set_Attribute_Single

Get_Attribute_Single 0

Get_Attribute_Single N/A

Get_Attribute_Single 0

Get_Attribute_Single N/A

Get_Attribute_Single, Set_Attribute_Single

C6 State of the object 0 5

C6 Indicates either I/O or messaging 0 0

D1 Defines Behavior of the connection

0x83 0x83

C7 Placed in CAN Identifier Field when the

0x403

0x5FB

C7 CAN Identifier Field value that denotes

0x404

0x5FC

D1 Defines the Message Group(s) across

0x21 0x21

C7 Maximum number of bytes transmitted

41 41

C7 Maximum number of bytes received

41 41

2500

C7 Defines timing associated with this 0

65535

1

C6 Defines how to handle Inactivity/Watchdog 1 3

C7 Number of bytes in the 0 0

A1 01 C6 Application Obj. producing data on this

N/A N/A

C7 Number of bytes in the 0 0

A1 01 C7 Specifies the Application Object(s) that are

N/A N/A

N/A

DA User Supplied name for the Instance.

N/A N/A

connection 0=Explicit

Connection Transmits

message to be received

which productions and consumptions associated with this

across this Connection

Connection

timeouts. 1-Auto Delete 3-Defered Delete An attempt to set this attribute to the value 2 will result in an Invalid Attribute Value error.

produced_connection_path length attribute

connection

consumed_connection_path length attribute

to receive the data consumed by this Connection Object

Maximum of 8 characters

FAULT TRACKING vacon • 39

4

Produced Connection

Get_Attribute_Single

N/A

C7

Placed in CAN Identifier Field when the

Produced Connection

Produced Connection Produced Connection

176

User Label

DeviceNet Connection Class (5) - Polled IO Connection Instance (2) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

1

State Get_Attribute_Single 0

0x01

2

Instance Type Get_Attribute_Single 1

0x02

3

Transport Class Trigger

0x03

0x04

Id

5

Consumed Connection Id

0x05

6

Inital Comm

0x06

Characteristics

7

0x07

Size

8

Consumed Connection Size

0x08

9

Expected Packet Rate Get_Attribute_Single,

0x09

12

Watchdog Timeout

0x0C

Action

13

0x0D

Path Length

14

0x0E

Path

15

Consumed

0x0F

Connection Path Length

16

Consumed

0x10

Connection Path

0xB0

Get_Attribute_Single 0x83

Get_Attribute_Single N/A

Get_Attribute_Single 1

Get_Attribute_Single 4

Set_Attribute_Single

Get_Attribute_Single, Set_Attribute_Single

Get_Attribute_Single 6

Get_Attribute_Single N/A

Get_Attribute_Single 6

Get_Attribute_Single N/A

Get_Attribute_Single, Set_Attribute_Single

C6 State of the object 0 4

C6 Indicates either I/O or messaging 1 1

D1 Defines Behavior of the connection

0x83 0x83

0x3C0 0x3FF

C7 CAN Identifier Field value that denotes

0x405

0x5FD

D1 Defines the Message Group(s) across 1 1

C7 Maximum number of bytes transmitted 0 6

C7 Maximum number of bytes received 0 6 0

C7 Defines timing associated with this 0

65535

0

C6 Defines how to handle Inactivity/Watchdog 0 2

C7 Number of bytes in the 6 6

A1 01 C6 Application Obj. producing data on this

N/A N/A

C7 Number of bytes in the 6 6

A1 01 C7 Specifies the Application Object(s) that are

N/A N/A

N/A

DA User Supplied name for the Instance.

