Danfoss VACON OPTEA, VACON OPTE9 User guide

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User Guide

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Contents

Introduction 10

1.1

Purpose of the Manual 10

Additional Resources 10

1.2

Manual and Software Version 10

1.3

1.4

Type Approvals and Certications 11

1.5

Trademarks 11

1.6

Product Overview 12

1.6.1

Ethernet Networks with VACON® AC drives 12

1.6.2

Fieldbus Protocols 12

1.6.2.1

1.6.2.2

1.6.2.3

Redundancy Protocols 17

1.6.3

Modbus TCP/Modbus UDP 12

PROFINET I/O 16

EtherNet/IP 17

Contents

1.6.3.1

1.6.3.2

1.6.3.3

1.6.3.4

1.6.4

PROFINET Shared Device (OPTEA) 23

1.6.5

Address Conict Detection (ACD) 24

1.6.6

Technical Data 24

1.6.7

VACON® PC Tools 24

1.7

AC Drive Support 25

1.7.1

VACON® OPTEA Advanced Dual Port Ethernet Drive Support 25

1.7.2

VACON® OPTE9 Dual Port Ethernet Drive Support 25

1.8

Symbols and Abbreviations 26

Safety 29

2.1

Safety Symbols 29

2.2

Danger and Warnings 29

2.3

Cautions and Notices 30

Rapid Spanning Tree Protocol (RSTP) 17

Media Redundancy Protocol (MRP) 19

Device Level Ring (DLR) 20

PROFINET System Redundancy (OPTEA) 22

2.4

Grounding 32

Commissioning 34

3.1

Before Commissioning 34

3.1.1

Installing VACON® PC Tools 34

3.1.2

Downloading Fieldbus Option Firmware 34

3.1.3

Downloading Function Blocks for PLC 34

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

3.2

Commissioning with VACON® PC tools 35

3.2.1

Updating Fieldbus Firmware with VACON® Loader 35

3.2.2

Updating Firmware over Ethernet with VACON® Loader 36

3.2.3

Conguring with VACON® NCIPCong 39

3.2.4

Setting the Drive Parameters 40

3.2.4.1

3.2.4.2

3.3

OPTCx Emulation Mode (OPTEA) 43

Control Interface and Communication 46

4.1

Ethernet Communication Overview 46

4.2

Fieldbus Option Board Communication Modes 46

4.2.1

Requirements for Communication Modes 46

4.2.2

Fieldbus Communication Mode Features and Limitations 47

4.2.3

Normal Fieldbus Communication 47

Setting the Drive Parameters with VACON® NCDrive 40

Setting the Drive Parameters with VACON® Live 42

Contents

4.2.4

Fast Fieldbus Communication 48

4.2.5

Fast Safety Fieldbus Communication 49

4.2.6

Normal Extended Mode 49

4.3

Drive Control with Modbus TCP/UDP 49

4.3.1

Modbus Communication Overview 49

4.3.2

Quick Setup for Modbus Connection 49

4.3.3

Data Addresses and Modbus Memory Map 49

4.3.4

Coil Registers 50

4.3.5

Resettable Trip Counters 50

4.3.6

Input Discrete Registers 51

4.3.7

Input Registers 51

4.3.8

Holding Registers 51

4.3.8.1

4.3.8.2

4.3.8.3

4.3.8.4

VACON® Application IDs 52

FB Process Data In 52

FB Process Data Out 54

ID Map 55

4.3.8.5

4.3.8.6

4.3.8.7

4.3.8.8

4.3.8.9

4.3.8.10

4.3.8.11

Operation Day Counter 56

Resettable Operation Day Counter 57

Energy Counter 57

Resettable Energy Counter 58

Fault History 59

Fault History with 16-bit Error Codes 59

Reset Fault History 59

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

4.4

Contents

4.3.8.12

4.3.9

Connection Timeout in Modbus Communication 60

4.3.10

Example Messages 61

4.3.10.1

4.3.10.2

4.3.10.3

Drive Control with PROFINET 63

4.4.1

PROFINET Communication Overview 63

4.4.2

Quick Setup for PROFINET Connection 64

4.4.3

PROFIdrive 4.1 Prole Overview 64

4.4.4

PROFIdrive 4.1 State Machine 64

4.4.5

Telegram Types 66

4.4.5.1

4.4.5.2

Reset Fault with Time Stamps 59

Write Process Data 61

Read Process Data 62

Exception Response 63

Standard Telegram 1 and Variants 67

VACON®-specic Telegram 1 and Variants 68

4.4.5.3

4.4.5.4

4.4.5.5

4.4.5.6

4.4.5.7

4.4.6

Telegram Building Blocks 74

4.4.6.1

4.4.6.2

4.4.6.3

4.4.6.4

4.4.7

PROFIdrive Signal Numbers 77

4.4.8

User-specic Record Data 80

4.4.9

Connection Timeout in PROFINET 80

4.4.10

Examples with Siemens Controller 81

4.4.10.1

4.4.10.2

VACON®-specic Telegram 2 and Variants 69

VACON®-specic Telegram 3 and Variants 70

VACON®-specic Telegram 4 and Variants 71

VACON®-specic Telegram 5 and Variants 72

VACON®-specic Telegram Vendor PPO and Variants 72

PROFIdrive 4.1 Control Word (STW1) 74

PROFIdrive 4.1 Status Word (ZSW1) 75

Setpoint Value 76

Actual Speed Value 77

Conguring with Step 7 81

Conguring with TIA Portal 90

4.4.10.3

4.5

PROFIsafe (OPTEA) 102

4.5.1

Introduction to PROFIsafe 102

4.5.2

PROFIdrive on PROFIsafe 103

4.6

Drive Control with EtherNet/IP 103

4.6.1

EtherNet/IP Communication Overview 103

4.6.2

Quick Setup for EtherNet/IP Connection 104

4.6.3

AC/DC Drive Prole 105

Conguring with SIMATIC PDM 97

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

4.6.4

EDS File 105

4.6.5

CIP Objects 105

4.6.5.1

4.6.5.2

4.6.5.3

4.6.5.4

4.6.5.5

4.6.5.6

4.6.5.7

4.6.5.8

4.6.5.9

4.6.6

Vendor-specic Objects 126

4.6.6.1

4.6.6.2

Identity Object, Class 0x01 105

Message Router Object, Class 0x02 108

Connection Manager Object, Class 0x06 109

TCP/IP Interface Object, Class 0xF5 110

Ethernet Link Object, Class 0xF6 115

Assembly Object, Class 0x04 118

Motor Data Object, Class 0x28 119

Control Supervisor Object, Class 0x29 120

AC/DC Drive Object, Class 0x2A 123

Vendor Parameters Object, Class 0xA0 126

Assembly Instance Selector Object, Class 0xBE 127

Contents

4.6.6.3

4.6.6.4

4.6.7

Supported Assembly Instances Overview 132

4.6.8

CIP I/O Assembly Instances for AC/DC Drive 133

4.6.8.1

4.6.8.2

4.6.9

Vendor-specic I/O Assembly Instances 137

4.6.9.1

4.6.9.2

4.6.10

Mapping of Standard Output Assemblies onto VACON® Data 149

4.6.11

Mapping of VACON® Data onto Standard Input Assemblies 150

4.6.12

Special Assembly Instances 150

4.6.13

Connection Timeout in EtherNet/IP Communication 150

4.7

VACON® Process Data Description 151

4.7.1

Control Word Overview 151

4.7.2

Status Word Overview 155

Motor Control Mode Object, Class 0xA1 129

Fault History Object, class 0xA2 131

CIP Output Instances 135

CIP Input Instances 136

Vendor Output Instances 137

Vendor Input Instances 143

4.7.3

Control and Status Word Monitoring Values 158

4.7.4

Speed Reference and Actual Speed 159

4.7.5

Process Data 159

4.7.6

Fieldbus Process Data 159

4.8

Time Synchronization 162

4.8.1

System Time Update with ID 2551 162

4.8.2

Simple Network Time Protocol (SNTP) 162

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Parameter Access 163

Parameter Access with PROFINET 163

5.1

5.1.1

Parameter Access Sequence 163

Parameter Requests 163

5.1.2

5.1.2.1

5.1.2.2

5.1.2.3

5.1.3

Parameter Responses 165

5.1.3.1

5.1.3.2

5.1.3.3

5.1.3.4

5.1.3.5

5.1.3.6

Request Header 164

Parameter Address 164

Parameter Value 165

Error Response 166

PROFIdrive 4.1 Error Classes and Codes 166

PROFIdrive Parameter Access Errors 167

Response Header 169

Parameter Values 169

Parameter Description Elements 169

Contents

Drive Parameter Access Using Application ID 170

5.1.4

5.1.5

PROFINET Parameters 170

5.1.5.1

5.1.5.2

5.1.5.3

5.1.6

Parameter Channel Examples 173

5.1.6.1

5.1.6.2

5.1.6.3

5.1.6.4

5.1.6.5

5.1.6.6

5.2

Parameter Access with EtherNet/IP 179

5.2.1

Explicit Messaging 179

5.2.2

List of Data Types 179

5.2.3

General CIP Error Codes 180

PROFIdrive Parameters 170

Vendor-specic PROFIdrive Parameters 171

Safety Parameters 173

Request First Element of PNU964 Value 174

Request All Elements of Parameter PNU964 175

Request the Value of Parameter ID 103 176

Change the Value of Drive Parameter ID 103 (Successful) 176

Change the Value of Drive Parameter ID 103 (Unsuccessful) 177

Change the Values of Multiple Drive Parameters (ID 103 and ID 104) 178

5.2.4

Connection Manager Object Error Codes 181

5.2.5

Supported CIP and Vendor Objects 182

Parameters 184

6.1

Option Board Parameters 184

6.1.1

Comm. Protocol 186

6.1.2

Comm. Timeout 186

6.1.3

Mode/Emulation 187

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

6.2

Contents

6.1.4

IP Address Mode 187

6.1.5

Speed and Duplex 188

6.1.6

IP Port Filtering 188

6.1.7

EIP Output Instance 189

6.1.8

EIP Input Instance 189

6.1.9

EIP Product Code Oset 189

6.1.10

Modbus Unit Identier 189

6.1.11

PNIO Name of Station 190

6.1.12

SNTP Mode 190

6.1.13

SNTP IP Address 190

6.1.14

SNTP Port 190

6.1.15

Time Interval 190

6.1.16

Time Oset 190

AC Drive Parameters 191

6.2.1

AC Drive Parameters for Fieldbus Control and Reference Selection 191

6.2.2

Protocol-related ID Reading and Writing 191

6.2.3

Fieldbus Parameters for VACON® 100 Family Standard Application 191

6.2.4

Fieldbus Parameters for VACON® 20 Standard Application 192

6.2.5

Fieldbus Parameters for VACON® 20 X Multipurpose Application 192

6.2.6

Fieldbus Parameters for VACON® NXP Multipurpose Application 192

6.2.7

Torque Control Parameterization 193

6.3

VACON® NXP System Software Parameters for Application Developers 193

6.3.1

System Software Variables for Selecting Communication Modes 194

6.3.2

System Software Variables for Monitoring Supported Communication Modes 194

6.3.3

System Software Variables for Selecting the Input Process Data Slot 194

Monitoring Values 195

7.1

Option Board Monitoring Values 195

7.1.1

MAC Address 197

7.1.2

Media Redundancy 197

7.1.3

System Redundancy (OPTEA) 198

7.1.4

SNTP Status 198

7.1.5

SNTP Server IP 198

7.1.6

Last Update Time 198

7.2

Monitoring Values of Control and Status Words 198

Fault Tracing 200

8.1

LED Indications on VACON® OPTEA/OPTE9 Option Boards 200

8.2

LED Indications with EtherNet/IP 201

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

8.3

8.4

8.5

8.6

8.7

8.8

Contents

PROFINET Alarm System 203

Fault Handling 205

Gathering Diagnostic Data 205

Typical Fault Conditions 205

Other Fault Conditions 206

Fieldbus Fault Codes 207

•

•••••

• NOTE! Download the English and French product manuals with applicable safety, warning and caution information from https://

www.danfoss.com/en/service-and-support/.

REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit contenant l'ensemble des informations de sécurité, avertissements et mises en garde applicables sur le site https://www.danfoss.com/en/service-and-support/.

Manual version

New features

Firmware version

DPD01583C (for OPTE9)

EtherNet/IP protocol

Ethernet ring support (RSTP)

Address Conict Detection (ACD)

V004 (OPTE9)

DPD01583D (for OPTE9)

Media Redundancy Protocol (MRP)

Simple Network Management Protocol (SNMP)

LLDP-MIB, LLDP-EXT-DOT3-MIB, LLDP-EXT-PNO-MIB

EDD les SIMATIC PDM

V006 (OPTE9)

DPD01583E (for OPTE9)

Fast communication modes in VACON® NXP

PROFINET Alarms.

V007 (OPTE9)

DPD01583F (for OPTE9)

Simple Network Time Protocol (SNTP).

Fast MRP support veried

V008 (OPTE9)

Device Level Ring (DLR)

V009 (OPTE9)

DPD01583G (for OPTEA/OPTE9)

PROFINET + PROFIsafe for VACON® NXP

V001 (OPTEA)

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Introduction

1 Introduction

1.1 Purpose of the Manual

The EtherNet/IP user guide provides information about conguring the system, controlling the drive, accessing parameters, programming, troubleshooting, and some typical application examples.

The user guide is intended for use by qualied personnel, who are familiar with the VACON® drives, EtherNet/IP technology, and with the PC or PLC that is used as a master in the system.

Read the instructions before commissioning and programming and follow the procedures in this manual.

1.2 Additional Resources

Resources available for the drive and optional equipment are:

•

VACON® Ethernet Installation Guide provides the necessary information to install the option board to the AC drive.

•

The Operating Guide of the AC drive provides the necessary information to get the drive up and running.

•

The Application Guide of the AC drive provides more details on working with parameters and many application examples.

Supplementary publications and manuals are available from drives.danfoss.com/knowledge-center/technical-documentation/. For US and Canadian markets:

1.3 Manual and Software Version

This manual is regularly reviewed and updated. All suggestions for improvement are welcome. The original language of this manual is English.

Table 1: Manual and Software Version

BC346130105092EN-US-000101 / DPD0158310 | Danfoss A/S © | 2020.06

•

Manual version

New features

Firmware version

Support for all features supported by OPTE9 board including EtherNet/IP and Modbus TCP/UDP protocols

Improved emulation mode with OPTCP, OPTCQ, and OPTCI boards when installed to VACON® NXP

PROFINET System Redundancy "S2"

V002 (OPTEA)

DPD01583H (for OPTEA/OPTE9)

The structure of the manual updated. Installation information removed (see VACON

Ethernet Installation Guide).

Support for 32-bit process data items with VACON® 100 family AC drives.

V003 (OPTEA)

Shared Device

V005 (OPTEA)

089

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

1.4 Type Approvals and Certications

The following list is a selection of possible type approvals and certications for Danfoss drives:

Introduction

N O T I C E

The specic approvals and certication for the drive are on the nameplate of the drive. For more information, contact the local

Danfoss oce or partner.

1.5 Trademarks

EtherNet/IP© is a trademark of ODVA, Inc.

License for LWIP

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Redistribution and use in source and binary forms, with or without modication, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. The name of the author may not be used to endorse or promote products derived from this software without specic prior written permission.

THIS SOFTWARE IS PROVIDED BY THE AUTHOR “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE

Introduction

1.6 Product Overview

1.6.1 Ethernet Networks with VACON® AC drives

The VACON® AC drives can be connected to the Ethernet networks using the VACON® OPTEA Advanced Dual Port Ethernet eldbus option board (OPTEA), or the VACON® OPTE9 Dual Port Ethernet eldbus option board (OPTE9).

OPTEA supports all the features described in this manual. Features that are not supported by OPTE9, are marked with extra (OPTEA) on the title.

The option boards support PROFINET I/O, EtherNet/IP, Modbus TCP, and Modbus UDP eldbus protocols. In addition, the Advanced Dual Port Ethernet board (OPTEA) supports PROFINET I/O with PROFIsafe when the OPTBL/OPTBM/OPTBN option board is also installed. OPTEA also supports advanced features such as PROFINET System Redundancy "S2".

OPTEA can be used alone as PROFINET I/O device. However, PROFIsafe always requires OPTBL/OPTBM/OPTBN option board and VACON® NXP control, too.

The drives can be daisy chained by utilizing two Ethernet ports. The following network topologies are supported. See details in Ethernet Board Installation Guide.

•

Star

•

Daisy chain

•

Ring

Every appliance connected to an Ethernet network has two identiers: a MAC address and an IP address. The MAC address (Address format: xx:xx:xx:xx:xx:xx) is unique for each appliance and cannot be changed. The MAC address of the Ethernet board can be found on the sticker attached to the board.

In a local network, the user can dene the IP addresses as long as all the units connected to the network are given the same network portion of the address. Overlapping IP addresses cause conicts between appliances. For more information about setting IP addresses, see 3.2.3 Conguring with VACON® NCIPCong, 3.2.4.1 Setting the Drive Parameters with VACON® NCDrive, or 3.2.4.2 Set-

ting the Drive Parameters with VACON® Live.

1.6.2 Fieldbus Protocols

1.6.2.1 Modbus TCP/Modbus UDP

Modbus is a communication protocol developed by Modicon systems. In simple terms, it is a way of sending information between electronic devices. The device requesting the information is called the Modbus Master (or the Client in Modbus TCP/UDP) and the devices supplying information are Modbus Slaves (in Modbus TCP/UDP servers).

In a standard Modbus network, there is one Master and up to 247 Slaves, each with a unique Slave Address from 1 to 247. The Master can also write information to the Slaves. Modbus is typically used to transmit signals from instrumentation and control devices back to the main controller or data gathering system.

The Modbus communication interface is built around messages. The format of these Modbus messages is independent of the type of physical interface used.

The same protocol can be used regardless of the connection type. Because of it, Modbus gives the possibility to upgrade easily the hardware structure of an industrial network, without the need for large changes in the software. A device can also communicate with several Modbus nodes at once, even if they are connected with dierent interface types. There is no need to use a dierent protocol for every connection.

