Danfoss vacon optec User guide

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vacon

ac drives

optec

ethercat option board

installation manual

vacon • 3

TABLE OF CONTENTS

Document: DPD01207D

Release date: 27/5/20

1. Safety...............................................................................................................6

1.1 Danger................................................................................................................................6

1.2 Warnings ............................................................................................................................7

1.3 grounding and earth fault protection ................................................................................8

2. OPTEC EtherCAT - General ..............................................................................9

2.1 New features ....................................................................................................................11

3. EtherCAT option board technical data............................................................12

3.1 General.............................................................................................................................12

3.2 Cables...............................................................................................................................12

4. Layout and connections..................................................................................13

4.1 Layout and connections ...................................................................................................13

4.2 LED Indications ................................................................................................................14

4.3 Topologies ........................................................................................................................16

4.4 Connecting the board in line topology .............................................................................16

5. Installation.....................................................................................................17

5.1 Installation in VACON® NXP............................................................................................17

5.2 Installation in VACON® 20...............................................................................................19

5.2.1 Frames MI1, MI2, MI3 ......................................................................................................19

5.2.2 Frames MI4, MI5 ..............................................................................................................22

5.3 Installation in VACON® 20 X and 20 CP ..........................................................................25

5.4 Installation in VACON® 100 family..................................................................................27

6. Commissioning ..............................................................................................30

6.1 AC drive and OPTEC EtherCAT option board parametrization........................................30

6.1.1 Option board parameters.................................................................................................30

6.1.2 Option board monitor values ...........................................................................................32

6.2 EtherCAT master configuration.......................................................................................38

6.2.1 Importing OPTEC EtherCAT ESI files...............................................................................38

6.2.2 Establishing connection to OPTEC EtherCAT..................................................................38

6.2.3 Addressing and identification ..........................................................................................56

6.2.4 Setting the watchdog .......................................................................................................60

6.2.5 Sync unit assignment.......................................................................................................60

6.3 Operation mode selection................................................................................................62

6.3.1 Operation mode selection using parameter....................................................................62

6.3.2 Operation mode selection using CoE object....................................................................62

6.3.3 Operation mode selection using PDO assignment..........................................................62

6.4 ESI file selection...............................................................................................................67

6.4.1 ESI file selection mode ....................................................................................................67

6.5 Controlling the motor ......................................................................................................70

6.5.1 Controlling in CiA-402 Drive Profile mode ......................................................................71

6.5.2 Controlling in Bypass mode.............................................................................................73

6.5.3 Controlling the motor with CODESYS V3.x ......................................................................74

6.6 VACON® PC-tools............................................................................................................77

6.6.1 PC tool support ................................................................................................................77

6.6.2 OPTEC option board firmware update with VACON® Loader.........................................78

6.6.3 PC Tools for VACON® NXP: NCDrive ..............................................................................80

6.6.4 PC Tools for VACON® 100 and VACON® 20: VACON® Live ...........................................82

7. EtherCAT........................................................................................................ 86

7.1 Data object list .................................................................................................................86

7.2 Data Object Descriptions .................................................................................................95

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7.2.1 RxPDO assign ...................................................................................................................96

7.2.2 TxPDO assign ...................................................................................................................98

7.2.3 Sync Manager...................................................................................................................99

7.2.4 Drive System Time .........................................................................................................100

7.2.5 Drive Information ...........................................................................................................100

7.2.6 ESI File Selection Mode .................................................................................................101

7.2.7 Operating Energy Counters ...........................................................................................102

7.2.8 Operating Trip Time Counters .......................................................................................102

7.2.9 Operating Time Counters...............................................................................................103

7.2.10 Parameter Channel Read ..............................................................................................103

7.2.11 Parameter Channel Write..............................................................................................104

7.2.12 Bypass Control...............................................................................................................105

7.2.13 Bypass status.................................................................................................................105

7.2.14 Bypass Speed SetPoint Value ........................................................................................106

7.2.15 Bypass Speed Actual Value............................................................................................106

7.2.16 Process Data In..............................................................................................................107

7.2.17 Process Data Out ...........................................................................................................109

7.2.18 CiA-402 Control Word ....................................................................................................110

7.2.19 CiA-402 Status Word......................................................................................................111

7.2.20 CiA-402 vl Target Velocity..............................................................................................111

7.2.21 CiA-402 vl Velocity Demand...........................................................................................112

7.2.22 CiA-402 vl Velocity Actual Value ....................................................................................112

7.2.23 CiA-402 vl Velocity Min Max Amount .............................................................................112

7.2.24 CiA-402 vl Velocity Acceleration ....................................................................................113

7.2.25 CiA-402 vl Velocity Deceleration....................................................................................113

7.2.26 CiA 402 Modes of Operation...........................................................................................114

7.2.27 CiA-402 Modes of Operation Display .............................................................................115

7.2.28 CiA-402 supported Drive Modes ....................................................................................115

7.3 Operating modes............................................................................................................116

7.3.1 CiA-402 Drive profile mode............................................................................................116

7.3.2 Bypass mode ..................................................................................................................119

7.4 Accessing drive parameters via CoE MailBox ...............................................................120

7.4.1 CoE objects in ESI files ..................................................................................................121

7.4.2 Adding CoE objects into ESI files ...................................................................................121

7.4.3 Error codes.....................................................................................................................122

7.4.4 Example 1: Reading ID 103 'acceleration time' using the parameter channel ............123

7.4.5 Example 2: Writing ID 103 'acceleration time' using the parameter channel..............124

7.4.6 Example 3: Attempting to write an invalid value using the parameter channel ..........125

7.4.7 Example 4: Writing to parameter using CoE object list ................................................126

7.5 Ethernet over EtherCAT.................................................................................................127

7.5.1 Master configuration......................................................................................................127

8. Fault tracing.................................................................................................129

8.1 Diagnostic information...................................................................................................129

8.2 Typical fault conditions ..................................................................................................129

8.2.1 No connection between EtherCAT master and OPTEC EtherCAT ................................129

8.2.2 EtherCAT master cannot find OPTEC EtherCAT option board......................................129

8.2.3 OPTEC EtherCAT option board does not go to Operational state .................................130

8.2.4 OPTEC EtherCAT is Operational but process data is not transferred ..........................130

8.2.5 Drive does not start to run.............................................................................................130

8.2.6 Drive runs with wrong speed .........................................................................................131

8.2.7 AC drive reports F53 Fieldbus timeout fault .................................................................131

8.2.8 F53 Fieldbus timeout fault cannot be reset ..................................................................131

8.3 Fieldbus timeout fault (F53)...........................................................................................131

8.3.1 OPTEC EtherCAT Fault conditions.................................................................................131

8.3.2 Fieldbus timeout fault (F53) diagnostic info..................................................................132

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vacon • 5

8.3.3 Fieldbus fault activation timers .....................................................................................133

9. APPENDIX A: CANOPEN DS301 SPECIFIC DATA OBJECT DESCRIPTIONS.....134

9.1 Object 1001h: Error Register .........................................................................................135

10. APPENDIX B: DEVICE PROFILE FOR DRIVES ................................................136

11. APPENDIX C - CONTROL AND STATUS WORD ..............................................137

11.1 Control Word bit description ...................................................................................137

11.2 Status Word Descriptions ........................................................................................139

11.3 Control word bit support in drives...........................................................................140

11.4 Status word bit support in drives.............................................................................141

12. APPENDIX D - FIELDBUS PARAMETRISATION .............................................142

12.1 Fieldbus control and basic reference selection ............................................................142

12.2 Controlling Fieldbus Parameter ....................................................................................143

12.3 Torque control parametrization ....................................................................................144

13. APPENDIX E - FIELDBUS PROCESS DATA mAPPING AND SCALING............. 145

14. APPENDIX F - FIELDBUS OPTION BOARD COMMUNICATION ....................... 148

14.1 Requirements for communication modes.....................................................................148

14.2 Fiedlbus communication mode features and limitations .............................................149

14.3 Normal fieldbus communication ...................................................................................149

14.4 Fast fieldbus communication ........................................................................................150

14.5 Fast PROFIBUS fieldbus communication ......................................................................151

14.6 Normal Extended Mode .................................................................................................151

15. APPENDIX G - PARAMETERS FOR APPLICATION DEVELOPERS ...................152

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vacon • 6 Safety

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1. SAFETY

This manual contains clearly marked cautions and warnings that are intended for your personal safety and to avoid any unintentional damage to the product or connected appliances.

Please read the information included in cautions and warnings carefully.

The cautions and warnings are marked as follows:

Table 1. Warning signs

= DANGER! Dangerous voltage

= WARNING or CAUTION

= Caution! Hot surface

1.1 Danger

The components of the power unit are live when the drive is connected to mains potential. Coming into contact with this voltage is extremely dangerous and may cause death or severe injury.

The motor terminals U, V, W and the brake resistor terminals are live when the AC drive is connected to mains, even if the motor is not running.

After disconnecting the AC drive from the mains, wait until the indicators on the keypad go out (if no keypad is attached, see the indicators on the cover). Wait 5 more minutes before doing any work on the connections of the drive. Do not open the cover before this time has expired. After expiration of this time, use a measuring equipment to absolutely ensure that no

ensure absence of voltage before starting any electrical work!