N/A N/A

connection 1 = I/O

Connection Transmits

message to be received

which productions and consumptions associated with this

across this Connection

Connection

timeouts. 1-Auto Delete 3-Defered Delete An attempt to set this attribute to the value 2 will result in an Invalid Attribute Value error.

produced_connection_path length attribute

connection

consumed_connection_path length attribute

to receive the data consumed by this Connection Object

Maximum of 8 characters

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

40 • vacon FAULT TRACKING

#

Attribute Name

Services

Default,

Data

Description

3

Number of Instances

Get_Attribute_Single

1

C7

176

Object Name

Get_Attribute_Single

"Motor Data"

DA

ASCII Name for the object Class

186

Instance Attribute

Get Member,

N/A

A1 08 A2 06

Each Element describes an instance

section. Individual elements are accessed

Motor Data Object

Class Code 0x28

Motor Data Object Class (40) - Class Attributes (0)

Minimum, Type Maximum

1

Revision Get_Attribute_Single 1

0x01

2

Max Instance Get_Attribute_Single 1

0x02

C7 Revision of this object 1 1

C7 1 1

0x03

4

Optional attribute list Get_Attribute_Single {1,176}

0x04

5

Optional service list Get_Attribute_Single {1,16}

0x05

6

Max Class Attribute

0x06

ID

7

Max Instance

0x07

Attribute ID

0xB0

180

Class Attribute List Get Member,

0xB4

0xBA

List

190

Instance ID List Get Member,

0xBE

Get_Attribute_Single 190

Get_Attribute_Single 176

CH_Get_Member

{1,176} {1,176}

{1,16} {1,16}

190 190

176 176

"Motor Data" "Motor Data"

N/A N/A N/A

N/A N/A

N/A N/A N/A

1 1

A2 04 C7 A1

01 C7

A2 04 C7 A1

01 C7

C7

A1 08 A2 06

C7 DA DA A1

01 C6

C7 DA DA A1

01 C6

A1 01 C7 Array of instance IDs supported by this

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service.

attribute. The Array's elements are structs as described in the semantics

using the Get Member service.

class

FAULT TRACKING vacon • 41

0x07

180

Units: [V]

176

Motor Data Object Class (40) - Class Attributes (1) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

3

Motor Type Get_Attribute_Single 7

0x03

6 RatedCurrent[100mA] Get_Attribute_Single 70 C7 Rated Stator Current

C6 Type of Motor Represented by This 7 7

Instance 0 – Non-standard motor 1 - PM DC Motor 2 - FC DC Motor 3 - PM Synchronous Motor 4 - FC Synchronous Motor 5 - Switched Reluctance Motor 6 - Wound Rotor Induction Motor 7 - Squirrel Cage Induction Motor 8 - Stepper Motor 9 - Sinusoidal PM BL Motor 10 - Trapezoidal PM BL Motor

0x06

7 RatedVoltage[V] Get_Attribute_Single 230 C7 Rated Base Voltage

9 RatedFrequency[Hz] Get_Attribute_Single 50 C7 Rated Electrical Frequency

0x09

12 PoleCount[pair*2] Get_Attribute_Single 4 C7 Number of poles in the motor

0x0C

15

BaseSpeed[RPM] Get_Attribute_Single 1440

0x0F

User Label Get_Attribute_Single,

0xB0

Set_Attribute_Single

0

16000

690

30

500

2

16

C7 Nominal speed at rated frequency from 1

30000

N/A

DA User Supplied name for the Instance.

N/A N/A

Units: [100mA]

Units: [Hz]

nameplate

Units: [RPM]

Maximum of 8 characters

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

42 • vacon FAULT TRACKING

#

Attribute Name

Services

Default,

Data

Description

3

Number of Instances

Get_Attribute_Single

1

C7

176

Object Name

Get_Attribute_Single

“Control

DA

ASCII Name for the object Class

“Control

section. Individual elements are accessed

Control Supervisor Object

Class Code 0x29

Control Supervisor Object Class (41) – Class Attributes (0)

Minimum, Type Maximum

1

Revision Get_Attribute_Single 1

0x01

2

Max Instance Get_Attribute_Single 1

0x02

C7 Revision of this object 1 1

C7 1 1

0x03

4

Optional attribute list Get_Attribute_Single {1,176}

0x04

5

Optional service list Get_Attribute_Single {1,16}

0x05

6

Max Class Attribute

0x06

ID

7

Max Instance

0x07

Attribute ID

0xB0

180

Class Attribute List Get Member,

0xB4

186

Instance Attribute

0xBA

List

Get_Attribute_Single 190

Get_Attribute_Single 176

CH_Get_Member

Get Member, CH_Get_Member

{1,176} {1,176}

{1,16} {1,16}

190 190

176 176

Supervisor”

N/A N/A N/A

1 1

A2 04 C7 A1

01 C7

A2 04 C7 A1

01 C7

C7

A1 08 A2 06

C7 DA DA A1

01 C6

A1 08 A2 06

C7 DA DA A1

01 C6

Each Element describes a class attribute. The Array’s elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service.