BC346130105092EN-US-000101 / DPD0158312 | Danfoss A/S © | 2020.06

Master´s message

Slave response

Start

Address

Function

Data

CRC

End

Start

Address

Function

Data

CRC

End

e30bh904.10

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Illustration 1: Basic Structure of Modbus Frame

Introduction

On simple interfaces like RS485, the Modbus messages are sent in plain form over the network. In this case, the network is dedicated to Modbus. When using more versatile network systems like TCP/IP over Ethernet, the Modbus messages are embedded in packets with the format necessary for the physical interface. In that case Modbus and other types of connections can co-exist at the same physical interface at the same time. Although the main Modbus message structure is peer-to-peer, Modbus is able to function on both point-to-point and multidrop networks.

Each Modbus message has the same structure. Four basic elements are present in each message. The sequence of these elements is the same for all messages, to make it easy to parse the content of the Modbus message. In the Modbus network, the master always starts the conversation. A Modbus master sends a message and depending on the contents of the message, a slave reacts to it. There can be more than one master in a Modbus network. Addressing in the message header is used to dene which device must respond to a message. If the address eld does not match their own address, all other nodes on the Modbus network ignore the message.

Modbus UDP vs TCP

In addition to TCP, the option boards also support UDP (from OPTE9 rmware version V006). We recommend using UDP when reading and writing rapidly and repetitively (cyclically) same data as with process data. Use TCP for single operations, like service data (for example, reading or writing parameter values).

The main dierence between UDP and TCP is that when using TCP, the receiver must acknowledge every Modbus frame (see Illustra-

tion 2). It adds extra trac to the network and more load to the system (PLC and drives) because software must follow sent frames

to make sure that they have reached their destination.

Modbus TCP Communication

PLC

Open

Connection

Communicate

Connection

Drive

TCP, SYN

TCP, SYN, ACK

TCP, ACK

Modbus Query

Modbus Response, TCP, ACK

TCP, ACK

TCP, FIN, ACK

Modbus UDP Communication

PLC Drive

Modbus Query

Modbus Response

Modbus Query

e30bh930.10

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Introduction

Illustration 2: Modbus TCP and UDP Communication Comparison

Another dierence between TCP and UDP is that UDP is connectionless. TCP connections are always opened with TCP SYN messages and closed with TCP FIN or TCP RST. With UDP, the rst packet is already a Modbus query. The option board treats IP address and port combination as a connection. If port changes, it is considered as a new connection or as a second connection if both stay active.

When using UDP, it is not guaranteed that the sent frame reaches is destination. PLC must follow the Modbus requests by using the Modbus transaction id-eld. It actually must do it also when using TCP. If PLC does not receive response in time from drive in UDP connection, it must send the query again. When using TCP, the TCP/IP stack keeps resending the request until receiver has acknowledged it (see Illustration 3). If PLC sends new queries during this time, some of them can not be sent to network (by TCP/IP stack) until previous sent package(s) has been acknowledged. It can cause small packet storms when the connection is resumed between PLC and drive (See Illustration 4).

BC346130105092EN-US-000101 / DPD0158314 | Danfoss A/S © | 2020.06

Modbus TCP Communication

PLC Drive

Modbus Query (1)

Modbus Query (2)

Modbus Response (1), TCP, ACK

Modbus Response (2), TCP, ACK

TCP, ACK

TCP retransmission, Modbus Query (2)

Normal communication continues

Packet lost, no response

Modbus Query (1)

Modbus Response (1)

Modbus Response (4)

Modbus Query (2)

Modbus Query (3)

Modbus Query (4)

Packet lost, no response

Normal communication continues

Modbus UDP Communication

PLC Drive

e30bh931.10

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Introduction

Illustration 3: Modbus TCP and UDP Communication Errors Comparison

e30bh932.10

Modbus TCP Communication

PLC Drive

Modbus Modbus

TCP

stack

TCP

stack

Modbus Query (1)

Modbus Query (2)

Modbus Query (3)

Modbus Query (4)

Modbus Query

(1,2,3)

Modbus Query (4)

Modbus Response (1,2,3)

Modbus Response (4)

TCP Modbus Query

TCP, ACK

TCP, Modbus Response (1,2,3)

TCP, Modbus Response (4)

TCP, Modbus Query (4)

Retransmission

Modbus Query (1,2,3)

Retransmission Modbus Query (1,2,3)

Retransmission

Modbus Query (1,2)

Retransmission

Modbus Query (1)

Modbus

Response (1,2,3)

Modbus

Response (4)

Normal communication continues

Packet lost

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Introduction

Illustration 4: Modbus TCP Retransmissions

Losing one packet is not a fatal because the same request can be sent again after timeout. In TCP, the packages always reach their destination but if network congestion causes retransmissions, those packages contain most likely old data or instructions when they reach their destination.

1.6.2.2 PROFINET I/O

PROFINET is the Ethernet-based automation standard of PROFIBUS International for the implementation of an integrated and consistent automation solution based on Industrial Ethernet. PROFINET supports the integration of simple distributed eld devices and time-critical applications in (switched) Ethernet communication. It also supports the integration of component-based distributed automation systems for vertical and horizontal integration of networks.

The option boards implement the following features:

•

PROFINET I/O version 2.4

•

PROFINET RT

•

Conformance class B (PA)

•

Highest netload class (class III)

•

Standard diagnosis for VACON® AC drive faults and alarms

The Advanced Dual Port Ethernet option board (OPTEA) implements also

BC346130105092EN-US-000101 / DPD0158316 | Danfoss A/S © | 2020.06

PLC

Managed switch with RSTP support

DRIVE

OPTE9-1

DRIVE

...

OPTE9-2

DRIVE

OPTE9-3

DRIVE

OPTE9-8

1 2

DP AP

3 4 5 6 7 8

Power

e30bh922.10

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

•

PROFINET system redundancy (S2)

•

PROFIsafe over PROFINET

•

OPTCP-emulation (OPTCx) mode when installed to VACON® NXP

•

Shared Device

Introduction

1.6.2.3 EtherNet/IP

The EtherNet/IP© is an industrial Ethernet network solution available for manufacturing automation. The CIP© (Common Industrial Protocol) encompasses a comprehensive suite of messages and services for various manufacturing automation applications, including control, safety, synchronization, motion, conguration, and information. The CIP provides users with a unied communication architecture throughout the manufacturing enterprise.

More information on the EtherNet/IP can be found at http://www.odva.org.

1.6.3 Redundancy Protocols

1.6.3.1 Rapid Spanning Tree Protocol (RSTP)

To use the RSTP protocol, add a managed Ethernet switch that supports the RSTP protocol. If a single link is broken, the RSTP switch notices it and start sending data from the PLC to both directions eectively creating two daisy chains. When the link has been repaired, the switch notices it, too, and reverts to normal operating mode. Compared to the star topology, the ring topology adds more network trac to almost all drives. Damage to two cables always creates an isolated subnetwork.

In the RSTP conguration, one of the ports in the switch is "Designated Port" (DP) and the other "Alternative Port" (AP). When the network is functioning properly, the trac ows through the designated port. Only the BPDU (Bridge Protocol Data Unit) packets are transferred through the AP port. The BPDU packets are used by the switch to determine if the network is working properly. If it detects that the BPDU packets do not go through the ring, it changes the alternative port to a second designated port. Now the switch sends packets to both directions in the broken ring (see Illustration 6).

Each designated port has a list of MAC addresses which are behind that port. Only frames directed to the device in the MAC list are forwarded into that designated port. The broadcast and multicast frames are sent to all designated ports.

Illustration 5: Ring Topology

In the example below, the Ethernet communication is interrupted to device number 3 and other devices after that when the link is broken. The Fieldbus communication maybe faulted when the link is broken, but when the switch enables the second designated port, the connections can be reopened. In the RSTP protocol, it generally takes few seconds before the second designated port is activated. The time depends on the BPDU exchange cycle, which is 2 seconds by default.

PLC

Managed switch with RSTP support

DRIVE

OPTE9-1

DRIVE

...

OPTE9-2

DRIVE

OPTE9-3

DRIVE

OPTE9-8

1 2

DP DP

3 4 5 6 7 8

Power

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User Guide

Introduction

Illustration 6: Ring Topology: Error in Network

NOTE! The switch itself in Ethernet boards does not implement the RSTP protocol, so the network always needs a third party switch

to support it.

NOTE! Do not use RSTP together with PROFIsafe. Recovery time in RSTP network can be several seconds, and recovery time in STP network can be several tens of seconds. To compensate the recovery time, the PROFIsafe watchdog time must be set long enough so that slow recovery time of RSTP network can be tolerated. However, for example, in Siemens TIA portal, the longest PROFIsafe watchdog time setting is 1920 ms, and it is too short for RSTP.

Conguration Example

The screenshots (

Illustration 7, Illustration 8) show one example of conguring the RSTP in the switch (in this case an EtherWAN

switch). Port two is the designated port and port one is the alternative port. The PLC was connected to port nine (the laptop taking the screenshots was in port 16). When conguring your switch, refer to the manual of the switch manufacturer.

Illustration 7: EtherWAN Switch RSTP Conguration Example

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OPTE9-1

...

OPTE9-2 OPTE9-3 OPTE9-8

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Illustration 8: EtherWAN Switch RSTP Conguration Example - Port Settings

Introduction

1.6.3.2 Media Redundancy Protocol (MRP)

The MRP is designed to react deterministically on a cable failure. It makes it suitable to be used in process automation. One of the nodes in the network has the role of Media Redundancy Master (MRM), which observes and controls the ring topology to react to network faults. Usually this device is PLC or network switch.

Other nodes in the network are called Media Redundancy Clients (MRC), and they react on received conguration frames from the MRM and can detect link changes on its ring ports. OPTEA and OPTE9 boards support only MRC functionality.

The MRM and MRC have two ring ports, which take one of the following states:

•

DISABLED - All frames are dropped

•

BLOCKING - All frames are dropped, except the following frames:

MRP frames (for example, MRP_test and MRP_TopologyChange)

Frames specied to pass ports in "Discarding" state, for example, LLDP frames

•

FORWARDING - All frames are forwarded according to normal behavior

The MRM sends MRP_Test frames in a congured time period to monitor the state of the ring topology. If the MRM receives its own MRP_Test frames (network is closed), one of the ring ports is set to FORWARDING state and the other to BLOCKED state (see Illustra-

tion 9). If the MRM does not receive the MRP_Test frames (network is open), it sets both of its ring ports to FORWARDING state (see Illustration 10).

The following gure shows an example of an MRP network, where the PLC acts as an MRM. The dotted line shows Blocked connection.

Illustration 9: MRP Ring: Closed Network

PLC/MRM

Drive/MRC

OPTE9-1

...

OPTE9-2 OPTE9-3 OPTE9-8

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PLC/MRM

Drive/MRC

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Introduction

In the example below, the Ethernet communication is interrupted to device number 3 and other devices after that when the link is broken.

Illustration 10: MRP Ring: Error in Network

NOTE! MRP (as MRC) can only be used when PROFINET is the selected protocol. MRP is available in all versions of OPTEA board and

in OPTE9 since V006 rmware.

MRP Recovery Times and Fast MRP

MRP can be congured to send test frames with dierent time periods, depending on the maximum allowed recovery time for the network. These times are set as the guaranteed time for a network of 50 nodes to recover from a ring error.

Typically, in PROFINET systems the recovery time is dened as 200 ms. However, the MRP specication allows for recovery times of 500, 200, 30, and 10 ms. OPTEA and OPTE9 boards can be used in systems with the lowest recovery time of 10 ms. It is often called “Fast MRP”.

When using MRP in a PROFINET network, the recommendation is to set the watchdog time of each device in the ring to the maximum recovery time, usually 200 ms. It guarantees that a cable failure does not interrupt the eldbus connection.

1.6.3.3 Device Level Ring (DLR)

Device Level Ring (DLR) protocol provides a way to detect, manage, and recover from faults in a ring-based network. It supports a single-ring topology. Multiple or overlapping rings are not supported. Other features include "Sign on process" used to identify all ring participants, and "Neighbor check process" which allows nodes to check the health of their adjacent nodes.

One device acts as a ring supervisor, monitoring the state of the ring while other devices act as DLR nodes. Only one device can act as an active supervisor, although back-up supervisors are possible. Nodes can be divided into Beacon- and Announce-based nodes depending on which frames the nodes process. OPTEA and OPTE9 boards support Announce-based functionality.

DLR nodes have three states:

•

IDLE_STATE: indicating linear topology for non-supervisor nodes

•

FAULT_STATE: initial state for enabled ring supervisor, or when ring fault has been detected

•

NORMAL_STATE: normal function in ring topology mode

The active ring supervisor sends Beacon frames from both its ring ports once per beacon interval (400 μs by default) to monitor the state of the ring. It also sends an Announce frame once per s. If the Beacon frames are received back at the supervisor, one of its ports is set to blocking and the other to forwarding state (Illustration 11). Only the following packets are processed from the blocked port:

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OPTE9-1 OPTE9-2

OPTE9-3 OPTE9-4

Ring Supervisor

DLR Node

Beacon

Announce

OPTE9-1 OPTE9-2

OPTE9-3 OPTE9-4

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DLR Node

Link Status

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

•

Beacon frames from self and other supervisors

•

Link_Status/Neighbor_Status frames

•

Neighbor_Check request or response and Sign_On frames

Illustration 11: DLR Ring: Network Conguration when Ring is Closed (NORMAL_STATE)

Introduction

If a network error occurs to DLR-capable nodes, the nodes send Link_Status frames to inform the ring supervisor immediately which port(s) have a failure (Illustration 12).

Illustration 12: DLR Ring: Failure in Network

A Link_Status frame triggers an error response in active ring supervisor, which unblocks trac on its previously blocked port (Illus-

tration 13). If there is an uncommon failure (for example, if a cable breaks between two non-DLR capable devices), the error is no-

ticed from Beacon timeout value, and not from Link_Status frames. Therefore, a recovery in a network with non-DLR capable devices can take longer.

OPTE9-1 OPTE9-2

OPTE9-3 OPTE9-4

2 2

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Active Ring Supervisor

DLR Node

VACON® OPTEA/OPTE9 Ethernet Board

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Illustration 13: DLR Ring: Network Conguration after Failure (FAULT_STATE)

Introduction

The ring recovers after Beacon frames again are received from both of the active ring supervisors ring ports. Ring recovers back to its original state (Illustration 11).

NOTE! DLR is active only when EtherNet/IP is the selected protocol. DLR is available since V002 rmware for OPTEA and since V009 rmware for OPTE9 board.

DLR Recovery Times

DLR allows setting of the beacon interval and the beacon timeout values, with lower beacon interval providing faster ring recovery performance. With default values (400 μs interval and 1960 μs timeout), DLR can reach much faster ring recovery times than, for example, Media Redundancy Protocol. Typically, these times are around 3 ms for Beacon-based and 4 ms for Announce-based nodes.

When using DLR, we recommend that the watchdog time is set to a value greater than 4 ms. It ensures that a properly congured ring network recovers from a network failure within the watchdog time.

1.6.3.4 PROFINET System Redundancy (OPTEA)

Redundancy is a requirement in process automation systems for high availability and reduced production downtimes. PROFINET System Redundancy provides a solution to build a system with redundant PN controllers, devices, and communication.

PROFINET System Redundancy fullls among others the following requirements:

Highly reliable communication

•

Short take over time

•

Bumpless I/O data during fault recovery

•

Monitoring of the back-up connection

•

System redundancy implements two redundant PN controllers, one working as primary and other as back-up. These controllers can be connected via a redundant network to PN devices. It is, however, not mandatory as system redundancy has dierent levels which are independent from each other. Thus, PN controller, Ethernet media, and PN device can have dierent redundancy congurations.

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Primary

Back-up

Redundant network

Device with redundant connectivity

Device with singular connectivity

Host

NAP IO

IOC

PROFINET

SR-ARa

Single NAP

SR-ARb

IOC

Host

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VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Illustration 14: System Redundancy Overview

Introduction

OPTEA supports "S2" level of System Redundancy and Media Redundancy Protocol (MRP) for redundant connectivity. S2 uses a single PROFINET interface (NAP = Network Access Point), and two SR-ARs (System Redundancy Application Relations =

connections), one to each PN controller. Redundant PN controllers have parallel access to an SR PN device, but only one AR acts as a primary (SR-ARa) and the other is back-up (SR-ARb).

Illustration 15: NAP S2, Connected to 2 IOCs

In case the primary AR fails, the IOC initiates a switch for the back-up SR-AR to become primary. This switchover cannot take longer than the Redundancy Data Hold Time (RDHT) congured by the IOC. During the transition, the input data is hold and the output data frozen to ensure a bumpless transition. OPTEA does not create a fault during this time when a back-up connection is available. A fault is created after this time elapses and no Primary is available.

NOTE! System Redundancy is available in OPTEA version V002 or later and requires the use of GSDML le dated 21.06.2018 or later.

1.6.4 PROFINET Shared Device (OPTEA)

OPTEA supports Shared Device feature where multiple PLCs can connect to same device. PLC A can connect to PROFIdrive module and PLC B can connect to PROFIsafe module. It is also possible to have System Redundancy connections (two PLCs) and PROFIsafe from third PLC at the same time.

This kind of setup generates up to three times more Ethernet trac than connecting with single PLC, so consider the cycle times and number of devices in the system. Connections to multiple PROFIdrive or PROFIsafe modules are not supported.

Technical item or function

Technical data

General

Board name

OPTEA/OPTE9

Ethernet connections

Interface

Two RJ-45 connectors

Transfer cable

Shielded Twisted Pair (STP) CAT5e

(1)

Communications

Speed

10 / 100 Mb

Duplex

half / full

Default IP-address

By default the board is in DHCP mode.

Protocol

Modbus TCP, Modbus UDP, Pronet I/O, EtherNet/IP

Environment

Ambient operating temperature

-10°C…50° C

Storing temperature

-40°C…70° C

Humidity

<95%, no condensation allowed

Altitude

Maximum 1000 m

Vibration

0.5 G at 9…200 Hz

Safety

Fullls EN 50178 standard

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Shared device feature also enables adding of PROFIsafe to existing systems. Notice that PROFIsafe has its own conguration requirements (see 4.5 PROFIsafe (OPTEA)).