The control I/O-terminals are isolated from the mains potential. However, the relay outputs and other I/O-terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains.

voltage is present.

Always

Before connecting the AC drive to mains make sure that the front and cable covers of the drive are closed.

During a ramp stop (see the Application Manual), the motor is still generating voltage to the drive. Therefore, do not touch the components of the AC drive before the motor has completely stopped. Wait until the indicators on the keypad go out (if no keypad is attached, see the indicators on the cover). Wait additional 5 minutes before starting any work on the drive.

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1.2 Warnings

The AC drive is meant for fixed installations only.

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

The earth leakage current of the AC drives exceeds 3.5mA AC. According to standard EN61800-5-1, a reinforced protective ground connection must be ensured. See Chapter 1.3.

If the AC drive is used as a part of a machine, the machine manufacturer is responsible for providing the machine with a supply disconnecting device (EN 60204-1).

Only spare parts delivered by the manufacturer can be used.

At power-up, power brake or fault reset the motor will start immediately if the start signal is active, unless the pulse control for

Start/Stop logic has been selected Furthermore, the I/O functionalities (including start inputs) may change if parameters, applications or software are changed. Disconnect, therefore, the motor if an unexpected start can cause danger.

The motor starts automatically after automatic fault reset if the auto restart function is activated. See the Application Manual for more detailed information.

Prior to measurements on the motor or the motor cable, disconnect the motor cable from the AC drive.

Do not touch the components on the circuit boards. Static voltage discharge may damage the components.

Check that the EMC level of the AC drive corresponds to the requirements of your supply network.

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vacon • 8 Safety

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1.3 grounding and earth fault protection

CAUTION!

The AC drive must always be earthed with an grounding conductor connected to the grounding terminal marked with .

The earth leakage current of the drive exceeds 3.5mA AC. According to EN61800-5-1, one or more of the following conditions for the associated protective circuit must be satisfied:

a) The protective conductor must have a cross-sectional area of at least 10 mm2 Cu or 16

mm2 Al, through its total run.

b) Where the protective conductor has a cross-sectional area of less than 10 mm2 Cu or 16

mm2 Al, a second protective conductor of at least the same cross-sectional area must be provided up to a point where the protective conductor has a cross-sectional area not less than 10 mm2 Cu or 16 mm2 Al.

c) Automatic disconnection of the supply in case of loss of continuity of the protective

conductor.

The cross-sectional area of every protective grounding conductor which does not form part of the supply cable or cable enclosure must, in any case, be not less than:

-2.5mm

-4mm

if mechanical protection is provided or

if mechanical protection is not provided.

The earth fault protection inside the AC drive protects only the drive itself against earth faults in the motor or the motor cable. It is not intended for personal safety.

Due to the high capacitive currents present in the AC drive, fault current protective switches may not function properly.

Do not perform any voltage withstand tests on any part of the AC drive. There is a certain procedure according to which the tests must be performed. Ignoring this procedure can cause damage to the product.

NOTE! You can 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/.

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OPTEC EtherCAT - General vacon • 9

Init

Operational

Boot

Pre-operational

10 111

Safe-operational

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2. OPTEC ETHERCAT - GENERAL

OPTEC EtherCAT option board is field bus option for VACON® drives. With OPTEC option board it is possible to connect a VACON via EtherCAT field bus.

EtherCAT is a fieldbus protocol which uses standard Ethernet network as its media to transfer data structures between other EtherCAT devices in the bus. EtherCAT uses Master-Slave type communication. EtherCAT master device controls the states of the EtherCAT bus. States of the EtherCAT bus can be seen from the table below.

AC drive to an EtherCAT network and command/monitor the drive

State

transition

1 Start mailbox communication

2 Stop mailbox communication 3 Start process data transfer from EtherCAT slave to EtherCAT master 4 Stop process transfer from EtherCAT slave to EtherCAT master 5 Start process data transfer from EtherCAT master to EtherCAT slave 6 Stop process data transfer from EtherCAT master to EtherCAT slave 7 Stop process data transfers

9 Stop mailbox communication, stop process data transfers

10 Start bootup mode (not supported in OPTEC EtherCAT) 11 Restart device (not supported in OPTEC EtherCAT)

Stop mailbox communication, stop process data transfer from Ether-

Figure 1. EtherCAT device states

Table 2. EtherCAT device states

Service activation/deactivation

CAT slave to EtherCAT master

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vacon • 10 OPTEC EtherCAT - General

OPTEC option board is EtherCAT-slave device and requires EtherCAT-Master device presence in the bus to operate.

The VACON

Device Profile Drives and Motion Control (CiA DSP-402) document represents the standardized CANopen Device Profile for digitally controlled motion products like servo controllers, AC drives or stepper motors. All the above-mentioned devices use communication techniques which conform to those described in the CANopen Application Layer and Communication Profile. The starting and stopping of the drive and several mode specific commands are executed by the statemachine. The operation mode defines the behaviour of the drive. The following modes are defined in this profile:

•Homing Mode

•Profile Position Mode

• Interpolated Position Mode

• Profile Velocity Mode

• Profile Torque Mode

• Velocity Mode

EtherCAT Option Board uses CAN application protocol over EtherCAT (CoE).

The VACON

EtherCAT Option Board supports the Velocity Mode

Table 3. List of abbreviations used in this document

Abbreviation Explanation

EoE Ethernet over EtherCAT

FB Fieldbus

PPO Parameter Process Data Object

PLC Programmable Logic Controller

PHY(X)

PDO

RPM Revolutions per minute

SDO

EtherCAT physical interface X, where X represents the number

of interface

Process Data Object (Inputs and outputs. Values of type rota-

tional speed, voltage, frequency, electric current, etc.)

Service Data Object (Configuration settings, possibly node ID,

baud rate, offset, gain, etc.)

Table 4. List of data types used in this document

Type name Bit size Explanation

INT8 8 Signed short integer

UINT8 8 Unsigned short integer

INT16 16 Signed integer

UINT16 16 Unsigned integer

INT32 32 Signed long integer

UINT32 32 Unsigned long integer FLOAT32 32 32-bit floating point STRING3 24 Three byte string STRING5 40 Five byte string

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OPTEC EtherCAT - General vacon • 11

2.1 New features

The following table shows the new features that are added in the OPTEC EtherCAT option board's firmware versions.

Table 5. OPTEC EtherCAT firmware versions

New features Firmware version

• Support for VACON® NXP and VACON® 20 drives.

• Support for VACON® 100 INDUSTRIAL, VACON® 100 FLOW,

VACON

• Support for panel parameters and monitor values. See details in Chapter 6.1 "AC drive and OPTEC EtherCAT option board parametrization"

• Support for Fast Communication and 16 process data when installed to VACON

FIELDBUS OPTION BOARD COMMUNICATION”

• Ethernet over EtherCAT support, see Chapter 6 "Commissioning" and Chapter 7.5 "Ethernet over EtherCAT".

• Added support for SM sync and DC sync modes, see Chapter 7.2.3 "Sync Manager".

• Support for EtherCAT Device ID, see Chapter 6 "Commissioning".

• New CANOpen objects: 0xFFF1 Fault history object and 0x604B velocity setpoint factor.

• Added new parameters and monitor values.

• Support for 16 process data items for VACON or 32bit.

100 X and VACON® 20 X/CP drives.

NXP drive. See details in “APPENDIX F -

100, either 16bit

V001

V002

V003

V004

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vacon • 12 EtherCAT option board technical data

3. ETHERCAT OPTION BOARD TECHNICAL DATA

3.1 General

Table 6. Technical data

General Board name OPTEC

Interface Two RJ-45 connectors

Shielded and Foiled Twisted Pair (S/FTP) CAT5e * Shielded Twisted Pair (STP)

EtherCAT connections

Communications

Transfer cable

Speed 10 / 100 Mb

Supported features

Synchronization Freerun/SM sync, DC sync

CAT5e Foiled Twisted Pair (FTP) CAT5e Unshielded Twisted Pair (UTP) CAT5e**

Mailbox - CoE

• SDO Upload/Download

•SDO Info Service

Mailbox - EoE

Protocol EtherCAT

Ambient operating temperature

Storing temperature -40°C…70°C

Environment

Safety Fulfils EN50178 standard.

* Shielded and foiled twisted pair cable is recommended cable for EtherCAT connections ** Unshielded cable is not recommended for industrial purpose

Humidity

Altitude Max. 1000 m Vibration 0.5 G at 9...200 Hz

-10°C…50°C

<95%, no condensation allowed

3.2 Cables

For connecting the EtherCAT devices use only Ethernet cables that meet at least the requirements of category 5 (CAT5) according to EN 50173 or ISO/IEC 11801. EtherCAT uses 4 wires for signal transfer. We recommend that shielded CAT5 cables are used.