Each Element describes an instance attribute. The Array’s elements are structs as described in the semantics

190

Instance ID List Get Member,

0xBE

CH_Get_Member

using the Get Member service.

N/A

A1 01 C7 Array of instance Ids supported by this

N/A N/A

class

FAULT TRACKING vacon • 43

3

Run1

Get_Attribute_Single,

0

C1

Run Forward Request

1

14

WarnCode

Get_Attribute_Single

N/A,

C7

If in Enabled state, WarnCode indicates

Control Supervisor Object Class (41) - Instance Attributes (1) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

0x03

4 Run2 Get_Attribute_Single, 0 C1 Run Reverse Request

0x04

5

NetCtrl Get_Attribute_Single,

0x05

6 State Get_Attribute_Single N/A C6 State of Control Supervisor Instance

0x06

7 Running1 Get_Attribute_Single N/A, C1 Running Forward Status

0x07

8 Running2 Get_Attribute_Single N/A, C1 Running Reverse Status

0x08

9 Ready Get_Attribute_Single N/A, C1 Ready to Accept a Run Event

0x09

10 Faulted Get_Attribute_Single N/A, C1 Fault Occurred

0x0A

11 Alarm Get_Attribute_Single N/A, C1 Alarm Present

0x0B

12 FaultRst Get_Attribute_Single, 0 C1 Fault Reset Request

0x0C

13

FaultCode Get_Attribute_Single N/A,

0x0D

Set_Attribute_Single 0

Set_Attribute_Single

Set_Attribute_Single 0

65535

1 0

C1 Requests Run/Stop control to be local or 0 1

0 7

0 1

1

C7 If in Faulted state, FaultCode indicates the

0,

from network

1 = Startup

2 = Not_Ready 3 = Ready 4 = Enabled 5 = Stopping 6 = Fault_Stop 7 = Faulted

0 = Other state 1 = Running Forward

0 = Other state 1 = Running reverse

0 = Other state 1 = Ready to accept a Run Event

0 = No faults present 1 = Fault occurred (latched)

0 = No Alarms present 1 = Alarm present (not latched)

0 = No action 0 -> 1 = Fault reset request 1 = No action

fault that caused the transition to Faulted state. If not in Faulted state, FaultCode indeicates the fault that caused the last transition to Faulted state. Fault codes are listed in DeviceNet Volume II, section 6-29.6

0x0E

15

CtrlFromNet Get_Attribute_Single N/A,

0x0F

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

0,

65535

C1 Status of Run/Stop control source 0 1

the lowest valued alarm that caused the Alarm bit to be TRUE. Alarm codes are listed in DeviceNet Volume II, section 6-

29.6

0 = Control is local 1 = Control is from network

44 • vacon FAULT TRACKING

DNFaultMode

176

User Label

16

0x10

0xB0

Get_Attribute_Single,

Set_Attribute_Single

Get_Attribute_Single, Set_Attribute_Single

0

C6 Action on loss of DeviceNet 0 2

N/A

DA User Supplied name for the Instance.

N/A N/A

0 = Fault and Stop 1 = Ignore 2 = Use preset speed and direction ATTENTION: Ignoring communication faults may result in equipment damage, personal injury, or death. Ensure that you understand how ignoring a communication fault may affect the operation of your system.