Introduction

1.6.5 Address Conict Detection (ACD)

The OPTEA and OPTE9 option boards implement ACD algorithm (IETF RFC 5227). The implementation includes requirements from the EtherNet/IP protocol.

The ACD algorithm tries to detect actively if another device is using the IP address in the same network. The ACD sends 4 ARP request packets when the Ethernet interface of the device activates, or when its IP address changes.

ACD prevents the use of the Ethernet interface until the ARP probing nishes. This delays the start-up of eldbus protocols about 1 s. During the delay or after it, the ACD passively checks incoming ARP messages for use of the IP address of the device.

If another device with the same IP address is detected, the ACD tries to defend its IP address with a single ARP message. If the other device with the same IP address also supports ACD, it must stop using the address. If it does not, the ACD closes the Ethernet connection and indicates the situation with LEDs. This is done according the "DefendWithPolicyB". Other policies are not supported.

If the eldbus protocol has been active, it can activate a eldbus fault (depends on the eldbus and drive application conguration).

1.6.6 Technical Data

Table 2: OPTEA/OPTE9 Option Board Technical Data

For connecting the eldbus Ethernet boards, use only Ethernet cables that meet at least the requirements of category 5 (CAT5) according to EN

50173 or ISO/IEC 11801.

1.6.7 VACON® PC Tools

With VACON® PC tools, it is possible to do following operations for OPTEA/OPTE9 Ethernet board:

Update rmware into OPTEA/OPTE9 board (with VACON® Loader), see

•

Set parameters for OPTEA/OPTE9 Ethernet board (with VACON® NCDrive or VACON® Live), see 3.2.4.1 Setting the Drive Parame-

ters with VACON® NCDrive and 3.2.4.2 Setting the Drive Parameters with VACON® Live

•

Read monitor values of OPTEA/OPTE9 Ethernet board (with VACON® NCDrive or VACON® Live)

For instructions on downloading and installing the tools, see 3.1.1 Installing VACON® PC Tools. The following table describes what PC tools are supported in each AC drive type.

3.2.1 Updating Fieldbus Firmware with VACON® Loader

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Tool

VACON® 100 family

VACON® NXS/NXP

VACON® 20 family

VACON® Loader

Serial

(1)

Serial

(1)

Serial

(1)

VACON® Live

Serial

(1)

, Ethernet

(2)

Serial

(1)

VACON® NCIPCong

Ethernet

(2)

Ethernet

(2)

Ethernet

(2)

VACON® NCDrive

Ethernet

(2)

VACON® NCLoad

Not supported; use VACON® Loader.

AC drive

Slots

From AC drive software version on

From OPTEA software version on

VACON® NXP

D, E

NXP00002V196

V001

VACON® NXS

D, E

NXS00002V184

V003

VACON® 100 INDUSTRIAL

and 100 X

D, E

FW0072V028

V002

VACON® 100 FLOW

D, E

FW0159V018

V002

AC Drive

From AC drive software version on

VACON® NXP

NXP00002V197

VACON® 100 INDUSTRIAL and 100 X

FW0072V028

VACON® 100 FLOW

FW0159V018

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Table 3: The Supported PC Tools with Dierent AC Drives

The connection type "serial" is a direct serial connection to the AC drive.

The connection type "Ethernet" is an Ethernet connection, for example, VACON® 100 family built-in Ethernet interface, or a connection via OPTEA/

OPTE9 Dual Port Ethernet option board.

Introduction

1.7 AC Drive Support

1.7.1 VACON® OPTEA Advanced Dual Port Ethernet Drive Support

The VACON® OPTEA Advanced Dual Port Ethernet option board can be used with the following VACON® AC drives. Option board can be used for PROFINET with PROFIsafe communication in slot E, when OPTBL/OPTBM/OPTBN is installed to slot D. If PROFIsafe is not used, then OPTEA can be installed to slot D too.

Table 4: OPTEA-supported AC Drives and Slots

VACON® 100 Family Support

The VACON® 100 family AC drives are supported from the OPTEA rmware version V002. The process data in VACON® 100 family AC drives is 32 bit. PROFIsafe features are supported only in VACON® NXP drives.

EtherNet/IP and Modbus TCP/UDP Support

Support for EtherNet/IP, Modbus TCP/UDP, and other features which were in OPTE9, were added to OPTEA rmware V002. Table below shows required minimum AC drive rmware version.

Table 5: Required Minimum AC Drive Firmware Versions

1.7.2 VACON® OPTE9 Dual Port Ethernet Drive Support

The VACON® OPTE9 Dual Port Ethernet option board can be used with the following VACON® AC drives.

AC drive

Slots

From AC drive software version on

From OPTE9 software version on

VACON® NXP

D, E

NXP00002V188

V001

VACON® NXS

D, E

NXS00002V179

V001

VACON® 100 INDUSTRIAL and 100 X

D, E

FW0072V018

V003

VACON® 100 FLOW

D, E

FW0159V012

V003

VACON® 20

FW0107V011

V002

VACON® 20 X and CP

FW0117V007

V002

AC Drive

From AC drive SW version on

VACON® NXP

NXP00002V191

VACON® NXS

NXS00002V181

VACON® 100 INDUSTRIAL and 100 X

FW0072V018

VACON® 100 FLOW

FW0159V012

VACON® 20

FW0107V012

VACON® 20 X and CP

FW0117V009

Abbreviation

Denition

ACD

Address Conict Detection

ARP

Address Resolution Protocol

CIP

Common Industrial Protocol

CRC

Cyclic Redundancy Check is an error-detecting code commonly used in eldbusses to detect accidental changes to raw data.

Control word

DCP

Discovery and Basic Conguration Protocol

DHCP

Dynamic Host Conguration Protocol is used for dynamical resolving of network conguration parameters like an IP address.

DLR

Device Level Ring

Data unit

EDD

Electronic Device Description

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Table 6: OPTE9-supported AC Drives and Slots

VACON® 100 Family Support

The VACON® 100 family AC drives are supported from the OPTE9 rmware version V003. The process data in VACON® 100 family AC drives is 32 bit.

EtherNet/IP and Modbus TCP/UDP Support

EtherNet/IP protocol was added to OPTE9 rmware version V004. The following table shows required minimum AC drive rmware version.

Table 7: Required Minimum AC Drive Firmware Versions

Introduction

1.8 Symbols and Abbreviations

Table 8: Symbols and Abbreviations

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Abbreviation

Denition

EDS

Electronic Data Sheet

EMC

Electromagnetic compatibility

Fieldbus

Full Duplex

GSDML

General Station Description Markup Language

Gateway

Half Duplex

Upper 8/16 bits in a 16/32-bit value.

LED

Light emitting diode

LLDP

Link Layer Discovery Protocol

Lower 8/16 bits in a 16/32-bit value.

MIB

Management Information Base

Modbus TCP / Modbus UDP

Simple and vendor-neutral communication protocol intended for monitoring and controlling of eld devices.

MRC

Media Ring Client

MRM

Media Ring Master

MRP

Media Ring Protocol

NSOLL

Sollwert (German for reference value)

NIST

Istwert (German for actual value)

Personal computer

PDI

Process Data In

PDO

Process Data Out

PHY(X)

Ethernet physical interface X, where X shows the number of interfaces

PLC

Programmable logic controller

PNU

Parameter number

PPO

Process parameter object

PROFINET I/O

PROFINET is a standard for industrial automation in Ethernet network. PROFINET I/O describes the exchange of data between controllers and eld devices.

RDHT

Redundancy Data Hold Time

RPM

Revolutions per minute

RSTP

Rapid Spanning Tree Protocol

SNMP

Simple Network Management Protocol

SNTP

Simple Network Time Protocol

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Introduction

Abbreviation

Denition

STW1

Steuerwort 1 (German for control word 1)

Status word

TCP

Transmission Control Layer provides reliable, ordered, and error-checked delivery of data streams between computers that are connected to a local area network.

UTC

Coordinated Universal Time

ZSW1

Zustandwort 1 (German for status word 1)

Type name

Bit size

Explanation

INT88Signed short integer

UINT8

Unsigned short integer

INT16

Signed integer

UINT16

Unsigned integer

INT32

Signed long integer

UINT32

Unsigned long integer

FLOAT32

32-bit oating point

STRING3

3 byte string

STRING5

5 byte string

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Table 9: Data Types

Introduction

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VACON® OPTEA/OPTE9 Ethernet Board

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2 Safety

2.1 Safety Symbols

The following symbols are used in this manual:

D A N G E R

Indicates a hazardous situation which, if not avoided, will result in death or serious injury.

W A R N I N G

Indicates a hazardous situation which, if not avoided, could result in death or serious injury.

C A U T I O N

Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.

N O T I C E

Indicates information considered important, but not hazard-related (for example, messages relating to property damage).

Safety

2.2 Danger and Warnings

D A N G E R

SHOCK HAZARD FROM POWER UNIT COMPONENTS

The power unit components are live when the drive is connected to mains. A contact with this voltage can lead to death or seri-

ous injury.

Do not touch the components of the power unit when the drive is connected to mains. Before connecting the drive to mains,

make sure that the covers of the drive are closed.

D A N G E R

SHOCK HAZARD FROM TERMINALS

The motor terminals U, V, W, the brake resistor terminals, or the DC terminals are live when the drive is connected to mains, also

when the motor does not operate. A contact with this voltage can lead to death or serious injury.

Do not touch the motor terminals U, V, W, the brake resistor terminals, or the DC terminals when the drive is connected to

mains. Before connecting the drive to mains, make sure that the covers of the drive are closed.

D A N G E R

SHOCK HAZARD FROM DC LINK OR EXTERNAL SOURCE

The terminal connections and the components of the drive can be live 5 minutes after the drive is disconnected from the mains

and the motor has stopped. Also the load side of the drive can generate voltage. A contact with this voltage can lead to death or

serious injury.

Before doing electrical work on the drive:

Disconnect the drive from the mains and make sure that the motor has stopped. Lock out and tag out the power source to the drive. Make sure that no external source generates unintended voltage during work. Wait 5 minutes before opening the cabinet door or the cover of the AC drive. Use a measuring device to make sure that there is no voltage.

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Safety

W A R N I N G

SHOCK HAZARD FROM CONTROL TERMINALS

The control terminals can have a dangerous voltage also when the drive is disconnected from mains. A contact with this voltage

can lead to injury.

Make sure that there is no voltage in the control terminals before touching the control terminals.

W A R N I N G

ACCIDENTAL MOTOR START

When there is a power-up, a power break, or a fault reset, the motor starts immediately if the start signal is active, unless the pulse

control for Start/Stop logic is selected. If the parameters, the applications or the software change, the I/O functions (including the

start inputs) can change. If you activate the auto reset function, the motor starts automatically after an automatic fault reset. See

the Application Guide. Failure to ensure that the motor, system, and any attached equipment are ready for start can result in

personal injury or equipment damage.

Disconnect the motor from the drive if an accidental start can be dangerous. Make sure that the equipment is safe to operate

under any condition.

W A R N I N G

LEAKAGE CURRENT HAZARD

Leakage currents exceed 3.5 mA. Failure to ground the drive properly can result in death or serious injury.

Ensure the correct grounding of the equipment by a certied electrical installer.

W A R N I N G

SHOCK HAZARD FROM PE CONDUCTOR

The drive can cause a DC current in the PE conductor. Failure to use a residual current-operated protective (RCD) device Type B or

a residual current-operated monitoring (RCM) device can lead to the RCD not providing the intended protection and therefore

can result in death or serious injury.

Use a type B RCD or RCM device on the mains side of the drive.

2.3 Cautions and Notices

C A U T I O N

DAMAGE TO THE AC DRIVE FROM INCORRECT MEASUREMENTS

Doing measurements on the AC drive when it is connected to mains can damage the drive.

Do not do measurements when the AC drive is connected to mains.

C A U T I O N

DAMAGE TO THE AC DRIVE FROM INCORRECT SPARE PARTS

Using spare parts that are not from the manufacturer can damage the drive.

Do not use spare parts that are not from the manufacturer.

C A U T I O N

DAMAGE TO THE AC DRIVE FROM INSUFFICIENT GROUNDING

Not using a grounding conductor can damage the drive.

Make sure that the AC drive is always grounded with a grounding conductor that is connected to the grounding terminal

that is identied with the PE symbol.

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VACON® OPTEA/OPTE9 Ethernet Board

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C A U T I O N

CUT HAZARD FROM SHARP EDGES

There can be sharp edges in the AC drive that can cause cuts.

Wear protective gloves when mounting, cabling, or doing maintenance operations.

C A U T I O N

BURN HAZARD FROM HOT SURFACES

Touching surfaces, which are marked with the 'hot surface' sticker, can result in injury.

Do not touch surfaces which are marked with the 'hot surface' sticker.

N O T I C E

DAMAGE TO THE AC DRIVE FROM STATIC VOLTAGE

Some of the electronic components inside the AC drive are sensitive to ESD. Static voltage can damage the components.

Remember to use ESD protection always when working with electronic components of the AC drive. Do not touch the com-

ponents on the circuit boards without proper ESD protection.

Safety

N O T I C E

DAMAGE TO THE AC DRIVE FROM MOVEMENT

Movement after installation can damage the drive.

Do not move the AC drive during operation. Use a xed installation to prevent damage to the drive.

N O T I C E

DAMAGE TO THE AC DRIVE FROM INCORRECT EMC LEVEL

The EMC level requirements for the AC drive depend on the installation environment. An incorrect EMC level can damage the

drive.

Before connecting the AC drive to the mains, make sure that the EMC level of the AC drive is correct for the mains.

N O T I C E

RADIO INTERFERENCE

In a residential environment, this product can cause radio interference.

Take supplementary mitigation measures.

N O T I C E

MAINS DISCONNECTION DEVICE

If the AC drive is used as a part of a machine, the machine manufacturer must supply a mains disconnection device (refer to EN

60204-1).

N O T I C E

MALFUNCTION OF FAULT CURRENT PROTECTIVE SWITCHES

Because there are high capacitive currents in the AC drive, it is possible that the fault current protective switches do not operate

correctly.

Cross-sectional area of the phase conductors (S) [mm2]

The minimum cross-sectional area of the protective earthing conductor in question [mm2]

S ≤ 16

16 < S ≤ 35

35 < S

S/2

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

N O T I C E

VOLTAGE WITHSTAND TESTS

Doing voltage withstand tests can damage the drive.

Do not do voltage withstand tests on the AC drive. The manufacturer has already done the tests.

2.4 Grounding

Ground the AC drive in accordance with applicable standards and directives.

C A U T I O N

DAMAGE TO THE AC DRIVE FROM INSUFFICIENT GROUNDING

Not using a grounding conductor can damage the drive.

Make sure that the AC drive is always grounded with a grounding conductor that is connected to the grounding terminal

that is identied with the PE symbol.

W A R N I N G

LEAKAGE CURRENT HAZARD

Leakage currents exceed 3.5 mA. Failure to ground the drive properly can result in death or serious injury.

Ensure the correct grounding of the equipment by a certied electrical installer.

Safety

The standard EN 61800-5-1 tells that 1 or more of these conditions for the protective circuit must be true.

The connection must be xed.

•

The protective earthing conductor must have a cross-sectional area of minimum 10 mm2 Cu or 16 mm2 Al. OR

•

There must be an automatic disconnection of the mains, if the protective earthing conductor breaks. OR

•

There must be a terminal for a second protective earthing conductor in the same cross-sectional area as the rst protective earthing conductor.

The values of the table are valid only if the protective earthing conductor is made of the same metal as the phase conductors. If this is not so, the cross-sectional area of the protective earthing conductor must be determined in a manner that produces a conductance equivalent to that which results from the application of this table.

The cross-sectional area of each protective earthing conductor that is not a part of the mains cable or the cable enclosure, must be a minimum of:

•

2.5 mm2 if there is mechanical protection, and

•

4 mm2 if there is not mechanical protection. With cord-connected equipment, make sure that the protective earthing conductor in the cord is the last conductor to be interrupted, if the strain-relief mechanism breaks.

Obey the local regulations on the minimum size of the protective earthing conductor.

N O T I C E

MALFUNCTION OF FAULT CURRENT PROTECTIVE SWITCHES

Because there are high capacitive currents in the AC drive, it is possible that the fault current protective switches do not operate

correctly.

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VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Safety

N O T I C E

VOLTAGE WITHSTAND TESTS

Doing voltage withstand tests can damage the drive.

Do not do voltage withstand tests on the AC drive. The manufacturer has already done the tests.

W A R N I N G

SHOCK HAZARD FROM PE CONDUCTOR

The drive can cause a DC current in the PE conductor. Failure to use a residual current-operated protective (RCD) device Type B or

a residual current-operated monitoring (RCM) device can lead to the RCD not providing the intended protection and therefore

can result in death or serious injury.

Use a type B RCD or RCM device on the mains side of the drive.

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Commissioning

3 Commissioning

3.1 Before Commissioning

VACON® OPTEA/OPTE9 Ethernet can be commissioned through the control panel of the AC drive or by using the VACON® PC tools.

Before starting the commissioning, check the following:

•

When using the control panel of the AC drive for commissioning: for instructions on how to use the control panel, see the Operating Guide for VACON® NXP products or the Application Guide for the VACON® 100 family.

•

When using VACON® PC tool for commissioning: the correct tool installed.

For a list of supported PC tools, see 1.6.7 VACON® PC Tools.

For instructions on installing the tools, see 3.1.1 Installing VACON® PC Tools.

•

VACON® AC drive in which OPTEA/OPTE9 Ethernet option board installed. See Ethernet Boards Installation Guide for instructions.

•

The IP addresses of the Ethernet option board are set according to the network. By default, the option board uses a DHCP Server to get an IP address. If your network does not have a DHCP Server, set an IP address manually and change the "IP Mode" to "static". See instructions in 3.2.3 Conguring with VACON® NCIPCong.

For more information about IP addresses or a DHCP Server, contact your network administrator.

•

Ethernet cable is connected to the Ethernet interface of the option board. The PC can also be connected directly to the device using a crossover cable. This option can be needed if your PC does not

support Automatic crossover function. With VACON® 100 family AC drive, Ethernet cable can also be connected to the Ethernet port of the control board. The instruc-

tions are the same for both connections. Another option is to use the serial cable converter and the panel connector for commissioning.