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Layout and connections vacon • 13

Interface Board Connector

EtherCAT bus connectors IN/OUT

RUN ERR BS

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OUT

4. LAYOUT AND CONNECTIONS

The VACON® EtherCAT Option Board is connected to EtherCAT bus using the RJ-45 connectors compatible with Ethernet standard (ISO/IEC 8802-3). The communication between the control board and the AC drive takes place through a standard VACON

Table 7. EtherCAT connector pin assignment

Pin Core colouring Signal Description

1 yellow TD + Transmission Data + 2 orange TD - Transmission Data 3 white RD + Receiver Data + 6 blue RD - Receiver Data -

4.1 Layout and connections

Interface Board Connector.

Figure 2.VACON® EtherCAT option board OPTEC

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Table 8. EtherCAT connectors

EtherCAT connector Description

J1 EtherCAT bus IN (PHY1) J2 EtherCAT bus OUT (PHY2)

vacon • 14 Layout and connections

OUT

Interface Board Connector

LED indications

RUN ERR BS

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4.2 LED Indications

The RUN LED indicator describes the state of the bus and the ERR LED indicator describes the status of the board. OPTEC EtherCAT stays in INITIALISATION state until EtherCAT master device commands it into another state.

Figure 3. VACON® EtherCAT option board OPTEC LED indicators

Table 9. EtherCAT RUN, GREEN

LED RUN Meaning

OFF OPTEC EtherCAT is in INITIALISATION state.

Blinking

(once/0,2 s)

Single Flash

(once/2 s)

OPTEC EtherCAT is in PRE-OPERATIONAL state.

OPTEC EtherCAT is in SAFE-OPERATIONAL state.

Flickering OPTEC EtherCAT is in INITIALISATION state.

ON OPTEC EtherCAT is in OPERATIONAL state.

Table 10. EtherCAT ERR, RED

LED ERR Meaning

OFF No Error

(once/0,4 s)

Single Flash

(once/2 s)

Blinking

Invalid configuration

ASIC synchronization error

Double Flash Process Data Watchdog Timeout/EtherCAT Watchdog Timeout

Flickering ASIC hardware failure

ON Application Controller Failure

LED ERR Green is used by EtherCAT option board only at startup to indicate boot status.

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Layout and connections vacon • 15

Table 11. EtherCAT ERR, GREEN

LED ERR Meaning

OFF No Error

Blink once Option board is powered on

Blinking Option board boot failure

LED BS provides information about the EtherCAT option board internal state.

Table 12. BS = OPTEC board status, GREEN

LED BS Meaning

OFF Option board is not activated.

Blinking fast

(once /1 s)

Option board is in initialization state, waiting activation com-

mand from the AC drive.

Option board is activated and in RUN state

• Option board is ready for external communication

In the case of unrecoverable error the OPTEC board will notify you of this by using the red error LED. The cause of the error will be coded into a series of long and short flashes. The sequence coded error message will repeat indefinitely. If more than one error has occurred the board will cycle through each error code repeatedly.

Table 13. Error codes

Error

number

1 Initialization Error 1 2 Board Initialization Failed

2 Setup Error 1 3 Board Setup Failed

3 System Error 1 1 4 Internal System Error 1

4 System Error 2 2 1 Internal System Error 2

5 System Error 3 2 2 Internal System Error 3

6 EEPROM Error 2 3 Option Board EEPROM Read/Write Error

7 ASIC Error 2 4 EtherCAT ASIC Communication Error

8 Fieldbus Error 3 1 Fieldbus Interface Error

9 OB Service Error 3 2 Option Board Service Error

Error name

Long

flashes

Short

flashes

Description

10 OB Manager Error 3 3 Option Board Manager Error

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vacon • 16 Layout and connections

OPTEC Board

Tx-Led

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4.3 Topologies

EtherCAT supports the following Ethernet topologies:

•Line

•Daisy chain

• Daisy chain branches

•Tree

•Star

• Cable redundancy

Each of these topologies has its own advantages. Note that the start address may vary depending on which Master implementation is used. The OPTEC boards are connected using line topology.

4.4 Connecting the board in line topology

Connect the EtherCAT master to IN connector of the OPTEC Option Board using an Ethernet cable. For more information, see the figure below.

Switch-PT-Empty

EtherCAT Master

ETH

PHY1

Switch-PT-Empty

OPTEC-Slave1

OUT

PHY2

PHY1

Switch-PT-Empty

OPTEC-Slave2

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Figure 4. VACON® OPTEC option board EtherCAT IN/OUT

After the EtherCAT master is connected to the OPTEC Option Board and the power is switched on in both devices, the Rx-Led of the IN connector in the OPTEC Option Board should be on or blinking depending on if there is communication in the bus or not. The Tx-Led is not used.

Figure 5.OPTEC option board EtherCAT in connector

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Installation vacon • 17

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5. INSTALLATION

The VACON® OPTEC EtherCAT option board can be used with the following VACON® AC drives.

Table 14. Supported AC drives and slots

AC drive Slots

VACON

5.1 Installation in VACON

VACON® 100 FLOW

VACON

Make sure that the AC drive is switched off before an option or fieldbus board is changed or added!

VACON® NXP AC drive.

NXP

100 INDUSTRIAL

and 100 X

20 X and CP

From AC drive SW

version on

D, E NXP00002V187 V001

D, E FW0072V016 V002

D, E FW0159V010 V002

- FW0117V006 V002

- FW0107V009 V001

NXP

From OPTEC SW

version on

Remove the cable cover.

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vacon • 18 Installation

Open the cover of the control unit.

Install the OPTEC EtherCAT Option Board in slot D or E on the control board of the AC drive. Make sure that the grounding plate fits tightly in the clamp.

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

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

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Installation vacon • 19

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5.2 Installation in VACON® 20

5.2.1 Frames MI1, MI2, MI3

Remove the cable connector lid from the AC drive.

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Select a correct grounding plate and attach it to the option board mounting frame. The grounding plate is marked with the supported enclosure size.

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Attach an option board mounting frame to the AC drive.

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vacon • 20 Installation

Connect the flat cable from the option board mounting frame to VACON® 20.

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If a cable strain relief is required, attach the parts as shown in the figure.

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Installation vacon • 21

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Install the option board to the option board holder. Make sure that the option board is securely fastened.

Cut free a sufficiently wide opening for the option board connector.

Attach the option board cover to VACON

20. Attach the strain relief cable clamp with screws if needed.

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vacon • 22 Installation

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5.2.2 Frames MI4, MI5

Make sure power is disconnected before opening the VACON

1a: For MI4: Open the cover.

20 cover.

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1b: For MI5: Open the cover and release the fan connector.

Connect the flex cable to option board connector PCB.

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Installation vacon • 23

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MI 04

MI 05

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Connect the option board to connector PCB.

Attach the option board with connector PCB to VACON® 20 and connect the flex cable.

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Attach a suitable grounding plate to VACON® 20. The grounding plate is marked with supported enclosure size.

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vacon • 24 Installation

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Assemble a clamp on top of the grounding plate on both sides of the option board.

8a: For MI4: Close the cover.

8b: For MI5: Remount the fan connector and close the cover.

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Installation vacon • 25

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5.3 Installation in VACON® 20 X and 20 CP

Do not add or replace option boards or fieldbus boards on an AC drive with the power switched on. This may damage the boards.

Open the cover of the drive.

MU3 example

The relay outputs and other I/O-terminals may have a dangerous control voltage present even when the drive is disconnected from mains.

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vacon • 26 Installation

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Remove the option slot cover.

Install the option board into the slot as shown in the figure.

Mount the option slot cover. Remove the plastic opening for the option board terminals.

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Installation vacon • 27

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DANGER

5.4 Installation in VACON® 100 family

Open the cover of the AC drive.

The relay outputs and other I/O-terminals may have a dangerous control voltage present even when VACON

100 family AC drive is disconnected from mains.

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vacon • 28 Installation

3023.emf

3024.emf

Open the inner cover to reveal the option board slots (C,D,E).

Install the fieldbus board into slot D or E. NOTE: Incompatible boards cannot be installed on VACON

Compatible boards have a slot coding

that enable the placing of the board.

100 family AC drive.

Then connect the cable to its appropriate OPTEC EtherCAT option board RJ-45 connector.

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/

Installation vacon • 29

9202.emf

Fieldbus cables

Unless already done for the other control cables, cut free the opening on the AC drive cover for the fieldbus cable (protection class IP21). NOTE: Cut the opening on the same side you have installed the board in!

Remount the AC drive cover and run the cable as shown in picture. NOTE: When planning the cable runs, remember to keep the distance between the fieldbus cable and the motor cable at a minimum of 30 cm. It is recommended to route the option board cables away from the power cables as shown in the picture.

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vacon • 30 Commissioning

6. COMMISSIONING

This chapter explains the configuration of AC drive and EtherCAT master to enable communication between EtherCAT master and OPTEC EtherCAT option board.

6.1 AC drive and OPTEC EtherCAT option board parametrization

VACON® AC drive and OPTEC EtherCAT option board parameters can be read and modified with AC

drive control keypad or with PC tools. See description of VACON

PC tools in Chapter 6.6 "VACON®

PC-tools".

Step 1. Enable field bus control in AC drive to make AC drive to be controllable via field bus. Enabling of field bus control in a different VACON

AC drives is described in Chapter 12 "APPENDIX D

- FIELDBUS PARAMETRISATION".