Maximum of 8 characters

FAULT TRACKING vacon • 45

#

Attribute Name

Services

Default,

Data

Description

3

Number of Instances

Get_Attribute_Single

1

C7

176

Object Name

Get_Attribute_Single

"AC\DC Drive"

DA

ASCII Name for the object Class

"AC\DC Drive"

section. Individual elements are accessed

Requests torque or speed reference to be

DriveMode

AC/DC Drive Object

Class Code 0x2A

AC/DC Drive Object Class (42) - Class Attributes (0)

Minimum, Type Maximum

1

Revision Get_Attribute_Single 1

0x01

2

Max Instance Get_Attribute_Single 1

0x02

C7 Revision of this object 1 1

C7 1 1

0x03

4

Optional attribute list Get_Attribute_Single {1,176}

0x04

5

Optional service list Get_Attribute_Single {1,16}

0x05

6

Max Class Attribute

0x06

ID

7

Max Instance

0x07

Attribute ID

0xB0

180

Class Attribute List Get Member,

0xB4

186

Instance Attribute

0xBA

List

190

Instance ID List Get Member,

0xBE

AC/DC Drive Object Class (42) - Instance Attributes (1)

# Attribute Name Services Default, Data Description

3

AtReference Get_Attribute_Single N/A

0x03

4

NetRef Get_Attribute_Single,

0x04

6

0x06

Get_Attribute_Single 190

Get_Attribute_Single 176

"AC\DC Drive"

CH_Get_Member

Get Member, CH_Get_Member

CH_Get_Member

Minimum, Type Maximum

Set_Attribute_Single

Get_Attribute_Single, 1 C6 1 = Open loop speed (Frequency) Set_Attribute_Single 1

1 1

A2 04 C7 A1

01 C7

{1,176} {1,176}

A2 04 C7 A1

{1,16}

01 C7

{1,16}

C7

190 190

C7

176 176

N/A

A1 08 A2 06

N/A

C7 DA DA A1

N/A

01 C6

N/A

A1 08 A2 06

N/A

C7 DA DA A1

N/A

01 C6

N/A

A1 01 C7 Array of instance IDs supported by this

N/A N/A

C1 1 = Drive actual at reference (speed or 0 1 0

C1 0 1

3

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service. Each Element describes an instance attribute. The Array's elements are structs as described in the semantics

using the Get Member service.

class

torque reference) based on mode

local or from the network

0 = Set Reference not DN Control 1 = Set Reference at DN Control Note that the actual status of torque or

speed reference is reflected in attribute 29, RefFromNet

3 = Torque control

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

46 • vacon FAULT TRACKING

0x08

Set_Attribute_Single

1

Units: RPM

0x09

0

Units: 100mA

0x0F

0

Units: Watts

0x15

0

Units: RPM

176

User Label

7 SpeedActual[RPM] Get_Attribute_Single N/A, C3 Actual drive speed (best approximation)

0x07

8 SpeedRef[RPM] Get_Attribute_Single, 1 C3 Speed reference

9 CurrentActual[100mA] Get_Attribute_Single N/A, C3 Actual motor phase current

10 CurrentLimit[100mA] Get_Attribute_Single N/A, C3 Motor phase current limit

0x0A

11 TorqueActual[Nm] Get_Attribute_Single N/A, C3 Actual torque

0x0B

12 TorqueRef[Nm] Get_Attribute_Single, 0 C3 Torque reference

0x0C

15 PowerActual[W] Get_Attribute_Single N/A, C3 Actual output power

16 InputVoltage[V] Get_Attribute_Single N/A C3 Input Voltage

0x10

17 OutputVoltage[V] Get_Attribute_Single N/A C3 Output Voltage

0x11

20 LowSpdLimit[RPM] Get_Attribute_Single 0 C7 Minimum speed limit

0x14

21 HighSpdLimit[RPM] Get_Attribute_Single 1800 C7 Maximum speed limit

Set_Attribute_Single 0

30000

32767

10000

32767

180 690

690

30000

0

Units: RPM

Units: 100mA

Units: Nm

Units: Volts

Units: RPM

30000

29 RefFromNet Get_Attribute_Single N/A C1 Status of torque/speed reference

0x1D

0xB0

Get_Attribute_Single, Set_Attribute_Single

0 1

N/A

DA User Supplied name for the Instance.