3.1.1 Installing VACON® PC Tools

Prepare for commissioning by installing the needed VACON® PC Tools.

Procedure

Go to www.danfoss.com/.

Select Downloads from Service and Support drop-down menu.

Select Drives as business unit.

Download the VACON® PC tool depending on the used AC drive.

•

VACON® 100 family AC drive: VACON® Loader and VACON® Live

•

VACON® 20 AC drive: VACON® Loader and VACON® Live

•

VACON® NXP AC drive: VACON® NCDrive and VACON® Loader

Start the installation program and follow the on-screen instructions.

After installation, launch VACON® PC tool from Windows Start menu.

For more information about software features, go to Help drop-down menu and select Contents.

3.1.2 Downloading Fieldbus Option Firmware

Prepare for commissioning by downloading the Fieldbus Option Firmware.

Procedure

Go to

www.danfoss.com/.

Select Downloads from Service and Support drop-down menu. Select Drives as business unit. Download le Fieldbus rmware.

3.1.3 Downloading Function Blocks for PLC

Danfoss provides samples of function blocks and add-on-instructions to support commissioning of drive eldbus interfaces. They are published with source code.

Procedure

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Go to www.danfoss.com/.

Select Downloads from Service and Support drop-down menu.

Select Drives as business unit.

Select Fieldbus conguration les for VLT® and VACON® drives.

Download le VACON® TIA Portal Function Blocks, VACON® TIA PORTAL PROFIsafe Funct. Block, or VACON® OPTE9/EA EtherNet/IP AOI.

Commissioning

3.2 Commissioning with VACON® PC tools

3.2.1 Updating Fieldbus Firmware with VACON® Loader

Use these instructions to upload the eldbus rmware with VACON® Loader.

NOTE! Screenshots in these instructions are examples only. The product information shown in them is dierent depending on which option board is used.

Check the list in Before commissioning. Adjust the baud rate if needed:

•

With VACON® 20, use the baud rate 9600.

•

With VACON® 20 X and VACON® 20 CP, the following baud rates are supported: 9600, 19200, 38400 or 57600.

•

With VACON® 100 family and VACON® NXP drives, VACON® Loader selects a correct baud rate automatically.

Procedure

Connect your PC to the controller by using the serial cable.

Open the File Explorer and select the rmware le to be updated to the option board and double-click it.

VACON® Loader software opens.



Press Next and wait for the loader to nd the network drives.

Select a drive from the list and press Connect to Selected.



Select the modules to be updated, and press Next.

Firmware starts to load:



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VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Commissioning

Loading is nished:

3.2.2 Updating Firmware over Ethernet with VACON® Loader

Use these instructions to upload the eldbus or VACON® control rmware over Ethernet with VACON® Loader.

OPTEA and OPTE9 boards enable updating VACON® 100 control and option board rmware over Ethernet with VACON® Loader. The option board works as gateway for the rmware update. It means that it is not possible to update the rmware of the option board which is being used as the update gateway.

If the rmware loading fails (for example, network is lost during update), the option board remembers used Ethernet settings and remains in state waiting for reconnection and rmware update.

Procedure

Start VACON® Loader and select the rmware le to be updated.

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Commissioning

Press Next. VACON® Loader starts to scan for serial connections. At this point press Cancel.

From the communication settings, change connection type to Ethernet.

VACON® Loader starts to scan drives from Ethernet networks.



When the drive is found, select it and press Connect to selected. From this point on, load prosess is identical with serial connection.

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User Guide



Commissioning

Firmware starts to load:

Loading is nished:

If the scan does not nd the device but the IP address of the drive is available, press cancel to scan dialog and enter the correct IP address in the IP eld. Then press Next.

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User Guide

Commissioning

3.2.3 Conguring with VACON® NCIPCong

Use these instructions to set the IP addresses for the option board with VACON® NCIPCong. To nd more information about the software features, select Help --> Manual.

Check the list in 3.1 Before Commissioning.

Procedure

To launch the VACON® NCIPCong, go to the Windows Start menu and select VACON® NCIPCong.

Select Conguration --> Scan and wait until the devices connected to the bus display on the left side of the screen in the tree structure.

NOTE! The VACON® NCIPCong uses broadcast messages for scanning devices. Some network switches can block the broadcast messages. In this case, each network node must be scanned separately.

Set the option board settings.

•

To change the board name, select the cell in the column Node and enter the name of the node. Notice that it changes the name seen only in VACON® PC tools. PROFINET I/O Name Of Station value must be changed via protocol settings or over PROFINET I/O DCP protocol.

•

To change the node IP settings, select the cell in the right column and enter the value according to the network IP settings. The program reports conicts with a red color in table cells.

•

To change the IP Mode, click the cell and select the correct mode from the drop-down list.

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User Guide

•

To change the currently active protocol, select the setting from the tree structure and click OK.

Commissioning

To commit the changes, mark the checkbox and select Conguration --> Congure from the menu.

To change other settings, edit the information in the tree structure.

See 6.1 Option Board Parameters for more information about the settings.

3.2.4 Setting the Drive Parameters

3.2.4.1 Setting the Drive Parameters with VACON® NCDrive

Use these instructions to set the drive parameters with VACON® NCDrive.

Also option board parameters can be congured with VACON® NCDrive (except for the PROFINET NameOfStation parameter). However, we recommend using the VACON® NCIPCong tool to congure the option board in the VACON® NXS/P AC drives.

Check the list in 3.1 Before Commissioning.

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Commissioning

Make sure that the option board IT settings are congured with VACON®NCIPCong. See instructions in 3.2.3 Conguring with VA-

CON® NCIPCong.

NOTE! The VACON® NCDrive software is recommended to be used in LAN (Local Area Network) only.

Procedure

To nd drives for connections, press the Drive Select button to scan the network drives.

In the Select the active drive dialog, select the drive for the connection, press the Set Active Drive button and press Close.

The IP information presented in the dialog comes from the option board, other information comes from the drive.

Press the ON-LINE button.

The NCDrive connects to the drive and starts loading parameter information.



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To change the option board settings, navigate to the M7 Expander boards menu, and select the slot to which OPTEA/OPTE9 is connected.

It is possible to change parameters dened in 6.1 Option Board Parameters. If the IP address, network mask, and default gate address are changed, "IP Mode" must be changed to "Fixed IP" to activate the settings.



Commissioning

3.2.4.2 Setting the Drive Parameters with VACON® Live

Use these instructions to set the Drive Parameters with VACON® Live.

With VACON® Live, it is possible to modify OPTEA/OPTE9 Ethernet parameters and view monitor values.

Check the list in 3.1 Before Commissioning.

NOTE! VACON® 20, VACON® 20 X, and VACON® 20 Cold Plate do not support VACON® Live connection over the OPTE9 Ethernet port. OPTEA does not support VACON® 20, VACON® 20 X, and VACON® 20 CP drives.

Procedure

Open VACON® Live. When the program starts, it asks Select startup mode. Select Online.

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

Select the drive that the option board is connected to and press Connect to Selected.

Commissioning

The program scans your network for compatible drives, and adds them to the list.

NOTE! The rst column is the name of the drive. However, the information about IP and MAC addresses come from the option board (if the device on the list is an option board).

NOTE! Some switches block broadcast messages. In this case, each network node must be scanned separately.

Navigate to M5 I/O and Hardware menu. Check at least the IP Settings.

3.3 OPTCx Emulation Mode (OPTEA)

OPTEA Advanced Dual Port Ethernet board has emulation mode for OPTC-series Ethernet boards. When OPTEA is installed to NXP drive, it has "Mode" parameter. If value "OPTCx" is selected, then OPTEA emulates behavior of old C-series Ethernet option boards (OPTCI, OPTCP, OPTCQ) as accurately as possible.

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Commissioning

Emulation mode can be used when old installation is expanded with few new drives and when modifying PLC logic is possible. In emulation mode, OPTEA board identies itself as, for example, OPTCP board. It allows in PLC setup, to add new OPTCP board when the drive actually has OPTEA board, and control it with same logic as real OPTCP boards.

Also damaged OPTCP installation can be replaced with OPTEA emulating OPTCP. Later, when replacing all drives, these emulating boards can be reused. Update the PLC programming to use OPTEA boards and change "Mode" parameter to "normal". It allows to use all the advanced features of OPTEA board (for example: MRP, System Redundancy).

For OPTEA the "Mode" parameter has dierent content when installed to VACON® 100 or to NXP family drive. When installed to VACON® NXP family drive and "OPTCx" mode is selected, OPTEA emulates behavior of old C-series Ethernet option boards as accurately as possible.

To use emulation mode, use OPTEA with rmware version V002 or later and VACON® NXP drive with V197 rmware or later.

Modbus in emulation mode

NX Mode:

•

Currently this mode has no eect on Modbus functionality

OPTCx Mode:

•

Modbus supports all the same coils as OPTCI board does

•

Measurement table indexes are supported

PROFINET in emulation mode

NX Mode:

•

PLC must use OPTCP GSDML.

•

Device id is OPTCP "1".

•

Vendor id is OPTCP "0x9500" instead of "0x01BA".

•

Device type text is "OPTCP".

•

Telegrams use FBSpeedReference/FBSpeedActual types instead of NSOLL_A/NIST_A.

•

Parameter channel used with Simatic PDM does not work in NX Mode.

•

In OPTCP Name Of Station can be set with VACON® NCIPCong from the "node" eld. It is not supported, but there is separate parameter for Name Of Station in VACON® NCIPCong when using OPTEA or OPTE9 board.

•

OPTCP's Vendor PPO3, PPO4, and PPO6 telegrams are supported.

OPTCx Mode:

•

All same changes as in NX Mode.

•

FBDIN control word bits are as in OPTCP.

VACON® 100 Mode:

•

PLC must use VACON® 100 family GSDML.

•

Device ID is "1".

•

Device type text is "VACON100".

EtherNet/IP in emulation mode

NX Mode:

•

PLC must use OPTCQ EDS.

•

AC/DC Drive Object: Parameter "Drive" mode always returns the actual drive mode.

•

In "normal" mode "process drive" mode value is returned when the instance number is 25.

•

Drive identier text is "OPTCQ" instead of being based on the drive where the option board is installed (for example: "VACON 100 INDUSTRIAL").

•

Product code is "2" instead of being based on the drive where the option board is installed.

•

Revision number (major, minor) is OPTCQ 3.5.

•

Connection instance is OPTCQ "1" instead of "103" which is used by OPTEA/OPTE9 and VACON® 100 family AC drive.

•

Motor Data Object: "Rated Current" attribute returns the value in units of 10 milliamperes (1.9A => 190). In Normal mode, the value unit is 100 milliamperes (1.9A => 19). The same conversion is expected when setting the attribute value.

•

The Motor Data Object: "Rated Frequency" attribute returns value with two decimals (50.00 Hz => 5000). In normal mode, the value has no decimals (50.00 Hz => 50 Hz). The same conversion is expected when setting the attribute value.

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User Guide

•

ControlFromNet bit is set to 1 when NetControl is set to 1. In normal mode, it is set only if Control Place-parameter is set to

eldbus.

•

ReferenceFromNet bit is set to 1 when NetworkReference is set to 1. In normal mode, it is set only if Reference Place-parameter is set to eldbus.

OPTCx Mode:

•

All same changes as in NX Mode.

VACON® 100 Mode:

•

PLC must use VACON 100 EDS.

•

Drive identier text is "VACON® 100" instead of being based on the drive where the option board is installed (for example: "VACON® 100 INDUSTRIAL").

•

Product code is "100" instead of being based on the drive where the option board is installed.

•

Revision number (major, minor) is always 2.1.

Commissioning

•

Software or hardware

Fast/Normal Extended

Fast safe

Control Board

NXP (serial number 761 or later)

System Software

NXP00002V196.vcn

Applications

(1)

Multipurpose V236 or later (Normal Extended Mode)

Any

(2)

Fieldbus option rmware version

OPTE3/E5 V006 or later

OPTE3-E5_FW0083V006.vcx or later

OPTE9 V007 or later

OPTEA V001 or later

(3)

OPTEC V003 or later

OPTE6 V010 or later

OPTE7 V006 or later

Advanced safety option

OPTBL_FW0227V001 or later

Software

Normal Extended

System Software

INDUSTRIAL FW0072V030

FLOW FW0159V022

Fieldbus option rmware version

OPTE9: V010

OPTEA: V003

VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

Communication

4 Control Interface and Communication

4.1 Ethernet Communication Overview

The OPTEA and OPTE9 option boards support multiple communication modes to AC drive. These modes, among other features, enable transmitting and receiving 16 process data items at 1 ms interval. These advanced communication modes are supported when installed to VACON® NXP family drive. See 4.2 Fieldbus Option Board Communication Modes for details.

4.2 Fieldbus Option Board Communication Modes

The VACON® eldbus option boards support the following eldbus board communication modes:

•

Normal mode, for most commonly used setups (see 4.2.3 Normal Fieldbus Communication)

•

Normal extended mode, for setups that requires 16 process data items

•

Fast mode, with low latency process data (see 4.2.4 Fast Fieldbus Communication)

•

Fast safety mode with safety "black channel" (see 4.2.5 Fast Safety Fieldbus Communication)

•

Fast PROFIBUS mode. Use other modes with new installations.

NOTE! Not all boards support all modes. For details, see 4.2.1 Requirements for Communication Modes. The fast communication modes can be enabled to get minimum communication delay between the eldbus and application.

4.2.1 Requirements for Communication Modes

Table 10: Requirements for Dierent Fieldbus Communication Modes for VACON® NXP

For latest information about application support for eldbus communication modes, refer to application-specic manuals.

If safety option is congured to use a safety eldbus, the fast safe mode is automatically enabled regardless of used application. However, the availability of 16 process items is limited by the application in use. Also the process data application cycle is normally set to 10 ms, instead of 1 ms for fast application.

Only with Advanced Safety Option

Table 11: Requirements for Normal Extended Communication Mode for VACON® 100 Family

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Normal Extended

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VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

Communication

4.2.2 Fieldbus Communication Mode Features and Limitations

Fast mode

•

1 ms process data interval

•

Available in VACON® NXP slots D and E

Possible to run both slots simultaneously

Have similar process data latency in both slots

•

Service data latency is also reduced

Running multiple service data queries at high interval can cause high CPU load in VACON® NXP AC drive.

Fast safe mode

•

1 ms process data interval

•

Includes safety "black channel"

•

Activated/deactivated automatically, not available for setting

•

Safety eldbus must be activated in safety conguration

Advanced safety option board must be installed into slot D

Safety eldbus must be activated in safety conguration

16 process data items

•

16 process data items always require support from application

•

Available in Fast, Fast safe, and Normal extended mode

•

If no support is available in the application, the process data out is always '0', while incoming process data items 9–16 are discarded

4.2.3 Normal Fieldbus Communication

The normal eldbus communication between option board and the AC drive application is shown in Illustration 16. In normal communication, both process data, and service data are transferred in succession at 5 ms interval.

Communication delay for process data can be calculated by summing all delays together:

t = t

IOdatacycle

Example: With eldbus cycle time of 4 ms and application cycle of 10 ms, the delay is:

t = 4ms + 10ms + 2 ⋅ 5 ms + 10ms = 34ms

NOTE!: This value does not include delays of the eldbus master, jitter in the process data cycle of the communication protocol or resending due to electronic interference.

+ t

updateinterval

+ 2 ⋅ t

communicationdelay

+ t

applicationcycle

Communication cycle

Update interval

IO Data

Cyclic

x ms

Acyclic

Parameters, etc.

Low

Priority

High

Priority

Software

10ms

Update interval

5ms

Application

task

10-50ms

Process

Data

Application

task

50-500ms

Service

Data

Option Board Drive Control Board

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Low priority

IO Data

Cyclic

x ms

Acyclic

Parameters, etc.

Low

Priority

High

Priority

Software

Option Board Drive Control Board

1ms

Application

task

1-50ms

Process

Data

Application

task

50-500ms

Service

Data

Acyclic

Update interval

Communication cycle

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Illustration 16: Normal Fieldbus Communication

Control Interface and

Communication

4.2.4 Fast Fieldbus Communication

The fast mode decreases the communication delay between the PLC and the AC drive application signicantly by using two communication channels separately for process and service data. The process data interval is set to 1 ms, while other data is sent acyclically. When the fast mode is activated, the application can be synchronized to run with the communication cycle. The Fast communication mode is shown in Illustration 17. This mode also includes the ability to transfer 16 process data items.

The communication delay for process data in fast communication mode is (when application task is synchronized with communication):

t = t

IOdatacycle

Example: With eldbus cycle time of 1 ms, an application cycle of 1 ms the delay is:

t = 1ms + 1+1ms = 3ms

NOTE: This value does not include delays of the eldbus master, jitter in the process data cycle of the communication protocol or resending due to electronic interference.

+ t

updateinterval

+ t

applicationcycle

Illustration 17: Fast Fieldbus Communication

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Control Interface and

User Guide

Communication

4.2.5 Fast Safety Fieldbus Communication

The fast safety mode uses the same communication methods as in "Fast mode" (Illustration 17), but also transfers safety "black channel" data used to the advanced safety option board.

NOTE: This mode is automatically enabled, if an advanced safety option board is connected to slot D and the safety eldbus is acti- vated and is not available for setting. This mode is also automatically turned o when the advanced safety option board is removed.

4.2.6 Normal Extended Mode

The normal extended mode uses the same communication method as in "Fast mode", but reduces the communication cycle to 10 ms. This mode can be used in applications where 16 process data items are required but the lowest possible communication delay is not needed. It can also be used in these applications when the increased CPU load of Fast mode to VACON® NXP drives is undesirable.

NOTE! This mode can be automatically enabled in VACON® applications supporting 16 process data items.

4.3 Drive Control with Modbus TCP/UDP

4.3.1 Modbus Communication Overview

The Modbus-VACON® interface has the following features:

Direct control of VACON® AC drive (for example, Run, Stop, Direction, Speed reference, Fault reset)

•

Access to VACON® parameters

•

VACON® status monitoring (for example, Output frequency, Output current, and Fault code)

•

4.3.2 Quick Setup for Modbus Connection

Use these instructions to set up the Modbus connection.