If OPTEC EtherCAT is used only for monitoring and data collection purposes, then Step 1 is no required.

Step 2. Parametrize OPTEC EtherCAT option board and monitor option board status.

•In case of VACON

NXP parameters are located under the menu M7 Expander boards menu.

100 family parameters are located under the menu M5 I/O and Hardware

menu. Minimum AC drive firmware version required by OPTEC EtherCAT parameter and monitor value functionality is described in the following table. With older control firmware versions, the parameters and monitor values are not available. In this case parametrization must be done via EtherCAT bus.

Table 15. EtherCAT parameters and monitor value support

AC drive AC drive SW version

From OPTEC EtherCAT

SW version

100 INDUSTRIAL

VACON

and 100 X

VACON® 100 FLOW

VACON

20 X and CP

VACON

NXP

NXP00002V196 OPTEC_FW0128V003

FW0072V029 OPTEC_FW0128V003

FW0159V019 OPTEC_FW0128V003

To be defined OPTEC_FW0128V003

6.1.1 Option board parameters

OPTEC EtherCAT can be parametrized with a following option board parameters. Option board parameters are stored into AC drive permanent memory. It is possible to backup and restore AC drive parameters. See details of backup and restore operation in AC drive user manual.

Using of parameters is optional, OPTEC EtherCAT can be fully parametrized by EtherCAT master. In this case parameters are set into default values.

Table 16. OPTEC EtherCAT Parameters

Name Default Range Description

Operation mode Drive Profile

Drive Profile (1),

Bypass (2)

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Operation mode defines how EtherCAT master can control the motor.

Commissioning vacon • 31

Table 16. OPTEC EtherCAT Parameters

Name Default Range Description

Comm. Timeout 0 s 0…65535 s Communication timeout in seconds

Station Alias 0 0…65535

Device ID 1 1...65535 Device ID of OPTEC EtherCAT

Vl setpoint factor 1 1, 10, 100

6.1.1.1 Operation mode

Operation mode parameter defines how EtherCAT master can control the motor and monitor the motor control status.

• Drive Profile means CiA-402 Drive and Motion Control Profile's Velocity mode.

• Bypass means VACON

See details of operation mode in Chapter 7.3 "Operating modes".

specific control mode

Configured Station Alias for OPTEC EtherCAT.

Scaling factor for vl speed reference (only in NXP).

Operation mode can be selected with a following methods that are described in Chapter 6.3 "Operation mode selection". Latest modification is taken into use and currently used setting is stored into Operation mode parameter. Currently used Operation mode can be seen in Operation mode monitor value.

• Operation mode selection with parameter

• Operation mode selection by writing into 0x6060 CiA-402 Modes of Operation object. See details in Chapter 7.2.26 "CiA 402 Modes of Operation".

• Operation mode selection with PDO assignment. See details in Chapter 6.3.3 "Operation mode selection using PDO assignment".

NOTE! If EtherCAT master assigns only Bypass specific process data objects and CiA-402 specific process data objects (RxPDO 0x1600, TxPDO 0x1A00) are not assigned then selecting of Drive Profile is not possible.

NOTE! In CiA-402 Drive Profile mode it is recommended to set AC drive's "Fieldbus min scale" and "Fieldbus max scale" parameters value to zero. In otherwise RPM scaling does not work properly. Part of NXP applications contains "Fieldbus min scale" and "Fieldbus max scale" settings. In APFIFF06 Multipurpose application these parameters can be found from menu P2.9.1 and P2.9.2.

6.1.1.2 Communication timeout

Communication timeout parameter defines wait time in seconds for fault activation.

In EtherCAT communication EtherCAT master typically defines SM watchdog time to the EtherCAT slave device. If OPTEC EtherCAT cannot receive process data from EtherCAT master within SM watchdog time, then it activates F53 Field bus fault.

With Communication timeout parameter it is possible to extend the time when F53 field bus fault is activated.

• If Communication timeout is 0 then F53 field bus fault is activated after SM watchdog time

• If Communication timeout is other than 0 then F53 field bus fault is activated after SM watchdog time + Communication timeout time (seconds)

See details of communication time out behavior in Chapter 8.3 "Fieldbus timeout fault (F53)".

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vacon • 32 Commissioning

6.1.1.3 Station alias

Station Alias parameter defines Configured Station Alias for OPTEC EtherCAT. EtherCAT master devices can use the alias for node addressing. Usage of the alias is optional for the master device.

• If Station alias parameter is 0 then OPTEC uses Configured Station Alias defined by EtherCAT master. EtherCAT master (PLC or EtherCAT configuration tool) can write Configured Station Alias to OPTEC EtherCAT EEPROM. New alias is taken into use after power cycle of variable-frequency drive.

• If Station alias parameter is other than 0 then OPTEC EtherCAT uses Configured Station Alias defined by AC drive panel parameter. New alias is taken into use immediately after change.

See more about Configured Station Alias in Chapter 6.2.3 "Addressing and identification".

6.1.1.4 Device ID

This parameter can be used to set the unique device identification value for OPTEC EtherCAT within the EtherCAT network. EtherCAT master needs to be configured to use this identification method. If EtherCAT master does not use Device ID as identification method, this parameter has no effect.

More detailed description is found in Chapter 6.2.3 "Addressing and identification".

6.1.1.5 Vl setpoint factor

If the default RPM range of vl target velocity and vl velocity actual in not enough for high speed applications, this parameter can be used to increase the range by 10 or 100. The default speed range with vl setpoint factor 1 is -32768...+32767 RPM. With vl scaling factor 10 this is -327680...327670. In practice, this means that vl target velocity value of 100 RPM translates to 1000 RPM internally and vl velocity actual value of 100 RPM needs to be multiplied by 10 to get actual RPM of the drive.

NOTE! This panel parameter is only visible in VACON

6.1.2 Option board monitor values

OPTEC EtherCAT option board monitor values tells useful information about the option board status.

Table 17. OPTEC EtherCAT monitor values

Name Range Description

Initializing (1),

Stopped (2),

FB Protocol Status

EtherCAT Run

Communication status 0.0…6553.9

Operate Mode

Operational (3),

Faulted (4),

Failing (5),

Pre-Operational (6)

Init (1),

Pre-Operational (3),

Safe-Operational

(4),

Operational (5)

None (1),

Drive Profile (2),

Bypass (3)

NXP drives.

Generic communication status

EtherCAT RUN indicator

Number of successfully received process data frames and error frames during a second.

Currently used Operate mode

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Commissioning vacon • 33

Table 17. OPTEC EtherCAT monitor values

Name Range Description

AL Status Code 0x0…0xFFFF EtherCAT AL Status Code

SM Watchdog 0…65535 SM Watchdog time in milliseconds

Station Alias 0…65535 Currently used Configured Station Alias

Drive control word - Control word in drive format

Drive status word - Status word in drive format

Protocol control word - Control word in protocol format

Protocol status word - Status word in protocol format

Sub menu: ESI Selection

Mode

Off (1),

ESI Selection Mode

Product Code 0…0xFFFFFFFF Currently used EtherCAT Product Code

Revision Number 0…0xFFFF Currently used EtherCAT Revision Number

Sub menu EoE

Automatic (2),

Static (3)

ESI file selection mode

IP part 1 0-255 IP address part 1 IP part 2 0-255 IP address part 2 IP part 3 0-255 IP address part 3

IP part 4 0-255 IP address part 4 Subnet P1 0-255 Subnet mask part 1 Subnet P2 0-255 Subnet mask part 2 Subnet P3 0-255 Subnet mask part 3 Subnet P4 0-255 Subnet mask part 4

Default GW P1 0-255 Gateway IP address part 1 Default GW P2 0-255 Gateway IP address part 2 Default GW P3 0-255 Gateway IP address part 3 Default GW P4 0-255 Gateway IP address part 4

EoE Enabled / Disabled Shows if EoE is enabled or disabled by master

6.1.2.1 FB Protocol status

FB Protocol status monitor value shows generic status of field bus. When device has started, it stays in "Initializing" status until the connection is opened to the device.

When EtherCAT master commands OPTEC EtherCAT to Pre-Operational or Safe-Operational state then the status changes to "Pre-Operational".

When EtherCAT master commands OPTEC EtherCAT to Operational state then the status changes to "Operational".

See EtherCAT state machine states in Chapter 2 "OPTEC EtherCAT - General".

If the connection is closed or lost, the status changes to "Failing" until communication time out time has elapsed. Then the status changes to "Faulted". See details of communication time out behavior in Chapter 8.3 "Fieldbus timeout fault (F53)".

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vacon • 34 Commissioning

6.1.2.2 EtherCAT Run

EtherCAT Run monitor value shows EtherCAT state. See EtherCAT state machine states in Chapter 2 "OPTEC EtherCAT - General". When device has started, it stays in "Initialisation" state until the connection is opened to the device.

State is changed to "Initialisation", "Pre-operational", "Safe-operational", or "Operational" when EtherCAT master commands OPTEC EtherCAT to move into these states.