N/A N/A

0 = Local torque/speed reference 1 = DeviceNet torque/speed reference

Maximum of 8 characters

FAULT TRACKING vacon • 47

Minimum,

Type

Size

section. Individual elements are accessed

xx

176

User Label

Parameter Object

Class Code 0xA0

Parameter Class (160) - Class Attributes (0) # Attribute Name Services Default, Data Description

Maximum

1

Revision Get_Attribute_Single 1

0x01

2

Max Instance Get_Attribute_Single 1

0x02

3

Number of Instances Get_Attribute_Single 1

0x03

4

Optional attribute list Get_Attribute_Single {1,176}

0x04

5

Optional service list Get_Attribute_Single {1,16}

0x05

6

Max Class Attribute

0x06

ID

7

Max Instance

0x07

Attribute ID

176

Object Name Get_Attribute_Single "Parameter",

0xB0

180 Class Attribute List Get Member, N/A, A1 08 A2 06

0xB4

186 Instance Attribute

List

Get_Attribute_Single 190

Get_Attribute_Single 176

"Parameter", "Parameter",

CH_Get_Member N/A,

N/A

Get Member, N/A, A1 08 A2 06

C7 Revision of this object 1 1

C7 1 1

A2 04 C7 A1

{1,176}

01 C7

{1,176}

A2 04 C7 A1

{1,16}

01 C7

{1,16}

C7

190 190

C7

176 176

DA ASCII Name for the object Class

C7 DA DA A1

01 C6

C7 DA DA A1

01 C6

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service.

Each Element describes an instance attribute. The Array's elements are structs as described in the semantics

0xBA

190 Instance ID List Get Member, N/A, A1 01 C7 Array of instance IDs supported by this

0xBE

Parameter Class (160) - Class Attributes (1)

# Attribute Name Services Default, Data Description

1-1999

0xB0

CH_Get_Member N/A,

N/A

CH_Get_Member N/A,

N/A

Minimum, Type Maximum

Get_Attribute_Single, Set_Attribute_Single

N/A

C7 Drive Parameters. Attributes are defined

N/A N/A N/A

DA User Supplied name for the Instance.

N/A N/A

using the Get Member service.

class

in EDS file (Depend on drive application).

Maximum of 8 characters

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

48 • vacon FAULT TRACKING

"Monitoring

0xB0

"Monitoring

section. Individual elements are accessed

Monitoring Data Object

Class Code 0xAA

Monitoring Data Class (170) - Class Attributes (0) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

1

Revision Get_Attribute_Single 1

0x01

2

Max Instance Get_Attribute_Single 1

0x02

3

Number of Instances Get_Attribute_Single 1

0x03

4

Optional attribute list Get_Attribute_Single {1,176}

0x04

5

Optional service list Get_Attribute_Single {1,16}

0x05

6

Max Class Attribute

0x06

ID

7

Max Instance Attribute ID

0x07

176 Object Name Get_Attribute_Single

Get_Attribute_Single 190

Get_Attribute_Single 176

C7 Revision of this object 1

65535

C7 1 1

A2 04 C7 A1

{1,176}

01 C7

{1,176}

A2 04 C7 A1

{1,16}

01 C7

{1,16}

C7

190 190

C7

176 176

DA ASCII Name for the object Class

Data"

180 Class Attribute List Get Member, N/A, A1 08 A2 06

0xB4

186 Instance Attribute

List

0xBA

190 Instance ID List Get Member, N/A, A1 01 C7 Array of instance IDs supported by this

0xBE

CH_Get_Member N/A,

N/A

Get Member, N/A, A1 08 A2 06

CH_Get_Member N/A,

N/A

CH_Get_Member N/A,

N/A

C7 DA DA A1

01 C6

C7 DA DA A1

01 C6

Each Element describes a class attribute. The Array's elements are structs as described in the semantics section. Individual elements are accessed using the Get Member service.