Procedure

In the AC drive application, select Fieldbus as the active control place (see the AC drive Operating Guide for instructions).

In the Master software, set the following:

Set the Control Word to 0 (2001).

Set the Control Word to 1 (2001).

Drive is in status RUN.



In the Master software, set the Reference value to 5000 (50.00%) (2003).

Actual speed is 5000 (25.00 Hz if MinFreq is 0.00 Hz and MaxFreq is 50.00 Hz).



In the Master software, set the Control Word to 0 (2001).

Drive is in status STOP.



4.3.3 Data Addresses and Modbus Memory Map

All data addresses in Modbus messages are referenced to zero. The rst occurrence of a data item is addressed as item number zero. Examples:

The coil known as 'Coil 1' in a programmable controller is addressed as 'Coil 0000' in the data address eld of a Modbus mes-

• sage.

Coil 127 decimal is addressed as 'Coil 007E hex' (126 decimal).

•

Holding register 40001 is addressed as register 0000 in the data address eld of the message. The function code eld already

• species a 'holding register' operation. Therefore the '4XXXX' reference is implicit.

Holding register 40108 is addressed as register 006B hex (107 decimal).

•

Modbus Memory Map

The VACON® variables and fault codes as well as the parameters can be read and written from Modbus. The parameter addresses are determined in the application. Every parameter and actual value has been given an ID number in the application. The ID numbering of the parameters and the parameter ranges and steps can be found in the application manual in question. The parameter values are given without decimals. If several parameters/actual values are read with one message, the addresses of the parameters/actual values must be consecutive.

Function code

Current terminology

Access type

Address range (hex)

1 (0x01)

Read coils

Discrete

00000–0FFFF

2 (0x02)

Read Input Discrete

Discrete

10000–1FFFF

3 (0x03)

Read holding registers

16-bit

40000–4FFFF

4 (0x04)

Read input registers

16-bit

30000–3FFFF

5 (0x05)

Force single coils

Discrete

00000–0FFFF

6 (0x06)

Write single register

16-bit

40000–4FFFF

15 (0x0F)

Force multiple coils

Discrete

00001–0FFFF

16 (0x10)

Write multiple registers

16-bit

40000–4FFFF

23 (0x17)

Read/Write multiple registers

16-bit

40000–4FFFF

Address

Function

Purpose

0001

RUN/STOP

Control Word, bit 0

0002

Direction

Control Word, bit 1

0003

Fault reset

Control Word, bit 2

0017

Reset

Clears operation days trip counter

0018

Reset

Clears energy trip counter

Address

Function

Purpose

40101

Reset

Clears operation days trip counter

40301

Reset

Clears energy trip counter

Address

Function

Purpose

0017

Reset

Clears operation days trip counter

0018

Reset

Clears energy trip counter

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

NOTE! Broadcasting is not supported in TCP.

Table 12: Supported Functions

Control Interface and

Communication

4.3.4 Coil Registers

Coil registers contain binary data (Read/Write).

Table 13: Dened Coil Registers

4.3.5 Resettable Trip Counters

The VACON® AC drives have trip counters for operation days and energy. These counters can be reset to zero.

To reset the trip counters, write value '1' to addresses dened in Table 14. Resetting the counters is not supported in VACON® 20, VACON® 20 X, or VACON® 20 CP.

Table 14: Resettable Trip Counters

In OPTCI, to clear the resettable trip counters, write '1' to the addresses listed in Table 15.

Table 15: Resettable Trip Counters for OPTCI

BC346130105092EN-US-000101 / DPD0158350 | Danfoss A/S © | 2020.06

Address

Function

Purpose

Ready

Status Word, bit 0

Run

Status Word, bit 1

Direction

Status Word, bit 2

Fault

Status Word, bit 3

Alarm

Status Word, bit 4

At reference

Status Word, bit 5

Zero speed

Status Word, bit 6

Flux ready

Status Word, bit 7

Address range

Purpose

Access type

Details

R/W

Max R/ W size

1–5

Operation day counter

16-bit

See Table 25

5/0

101–105

Resettable operation day counter

16-bit

See Table 27

R, Write 1 to rst index to reset

5/0 201–203

Energy counter

16-bit

See Table 29

5/0

301–303

Resettable energy counter

16-bit

See Table 31

R, Write 1 to rst index to reset

5/0 401–430

Fault history

16-bit

See Table 32

30/0

Address range

Purpose

Access type

Details

R/W

Max R/W size

0001–2000

VACON® Application IDs

16-bit

See Table 19

30/30

2001–2019

FBProcessDataIN

16-bit

See Table 20

19/19

2051–2086

FBProcessDataIN

32-bit

(1)

See Table 20

36/36

2101–2119

FBProcessDataOUT

16-bit

See Table 21

19/0

2151–2186

FBProcessDataOUT

32-bit

(1)

See Table 21

36/0

2200–10000

VACON® Application IDs

16-bit

See Table 19

30/30

10501–10530

IDMap

16-bit

See Illustration 18

30/30

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User Guide

4.3.6 Input Discrete Registers

Input discrete registers contain binary data (Read).

Table 16: Dened Input Discrete Registers

Control Interface and

Communication

4.3.7 Input Registers

The values can be read with function code 4. They are for compatibility with the OPTCI option board. They return the same values as holding register counterparts.

Table 17: Input Registers

4.3.8 Holding Registers

The values can be read with function code 3. Modbus registers are mapped to drive IDs as listed in Table 18.

Table 18: Dened Holding Registers

Address range

Purpose

Access type

Details

R/W

Max R/W size

10601–10630

IDMap Read/Write

16-bit

See Table 22

30/30

(2)

10701–10760

IDMap Read/Write

32-bit

(1)

See Table 22

30/30

20001–40000

VACON® Application IDs

32-bit

(1)

See Table 19

30/30

40001–40005

Operation day counter

16-bit

See Table 25

5/0

40011–40012

Operation day counter

32-bit

(1)

See Table 24

2/0

40101–40105

Resettable operation day counter

16-bit

See Table 27

R, Write 1 to rst index to reset

5/0 40111–40112

Resettable operation day counter

32-bit

See Table 26

2/0

40201–40203

Energy counter

16-bit

See Table 29

3/0

40211–40212

Energy counter

32-bit

See Table 28

2/0

40301–40303

Resettable energy counter

16-bit

See Table 31

R, Write 1 to rst index to reset

3/0 40311–40312

Resettable energy counter

32-bit

See Table 30

2/0

40400

Reset fault history

16-bit

1/1

40401–40430

Fault history

16-bit

See Table 32

30/0

40501

Communication timeout

16-bit

See Table 35

1/1

40511–40568

Fault history with 16-bit fault codes

16-bit

See Table 33

30/0

40601–40801

Fault history with time stamps

16-bit

See Table 34

30/0

Address range

Purpose

ID range

0001–2000

16-bit application parameters

1–2000

2200–10000

16-bit application parameters

2200–10000

20001–40000

32-bit application parameters

1–10000

VACON® OPTEA/OPTE9 Ethernet Board

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Control Interface and

Communication

These items are supported only in VACON® 100 family AC drives. Not supported in current version. See

Ethernet Drive Support and 1.7.2 VACON® OPTE9 Dual Port Ethernet Drive Support.

In VACON® 20, VACON® 20 X / CP, the maximum R/W size for IDmap operations is 12/30.

1.7.1 VACON® OPTEA Advanced Dual Port

4.3.8.1 VACON® Application IDs

Application IDs are parameters that depend on the application of the drive. These parameters can be read and written by pointing the corresponding memory range directly or by using the so-called ID map. The easiest way to read a single parameter value or parameters with consecutive ID numbers is to use a straight address. It is possible to read 30 consecutive ID addresses. Notice that the operation fails when just one of the consecutive IDs does not exist.

Parameters which have 32-bit value can be read from their own range. For example, to read the value for ID 864 (FB Status Word), the address must be set to 21726. This address value comes from values: 20000 + ((ID -1) * 2). The ID value is reduced with one because of zero-based addressing and the result is multiplied by 2 because one 32bit value takes two (16-bit) addresses.

Table 19: Parameter IDs

4.3.8.2 FB Process Data In

The process data elds are used to control the AC drive (for example, Run, Stop, Reference, Fault Reset) and quickly to read actual values (for example, Output frequency, Output current, Fault code). The values in these indexes can be read and written. The structure of the elds is described in

Table 20.

BC346130105092EN-US-000101 / DPD0158352 | Danfoss A/S © | 2020.06

16-bit address

32-bit address

Name

Range/Type

2001

2051 = High data 2052 = Low data

FB Control Word

Binary coded

2002–FB General Control Word

Binary coded

2003

2053 = High data 2054 = Low data

FB Speed Reference

0…10000 (100%)

2004

2055 = High data 2056 = Low data

FB Process Data In 1

see 4.7 VACON® Process Data Description

2005

2057 = High data 2058 = Low data

FB Process Data In 2

2006

2059 = High data 2060 = Low data

FB Process Data In 3

2007

2061 = High data 2062 = Low data

FB Process Data In 4

2008

2063 = High data 2064 = Low data

FB Process Data In 5

2009

2065 = High data 2066 = Low data

FB Process Data In 6

2010

2067 = High data 2068 = Low data

FB Process Data In 7

2011

2069 = High data 2070 = Low data

FB Process Data In 8

2012

2071 = High data 2072 = Low data

FB Process Data In 9

see 4.7 VACON® Process Data Description

2013

2073 = High data 2074 = Low data

FB Process Data In 10

2014

2075 = High data 2076 = Low data

FB Process Data In 11

2015

2077 = High data 2078 = Low data

FB Process Data In 12

2016

2079 = High data 2080 = Low data

FB Process Data In 13

2017

2081 = High data 2082 = Low data

FB Process Data In 14

2018

2083 = High data

FB Process Data In 15

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Table 20: FB Process Data In

Control Interface and

Communication

16-bit address

32-bit address

Name

Range/Type

2084 = Low data

2019

2085 = High data 2086 = Low data

FB Process Data In 16

16-bit address

32-bit address

Name

Range/Type

2101

2151 = High data 2152 = Low data

FB Status Word

Binary coded 2102

–

With 16-bit, FB General Status Word (High data)

Binary coded

2103

2153 = High data 2154 = Low data

FB Actual Speed

0…10000 (100.00%)

2104

2155 = High data 2156 = Low data

FB Process Data Out 1

See 4.7 VACON® Process Data Description

2105

2157 = High data 2158 = Low data

FB Process Data Out 2

2106

159 = High data 2160 = Low data

FB Process Data Out 3

2107

2161 = High data 2162 = Low data

FB Process Data Out 4

2108

2163 = High data 2164 = Low data

FB Process Data Out 5

2109

2165 = High data 2166 = Low data

FB Process Data Out 6

2110

2167 = High data 2168 = Low data

FB Process Data Out 7

2111

2169 = High data 2170 = Low data

FB Process Data Out 8

2112

2171 = High data 2172 = Low data

FB Process Data Out 9

See 4.7 VACON® Process Data Description

VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

Control word bits

See 4.7 VACON® Process Data Description for control word bit descriptions.

Control Word Monitoring Values

Drive Control Word and Protocol Control Word monitoring values always shows the same value when using Modbus. It is the same value as received from network. The only exception to this is that when using the VACON® NXP AC drives, the bit 15 of the Control word is changed to indicate the "Master connection status". The bit 15 is set to 1 when master device has written process data and the bit is cleared when the connection is closed/lost.

Communication

4.3.8.3 FB Process Data Out

Values in these indexes can be only read, not written.

Table 21: Fieldbus Process Data OUT

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16-bit address

32-bit address

Name

Range/Type

2113

2173 = High data 2174 = Low data

FB Process Data Out 10

2114

2175 = High data 2176 = Low data

FB Process Data Out 11

2115

2177 = High data 2178 = Low data

FB Process Data Out 12

2116

2179 = High data 2180 = Low data

FB Process Data Out 13

2117

2181 = High data 2182 = Low data

FB Process Data Out 14

2118

2183 = High data 2184 = Low data

FB Process Data Out 15

2119

2185 = High data 2186 = Low data

FB Process Data Out 16

VACON® OPTEA/OPTE9 Ethernet Board

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Control Interface and

Communication

Status Word bits

See 4.7 VACON® Process Data Description for status word bit descriptions. The use of process data depends on the application. In a typical situation, the device is started and stopped with the Control Word (CW) written by the Master and the Rotating speed is set with Reference (REF). With PD1…PD16, the device can be given other reference values (for example, Torque reference). With the Status Word (SW) read by the Master, the status of the device can be seen. Actual Value (ACT) and PD1…PD16 show the other actual values.

Status Word Monitoring Values

The Drive Status Word and Protocol Status Word monitoring values always shows the same value when using Modbus. It is the same value than what is sent to the network.

4.3.8.4 ID Map

The ID map makes it possible to read consecutive memory blocks that contain parameters whose IDs are not in a consecutive order. The address range 10501–10530 is called 'IDMap', and it includes an address map in which it is possible to write the parameter IDs in any order. The address range 10601–10630 is called 'IDMap Read/Write', and it includes values for parameters written in the IDMap. When one ID number has been written in the map cell 10501, the corresponding parameter value can be read and written in the address 10601, and so on. The address range 10701–10760 contains the ID Map for 32-bit values. Maximum of 30 IDs and ID values can be written and read with single request. In VACON® 20 and 20 X/CP it is possible to access only 12 ID value items at a time.

NOTE! 32-bit data not supported in the current version. See 1.7.1 VACON® OPTEA Advanced Dual Port Ethernet Drive Support and

1.7.2 VACON® OPTE9 Dual Port Ethernet Drive Support.

ID Value

699 123

700 321

701 456

702 654

703 1789

704

987

705

2741

706

1147

707 258

708 3852

Parameters

Address Data: ID

10501 700

10502 702

10503 707

10504 704

Address Data: ID

10601 321

10602 654

10603 258

10604 987

ID Map

e30bh905.10

Address

Data

10601

Data included in parameter ID700

10602

Data included in parameter ID702

10603

Data included in parameter ID707

10604

Data included in parameter ID704

Address

Data

10701

Data High, parameter ID700

10702

Data Low, parameter ID700

10703

Data High, parameter ID702

10704

Data Low, parameter ID702

Address

Description

40011 High data 40012 Low data

The counter in registers 40011d to 40012d holds the value of operation days as seconds in a 32-bit unsigned integer.

VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

Illustration 18: ID Map Initialization Example

Once the ID Map address range has been initialized with the parameter IDs, the parameter values can be read and written in the IDMap Read/Write address range address (IDMap address + 100).

Communication

Table 22: Parameter Values in 16-bit IDMap Read/Write Registers

If the ID Map table has not been initialized, all the elds show index as '0'. If it has been initialized, the parameter IDs included in it are stored in the ash memory of the option board.

Table 23: Example of Parameter Values in 32-bit IDMap Read/Write Registers

4.3.8.5 Operation Day Counter

Control unit operating time counter (total value). This counter cannot be reset. The values are read only.

NOTE! The feature Operation day counter does not work with VACON® 20, VACON® 20 X, or VACON® 20 CP AC drives.

Table 24: Operation Day Counter as Seconds

The operation day counter in registers 40001d to 40005d holds the value of operation days counter. The values are read only.

BC346130105092EN-US-000101 / DPD0158356 | Danfoss A/S © | 2020.06

Holding register address

Input register address

Purpose

40001

Years

40002

Days

40003

Hours

40004

Minutes

40005

Seconds

Address

Description

40111 High data 40112 Low data

This counter in registers 40111d to 40112d holds the value of resettable operation days as seconds in a 32-bit unsigned integer.

Holding register address

Input register address

Purpose

40101

101

Years

40102

102

Days

40103

103

Hours

40104

104

Minutes

40105

105

Seconds

Address

Description

40211 High data 40212 Low data

The counter is in registers 40211d to 40212d. It is a 32-bit oating point (IEEE 754) value containing the number of kilowatt-hours (kWh) that is in the energy counter of the drive. This value is read-only.

VACON® OPTEA/OPTE9 Ethernet Board

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For compatibility with VACON® 100 family internal Modbus TCP/UDP and the OPTCI option board, this counter is found from two dierent register areas: holding registers 40001d to 40005d and input registers 1d to 5d.

Table 25: Operation Day Counter

Communication

4.3.8.6 Resettable Operation Day Counter

This register holds the value for resettable control unit operating time counter (trip value). The values are read only. For resetting this counter, see 4.3.5 Resettable Trip Counters.

NOTE! The feature Resettable operation day counter does not work with VACON® 20, VACON® 20 X, or VACON® 20 CP AC drives.

Table 26: Resettable Operation Days Counter as Seconds

The resettable operation day counter in registers 40101d to 40105d holds the value of operation days counter. For compatibility with VACON® 100 family internal Modbus TCP/UDP and the OPTCI option board, this counter is found from two dierent register areas: holding registers 40101d to 40105d and input registers 30101d to 30105d.

Table 27: Resettable Operation Day Counter

4.3.8.7 Energy Counter

This counter holds the value of total amount of energy taken from a supply network. This counter cannot be reset. The values are read only.

Table 28: Energy Counter as kWh

These registers hold three values for the energy counter, amount of energy used, format of the energy value and unit of the energy value.

For compatibility with VACON® 100 family internal Modbus TCP/UDP and the OPTCI option board, this counter is found from two dierent register areas: holding registers 40201d to 40203d and input registers 201d to 203d.

Holding register address

Input register address

Purpose

Description

40201

201

Energy

Amount of energy taken from a supply network.

40202

202

Format

The last number of the Format eld indicates the decimal point place in the Energy

eld.

Example: 40 = 4 number of digits, 0 fractional digits 41 = 4 number of digits, 1 fractional digit 42 = 4 number of digits, 2 fractional digits

40203

203

Unit 1 =kWh 2 =MWh 3 =GWh 4 =TWh

Unit of the value.

Address

Description

40311 High data 40312 Low data

The counter is in registers 40311d to 40312d. It is a 32-bit oating point (IEEE 754) value containing the number of kilowatt-hours (kWh) from the resettable energy counter of the drive.

Holding register address

Input register address

Purpose

Description

40301

301

Energy

Amount of energy taken from a supply network.

