Danfoss vacon nx optc6 User guide

vacon® nx

ac drives

optc6

canopen option board

user manual

1

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

INDEX Document code: DPD00896B

Date: 24.08.2017

1. GENERAL ........................................................................................................................... 2

2. CANOPEN OPTION BOARD TECHNICAL DATA .................................................................... 3

2.1 General ..................................................................................................................................... 3

2.2 CANopen cable ......................................................................................................................... 3

3. CANOPEN ........................................................................................................................... 4

4. CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS .................................................. 5

4.1 CANopen option board ............................................................................................................. 5

4.2 Bus terminal resistors ............................................................................................................. 5

4.3 LED indications ......................................................................................................................... 6

4.4 Connection of CANopen bus cable ........................................................................................... 7

5. INSTALLATION OF VACON® NX CANOPEN BOARD ........................................................... 12

5.1 Board information sticker ...................................................................................................... 14

6. COMMISSIONING .............................................................................................................. 15

7. CANOPEN- VACON® NX INTERFACE................................................................................. 19

7.1 CANopen message frame ...................................................................................................... 19

7.2 Network Management (NMT) ................................................................................................. 21

7.3 Process data (PDO) ................................................................................................................. 22

7.4 Transmission types ................................................................................................................ 23

7.5 Controlling the drive via PDO messages with Drive Profile ................................................... 24

7.6 Using manufacturer specific PDOs with ByPass modes ................................ ........................ 27

7.7 Drive Monitoring ..................................................................................................................... 29

7.8 Anyparameter service ............................................................................................................ 30

8. Service Data (SDO) ........................................................................................................... 31

9. Node Guarding Protocol ................................................................................................... 44

10. Electronic Data Sheet, EDS-file ....................................................................................... 45

11. APPENDICES .................................................................................................................... 46

appendix a - device profile for drives ..................................................................................................... 46

appendix b sdo messages .................................................................................................................... 47

appendix c process data contents ....................................................................................................... 48

appendix d .............................................................................................................................................. 49

2 GENERAL

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1

1. GENERAL VACON

®

NX AC drives can be connected to the CANopen system using a fieldbus board. The AC drive

can then be controlled, monitored and programmed from the Host system.
The CANopen fieldbus board is installed in slot D or slot E on the control board of the AC drive.

DANGER

Internal components and circuit boards are at high potential when the AC drive 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.

NOTE! When experiencing problems with fieldbus functionalities, always write down all the texts and
codes on the keypad display. Then send the problem description together with the Drive Info File to
the local distributor. See local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ .

NOTE! You can download the English and French product manuals with applicable safety, warning
and caution information from http://drives.danfoss.com/knowledge-center/technical-

documentation/.

REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit
sur le site http://drives.danfoss.com/knowledge-center/technical-documentation/.

CANOPEN OPTION BOARD TECHNICAL DATA 3

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2

2. CANOPEN OPTION BOARD TECHNICAL DATA

2.1 General

CANopen
connections

Interface

Open Style Connector (Pluggable connector, 5.08mm)

Data transfer
method

CAN (ISO 11898)
Transfer cable

2 wire twisted shielded cable

Electrical isolation

500 VDC

Communications

CANopen
CiA DS-301

CiA DSP-402

Baud rate

10 kBaud
20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud
1000 kBaud

Addresses

1 127

Environment

The specifications of the drive are applicable.

Safety

Fulfils EN50178 standard

Table 2-1. CANopen technical data

2.2 CANopen cable According to the ISO 11898 standard, cables to be chosen for CAN bus lines should have a nominal

impedance of 120, and a specific line delay of nominal 5 ns/m. Line termination has to be provided
through termination resistors of 120 located at both ends of the line. The length related resistance
should have 70 m/m. All these mentioned AC and DC parameters are suitable for a 1 Mbit/s
transmission rate.