Each Element describes an instance attribute. The Array's elements are structs as described in the semantics

using the Get Member service.

class

FAULT TRACKING vacon • 49

0x63

SafeStateType

PresetDir

Monitoring Data Class (170) - Class Attributes (1) # Attribute Name Services Default, Data Description

Minimum, Type Maximum

1-99 Get_Attribute_Single N/A

0x01-

101

E1 Get_Attribute_Single,

0x65

102

E2 Get_Attribute_Single,

0x66

103

E3 Get_Attribute_Single,

0x67

104

E4 Get_Attribute_Single,

0x68

105

E5 Get_Attribute_Single,

0x69

106

E6 Get_Attribute_Single,

0x6A

107

E7 Get_Attribute_Single,

0x6B

108

E8 Get_Attribute_Single,

0x6C

109

EC Get_Attribute_Single,

0x6D

110

0x6E

111

0x6F

Set_Attribute_Single

Get_Attribute_Single, Set_Attribute_Single

C7 Actual Values. Attributes are defined in

N/A N/A

N/A

C7 0

65535

N/A

C7 0

65535

N/A

C7 0

65535

N/A

C7 0

65535

N/A

C7 0

65535

N/A

C7 0

65535

N/A

C7 0

65535

N/A

C7 0

65535

N/A

C7 0

65535

0

C7 Selects Safe State response to errors 0 2

N/A

C7 Sets safe state direction of rotation if the 0 1

EDS file (Depend on drive application).

which specify safe state operation. Currently only a loss of connection other than by de-allocation is a safe state error. Alarm: Review the application for safe operation before specifying a value for this attribute. 0 = DriveFault (fault and stop) 1 = No Action (hold last speed) 2 = Preset Speed/Direction

Safe State Behavior attribute specifies "Preset Speed/Direction" . Alarm: Review the application for safe operation before specifying a value for this attribute. Inverter will require external stop. 0 = Forward 1 = Reverse

24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com

50 • vacon FAULT TRACKING

112

PresetRPM

Get_Attribute_Single,

N/A

C7

Sets safe state speed reference (RPM) if

PresetTq

Sets safe state torque reference (0,00%) if

Polled Input Assembly Type

Polled Output Assembly Type

176

User Label

0x70

113

0x71

120

0x78

121

0x79

0xB0

Set_Attribute_Single

Get_Attribute_Single, Set_Attribute_Single

Get_Attribute_Single Set_Attribute_Single

Get_Attribute_Single, Set_Attribute_Single

0

30000

N/A

C7 0

10000

71

C7 Input assembly used by the polled

70 73 75

107

21

C7 Output assembly used by the polled

20 23 25

101

N/A

DA User Supplied name for the Instance.

N/A N/A

the Safe State Behavior attribute specifies "Preset Speed/Direction". Alarm: Review the application for safe operation before specifying a value for this attribute. Inverter will require external stop.

connection

Maximum of 8 characters

Find your nearest Vacon office

on the Internet at:

www.vacon.com

Manual authoring: documentation@vacon.com

Vacon Plc. Runsorintie 7 65380 Vaasa Finland

Document ID:

Rev. A

Danfoss vacon nx, optc7 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1. GENERAL

2. DEVICENET OPTION BOARD TECHNICAL DATA

2.1 General

2.2 DeviceNet features and functionality

3. DEVICENET

3.1 Introduction

3.2 DeviceNet physical layer and media

4. DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS

4.1 DeviceNet option board

4.2 LED indications

Network status LED (N)

Module status LED (M)

Node address LED (A)

LED test

4.3 Connection of DeviceNet drop-line cable

5. INSTALLATION OF VACON NX DEVICENET OPTION BOARD

5.1 Board information sticker

6. COMMISSIONING

6.1 DeviceNet Configuration Tool

6.2 Setting DeviceNet parameters with the control keypad

DeviceNet parameters

DeviceNet status

7. VACON DEVICENET INTERFACE

7.1 I/O Messaging

Input and Output Assemblies

Programming of Output 101 and Input 107

Control Supervisor Behaviour

Drive State for Control Supervisor:

Other logic equations

7.2 Explicit Messaging

List of Object Classes

List of services

List of data types

Elementary Data Types

Constructed Data Types

Reset service

8. FAULT TRACKING

APPENDIX 1

APPENDIX 2