40302

302

Format

The last number of the Format eld indicates the decimal point place in the Energy

eld.

Example: 40 = 4 number of digits, 0 fractional digits 41 = 4 number of digits, 1 fractional digit 42 = 4 number of digits, 2 fractional digits

40303

303

Unit 1 =kWh 2 =MWh 3 =GWh

Unit of the value.

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Example: If energy = 1200, format = 52, unit = 1, then actual energy is 12.00 kWh.

Table 29: Energy Counter

Control Interface and

Communication

4.3.8.8 Resettable Energy Counter

This counter holds the value of total amount of energy taken from a supply network since the counter was last reset. For resetting this counter, see 4.3.5 Resettable Trip Counters. The values are read only.

Table 30: Resettable Energy Counter as kWh

These registers hold three values for the energy counter, amount of energy used, format of the energy value and unit of the energy value.

For compatibility with VACON® 100 family internal Modbus TCP/UDP and the OPTCI option board, this counter is found from two dierent register areas: 40301d to 40303d and 301d to 303d.

Example: If energy = 1200, format = 52, unit = 1, then actual energy is 12.00 kWh.

Table 31: Resettable Energy Counter

BC346130105092EN-US-000101 / DPD0158358 | Danfoss A/S © | 2020.06

Holding register address

Input register address

Purpose

Description

4 =TWh

Holding register address

Input register address

Purpose

40401

401

Upper byte is a fault code, lower byte is a subcode

40402

402-40403

403-...

...-40429

429

Holding register address

Purpose

Description

40511

Fault code 1

16-bit fault code in index 1.

40512

Subcode 1

16-bit subcode for the fault in index 1.

40513

Fault code 2

16-bit fault code in index 2.

40514

Subcode 2

16-bit subcode for the fault in index 2.

...

...-40567

Fault code 29

40568

Subcode 29

VACON® OPTEA/OPTE9 Ethernet Board

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Communication

4.3.8.9 Fault History

The fault history is readable from address 40401 onward. The faults are listed in chronological order so that the latest fault is mentioned rst and the oldest last. The fault history can contain 29 faults at the same time. (In VACON® 20, VACON® 20 X, and VACON 20 CP it is possible to read 9 faults). For compatibility with VACON® 100 family internal Modbus TCP/UDP and the OPTCI option board, this counter is also found from input register area: 401d to 403d.

NOTE! Reading the fault history items is slow. Reading all 30 items at once can take up to 3 s depending on drive type and rmware versions.

The fault history contents are shown in Table 32.

Table 32: Fault History

4.3.8.10 Fault History with 16-bit Error Codes

The fault history is readable from address 40511 onward. The faults are listed in a chronological order so that the latest fault is mentioned rst and the oldest last. These addresses contain the fault code and the subcode for the fault. Reading can be started from any address. (In VACON® 20, VACON® 20 X, and VACON® 20 CP it is possible to read 9 faults).

NOTE! Reading the fault history items is slow. Reading all 30 items at once can take up to 3 s depending on drive type and rmware versions.

Table 33: Fault History with 16-bit Error Codes

4.3.8.11 Reset Fault History

Drive fault history can be reset by writing "1" to address 40400. Value in this address can be read but it is always zero. Notice that fault history cannot be reset when there is an active fault.

4.3.8.12 Reset Fault with Time Stamps

The fault history with time stamps is readable from address 40601 onward. The faults are listed in a chronological order so that the latest fault is mentioned rst and the oldest last. These addresses contain fault code, subcode, and time stamp for the fault. Reading

Holding register address

Purpose

Description

40601

Fault Code 1

16-bit fault code in index 1

40602

Subcode 1

16-bit fault subcode in index 1

40603

Time stamp HI 1

32-bit time stamp in seconds high byte in index 1

40604

Time stamp LO 1

32-bit time stamp in seconds low byte in index 1

40605

Time stamp ms 1

Time stamp milliseconds in index 1

40606

Fault Code 2

16-bit fault code in index 2

...

40801

Time stamp ms 40

Time stamp milliseconds in index 40

Holding register address

Purpose

Description

40501

Communication timeout

Connection timeout value for this connection in seconds.

VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

can be started from any address. (In VACON® 20, VACON® 20X, and VACON® 20CP it is possible to read 9 faults. In VACON® NXP family AC drives it is possible to read 30 faults).

NOTE! Only 25 items can be read with single request. Reading the fault history items is slow. Reading 25 items at once can take up to 3 s depending on drive type and rmware versions.

Table 34: Fault History with Time Stamps

Communication

4.3.9 Connection Timeout in Modbus Communication

It is possible to open up to three connections to the option board. One of the connections could be used for process data and other just for reading monitoring data. Usually it is desirable that if "monitor" connection gets disconnected, no fault is generated. However when the connection is handling the process data, a fault must be generated in the time specied.

This register address enables custom communication timeout for each connection. If a custom timeout value is used, it must be given every time a connection is opened. Timeout can be set only to the connection used to access this register. By default the connection uses the communication timeout value given via panel parameters.

If the cable is disconnected, a eldbus fault is activated after the timeout period. When communication timeout is zero, no fault is activated.

Table 35: Communication Timeout Register

BC346130105092EN-US-000101 / DPD0158360 | Danfoss A/S © | 2020.06

Communicating

Received packet during

communication

timeout time?

Timeout

CheckYes

Yes

Closed

Yes

Broken

Communication timeout zero?

Connection closed or broken?

FAULT! No fault

Has second connection with communication timeout

other than zero?

e30bh892.10

ADDRESS

01 hex

Slave address 1 hex (= 1)

FUNCTION

10 hex

Function 10 hex (= 16)

DATA

Starting address HI

07 hex

Starting address 07D0 hex (= 2000)

Starting address LO

D0 hex

Number of registers HI

00 hex

Number of registers 0003 hex (= 3)

Number of registers LO

03 hex

Byte count

06 hex

Byte count 06 hex (= 6)

Data HI

00 hex

Data 1 = 0001 hex (= 1). Setting control word run bit to 1.

Data LO

01 hex

Data HI

00 hex

Data 2 = 0000 hex (= 0).

Data LO

00 hex

Data HI

13 hex

Data3 = 1388 hex (= 5000), Speed Reference to 50.00%

Data LO

88 hex

ERROR CHECK

CRC HI

C8 hex

CRC eld C8CB hex (= 51403)

CRC LO

CB hex

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Control Interface and

Communication

Illustration 19: The Connection Timeout in Modbus TCP/UDP

4.3.10 Example Messages

4.3.10.1 Write Process Data

Write the process data 42001…42003 with command 16 (Preset Multiple Registers).

Table 36: Command Master–Slave

011007D0000306000100001388C8CB

ADDRESS

01 hex

Slave address 1 hex (= 1)

FUNCTION

10 hex

Function 10 hex (= 16)

DATA

Starting address HI

07 hex

Starting address 07D0 hex (= 2000)

Starting address LO

D0 hex

Number of registers HI

00 hex

Number of registers 0003 hex (= 3)

Number of registers LO

03 hex

ERROR CHECK

CRC HI

80 hex

CRC 8085 hex (= 32901)

CRC LO

85 hex

011007D0000380

ADDRESS

01 hex

Slave address 1 hex (= 1)

FUNCTION

10 hex

Function 4 hex (= 4)

DATA

Starting address HI

08 hex

Starting address 0836 hex (= 2102)

Starting address LO

36 hex

Number of registers HI

00 hex

Number of registers 0002 hex (= 2)

Number of registers LO

02 hex

ERROR CHECK

CRC HI

C8 hex

CRC 93A5 hex (= 37797)

CRC LO

CB hex

01040836000293

ADDRESS

01 hex

Slave address 1 hex (= 1)

FUNCTION

04 hex

Function 4 hex (= 4)

DATA

Byte count

04 hex

Byte count 4 hex (= 4)

Data HI

13 hex

Speed reference = 1388 hex (=5000 => 50.00%)

Data LO

88 hex

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Table 37: Message Frame

The reply to the message of Preset Multiple Register is the echo of 6 rst bytes.

Table 38: Answer Slave - Master

Control Interface and

Communication

Table 39: Reply Frame

4.3.10.2 Read Process Data

Read the Process Data 42103…42104 with command 4 (Read Input Registers).

Table 40: Command Master–Slave

Table 41: Message Frame

The reply to the Read Input Registers message contains the values of the read registers.

Table 42: Answer Slave–Master

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Data HI

09 hex

Output Frequency = 09C4 hex (=2500 =>25.00 Hz)

Data LO

C4 hex

ERROR CHECK

CRC HI

78 hex

CRC 78E9 hex (= 30953)

CRC LO

E9 hex

010404138809C478E9

ADDRESS

01 hex

Slave address 1 hex (= 1)

FUNCTION

04 hex

Function 4 hex (= 4)

DATA

Starting address HI

17 hex

Starting address 1770 hex (= 6000)

Starting address LO

70 hex

Number of registers HI

00 hex

Invalid number of registers 0005 hex (= 5)

Number of registers LO

05 hex

ERROR CHECK

CRC HI

34 hex

CRC 3466 hex (= 13414)

CRC LO

66 hex

01041770000534

ADDRESS

01 hex

Slave address 1 hex (= 1)

FUNCTION

84 hex

Most signicant bit set to 1

DATA

Error code

04 hex

Error code 04 => Slave device failure

ERROR CHECK

CRC HI

42 hex

CRC 42C3 hex (= 17091)

CRC LO

C3 hex

01840442C3

VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

Table 43: Reply Frame

Communication

4.3.10.3 Exception Response

In an exception response, the Slave sets the most-signicant bit (MSB) of the function code to 1. The Slave returns an exception code in the data eld.

Table 44: Command Master–Slave

Table 45: Message Frame

Exception response

Table 46: Answer Slave–Master

Table 47: Reply Frame

4.4 Drive Control with PROFINET

4.4.1 PROFINET Communication Overview

The PROFIdrive prole species telegrams used for process communication. The option boards support four types of dierent telegrams with and without extra process data items. These telegrams contain either PROFIdrive or VACON® specic signals or a combination of both.

VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

It is also possible to use up to eight (8) Process Data elds, or sixteen (16) when using extended or fast communication mode. If the normal communication mode is used, the upper 8 Process Data items (9–16) are either zeroes (actual data) or not used (setpoint data). See 4.1 Ethernet Communication Overview for more details. For descriptions of dierent types of telegrams and the signals that form them, see 4.4.5 Telegram Types.

Communication

4.4.2 Quick Setup for PROFINET Connection

Use these instructions to set up the PROFINET connection.

In the instruction, telegram ST1 with STW1/ZSW1 and NSOLL_A/NIST_A is used as example.

Procedure

In the AC drive application, select Fieldbus as the active control place (see the AC drive Operating Guide for instructions).

In the Master software, set the following:

Set the Control Word value to 0 hex.

Set the Control Word value to 47E hex.

Set the Control Word value to 47F hex.

Drive is in status RUN.



In the Master software, set the Reference value to 2000 Hex (=50.00%).

Actual speed is 5000 (25.00 Hz if MinFreq is 0.00 Hz and MaxFreq is 50.00 Hz).



In the Master software, set the Control Word value to 47E hex.

Drive is in status STOP.



4.4.3 PROFIdrive 4.1 Prole Overview

To provide interoperability between devices from dierent manufacturers, a "standard" must be dened so that:

•

The devices behave in the same way.

•

The devices produce and/or consume the same basic set of I/O data.

•

The devices contain the same basic set of congurable attributes.

The formal denition of this information is known as a device prole. Some AC drives support only some of the functionalities. See

4.7 VACON® Process Data Description.

4.4.4 PROFIdrive 4.1 State Machine

STW1 (Control Word) and ZSW1 (Status Word) follow the state machine described in Illustration 20.

BC346130105092EN-US-000101 / DPD0158364 | Danfoss A/S © | 2020.06

Highest priority transition .. .. Lowest priority transition

Power ON

S1: Switching On Inhibited

ZSW1 bit 6 = True; 0,1,2 = False

General state diagram

Power on

S2: Ready For Switching On

ZSW1 bit 0 = True; 1,2,6 = False

Ramp stop

Quick stop

S5: Switching Off

ZSW1 bit0,1 =True bit 2,6=False

S3: Switched On

ZSW1 bit 0,1 = True; 2,6 = False

S4: Operation

ZSW1 bit 0,1,2 = True; 6=False

e30bh623.10

Bits of control word

Value (hex)

Action in VACON® 100 family & VACON

20X/CP

Action in VACON® 20

Action in VACON

NXP

(1)

0--

Self-initiation is performed

OFF AND No Coast Stop AND No Quick Stop STW1 bit 0 = False; 1, 2 = True

0x47E

None, requires that Drive is READY (ZSW1 status word bit 13)

Coast Stop OR Quick Stop STW1 bit 1 = False OR bit 2 =

False

None 3

ON STW1 bit 0 = True

0x477

None

Coast Stop OR Quick Stop

None

STW1 bit 1 = False OR bit 2 = False

None

Enable operation STW1 bit 3 = True

0x47F

Drive function is enabled, requires that Drive is in eldbus control (ZSW1 status word bit 9)

Coast stop

0x47D

Stop by coast

Stop function

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Control Interface and

Communication

Illustration 20: General State Diagram

Table 48: PROFIdrive State Machine Commands

Bits of control word

Value (hex)

Action in VACON® 100 family & VACON

20X/CP

Action in VACON® 20

Action in VACON

NXP

(1)

STW1 bit 1 = False

8, 12

Quick stop STW1 bit 2 = False

0x47B

Quick stop

(2)

Stop by ramp

Stop function

Ramp stop STW1 bit 0 = False

0x47E

Stop by ramp

Stop function 10

Disable operation STW1 bit 3 = False

0x477

Drive function is disabled, stop by stop function

Coast stop STW1 bit 1 = False

0x47D

Stop by coast

Stop function 13, 15

Standstill detected OR Disable operation STW1 bit 3 = False

0x477

Drive function is disabled, stop by stop function 14

ON (Re-enable operation)

0x47F

Drive function is re-enabled

Value in Standard Telegram 1

Value in VACON®specic Telegram 1

Value in VACON®-specic Telegram 2

Value in VACON®specic Telegram 3

Value in VACON®-specic Telegram 4

Drive CW

FBFixedControlWord

Drive SW

FBFixedStatusWord

Protocol CW

STW1

FBFixedControlWord

FBGeneralControlWord

STW1

FBFixedControlWord

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Control Interface and

Communication

When using VACON® NXP series AC drives and option board in "PROFIdrive" mode, the stop command always follows congured stop mode and

not the stop command given from eldbus.

Quick stop only occurs if the application supports it. If the application does not support quick stop, a normal ramp stop is executed.

4.4.5 Telegram Types

For a list of dierent telegram types and their description, see the following:

•

4.4.5.1 Standard Telegram 1 and Variants

•

4.4.5.2 VACON®-specic Telegram 1 and Variants

•

4.4.5.3 VACON®-specic Telegram 2 and Variants

•

4.4.5.4 VACON®-specic Telegram 3 and Variants

•

4.4.5.5 VACON®-specic Telegram 4 and Variants

•

4.4.5.7 VACON®-specic Telegram Vendor PPO and Variants

Consider the following issues when selecting the telegram type:

•

Combination of devices in the network (multiple manufactureres/only VACON® devices.

•

How the motor speed is controlled.

•

Number of process data items needed.

When selecting a telegram for PROFINET communication, consider if PROFIdrive control/status word (STW1/ZSW1) is needed or if VACON® control/status word can be used. See comparison of used Control and Status Word monitoring values in Table 49.

Table 49: Comparison of Control and Status Word Monitoring Values in Dierent Telegram Types

BC346130105092EN-US-000101 / DPD0158366 | Danfoss A/S © | 2020.06

Value in Standard Telegram 1

Value in VACON®specic Telegram 1

Value in VACON®-specic Telegram 2

Value in VACON®specic Telegram 3

Value in VACON®-specic Telegram 4

Protocol SW

STW1

FBFixedStatusWord

FBGeneralStatusWord

STW1

FBGeneralStatusWord

Telegram number

Abbreviation

Standard Telegram 1

ST1

102

Standard Telegram 1 + 1 Process Data

ST1 + 1 PD

103

Standard Telegram 1 + 2 Process Data

ST1 + 2 PD

104

Standard Telegram 1 + 3 Process Data

ST1 + 3 PD

100

Standard Telegram 1 + 4 Process Data

ST1 + 4 PD

105

Standard Telegram 1 + 5 Process Data

ST1 + 5 PD

106

Standard Telegram 1 + 6 Process Data

ST1 + 6 PD

107

Standard Telegram 1 + 7 Process Data

ST1 + 7 PD

101

Standard Telegram 1 + 8 Process Data

ST1 + 8 PD

138

Standard Telegram 1 + 12 Process Data

(1)

ST1 + 12 PD

VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

If the network has devices from multiple manufactures which all can be controlled with PROFIdrive control word, we recommend using telegram type with status word STW1. It makes writing the PLC application easier, especially when the PLC has PROFIdrive block available.

If the network consists of only VACON® devices controlled by PLC over PROFINET, it is better to use VACON® control/status word. State machine for VACON® control/status word is simpler than in the PROFIdrive and therefore controlling the drive is also easier in the PLC application.

Telegram selection also aects the motor speed control. With VACON® control word, the motor direction can be controlled with a single bit. PROFIdrive motor direction is controlled with negative/ positive values. Telegrams with PROFIdrive control/status word generally have also PROFIdrive speed reference/actual (NIST_A/NSOLL_A). Other telegrams have VACON® speed reference/actual (FBSpeedReference/FBSpeedActual). The main dierence between these types is the integer value which means maximum allowed motor speed (100%). In VACON® FBSpeedReference, the value is between 0d–10000d (100.00%) and in PROFIdrive NIST_A the value is between -16384d–16384d.

NOTE! When using NSOLL_A, our minimum and maximum frequency parameters aect the speed reference dierently than when using the FBSpeedReference directly. With NSOLL_A, the PROFINET gives zero reference to the application until NSOLL_A exceeds the minimum reference. With FBSpeedReference, the given value is always scaled between the minimum and maximum frequency. For example, if the Minimum Frequency is 30 Hz and the Maximum Frequency is 50 Hz, the NSOLL_A value between 0 and 9830 runs 30 Hz. With FBSpeedReference, the example value 1000 (10%) runs 32 Hz.