OPTEC EtherCAT moves from "Operational" to "Safe-operational" when it cannot get process data from EtherCAT master within time defined by SM Watchdog time.

Bootstrap state is not supported at a moment in OPTEC EtherCAT.

6.1.2.3 Communication status

Communication status monitor value is shown in format "nnnn.y":

• nnnn shows number of successfully received process data frames during a second

• y shows number of error frames during a second. Processing of these frames failed.

NOTE! When using virtual EtherCAT master in PC workstation non-EtherCAT data frames might be passed to the Ethernet interface in which OPTEC EtherCAT is connected to. In this case the diagnostic shows that OPTEC EtherCAT receives error frames.

6.1.2.4 Operate Mode

Operate Mode monitor value shows currently used operate mode.

• None means that operate mode is not defined.

• Drive Profile means CiA-402 Drive and Motion Control Profile's Velocity mode.

• Bypass means VACON specific control mode.

6.1.2.5 AL Status Code

AL Status Code value shows OPTEC EtherCAT option board's EtherCAT Application Layer status which might tell information about possible EtherCAT communication or configuration problem.

Acronyms I, P, S, O, E on the table below describes EtherCAT states: Initialization, Pre-operational, Safe-operational, Operational, Error. See EtherCAT state machine states in Chapter 2 "OPTEC EtherCAT - General".

Table 18. EtherCAT AL Status Codes

Code Description

0x0000 No error Any Current state 0x0001 Unspecified error Any I + E, P + E, S + E 0x0002 No memory Any I + E, P + E, S + E

Current state or

state changes

Resulting state

0x0003 Invalid device setup P -> S P + E

0x0011 Invalid requested state change

0x0012 Unknown requested state Any I +E, P + E, S + E 0x0013 Bootstrap not supported I -> B I + E 0x0014 No valid firmware I -> P I + E 0x0015 Invalid mailbox configuration I -> B I + E 0x0016 Invalid mailbox configuration I -> P I + E

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I -> S, I -> O, P -> O,

O -> B, S -> B, P -> B

I +E, P + E, S + E

Commissioning vacon • 35

Table 18. EtherCAT AL Status Codes

Code Description

0x0017 Invalid sync manger configuration P -> S, S -> O Current state + E 0x0018 No valid inputs available S, O, S -> O S + E

0x0019 No valid outputs O, S -> O S + E 0x001A Synchronization error O, S -> O S + E 0x001B Sync manager watchdog O, S S + E 0x001C Invalid Sync Manager Types O, S, P -> S S + E 0x001D Invalid Output Configuration O, S, P -> S P + E 0x001E Invalid Input Configuration O, S, P -> S P + E 0x001F Invalid Watchdog Configuration O, S, P -> S P + E

0x0020 Slave needs cold start Any I + E, P + E, S + E

0x0021 Slave needs INIT B, P, S, O I + E, P + E, S + E

0x0022 Slave needs PREOP S, O S + E

0x0023 Slave needs SAFEOP O S + E

0x0024 Invalid Input Mapping P -> S P + E

0x0025 Invalid Output Mapping P -> S P + E

0x0026 Inconsistent Settings P -> S P + E

Current state or

state changes

Resulting state

0x0027 Freerun not supported P -> S P + E

0x0028 SyncMode not supported P -> S P + E

0x0029 Freerun needs 3 buffer mode P -> S P + E 0x002A Background Watchdog S, O P + E 0x002B No Valid Inputs and Outputs O, S -> O S + E 0x002C Fatal Sync Error O S + E 0x002D No Sync Error S -> O S + E

0x0030 Invalid DC SYNC Configuration O, S -> O, P -> S P + E, S + E

0x0031 Invalid DC Latch Configuration O, S -> O, P -> S P + E, S + E

0x0032 PLL Error O, S -> O S + E

0x0033 DC Sync IO Error O, S -> O S + E

0x0034 DC Sync Timeout Error O, S -> O S + E

0x0035 DC Invalid Sync Cycle Time P -> S P + E

0x0036 DC Sync0 Cycle Time P -> S P + E

0x0037 DC Sync1 Cycle Time P -> S P + E

0x0041 MBX_AOE B, P, S, O I + E, P + E, S + E

0x0042 MBX_EOE B, P, S, O I + E, P + E, S + E

0x0043 MBX_COE B, P, S, O I + E, P + E, S + E

0x0044 MBX_FOE B, P, S, O I + E, P + E, S + E

0x0045 MBX_SOE B, P, S, O I + E, P + E, S + E 0x004F MBX_VOE B, P, S, O I + E, P + E, S + E

0x0050 EEPROM no access Any I + E, P + E, S + E

0x0051 EEPROM Error Any I + E, P + E, S + E

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vacon • 36 Commissioning

Table 18. EtherCAT AL Status Codes

Code Description

Current state or

state changes

Resulting state

0x0060 Slave restarted locally Any I

0x0061 Device Identification value updated P P + E

6.1.2.6 SM Watchdog

SM Watchdog monitor value tells SM watchdog time in milliseconds. If usage of SM watchdog is configured into EtherCAT master device then the master configures this time the to EtherCAT slave devices before process data communication is started.

See setting of SM watchdog in Chapter 6.2.4 "Setting the watchdog".

6.1.2.7 Station Alias

Station Alias monitor value shows currently used Configured Station Alias. EtherCAT master devices can use the alias for node addressing.

See setting of the alias in Chapter 6.2.3.2 "Configured station alias".

6.1.2.8 Drive control word

Drive control word monitor value shows the control word in AC drive specific format. In most cases

the control word is transferred to AC drive in VACON

format which is described in Chapter 11 "AP-

PENDIX C - CONTROL AND STATUS WORD".

If PROFIdrive operate mode is used, then OPTEC EtherCAT converts the control word into VACON

format before transmitting it to the application. In Bypass mode PLC can send the control word in a special application specific format to the application.

6.1.2.9 Drive status word

Drive status monitor value shows the status word in AC drive specific format. In most cases the sta-

tus word is transferred from AC drive application to OPTEC EtherCAT in VACON

format which is

described in Chapter 11 "APPENDIX C - CONTROL AND STATUS WORD".

If CiA-402 Drive Profile operate mode is used, then OPTEC EtherCAT converts the status word into CiA-402 Drive Profile format before transmitting it to the PLC. In Bypass mode AC drive application can send the status word in a special application specific format to OPTEC EtherCAT which then passed the status word to the PLC.

6.1.2.10 Protocol control word

Protocol control word monitor value shows the control word that was received from EtherCAT master.

If Operate mode is "Drive Profile" then control word is in CiA-402 format. See CiA-402 Drive profile mode.

If Operate mode is "Bypass" then control word is usually in VACON

specific format. See Chapter 11

"APPENDIX C - CONTROL AND STATUS WORD". Special applications might use other formats.

6.1.2.11 Protocol status word

Protocol status word monitor value shows the status word that OPTEC EtherCAT option board sends to EtherCAT master.

If Operate mode is "Drive Profile" then status word is in CiA-402 format. See CiA-402 Drive profile mode.

If Operate mode is "Bypass" then status word is usually in VACON

specific format. See Chapter 11

"APPENDIX C - CONTROL AND STATUS WORD". Special applications might use other formats.

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Commissioning vacon • 37

6.1.2.12 ESI Selection Mode

ESI Selection Mode shows currently used ESI Selection Mode. See details of this functionality in Chapter 6.4 "ESI file selection".

6.1.2.13 Product Code

Product Code monitor value shows currently used EtherCAT Product Code. It affects into automatic selection of Slave Information (ESI) file in EtherCAT master configuration tools. See details of this functionality in Chapter 6.4 "ESI file selection".

6.1.2.14 Revision Number

Revision Number monitor value shows currently used EtherCAT Revision Number. It affects into automatic selection of Slave Information (ESI) file in EtherCAT master configuration tools. See details of this functionality in Chapter 6.4 "ESI file selection".

6.1.2.15 IP part 1

The most significant byte of OPTEC IP address.

6.1.2.16 IP part 2

Second byte of OPTEC IP address.

6.1.2.17 IP part 3

Third byte of OPTEC IP address.

6.1.2.18 IP part 4

The least significant byte of OPTEC IP address.

6.1.2.19 Subnet mask P1

The most significant byte of OPTEC subnet mask.

6.1.2.20 Subnet mask P2

Second byte of OPTEC subnet mask.

6.1.2.21 Subnet mask P3

Third byte of OPTEC subnet mask.

6.1.2.22 Subnet mask P4

The least significant byte of OPTEC subnet mask.

6.1.2.23 Default GW IP P1

The most significant byte of default gateway IP address.

6.1.2.24 Default GW IP P2

Second byte of default gateway IP address.

6.1.2.25 Default GW IP P3

Third byte of default gateway IP address.

6.1.2.26 Default GW IP P4

The least significant byte of gateway IP address.

6.1.2.27 EoE

Status of Ethernet over EtherCAT. Shows “Enabled” if OPTEC EoE is activated by master and other monitor values (IP part 1 etc) are valid. If status is “Disabled” OPTEC has no valid IP address and it cannot be connected via VACON

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live for example.

vacon • 38 Commissioning

6.2 EtherCAT master configuration

EtherCAT master (PLC) is typically connected to OPTEC EtherCAT option board with a following procedure.