The table below shows practical bus length for CANopen networks with less than 64 nodes:

Baudrate [Kbit/s]

Max. Bus length [m]

1000

30

800

50

500

100

250

250

125

500

50

1000

20

2500

4 CANOPEN

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3

3. CANOPEN CANopen is a networking system based on the serial bus Controller Area Network (CAN). The

CANopen Communication Profile (CiA DS-301) supports both direct access to device parameters and
time-critical process data communication. CANopen device profiles (CiA DS-40x) define standards for
basic device functionality while providing ample scope for additional vendor-specific device features.
CANopen leashes the full power of CAN by allowing direct peer to peer data exchange between nodes
in an organised and, if necessary, deterministic manner. The network management functions
specified in CANopen simplify project design, implementation and diagnosis by providing standard
mechanisms for network start-up and error management.
CANopen supports both-cyclic and event-driven communication. This makes it possible to reduce the
bus load to a minimum but still maintaining extremely short reaction times. High communication
performance can be achieved at relatively low baud rates, thus reducing EMC problems and
minimising cable costs.
CANopen is the ideal networking system for all types of automated machinery. One of the
distinguishing features of CANopen is its support for data exchange at the supervisory control level as
well as accommodating the integration of very small sensors and actuators on the same physical
network. This avoids the unnecessary expense of gateways linking sensor/actuator bus systems with
higher communication networks and makes CANopen particularly attractive to original equipment
manufacturers.

Device Profile Drives and Motion Control (CiA DSP-402)

document represents the standardised
CANopen Device Profile for digital controlled motion products like servo controllers, AC drives or
stepper motors. All the above-mentioned devices use communication techniques which conform to
those described in the CANopen Application Layer and Communication Profile. The starting and
stopping of the drive and several mode specific commands are executed by the statemachine. The
operation mode defines the behaviour of the drive. The following modes are defined in this profile:

Homing Mode
Profile Position Mode
Interpolated Position Mode
Profile Velocity Mode
Profile Torque Mode
Velocity Mode

VACON

®

CANopen Option Board supports the Velocity Mode

CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS 5

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4

4. CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS

VACON

®

CANopen Board is connected to the fieldbus through a 5-pin pluggable bus connector (board

NXOPTC6).
The communication with the control board of the AC drive takes place through the standard VACON

®

Interface Board Connector.

4.1 CANopen option board

Figure 4-1. VACON

®

CANopen option board OPT-C6

Signal

Connector

Description

CAN_GND

1

Ground / 0V / V-

CAN_L

2

CAN_L bus line (dominant low)

(CAN_SHLD)

3

Optional CAN shield

CAN_H

4

CAN_H bus line (dominant high)

(CAN_V+)

5

-

Table 4-1.OPT-C6 bus connector signals

4.2 Bus terminal resistors If VACON

®

drive is the last device of the CANopen line the bus termination must be set. Use jumper

X6 (ON position see Figure 4-1), or an external resistor (120) connected to terminals 2 and 4.

ON OFF

X1

A

M

X6

Jumpers

Interface board
connector

Grounding plate

Bus connector

1
2
3
4
5

6 CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS

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4

4.3 LED indications The CANopen Option Board includes two LED status indicators next to the connector: Fieldbus status

(M), CANopen(A). Led N is unused.

Figure 4-2. LED indications on the CANopen board

CANopen board status LED (A) GREEN

LED is:

Meaning:

OFF

Option board not activated

ON

Option board in initialisation state waiting for activation
command from the AC drive

Blinking fast
(1 blink / s)

Option board is activated and in RUN state
Option board is ready for external communication

Blinking slow
(1 blink/ 5s)

Option board is activated and in FAULT state
Internal fault of option board

Fieldbus status LED (M) GREEN

LED is:

Meaning:

OFF

Fieldbus module is waiting for parameters from the AC
drive
No external communication

ON

Fieldbus module is activated
Parameters received and module activated
Module is waiting for messages from the bus

Blinking fast
(1 blink / s)

Module is activated and receiving messages from the bus

Blinking slow
(1 blink / 5s)

Module is in FAULT state
No messages from Master within the watchdog time
Bus broken, cable loose or Master off line

X1

A

M

X6

N

Green
Green

Not used

1
2
3
4
5

CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS 7

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4

4.4 Connection of CANopen bus cable The bus cable shield can be grounded in three different ways:

a) clamping the cable to the AC drive frame
b) to the frame of the AC drive through an RC filter
c) directly to the AC drive frame

Note: Normally, the option board has already been installed in slot E of the control board. It is not
necessary to detach the whole board for the grounding of the bus cable shield. Just detach the
terminal block.