Dierent telegrams contain dierent number of process data items. The number of items vary from none to 16 items. Process data can be 16 or 32 bits in size. Process data in VACON® NXP drives is only 16-bit, so telegrams which use 32-bit process data have the upper 16 bits always as zero.

When using more than 8 process data items, the eldbus option board communication mode must be 'Fast mode with safety "black channel"', 'Fast Mode' or 'Normal Extended' mode. See 4.2 Fieldbus Option Board Communication Modes for more information on the communication mode.

Communication

4.4.5.1 Standard Telegram 1 and Variants

Standard Telegram 1 types are used when a standard VACON® application is used and PROFIdrive functionality is required. Telegrams listed in Table 50 use PROFIdrive-dened control word, status word, speed setpoint value, and speed actual value. When us- ing these telegrams, the process data elds are communicated as 16-bit values.

STW1 forces edge sensitive run control.

NOTE! When a board is connected to VACON® 100 family AC drive and its mode parameter is set to “NX Mode”, the option board uses FBSpeedReference/FBSpeedActual instead of NSOLL_A/ NIST_A as backward compatibility for OPTCP option board.

Table 50: Standard Telegram 1 and Variants

Telegram number

Abbreviation

139

Standard Telegram 1 + 16 Process Data

(1)

ST1 + 16 PD

Bytes

Setpoint

Actual value

1...2

STW1

4.4.6.1 PROFIdrive 4.1 Control Word (STW1)

ZSW1

4.4.6.2 PROFIdrive 4.1 Status Word (ZSW1)

3...4

NSOLL_A

4.4.6.3 Setpoint Value

NIST_A

4.4.6.4 Actual Speed Value

5...6

PDI1

4.7.5 Process Data

PDO1

4.7.5 Process Data

7...8

PDI2

PDO2

...

19...20

PDI8

PDO8

21...22

PDI9

(1)

PDO9

(1)

...

35...36

PDI16

(1)

PDO16

(1)

Telegram number

Abbreviation

108

Vendor Telegram 1

Vendor 1

109

Vendor Telegram 1 + 1 Process Data

Vendor 1 + 1 PD

110

Vendor Telegram 1 + 2 Process Data

Vendor 1 + 2 PD

111

Vendor Telegram 1 + 3 Process Data

Vendor 1 + 3 PD

112

Vendor Telegram 1 + 4 Process Data

Vendor 1 + 4 PD

113

Vendor Telegram 1 + 5 Process Data

Vendor 1 + 5 PD

114

Vendor Telegram 1 + 6 Process Data

Vendor 1 + 6 PD

115

Vendor Telegram 1 + 7 Process Data

Vendor 1 + 7 PD

116

Vendor Telegram 1 + 8 Process Data

Vendor 1 + 8 PD

140

Vendor Telegram 1 + 12 Process Data

(1)

Vendor 1 + 12 PD

141

Vendor Telegram 1 + 16 Process Data

(1)

Vendor 1 + 16 PD

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

12 and 16 process data items are available in VACON® NXP AC Drive. See 4.2 Fieldbus Option Board Communication Modes.

Table 51: Standard Telegram 1 Setpoint and Actual Data

Control Interface and

Communication

See 4.4.5 Telegram Types.

For Control and Status Word monitoring values in this telegram, see Table 49.

4.4.5.2 VACON®-specic Telegram 1 and Variants

These telegrams (Table 52) use VACON® dened control word, status word, speed setpoint value, and speed actual value to directly access the AC drive application. When using these telegrams, the process data elds are communicated as 16-bit values.

Table 52: Vendor Telegram 1 and Variants

12 and 16 process data items are available in VACON® NXP AC Drive. See

4.2 Fieldbus Option Board Communication Modes.

Bytes

Setpoint

Actual value

1...2

FB FIXED CW

4.7.1 Control Word Overview

FB FIXED SW

4.7.2 Status Word Overview

3...4

FB SPEED REF

4.7.5 Process Data

FB SPEED ACT

4.7.4 Speed Reference and Actual Speed

5...6

PDI1

4.7.5 Process Data

PDO1

4.7.5 Process Data

7...8

PDI2

PDO2

...

....

19...20

PDI8

PDO8

21...22

PDI9

(1)

PDO9

(1)

...

35...36

PDI16

(1)

PDO16

(1)

Telegram Number

Abbreviation

117

Vendor Telegram 2

Vendor 2

118

Vendor Telegram 2 + 1 Process Data

Vendor 2 + 1 PD

119

Vendor Telegram 2 + 2 Process Data

Vendor 2 + 2 PD

120

Vendor Telegram 2 + 3 Process Data

Vendor 2 + 3 PD

121

Vendor Telegram 2 + 4 Process Data

Vendor 2 + 4 PD

122

Vendor Telegram 2 + 5 Process Data

Vendor 2 + 5 PD

123

Vendor Telegram 2 + 6 Process Data

Vendor 2 + 6 PD

124

Vendor Telegram 2 + 7 Process Data

Vendor 2 + 7 PD

125

Vendor Telegram 2 + 8 Process Data

Vendor 2 + 8 PD

142

Vendor Telegram 2 + 12 Process Data

(1)

Vendor 2 + 12 PD

143

Vendor Telegram 2 + 16 Process Data

(1)

Vendor 2 + 16 PD

Bytes

VACON® NXP

VACON® 20

VACON® 100 family

1...2

16-bit Process data

32-bit process data

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Table 53: Vendor Telegram 1 Setpoint and Actual Data

Control Interface and

Communication

See 4.4.5.1 Standard Telegram 1 and Variants.

For Control and Status Word monitoring values in this telegram, see Table 49.

4.4.5.3 VACON®-specic Telegram 2 and Variants

These telegrams (Table 54) use VACON® dened control word, status word, speed setpoint value, and speed actual value to access the AC drive application directly. The dierence to vendor telegram 1 types are the added general control and status words.

Table 54: Vendor Telegram 2 and Variants

12 and 16 process data items are available in VACON® NXP AC Drive. See 4.2 Fieldbus Option Board Communication Modes.

When using these telegrams, the process data elds are communicated as 32-bit values. However, when using VACON® NX or VACON® 20 family AC drives, the data is actually 16-bit and transferred in the lower bytes.

Table 55: Process Data Item Denition when Using Vendor Telegram 2

Bytes

VACON® NXP

VACON® 20

VACON® 100 family

3...4

Not used

Bytes

Setpoint

Actual value

1...2

FB FIXED CW

4.7.1 Control Word Overview

FB FIXED SW

4.7.2 Status Word Overview

3...4

FB GENERAL CW

4.7.1 Control Word Overview

FB GENERAL SW

4.7.2 Status Word Overview

5...6

FB SPEED REF

4.7.4 Speed Reference and Actual Speed

FB SPEED ACT

4.7.4 Speed Reference and Actual Speed

7...10

PDI1

(1)

4.7.5 Process Data

PDO1

(1)

4.7.5 Process Data

11...14

PDI2

(1)

PDO2

(1)

...

35...38

PDI8

(1)

PDO8

(1)

39...42

PDI9

(2)

PDO9

(2)

...

67...70

PDI16

(2)

PDO16

(2)

Telegram Number

Abbreviation

126

Vendor Telegram 3

Vendor 3

127

Vendor Telegram 3 + 1 Process Data

Vendor 3 + 1 PD

128

Vendor Telegram 3 + 2 Process Data

Vendor 3 + 2 PD

129

Vendor Telegram 3 + 3 Process Data

Vendor 3 + 3 PD

130

Vendor Telegram 3 + 4 Process Data

Vendor 3 + 4 PD

131

Vendor Telegram 3 + 5 Process Data

Vendor 3 + 5 PD

132

Vendor Telegram 3 + 6 Process Data

Vendor 3 + 6 PD

133

Vendor Telegram 3 + 7 Process Data

Vendor 3 + 7 PD

134

Vendor Telegram 3 + 8 Process Data

Vendor 3 + 8 PD

144

Vendor Telegram 3 + 12 Process Data

(1)

Vendor 3 + 12 PD

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Table 56: Vendor Telegram 2 Setpoint and Actual Data

Control Interface and

Communication

32-bits. See

See 4.4.5 Telegram Types.

Table 55.

For Control and Status Word monitoring values in this telegram, see Table 49.

4.4.5.4 VACON®-specic Telegram 3 and Variants

The telegrams listed in Table 57 use PROFIdrive-dened control word, status word, speed setpoint value, and speed actual value with VACON® general control and status words for added functionality.

NOTE! When board is connected to VACON® 100 family AC drive and its mode parameter is set to “NX Mode”, the option board uses FBSpeedReference/FBSpeedActual instead of NSOLL_A/ NIST_A as backward compatibility for OPTCP option board.

Table 57: Vendor Telegram 3 and Variants

Telegram Number

Abbreviation

145

Vendor Telegram 3 + 16 Process Data

(1)

Vendor 3 + 16 PD

Bytes

VACON® NXP

VACON® 20 / 20 X

VACON® 100 family

1...2

16-bit Process data

32-bit process data

3...4

Not used

Bytes

Setpoint

Actual value

1...2

STW1

4.4.6.1 PROFIdrive 4.1 Control Word (STW1)

ZSW1

4.4.6.2 PROFIdrive 4.1 Status Word (ZSW1)

3...4

FB GENERAL CW

4.7.1 Control Word Overview

FB GENERAL SW

4.7.2 Status Word Overview

5...6

NSOLL_A

4.4.6.3 Setpoint Value

NIST_A

4.4.6.4 Actual Speed Value

7...10

PDI1

(1)

4.7.5 Process Data

PDO1

(1)

4.7.5 Process Data

11...14

PDI2

(1)

PDO2

(1)

...

35...38

PDI8

(1)

PDO8

(1)

39...42

PDI9

(2)

PDO9

(2)

...

67...70

PDI16

(2)

PDO16

(2)

Telegram Number

Abbreviation

135

Vendor Telegram 4

Vendor 4

136

Vendor Telegram 4 + 4 Process Data

Vendor 4 + 4 PD

137

Vendor Telegram 4 + 8 Process Data

Vendor 4 + 8 PD

146

Vendor Telegram 4 + 12 Process Data

Vendor 4 + 12 PD

VACON® OPTEA/OPTE9 Ethernet Board

Control Interface and

User Guide

12 and 16 process data items are available in VACON® NXP AC Drive. See 4.2 Fieldbus Option Board Communication Modes.

When using these telegrams, the process data elds are communicated as 32-bit values. However, when using VACON® NXP or VACON® 20 family AC drives, the data is actually 16 bits and transferred in the lower bytes.

Table 58: Process Data Item Denition when Using Vendor Telegram 3

Table 59: Vendor Telegram 3 Setpoint and Actual Data

Communication

32-bit. See Table 58.

See

4.4.5 Telegram Types.

For Control and Status Word monitoring values in this telegram, see

4.4.5.5 VACON®-specic Telegram 4 and Variants

Use the telegram types listed in Table 60 as a replacement for the OPT-CP option board, when using "Bypass mode". These telegram types can also be used when the PROFIdrive functionality is required and a VACON® application with PROFIdrive

state machine is activated (for example, VACON® NXP Advanced Application).

Table 60: Vendor Telegram 4 and Variants

Table 49.

Telegram Number

Abbreviation

147

Vendor Telegram 4 + 16 Process Data

Vendor 4 + 16 PD

Bytes

Setpoint

Actual value

1...2

FB FIXED CW

4.7.1 Control Word Overview

FB GENERAL SW

4.7.2 Status Word Overview

3...4

FB SPEED REF

4.7.4 Speed Reference and Actual Speed

FB SPEED ACT

4.7.4 Speed Reference and Actual Speed

5...6

PDI1

4.7.5 Process Data

PDO1

4.7.5 Process Data

7...8

PDI2

PDO2

...

19...20

PDI8

PDO8

21...22

PDI9

(1)

PDO9

(1)

...

35...36

PDI16

(1)

PDO16

(1)

Telegram Number

Abbreviation

151

Vendor Telegram 5

Vendor 5

152

Vendor Telegram 5 + 4 Process Data

Vendor 5 + 4 PD

153

Vendor Telegram 5 + 8 Process Data

Vendor 5 + 8 PD

154

Vendor Telegram 5 + 12 Process Data

Vendor 5 + 12 PD

155

Vendor Telegram 5 + 16 Process Data

Vendor 5 + 16 PD

Bytes

Setpoint

Actual value

1..2

FB GENERAL CW

4.7.1 Control Word Overview

FB GENERAL SW

4.7.2 Status Word Overview

3..4

PDI 1

4.7.5 Process Data

PDI 1

4.7.5 Process Data

………

33..34

PDI 16

PDO 16

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Table 61: Vendor Telegram 4 Setpoint and Actual Data

Control Interface and

Communication

See

4.4.5 Telegram Types.

For Control and Status Word monitoring values in this telegram, see

Table 49.

4.4.5.6 VACON®-specic Telegram 5 and Variants

These telegrams (Table 62) contains only FB General Control Word / FB General Status Word and process data items to allow the application to dene fully the content of the telegram, that is, "Free". Practical use of this telegram requires custom application in the drive.

Table 62: Vendor Telegram 5 and Variants

Table 63: Vendor Telegram 5 Setpoint and Actual Data

4.4.5.7 VACON®-specic Telegram Vendor PPO and Variants

This telegram is usable only in NX Mode and in OPTCx Mode. These telegrams are dened in OPTCP GSDML. These telegrams use PROFIdrive 2.0 state machine from OPTCP.

Telegram Number

Abbreviation

148

Vendor PPO3

149

Vendor PPO4

Vendor PPO3 + 4 PD

150

Vendor PPO6

Vendor PPO3 + 8 PD

Bytes

Setpoint

Actual value

1...2

Vendor PPO control word

Vendor PPO status word

3...4

Vendor PPO speed reference

Vendor PPO actual speed

Bit

Description for Value = 0

Description for Value = 1

STOP 1 (by ramp)

ON 11STOP 2 (by coast)

ON 22STOP 3 (by ramp)

ON 33RUN DISABLE

ENABLE

No action

START

No action

START

No action

START

No action

FAULT RESET (0 ->1)

No action

Disable eldbus control

Enable eldbus control

Fieldbus DIN 1=OFF

Fieldbus DIN 1=ON

Fieldbus DIN 2=OFF

Fieldbus DIN 2=ON

Fieldbus DIN 3=OFF

Fieldbus DIN 3=ON

Fieldbus DIN 4=OFF

Fieldbus DIN 4=ON

Fieldbus DIN 5=OFF

Fieldbus DIN 5=ON

Bit

Description for Value = 0

Description for Value = 1

Not Ready (initial)

READY 1

(1)

Not Ready

READY 2

(1)

DISABLE

ENABLE

(1)

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Table 64: Vendor Telegram Vendor PPO and Variants

Table 65: Vendor Telegram Vendor PPO Setpoint and Actual Data

Vendor PPO Speed Reference/Actual Speed allows values from -10000 to +10000. Value is scaled between minimum and maximum frequency parameters.

Table 66: Control Word for the OPTCP Vendor PPO Telegrams

Communication

Table 67: Status Word for the OPTCP Vendor PPO Telegrams

Bit

Description for Value = 0

Description for Value = 1

NO FAULT

FAULT ACTIVE

(1)

STOP 2

NO STOP 2

(1)

STOP 3

NO STOP 3

(1)

START ENABLE

START DISABLE

(1)

No Warning

Warning

(2)

Reference ≠ Actual value

Reference = Actual value

(2)

Fieldbus control OFF

Fieldbus control ON

(2)

Not used

FC stopped

Running

FC not ready

FC ready

(2)

Not used

Bits

Title

Value = 1

Value = 0

Description

Switching ON/OFF

1 = Switch ON

0 = Switch OFF

This bit is used with other bits to enable operation of the drive. When this bit is set to 0 during operation, the drive performs a ramp stop.

Coast stop command

1 = No coast stop

0 = Perform coast stop

This bit is used to request a coast stop to be executed. When it is set to 0 during operation, the drive performs a coast stop.

Quick stop command

1 = No quick stop

0 = Perform quick stop

This bit is used to request a quick stop to be executed. When it is set to 0 during operation, the drive quickly ramps down to zero speed and stops.

Enabling of operation

1 = Enable operation

0 = Disable operation

This bit is used with other bits to enable operation of the drive. When it is set to 0 during operation, the drive performs a coast stop.

Enabling of ramp generator

1 = Enable ramp generator

0 = Reset ramp generator

This bit is used with other bits to enable operation of the drive. When it is set to 0 during operation, the drive quickly decelerates to zero speed.

Freezing of setpoint value

1 = Unfreeze setpoint value

0 = Freeze setpoint value

This bit can be used to freeze the setpoint value used by the drive. The value is frozen if this bit is set to 0. If the bit is 1, the setpoint value provided by the PROFIBUS DP master is continuously updated.

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Bits of the State Machine

Comes straight from the drive

4.4.6 Telegram Building Blocks

4.4.6.1 PROFIdrive 4.1 Control Word (STW1)

NOTE! OPTEA in OPTCx mode does the same FBDIN bit mapping as OPTCP option board does.

Table 68: PROFIdrive 4.1 Control Word (STW1)

Bits

Title

Value = 1

Value = 0

Description

Enabling of setpoint value

1 = Enable setpoint value

0 = Disable setpoint value

This bit can be used to disable the eldbus setpoint value. If this bit is set to 0, the PROFIBUS DP option board ignores the setpoint value by the master and instead uses a setpoint value of 0. During operation, if this bit is set to 0, the drive decelerates to a standstill.

Fault acknowledge

1 = Acknowledge fault (0 ->

This bit is used to acknowledge faults in the drive. When a rising edge (0 -> 1) is seen in this bit by the PROFIBUS DP option board, it requests the drive to acknowledge present faults. The functionality of this bit is rising-edge sensitive only.

Reserved

(1)

Control by PLC

1 = Control by PLC

0 = No Control by PLC

This bit is used by the PROFIBUS DP master to indicate that it is in control of the slave and that the commands sent via eldbus are valid.