Step 1. Import EtherCAT Slave Information files (ESI files) into EtherCAT master configuration tool.

Step 2. Connect EtherCAT master to OPTEC EtherCAT option board.

Step 3. Configure connection to OPTEC EtherCAT.

6.2.1 Importing OPTEC EtherCAT ESI files

ESI file defines slave device's functionality and object list to EtherCAT master device. Using of ESI files is optional, but eases data mapping between EtherCAT master and EtherCAT slave.

OPTEC EtherCAT option board ESI files can be downloaded from https://www.danfoss.com/en/service-and-support/ -> Software -> Select “Drives” as Business unit -> Fieldbus configuration files.

• OPTEC_VACON_OPTEC_Vxx_yyyymmdd.xml is generic ESI file for OPTEC option. It can be used with all VACON

objects for accessing of application specific IDs.

• AC drive and AC drive application specific ESI files (for example OPTEC_VACON_NX_ALLINONE_yyyymmdd.xml) defines CoE objects for accessing of application specific parameters.

NOTE! Application specific parameters can be accessed even when ESI file does not does not define CoE objects for them. See details in Chapter 7.4 "Accessing drive parameters via CoE MailBox".

AC drives and AC drive applications. This ESI file does not define CoE

ESI files must be imported to the PC hard disk from where EtherCAT master configuration tool can find them. In some case restart of EtherCAT master configuration tool is required before new ESI files are taken into use.

• In case of TwinCAT 2.x ESI file default location is: C:\TwinCAT\Io\EtherCAT

• In case of TwinCAT 3.x ESI file default location is: C:\TwinCAT\3.x\Config\Io\EtherCAT

• In case of CODESYS V3.x ESI file is selected as part of EtherCAT slave device importing process. See Chapter 6.2.2.3 "Slave scan in CODESYS V3.x"

See more about ESI file selection logic in Chapter 6.4 "ESI file selection".

6.2.2 Establishing connection to OPTEC EtherCAT

The following chapters shows scanning of OPTEC EtherCAT option board in TwinCAT 2.x and TwinCAT 3.x.

6.2.2.1 Slave scan in TwinCAT 2.x

Connect the Ethernet cable from the Ethernet card of the computer to the IN

Connector of the OPTEC Option Board EtherCAT (for more information see Chapter 4.1 "Layout and connections").

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Commissioning vacon • 39

Start the TwinCAT System Manager by right-clicking on the toolbar icon and by selecting ‘System Manager’.

In the TwinCAT System Manager, go to ‘Options’ -> ‘Show Real Time Ethernet Compatible Devices…’

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vacon • 40 Commissioning

In the first phase your Ethernet card is shown under "Incompatible devices". Select the card and click "Install". After this operation the card is visible under "Installed and ready to use devices.

Make sure that TwinCAT is in the Config mode (check that the text Config mode is visible in the bottom right corner).

If this is not the case, switch the TwinCAT System Manager to the Config Mode by clicking 'Set/Reset TwinCAT to Config Mode'.

7 8

In the 'Load I/O devices?' dialog, click 'Yes'.

In the 'Active Free Run?' dialog, click 'No'

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Commissioning vacon • 41

Start a new project by clicking 'New' from the toolbar or by clicking 'File' -> 'New'.

Scan the devices by right-clicking on top of the 'I/O devices' tree item and by selecting 'Scan Devices…'.

12 13

Select the Ethernet card used for communication with the OPTEC Option Board (the Ethernet card which is connected to the IN connector of the OPTEC Option Board), and click 'OK'.

In the 'Scan for boxes?' dialog, click 'Yes'.

To switch the EtherCAT bus to OPERATIONAL state, click 'Yes' in the 'Activate free run?' dialog.

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vacon • 42 Commissioning

When the connection has been established, TwinCAT looks like in the picture below.

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Commissioning vacon • 43

6.2.2.2 Slave scan in TwinCAT 3.x

Connect the Ethernet cable from the Ethernet card of the computer to the IN Con-

nector of the OPTEC EtherCAT option board. For more information see Chapter 4 "Layout and connections".

Open TwinCAT XAE program from Windows Programs folder.

Define Ethernet interface for TwinCAT by opening “TWINCAT” -> “Show Realtime Ethernet Compatible Devices…”

From the list, select the Ethernet interface in which EtherCAT master is connected. After that, select “Install”.

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vacon • 44 Commissioning

In Solution Explorer, add EtherCAT master to the project. EtherCAT master can be searched by scanning (see A below). Alternatively, EtherCAT master can be added with "Add New Item…" option (see B below).

5A. In case of scanning TwinCAT shows Ethernet interface which is connected to EtherCAT devices. Select the interface and press “OK”.

5B. In case of "Add New Item…" select "EtherCAT master" device from the list and press “OK”.

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Commissioning vacon • 45

After this TwinCAT shows list of Ethernet interfaces. Select the interface in which EtherCAT master device is connected and press “OK”.

Set TwinCAT into configuration mode. Press “OK” to the following "Restart TwinCAT System in Config Mode" and "Load I/O Devices" queries.

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vacon • 46 Commissioning

Scan Ethernet boxes (slave devices) by pressing right mouse key over EtherCAT master device. After that select "Scan".

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Commissioning vacon • 47

New EtherCAT slave box should appear into menu tree if TwinCAT finds a correct ESI file for the device.

If TwinCAT cannot find ESI file for the device then it is possible to use object online description. Press “Yes” for online description query. After that "OPTEC" box should appear into menu tree.

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vacon • 48 Commissioning

6.2.2.3 Slave scan in CODESYS V3.x

Make sure WinPCAP Ethernet drivers are installed into your PC. Scanning of

EtherCAT slave devices with CODESYS virtual EtherCAT master is going to fail without WinPCAP driver.

Open Gateway configuration file which is located in C:\Program Files (x86)\3S CODESYS\GatewayPLC\ CODESYSControl.cfg. Then add "SysEthernet" component into Component manager.

[ComponentManager] Component.1=CmpTargetVisuStub Component.2=CmpWebServer Component.3=CmpWebServerHandlerV3 Component.4=SysEthernet ;Component.4=CmpHilscherCIFX ;Component.5=CmpPCANBasicDrv

Start "CODESYS V.3x" program and select "New Project..."

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Commissioning vacon • 49

Select for example "Standard Project" as a base project and write name for the project. Then press "OK".

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vacon • 50 Commissioning

Select "Tools" -> "Device Repository..." menu. Then click "Install..." and select ESI file for OPTEC EtherCAT.

NOTE! In this example generic OPTEC_VACON_OPTEC_Vxx_yyyymmdd.xml ESI file is used. As a result, OPTEC EtherCAT is shown in CODESYS with name "OPTEC". The device name is different when using drive and application specific ESI file.

After selecting the ESI file the device is added into "Installed devices" list. Device Repository can be now closed.

Double click "Device (CODESYS Control Win V3)" in Devices list.

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Commissioning vacon • 51

Check that Gateway module's IP-Address is "localhost". If not, then create a new Gateway from "Gateway" -> "Add new gateway..." and define localhost address for it.

Check from Windows system tray that CODESYS PLC is running. Click "Start PLC" if it is in stopped state.

Select "Scan Network..." and then select the device which is your PC computer. Then click "OK".

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vacon • 52 Commissioning

If operation is successful, then Device view shows green color for both Gateway module and PC computer.

Select with right mouse "Device (CODESYS Control Win V3)" -> "Add Device.."

Select from "Add Device" menu "EtherCAT Master". Then click "Add device" and close "Add Device menu".

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Commissioning vacon • 53

EtherCAT_Master should appear into left side Devices menu. Open EtherCAT master configuration page by double clicking "EtherCAT_Master (EtherCAT Master)".

Select Ethernet interface for EtherCAT master by clicking "Browse...". Then select Ethernet interface in which OPTEC EtherCAT is connected to. After that click "OK" in Select Network Adapter view.

After this EtherCAT_Master tab should show your network interface name and MAC address.

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Select with left mouse key "EtherCAT_Master (EtherCAT Master)" -> "Scan for Devices...". Scan Devices window is opened. Then click "Scan Devices" button from the left corner of the window.

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Commissioning vacon • 55

EtherCAT device should appear into Scanned Devices list.

CODESYS shows Alias Address of the device. This alias is same as shown in OPTEC EtherCAT's monitor value view (Chapter 6.1.2.7 "Station Alias"). The alias can be changed by changing the value and then clicking "Assign Address". After power cycle of VACON

Click "Copy to project".

AC drive the new alias is taken into use.

OPTEC EtherCAT is added under EtherCAT_Master.

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6.2.3 Addressing and identification

EtherCAT protocol supports various of different mechanisms for EtherCAT slave device addressing and identification. Following mechanisms are possible with OPTEC EtherCAT option board:

• Positional addressing where EtherCAT master defines address for each slave device via its physical position in the communication ring.

• Configured Station Alias which is stored permanently into EtherCAT slave device.