4.4.1

Grounding by clamping the cable to the AC drive frame

This manner of grounding is the most effective and especially recommended when the distances
between the devices are relatively short (see 4.4.2.1).
In this manner of grounding, the position of jumper X1 is of no importance

Figure 4-3. Grounding by clamping the cable to the AC drive frame

1 Strip about 5 cm of the CANopen cable in the same way as shown in Figure 4-4 but cut off the

grey cable shield.
Remember to do this for both bus cables (except for the last device).

2 Leave no more than 1 cm of the data cable outside the terminal block and strip the data cables at

about 0.5 cm to fit in the terminals. See Figures 4-5 and 4-6.
Note: Do this for both bus cabels

3 Insert the data cables of both CANopen cables into terminals #2 and #4. See Figure 4-7.
4 Strip the CANopen cable at such a distance from the terminal that you can fix it to the frame with

the grounding clamp.

Figure 4-4.

c a b l e

c a b l e c a b l e

C a n p e n O

C a n p e n O C a n p e n

O

8 CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS

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4

4.4.2

Grounding the bus cable shield directly to the AC drive frame using jumper X1

1 Set jumper X1 in ON position:

Figure 4-5. Jumper X1 positions

2 Strip about 5 cm of the CANopen cable as shown in the picture.

Note: Do the same for both bus cables (except for the last device). However, since the
grounding must be done on one cable only cut off the exposed part of the other grounding
cable.

Figure 4-6.

3 Leave no more than 1 cm of the red and green data cable outside the terminal block and

strip the data cables at about 0.5 cm to fit in the terminals. See pictures below.
Note: Do this for both bus cabels.

ON

OFF

X1

CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS 9

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4

Figure 4-7.

Figure 4-8.

10 CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS

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4

4 We recommend you to use an Abico connector to fit the grounding cable into the grounding

terminal (#3).
Insert the white and brown data cables of both CANopen cables into terminals #2 (white)
and #4 (brown).

Figure 4-9.

5 Place the CANopen board into slot E of the control board (see board installation on page 12)

and fix both the CANopen cables on the frame with the clamp.

Figure 4-10.

CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS 11

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

4

4.4.2.1 Grounding the bus cable shield directly to the AC drive frame using an RC-filter

We recommend you to do the grounding in this manner when the distance between the devices
exceeds 50 meters (55 yds.). When the distance between the devices is long disturbances (e.g. voltage
spikes) are more likely to appear. In this grounding method, the disturbances are filtered out. Even if
the ground planes of A, B and C are different (which is very typical e.g. in construction) there is no
current between them because the points do not have a ground connection.

Figure 4-11. Grounding with RC filter

1 Set jumper X1 in OFF position

Figure 4-12. Jumper X1 positions

2 Carry out the grounding in the same way as advised in Chapter 4.4.1.

C a n O p e n c a b l e

c a b l e c a b l e

A B C

C a n p e n O C a n p e n

O

X1

A
M

ON

OFF

1
2
3
4
5

12 INSTALLATION OF VACON® NX CANOPEN BOARD

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

5

5. INSTALLATION OF VACON® NX CANOPEN BOARD

!

NOTE

MAKE SURE THAT THE AC DRIVE IS SWITCHED OFF BEFORE AN OPTION OR
FIELDBUS BOARD IS CHANGED OR ADDED!

A

VACON

®

NX AC drive

B

Remove the cable cover.

C

Open the cover of the control unit.

INSTALLATION OF VACON® NX CANOPEN BOARD 13

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5

D

Install CANopen option board in slot E
on the control board of the AC drive.
Make sure that the grounding plate (see
below) fits tightly in the clamp.

X6

X1

1
2
3
4
5

E

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

F

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

14 INSTALLATION OF VACON® NX CANOPEN BOARD

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5

5.1 Board information sticker The CANopen 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.

Drive modified

:

Option board:

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

IP54 upgrade/ Collar

in slot:

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

A B C D E

EMC level modified: H



T / T H

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

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

1

2

3