During operation, this bit must be 1. If the drive is not operating and this bit is 0, the drive cannot be started. If the drive is operating, and this bit becomes 0, the option board freezes the process data provided to the drive, and sets its state to FAULT. The drive reaction to this eldbus fault depends on the drive parameterization.

11–15Reserved

Bits

Title

Value = 1

Value = 0

Description

Readiness to switch on

1 = Ready to switch on

0 = Not ready to switch on

This bit indicates whether the drive is ready to switch on the power electronics. When the bit has the value 0, the drive is not ready to switch on the power electronics. When the bit has the value 1, the drive is ready to switch on the power electronics.

Readiness to operate

1 = Ready to operate

0 = Not ready to operate

This bit indicates whether the drive is ready to begin operation. When the bit has the value 0, the power electronics is switched o and the drive is unable to begin operation. When the bit has the value 1, the power electronics is switched on and the drive can begin operation when requested by the master.

State of operation

1 = Operation enabled (drive follows setpoint)

0 = Operation disabled

This bit indicates whether the drive is operating or not. When the bit has the value 0, the drive is not operating. When the bit has the value 1, the drive is operating.

Presence of fault

1 = Fault present

0 =No Fault

This bit indicates the presence of unacknowledged faults in the drive. When the bit has the value 0, no unacknowledged faults are present in the drive. When the bit has the value 1, at least one unacknowledged fault is present in the drive.

Coast stop activated

1 =Coast stop not activated

0 = Coast stop activated

This bit indicates whether a coast stop command is active or not. When the bit has the value 0, a coast stop command is active. When the bit has the value 1, no coast stop command is active.

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Bits in a control word do not have any eect unless bit 10 is enabled.

4.4.6.2 PROFIdrive 4.1 Status Word (ZSW1)

Table 69: PROFIdrive 4.1 Status Word (ZSW1)

Bits

Title

Value = 1

Value = 0

Description

Quick stop activated

1 = Quick stop not activated

0 = Quick stop activated

This bit indicates whether a quick stop command is active or not. When the bit has the value 0, a quick stop command is active. When the bit has the value 1, no quick stop command is active.

Switching on inhibition

1 = Switching on inhibited

0 = Switching on not inhibited

This bit indicates whether the power electronics can be switched on or not. When the bit has the value 0, the power electronics can be switched on. When the bit has the value 1, the power electronics are prevented from switching on.

Presence of warning

1 = Warning present

0 = No warning present

This bit indicates the presence of warning/alarm information in the drive. When the bit has the value 0, no warning is present. When the bit has the value 1, a warning is present.

Running at setpoint

1 = Speed error within tolerance range

0 = Speed error out of tolerance range

This bit indicates whether the drive is operating and the actual speed value matches the setpoint value. When the bit has the value 0, the actual speed value does not match the setpoint value. When the bit has the value 1, the actual speed value matches the setpoint value.

Request control by master

1 = Control by PLC requested

0 = Control by PLC not requested

This bit indicates whether the eldbus master must take control of the drive. When this bit has the value 0, the master need not take control of the drive. When this bit has the value 1, the master is requested take control of the drive.

In OPTEA and OPTE9 , this bit depends on the conguration for the drive control place. If the control place is assigned to eldbus, the bit has the value 1. If the control place is elsewhere, the bit has the value 0.

Setpoint reached or exceeded

1 = f or n reached or exceeded

0 = f or n not reached

This bit indicates whether the setpoint value has been reached or exceeded. When this bit has the value 0, the setpoint value has not been reached or exceeded. When this bit has the value 1, the setpoint value has been reached or exceeded.

Reserved

Running indication

1 = Drive is running

0 = Drive is stopped

This bit indicates whether the drive is in the RUN state or not. When this bit has the value 0, the drive is not running. When this bit has the value 1, the drive is in the RUN state.

Readiness to operate

1 = Drive is ready for operation

0 = Drive is not ready for operation

This bit indicates whether the drive is in the READY state or not. When this bit has the value 0, the drive is not ready to operate. When this bit has the value 1, the drive is in the READY state.

14-15

Reserved

Setpoint value

Speed

Direction of rotation

Description of command

0xC000 (-16384d)

-100.00%

REVERSE

Full speed in REVERSE direction

0x0000 (0d)

0.00%

N/A

Minimum speed

0x4000 (16384d)

+100.00%

FORWARD

Full speed in FORWARD direction

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4.4.6.3 Setpoint Value

Normalized 16-bit speed setpoint (containing a sign bit and a 15-bit integer).

Table 70: PROFIdrive Speed Setpoint Value NSOLL_A

PNU 10111 shows the "100%" speed as RPM.

Actual value

Speed

Direction of rotation

Description of value

0xC000 (-16384d)

-100.00%

REVERSE

Full speed in REVERSE direction

0x0000 (0d)

0.00%

N/A

Standstill

0x4000 (16384d)

+100.00%

Status Word dependent

Full speed in FORWARD direction

Signal number

Signal name

PNU

PNU name

Control word 1

10100

PROFIdrive control word (STW1)

Status word 1

10102

PROFIdrive status word (ZSW1)

Speed setpoint A

10101

PROFIdrive speed setpoint value (NSOLL_A)

Speed actual value A

10103

PROFIdrive speed actual value (NIST_A)

Output current

10104

Always returns zero.

Active current (torque proportional)

10105

Always returns zero.

Active power

10106

Always returns zero.

Speed actual value A

10107

Always returns zero.

Drive status/fault word

10108

Always returns zero.

Safety control word 1

10200

PROFISAFE safety control word 1 (S_STW1)

Safety status word 1

10201

PROFISAFE safety status word 1 (S_ZSW1)

Safety control word 2

10202

PROFISAFE safety control word 2 (S_STW2)

Safety status word 2

10203

PROFISAFE safety status word 2 (S_ZSW2)

100

VACON® PDO1

10110

VACON® 16-bit Process Data Out

101

VACON® PDO2

10110

VACON® 16-bit Process Data Out

102

VACON® PDO3

10110

VACON® 16-bit Process Data Out

103

VACON® PDO4

10110

VACON® 16-bit Process Data Out

104

VACON® PDO5

10110

VACON® 16-bit Process Data Out

105

VACON® PDO6

10110

VACON® 16-bit Process Data Out

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NOTE! When the board is connected to VACON® 100 family AC drive and its mode parameter is set to "NX Mode", the option board

uses FBSpeedReference instead of NSOLL_A as backward compatibility for OPTCP option board. It results in value range 0d–10000d. See 4.7.4 Speed Reference and Actual Speed for details.

Communication

4.4.6.4 Actual Speed Value

Normalized 16-bit speed actual value (containing a sign bit and a 15-bit integer).

Table 71: PROFIdrive Speed Actual Value NIST_A

PNU 10111 shows the "100%" speed as RPM.

NOTE! When the board is connected to VACON® 100 family AC drive and its mode parameter is set to "NX Mode", the option board uses FBSpeedActual instead of NIST_A as backward compatibility for OPTCP option board. It results in value range 0d–10000d. See

4.7.4 Speed Reference and Actual Speed for details.

4.4.7 PROFIdrive Signal Numbers

Table 72: PROFIdrive Signal Numbers

Signal number

Signal name

PNU

PNU name

106

VACON® PDO7

10110

VACON® 16-bit Process Data Out

107

VACON® PDO8

10110

VACON® 16-bit Process Data Out

110

VACON® PDI1

10109

VACON® 16-bit Process Data In

111

VACON® PDI2

10109

VACON® 16-bit Process Data In

112

VACON® PDI3

10109

VACON® 16-bit Process Data In

113

VACON® PDI4

10109

VACON® 16-bit Process Data In

114

VACON® PDI5

10109

VACON® 16-bit Process Data In

115

VACON® PDI6

10109

VACON® 16-bit Process Data In

116

VACON® PDI7

10109

VACON® 16-bit Process Data In

117

VACON® PDI8

10109

VACON® 16-bit Process Data In

118

VACON® xed control word

10112

VACON® Fixed Control Word

119

VACON® xed status word

10113

VACON® Fixed Status Word

120

VACON® xed reference value

10114

VACON® Speed reference

121

VACON® xed actual value

10115

VACON® Speed Actual value

122

VACON® general control word

10120

VACON® General control word

123

VACON® general status word

10121

VACON® General status word

124

VACON® DW PDO1

10123

VACON® 32-bit Process Data Out

125

VACON® DW PDO2

10123

VACON® 32-bit Process Data Out

126

VACON® DW PDO3

10123

VACON® 32-bit Process Data Out

127

VACON® DW PDO4

10123

VACON® 32-bit Process Data Out

128

VACON® DW PDO5

10123

VACON® 32-bit Process Data Out

129

VACON® DW PDO6

10123

VACON® 32-bit Process Data Out

130

VACON® DW PDO7

10123

VACON® 32-bit Process Data Out

131

VACON® DW PDO8

10123

VACON® 32-bit Process Data Out

132

VACON® DW PDI1

10123

VACON® 32-bit Process Data Out

133

VACON® DW PDI2

10123

VACON® 32-bit Process Data Out

134

VACON® DW PDI3

10122

VACON® 32-bit Process Data In

135

VACON® DW PDI4

10122

VACON® 32-bit Process Data In

136

VACON® DW PDI5

10122

VACON® 32-bit Process Data In

137

VACON® DW PDI6

10122

VACON® 32-bit Process Data In

138

VACON® DW PDI7

10122

VACON® 32-bit Process Data In

139

VACON® DW PDI8

10122

VACON® 32-bit Process Data In

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Signal number

Signal name

PNU

PNU name

140

VACON® PDO9

10110

VACON® 16-bit Process Data Out

141

VACON® PDO10

142

VACON® PDO11

143

VACON® PDO12

144

VACON® PDO13

145

VACON® PDO14

146

VACON® PDO15

147

VACON® PDO16

148

VACON® PDI9

10109

VACON® 16-bit Process Data In

149

VACON® PDI10

150

VACON® PDI11

151

VACON® PDI12

152

VACON® PDI13

153

VACON® PDI14

154

VACON® PDI15

155

VACON® PDI16

156

VACON® DW PDO9

10123

VACON® 32-bit Process Data Out

157

VACON® DW PDO10

158

VACON® DW PDO11

159

VACON® DW PDO12

160

VACON® DW PDO13

161

VACON® DW PDO14

162

VACON® DW PDO15

163

VACON® DW PDO16

164

VACON® DW PDI9

10122

VACON® 32-bit Process Data In

165

VACON® DW PDI10

166

VACON® DW PDI11

167

VACON® DW PDI12

168

VACON® DW PDI13

169

VACON® DW PDI14

170

VACON® DW PDI15

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Signal number

Signal name

PNU

PNU name

171

VACON® DW PDI16

Slot

Subslot

Description

Note

Access IDs as VACON® NX scaled values

-2Access IDs as VACON® 100 family actual data type

Only available in VACON® 100 family AC drives

AC drive

Read command: Slot

Read command: Subslot

Read command: Index

Response: Hex

Response: Dec

Response: Actual value

Any11

102

13 88

5000

50.00 Hz

600

00 01

1 = OL Speed

VACON® 100 family

102

00 07 A1 20

500000

50.0000 Hz

600

00 00 00 01

1 = OL Speed

AC drive

Write command: Slot

Write command: Subslot

Write command: Index

Write command: Length

Write command: Value (Hex)

Actual value

Any11

102211 94

45.00 Hz

600200 00

0 = OL Frequency

VACON® 100 family

102400 06 DD D0

45.0000 Hz

600400 00 00 00

0 = OL Frequency

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4.4.8 User-specic Record Data

For easy access to drive parameters and monitoring values, the option boards map the PROFINET user specic record indexes 0x0000 - 0x7FFF directly into the application IDs of the drive. It is based on the IEC 61131 standard. Both read and write access is supported.

NOTE! The response data is in raw format. See application manual for available IDs, amount of decimals and the unit used for the parameters.

IDs can be read/written as VACON® NX scaled values in all AC drives, or, in VACON® 100 family AC drives, also as actual raw value.

Table 73: Application ID Access Settings

In the following examples, the following index values are used:

•

102 = Maximum frequency (Hz)

•

600 = Motor control mode

Table 74: Example 1: Reading Values from Dierent AC Drives

Table 75: Example 2: Writing Values for Dierent AC Drives

4.4.9 Connection Timeout in PROFINET

The PROFINET declares a watchdog time within which both master and slave must send I/O back to each other. This watchdog time is a factor of the communication cycle time. The master sets the watchdog time. Minimum cycle time for PROFINET is 1 millisecond.

In normal communication mode, 4 ms is the fastest recommended cycle time for PROFINET. Faster cycle times (1 ms and 2 ms) are recommended in Fast Mode. See 4.2 Fieldbus Option Board Communication Modes for more details.

The PROFINET also declares the process data validity on a submodule level. This validity is informed between provider and consumer with the IOPS (Input/Output Provider State) byte. If the incoming data validity is other than GOOD, this data is ignored and last valid data is used.

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When the data state toggles from GOOD to BAD or an I/O message is not received within the watchdog time, the timeout setting value is activated. After the set time, a fault is created. In other words, that the panel parameter "Communication timeout" (see 6.1.2

Comm. Timeout) is used as an extra timeout value. The same behavior applies if a connection is closed or the cable disconnects (link

loss). See for the timeout fault logic.

Illustration 21: PROFINET Communication and Timeout Fault

Communication

The option board sets its data status to GOOD when it receives valid data from the AC drive. Unless the communication to the AC drive breaks, the data remains GOOD. The IOCs are GOOD when the option board is able to receive and handle I/O data.

4.4.10 Examples with Siemens Controller

4.4.10.1 Conguring with Step 7

Follow these instructions when conguring the PROFINET connection with Siemens Step 7. This example is with the OPTEA board. Process is identical with the OPTE9 board without the PROFIsafe related material.

Procedure

Create a project.

Insert the station.

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To open the HW cong window, double-click Hardware.

Install GSDML for VACON® device. Select Options-> Install GSD File…

Browse to folder where you have stored GSDML les.

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Select the required GSDML le(s) and click Install.

Control Interface and

Communication

After successful installation, this pop-up opens.



Insert hardware information:

Insert the rail.

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Insert the supply.

Control Interface and

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Insert the CPU.

Set the Ethernet interface properties:

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Change the IP address.

To select the subnet, click New.

Control Interface and

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Click OK.

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

Drag and drop the OPTEA to PROFINET I/O system.

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10.

Select communication proles:

Select a PROFIdrive communication prole.

Select a PROFIsafe communication prole.

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11.

To set up PROFISafe parameters, double-click the inserted safety telegram.

Set the same safe eldbus parameters as when creating the safety conguration with VACON® Safe PC tool. For example, the F_iPar_CRC was calculated with the VACON® Safe PC tool.

12.

Change the option board properties.

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13.

To verify the Device Name, select PLC -> Ethernet -> Verify Device Name.

14.

Set the I/O cycle.

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For details, see 4.4.9 Connection Timeout in PROFINET.

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4.4.10.2 Conguring with TIA Portal

Follow these instructions when conguring the Siemens S7-300 PLC series to use the VACON® OPTEA option board with the Siemens TIA Portal programming tool.

This example is with the OPTEA board. Process is identical with the OPTE9 board. Check your individual PLC information. The information used in this example probably diers from local setup.

Conguring with TIA Portal

Create a project.

In the Create new project dialog, add name and location for the project and click Create.

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When the project is created, click Project View from the lower left corner of the screen.

Double-click Devices & networks .

Control Interface and

Communication

Drag and drop the used Safety PLC.

Add OPTEA option board.

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To assign I/O controller, click the blue text Not assigned.

Control Interface and

Communication

Assign the connections between the Ethernet ports in Topology view.

Assign IP settings and Name of Station to the OPTEA option board.

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10.

To open Device view, double-click OPTEA.

11.

Add the used telegrams to the Device overview:

Drag and drop the used telegram to the conguration.

Drag and drop used safety telegram to conguration.

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12.

Select the inserted safety telegram and set the safe eldbus parameters.

Set the same safe eldbus parameters as when creating the safety conguration with VACON® Safe PC tool. For example, the F_iPar_CRC was calculated with the VACON® Safe PC tool.

Control Interface and

Communication

When the safety telegram is added, TIA Portal shows a yellow circle with a red dot to indicate that safety features



are used with this device.

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Loading the conguration to the PLC

Select Online -> Download to device.

Control Interface and

Communication

Select the PLC for loading:

Use the dropdown menus to select the connection interface (how the PC with TIA Portal is connected to network with the PLC).

Click Search.



Select the PLC and click Load.

The PLC shows in the list.

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TIA portal compiles the program.



Control Interface and

Communication

To load the program to the PLC, click Load.

This view can contain more information when using safety.

When the loading is ready, click Finish.

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The PLC starts communicating with the option board.



Control Interface and

Communication

4.4.10.3 Conguring with SIMATIC PDM

Follow these instructions when conguring the PROFINET connection with Siemens SIMATIC PDM. This example is with the OPTEA board. Process is identical with the OPTE9 board.

Downloading EDD les

Go to www.danfoss.com/.

Select Downloads from Service and Support drop-down menu.

Select Drives as business unit.

Go to VLT® and VACON® eldbus conguration les.

Download the EDD les for Siemens SIMATIC PDM.

Conguring with SIMATIC PDM

Extract the zipped EDD les.

Use PDM Device Integration Manager to read the EDD les into PDM catalog.

Click the Integration button.

e30bh965.10

e30bh966.10

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

OPTEA can now be used in PDM.



To add OPTEA into a PDM project, select Pronet network and right-click and select Insert New Object.

Control Interface and

Communication

Assign the Device Type, and select, for example, OPTEA, Vacon NX, Multi-Purpose.

e30bh967.10

e30bh968.10

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Control Interface and

Communication

Set up the correct IP address that is used with the OPTEA option board.

To access the drive parameters, open an object.

e30bh969.10

e30bh970.10

VACON® OPTEA/OPTE9 Ethernet Board

User Guide

Control Interface and

Communication

A view of uninitialized drive parameters opens.



To download parameters into the PDM, select Device-> Upload to PG/PC.

To start loading the parameter values, click Start. Then click Close after the process has nished.

Danfoss VACON OPTEA, VACON OPTE9 User guide

Specifications and Main Features

Frequently Asked Questions

User Manual