• Device ID value that is loaded to AL status code register upon request from master.

Additionally, EtherCAT master and EtherCAT configuration tool might use following information for EtherCAT slave device identification:

•Vendor ID

•Product Code

• Revision Number

6.2.3.1 Positional addressing

Part of EtherCAT master devices supports positional addressing where EtherCAT master defines address for each slave device via its physical position in the communication ring.

For example, Beckhoff TwinCAT supports "Auto-increment" addressing where EtherCAT master assigns automatically addresses for the slave devices during the start-up phase. The first slave in the ring has an address of 0 and following the addresses are decremented 0xFFFF(-1), 0xFFFE(-2) etc.

6.2.3.2 Configured station alias

Configured station alias is stored into permanent memory of EtherCAT slave device. In start-up the slave device writes the station alias value into EtherCAT register 0x0012, from where it can be read by the EtherCAT master. The master can then use this unique address for slave device identification and addressing.

Configured station alias can be set to OPTEC EtherCAT with two methods.

1. EtherCAT master or EtherCAT configuration tool writes configured station alias permanently into EtherCAT slave device's EEPROM. In startup the EtherCAT slave device loads this address into its EtherCAT register 0x0012.

2. Configured station alias can be set with Station alias panel parameter. In startup OPTEC EtherCAT writes Station alias panel parameter value into EtherCAT register 0x0012.

Using of Station alias panel parameter might be useful in following cases:

• Special tools for writing EtherCAT slave device EEPROM are not available.

• Configured station alias must be stored into AC drive parameter backup.

OPTEC EtherCAT currently used Configured station alias can be seen in Station alias monitor value. See monitor and parameter value usage in Chapter 6.1 "AC drive and OPTEC EtherCAT option board parametrization".

6.2.3.3 Device ID value

Device ID value of OPTEC is set via panel parameter “Device ID”. It is permanently saved to nonvolatile memory and loaded during startup.

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Commissioning vacon • 57

6.2.3.4 Configured station alias in TwinCAT

Step 1. Beckhoff TwinCAT can write Configured station alias into EtherCAT slave device's EEPROM. Go to EtherCAT tab -> Advanced Settings… -> ESC Access -> E2PROM -> Configured Station Alias. In this view TwinCAT also shows EtherCAT slave device's currently used Configured Station Alias.

Figure 6.Configured station alias settings in TwinCAT

Step 2. Select Configured Station Alias as an identification method in General -> Idenfication settings.

Figure 7.EtherCAT slave identification settings in TwinCAT

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Step 3. Go to General -> Behaviour menu and make sure that "Check Identification" is checked to enable Configured station address usage in EtherCAT slave device identification.

Figure 8.Startup check settings in TwinCAT

Step 4. Define Configured Station Alias into EtherCAT tabs "Identification Value" field.

Figure 9. EtherCAT address view in TwinCAT

6.2.3.5 Configured station alias in CODESYS V3.x

Setting of EtherCAT slave devices's Station alias was instructed in Chapter 6.2.2.3 "Slave scan in CODESYS V3.x" where the Station alias was modified in EtherCAT slave device scanning phase.

Station alias can be selected as EtherCAT slave device identification method in EtherCAT slave device's General settings. By checking "Enable Expert Settings" it is possible to select following startup checking methods:

•Vendor ID

•Product ID

• Revision Number

Station alias can be selected by checking "Optional" settings.

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Commissioning vacon • 59

Figure 10. EtherCAT slave general settings in CODESYS

6.2.3.6 Device ID in TwinCAT

OPTEC device ID is set via panel. To use it as identification method, check the “Explicit Device Identification (ADO 0x0134)” box as seen in Figure 11.

Figure 11.

Also tick the box “Check Identification” as shown in figure 8 and set the “Identification value” to one set on panel as shown in figure 9. Now master is configured to use device ID as identification method.

6.2.3.7 Other identification methods

EtherCAT master and configuration tools might use following information for EtherCAT slave device identification. For example, EtherCAT configuration tools might use this information for automatic ESI file selection for the EtherCAT slave device.

• Vendor ID. In case of OPTEC EtherCAT it is value 144.

• Product Code. By default, OPTEC EtherCAT uses value 17731. The value can be modified.

• Revision Number. By default, OPTEC uses value 1. The value can be modified.

See modification of Product Code and Revision Number in Chapter 6.4 "ESI file selection".

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6.2.4 Setting the watchdog

OPTEC EtherCAT supports SM watchdog (SyncManager Watchdog). The SM watchdog is a timer which is reset after each successful EtherCAT process data communication. If OPTEC EtherCAT cannot successfully receive process data within SM watchdog time, then Fieldbus timeout fault (F53) is activated. See details in Chapter 8.3 "Fieldbus timeout fault (F53)".

OPTEC EtherCAT can be used without SM watchdog time. If SM watchdog time is not defined, then Fieldbus timeout fault is not activated at all because of interrupted process data communication.

EtherCAT master sets SM watchdog time to EtherCAT slave devices. In a following Example TwinCAT sets SM watchdog time 40ms to OPTEC EtherCAT.

Figure 12. TwinCAT SM Watchdog configuration

6.2.5 Sync unit assignment

Assignment of separate sync units for EtherCAT slave devices is needed in case where automation system must continue operation even when part of EtherCAT slave devices fails.

Sync unit is a module which defines the process data transfers between EtherCAT master and EtherCAT slave devices. It ensures that process data is exchanged synchronously and consistently with all EtherCAT slave devices. If one or more EtherCAT slave devices fails during the process data transfer, then EtherCAT master stops process control to the whole sync unit segment. In this case WcState (working counter) of every EtherCAT slave device is set to 1 which means invalid working counter.

In a following TwinCAT example two OPTEC EtherCAT slave devices are assigned into two separated sync units: Sync unit 1 and Sync unit 2. With this configuration, Sync unit 2 can continue operation

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Commissioning vacon • 61

even when one device in Sync unit 1 fails. TwinCAT sync unit configuration can be done from EtherCAT master's Sync Unit Assigment settings.

Figure 13. TwinCAT Sync Unit Assigment

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6.3 Operation mode selection

Operation mode defines how EtherCAT master can control the motor and monitor the motor control status. OPTEC EtherCAT supports following modes:

• Drive Profile means CiA-402 Drive and Motion Control Profile's Velocity mode. This mode is

enabled by default.

• Bypass means VACON specific control mode.

See detailed description of these modes in Chapter 7.3 "Operating modes".

Operation mode can be selected with three different methods that are described in following chapters. Latest modification is taken into use and currently used setting is stored into Operation mode parameter. Currently used Operation mode can be seen in Operation mode monitor value (Chapter 6.1.2 "Option board monitor values").

6.3.1 Operation mode selection using parameter

Operation mode can be selected with AC drive keypad parameter. See details in Chapter 6.1.1 "Option board parameters".

6.3.2 Operation mode selection using CoE object

Operation mode can we selected by writing into 0x6060 CiA-402 Modes of Operation CoE object. See details in Chapter 7.2.26 "CiA 402 Modes of Operation".

6.3.3 Operation mode selection using PDO assignment

Operation mode can we selected with a different PDO assignments. CiA-402 drive profile can be activated by assigning CiA-402 specific process data objects in EtherCAT master. Bypass profile can be activated by assigning only bypass specific process data objects in EtherCAT master.

6.3.3.1 Swithcing to CiA-402 Drive Profile Mode

Establish the connection to EtherCAT bus as instructed in Chapter "".

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Commissioning vacon • 63

In the tree on the left side, select the desired OPTEC Option Board, and select the 'Process data' tab.

Under 'Inputs', select the PDO Assignment ‘0x1A00’. Under 'Outputs', select the PDO Assignment ‘0x1600’.

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vacon • 64 Commissioning

Make sure that 'PDO Assignment' and 'PDO Configuration' are selected.

6 7 8

Reset TwinCAT to configuration mode by clicking 'Set/Reset TwinCAT config mode' from the toolbar.

In the 'Restart TwinCAT System in Config Mode' dialog, click 'OK'.

In the 'Load I/O Devices' dialog, click 'Yes'.

In the 'Activate Free Run' dialog, click 'Yes'.

To verfiy that the OPTEC Option Board is in the Bypass mode, select the 'CoE - Online' tab and make sure that there are four subitems under both Can object groups 'RxPDO' and 'TxPDO'.

Currenly used Operation mode can be seen in Operation mode monitor value. See Chapter 6.1.2 "Option board monitor values".

Currently used Operation mode can be read with EtherCAT master from CoE object: 0x6061 CiA 402 Modes of Operation Display.

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Commissioning vacon • 65

6.3.3.2 Swithcing to Bypass mode

Establish the connection to EtherCAT bus as instructed in Chapter 6.2.2 "Establishing connection to OPTEC EtherCAT".

In the tree on the left side, select the desired OPTEC Option Board, and select 'Process data' tab.

Under ‘Inputs’, click to clear the PDO Assignment ‘0x1A00’ checkbox. Under ‘Outputs’, click to clear the PDO Assignment ‘0x1600’ checkbox.

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Under ‘Download’, make sure that 'PDO Assignment' and 'PDO Configuration' are selected.

