Danfoss vacon nx optc6 User guide
VACON® NX
AC DRIVES
OPTC6
CANOPEN OPTION BOARD
USER MANUAL
1
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INDEX |
Document code: DPD00896B |
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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. |
CANOPENVACON® 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 |
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11. |
APPENDICES .................................................................................................................... |
46 |
appendix a - device profile for drives ..................................................................................................... |
46 |
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appendix b sdo messages.................................................................................................................... |
47 |
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appendix c process data contents ....................................................................................................... |
48 |
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appendix d .............................................................................................................................................. |
49 |
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Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
2 |
GENERAL |
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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.
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.
DANGER
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/.
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
1
CANOPEN OPTION BOARD TECHNICAL DATA |
3 |
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2.CANOPEN OPTION BOARD TECHNICAL DATA
2.1 General
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CANopen |
Interface |
Open Style Connector (Pluggable connector, 5.08mm) |
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connections |
Data transfer |
CAN (ISO 11898) |
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method |
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Transfer cable |
2 wire twisted shielded cable |
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Electrical isolation |
500 VDC |
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Communications |
CANopen |
CiA DS-301 |
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CiA DSP-402 |
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Baud rate |
10 kBaud |
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20 kBaud |
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50 kBaud |
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100 kBaud |
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125 kBaud |
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250 kBaud |
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500 kBaud |
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1000 kBaud |
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Addresses |
1 127 |
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Environment |
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The specifications of the drive are applicable. |
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Safety |
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Fulfils EN50178 standard |
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Table 2-1. CANopen technical data
2.2CANopen 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:
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Baudrate [Kbit/s] |
Max. Bus length [m] |
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1000 |
30 |
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800 |
50 |
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500 |
100 |
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250 |
250 |
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125 |
500 |
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50 |
1000 |
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20 |
2500 |
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Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
2
4 |
CANOPEN |
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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
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
3
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS |
5 |
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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.
4.1CANopen option board
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A |
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M |
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1 |
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2 |
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3 |
X6 |
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4 |
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5 |
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Bus connector |
Jumpers |
Interface board |
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Grounding plate |
connector |
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Figure 4-1. VACON® CANopen option board OPT-C6 |
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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
4.2Bus 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 |
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OFF |
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Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4
6 |
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS |
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4.3LED indications
The CANopen Option Board includes two LED status indicators next to the connector: Fieldbus status (M), CANopen(A). Led N is unused.
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N Not used |
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A Green |
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M Green |
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1 |
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2 |
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3 |
X6 |
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4 |
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5 |
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X1 |
Figure 4-2. LED indications on the CANopen board
CANopen board status LED (A) GREEN
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LED is: |
Meaning: |
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OFF |
Option board not activated |
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ON |
Option board in initialisation state waiting for activation |
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command from the AC drive |
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Blinking fast |
Option board is activated and in RUN state |
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(1 blink / s) |
Option board is ready for external communication |
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Blinking slow |
Option board is activated and in FAULT state |
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(1 blink/ 5s) |
Internal fault of option board |
Fieldbus status LED (M) GREEN |
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LED is: |
Meaning: |
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OFF |
Fieldbus module is waiting for parameters from the AC |
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drive |
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No external communication |
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ON |
Fieldbus module is activated |
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Parameters received and module activated |
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Module is waiting for messages from the bus |
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Blinking fast |
Module is activated and receiving messages from the bus |
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(1 blink / s) |
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Blinking slow |
Module is in FAULT state |
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(1 blink / 5s) |
No messages from Master within the watchdog time |
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Bus broken, cable loose or Master off line |
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS |
7 |
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4.4Connection 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.
4.4.1Grounding 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
CanOpen cable |
CanOpen cable |
CanOpen cable |
Figure 4-3. Grounding by clamping the cable to the AC drive frame
1Strip 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).
2Leave 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
3Insert the data cables of both CANopen cables into terminals #2 and #4. See Figure 4-7.
4Strip 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.
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4
8 |
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS |
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4.4.2 Grounding the bus cable shield directly to the AC drive frame using jumper X1
1 Set jumper X1 in ON position:
ON
OFF
X1
Figure 4-5. Jumper X1 positions
2Strip 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.
3Leave 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.
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS |
9 |
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Figure 4-8.
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4
10 |
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS |
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4We 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.
5Place 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.
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS |
11 |
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4.4.2.1Grounding 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.
A |
B |
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C |
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CanOpencable |
CanOpen cable |
CanOpen cable |
Figure 4-11. Grounding with RC filter
1 Set jumper X1 in OFF position
ON |
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1 |
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2 |
OFF |
3 |
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4 |
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5 |
A 
M
X1
Figure 4-12. Jumper X1 positions
2 Carry out the grounding in the same way as advised in Chapter 4.4.1.
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4
12 |
INSTALLATION OF VACON® NX CANOPEN BOARD |
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5.INSTALLATION OF VACON® NX CANOPEN BOARD
MAKE SURE THAT THE AC DRIVE IS SWITCHED OFF BEFORE AN OPTION OR
FIELDBUS BOARD IS CHANGED OR ADDED!
NOTE
A |
VACON® NX AC drive |
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B |
Remove the cable cover. |
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C |
Open the cover of the control unit. |
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Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
5
INSTALLATION OF VACON® NX CANOPEN BOARD |
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D |
Install CANopen option board in slot E |
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on the control board of the AC drive. |
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Make sure that the grounding plate (see |
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below) fits tightly in the clamp. |
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X6 |
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X1 |
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E |
Make a sufficiently wide opening for |
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your cable by cutting the grid as wide as |
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necessary. |
F |
Close the cover of the control unit and |
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the cable cover. |
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Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
5
14 |
INSTALLATION OF VACON® NX CANOPEN BOARD |
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5.1Board 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.
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1 |
3 |
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Drive modified: |
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Option board: |
N XOPT................ |
Date:................... |
in slot: |
A B C |
D E |
IP54 upgrade/ Collar |
Date:................... |
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EMC level modified: HT / |
T H Date:................... |
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2
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
5
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