6 7 8

Reset TwinCAT to configuration mode by clicking 'Set/Reset TwinCAT config mode' from the toolbar.

In the 'Restart TwinCAT System in Config Mode' dialog, click 'OK'.

In the 'Load I/O Devices' dialog, click 'Yes'.

In the 'Activate Free Run' dialog, click 'Yes'.

To verfiy that the OPTEC Option Board is in the Bypass mode, select the 'CoE - Online' tab and make sure that there are only three subitems under both Can object groups 'RxPDO' and 'TxPDO'.

Currenly used Operation mode can be seen in Operation mode monitor value. See Chapter 6.1.2 "Option board monitor values".

Currently used Operation mode can be read with EtherCAT master from CoE object: 0x6061 CiA 402 Modes of Operation Display.

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Commissioning vacon • 67

6.4 ESI file selection

This chapter tells how the different ESI files can be used with OPTEC EtherCAT. Downloading and importing of OPTEC EtherCAT ESI files into EtherCAT configuration tool is instructed in Chapter 6.2.1 "Importing OPTEC EtherCAT ESI files".

EtherCAT configuration tools uses typically Vendor ID, Product Code and Revision Number information to select the correct ESI description for the slave device. OPTEC EtherCAT uses following settings by default.

•Vendor ID: 144

• Product Code: 17731. The value can be modified.

• Revision Number: 1. The value can be modified.

Currently used Product Code and Revision Number can be seen in OPTEC EtherCAT option board's monitor values. See details in Chapter 6.1.2 "Option board monitor values".

With default Product Code and Revision Number settings OPTEC_VACON_OPTEC_Vxx_yyyymmdd.xml ESI file must be always used. Generic OPTEC_VACON_OPTEC_Vxx_yyyymmdd.xml ESI file can be used with all applications but it does not define application specific CoE objects. Application specific ESI files defines own CoE objects for application specific data which eases configuration of EtherCAT master.

NOTE! Application specific parameters can be accessed even when ESI file does not does not define CoE objects for them. See details in Chapter 7.4 "Accessing drive parameters via CoE MailBox".

6.4.1 ESI file selection mode

EtherCAT master can change OPTEC EtherCAT Product Code and Revision Number by writing into CoE object 0x5FF4.

Figure 14. CiA-402 process data from AC drive

Selection Mode (0x5FF4:1) defines currently used ESI file selection mode. Default value is 0 (OFF). Content of Static Product Code (0x5FF4:2) and Static Revision Number (0x5FF4:3) fields is used only when "Static" ESI file selection mode is used.

Table 19. ESI file selection mode

Mode Value Description

OFF 0

Automatic generation is switched off. The product code is set to the default value 0x4543 and the revision number is set to 1.

Automatic 1

Static 2

After writing new settings to 0x5FF4 CoE object OPTEC EtherCAT must be moved from INIT state to PREOP state for the change to take effect. This operation can be done with EtherCAT master or EtherCAT configuration tool, for example with Beckhoff TwinCAT.

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Product Code and Revision Number are generated by using information about the drive and the currently running application.

Product Code and Revision Number defined by Static Product Code (0x5FF4:2) and Static Revision Number (0x5FF4:3) are used.

vacon • 68 Commissioning

NOTE! If EtherCAT master or configuration tool uses Product Code and/or Revision Number for EtherCAT slave device identification, then OPTEC EtherCAT must be scanned again in EtherCAT master or configuration tool. See Chapter 6.2.2 "Establishing connection to OPTEC EtherCAT".

NOTE! Product Code and Revision Number are stored into EtherCAT slave device's EtherCAT EEPROM. They are not stored into AC drive parameter storage and parameter backup. This means:

• Product Code and Revision Number are not reset with AC drive factory reset

• Product Code and Revision Number are not restored from AC drive parameter backup

6.4.1.1 OFF mode

In OFF mode OPTEC EtherCAT uses Product Code 17731 (0x4543) and Revision Number 1 which means that generic OPTEC_VACON_OPTEC_Vxx_yyyymmdd.xml ESI file shall be always used.

6.4.1.2 Automatic mode

In the automatic mode, the OPTEC board generates a unique product code. The generated product code together with the revision number is used by the configuration tool to automatically choose the correct device description from the ESI file.

The product code depends on the drive type, and the type of the application the drive runs.

OPTEC EtherCAT option board's Product Code and Revision Number can be seen from the monitor values (Chapter 6.1.2 "Option board monitor values"). Another possibility is to scan EtherCAT network with EtherCAT configuration tool's scanning functionality which usually shows Product Code and Revision Number of found EtherCAT slave devices.

Read the object 1018 sub-index 2 and 3 To find the product code and revision number, as shown below:

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Commissioning vacon • 69

If you do not have access to the online description, you can calculate the product code. The method varies depending on the drive family.

Table 20. Calculating the product code for devices in the V20 and V100 family

Bits Description

Drive family Value Description

31-24

23-16 Not used

Application identifier, which is the unique identification code of the application. The

15-0

Bits Description

31-24

23 Not used

code shows in the name of the application installation file. For example, in the installation file AMFI1234V567.vcx, 1234 is the application identification code.

Table 21. Calculating the product code for devices in the NX family

V20 0x43 Drive type identifier

V100 0x4d Drive type identifier

Drive family Value Description

NXP 0x50 Drive type identifier NXS 0x53 Drive type identifier

Bits Name Description

Calculate the value from the country code in the file name of the installation package. For example, in the

22-13 Country code

12-10 Category

9-0 Application identifier Application identifier consists of the category part and

file ASFIFF01V101.vcx, FI is the country code. Use a formula with the ASCII values: Country_code = (ASCII(F) – ASCII(A)) x 26 + (ASCII(I) – ASCII(A))

Category is the non-numerical part of the application ID. For example, in the file ASFIFF01V101.vcx, FF01 is the application ID and FF is the category.

Category Value

FF 0

F1 BR 2 EN 3

Q5 C6

the numerical part. For example, in the file ASFIFF01V101.vcx, FF01is the application identifier. FF is the category and 01 is the numerical part. The total length of the application identifier is always 4 characters. A possible variation is, for example, F001.

You must add a device description for every configuration to be supported. Add the new device to the Devices element in the ESI file.

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9459

9462

Enter the calculated product code and the revision number of the application into the ‘ProductCode’ and ‘RevisionNo’ attributes in the Type element of the device, as shown below:

6.4.1.3 Static mode

In the static mode, you define the product code and revision number for the device description. Any value that is unique in the network is valid as a device description.

In the description file, enter the product code and revision number of your device description in the Device section.

Make sure the device is in the pre-operational state, and that the selection mode is set to either OFF or Automatic.

Write the product code and revision number to their respective objects.

Change the selection mode to Static and rescan the network.

9463

6.5 Controlling the motor

Controlling of the motor via OPTEC EtherCAT is instructed in this chapter. In this example basic PDO mapping is used. See detailed description of PDO mapping in Chapter 7.2 "Data Object Descriptions".

Before running the motor, do the following checks:

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Commissioning vacon • 71

1. Check that field bus control is enabled in AC drive. Enabling of field bus control in a different VA-

AC drives is described in Chapter 12 "APPENDIX D - FIELDBUS PARAMETRISATION".

CON

2. Check that OPTEC EtherCAT is on Operational state.

Figure 15. Online view in TwinCAT

NOTE! If motor is started in Operational state and EtherCAT master commands OPTEC EtherCAT into other state, then OPTEC EtherCAT activates Fieldbus fault because process data transfer from EtherCAT master to OPTEC EtherCAT is stopped and motor control is not anymore possible.

• See EtherCAT state machine states in chapter OPTEC EtherCAT - General

• See Fieldbus fault in Chapter 8.3 "Fieldbus timeout fault (F53)"

6.5.1 Controlling in CiA-402 Drive Profile mode

AC drive motor control mode is usually set to "Speed control" when using CiA-402 Drive Profile mode.

In VACON Mode -> select "OL Speed Ctrl".

In VACON

• APFIFF06 Multipurpose application: P2.6.1 Motor Ctrl Mode -> select "OL SpeedCont"

• APFIFF08 Advanced application: P2.8.1 Motor Ctrl Mode -> select "OL SpeedCont"

EtherCAT master can control the motor by writing into two process data objects.

• CiA 402 Control Word

• CiA 402 vl Target Velocity

EtherCAT master can monitor the motor status by reading two process data objects:

• CiA 402 Status Word

• CiA 402 Velocity Actual

100 AC drives motor control mode can be changed with parameter P.3.1.2.1 Control

NXP AC drive this setting depends from application. In case of following applications:

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Figure 16. CiA-402 specific process data objects

In the following Beckhoff TwinCAT example EtherCAT master sets the motor into running state with target velocity 0x100. EtherCAT master writes following values into CiA-402 process data objects.

Figure 17. CiA-402 specific process data to AC drive

Table 22. Motor to run state in CiA-402 Drive Profile mode

Step Write to Value Description

1 CiA 402 Control Word 0x80 Request reset of active faults from AC drive

Motor start to run with target velocity 0x100 after CiA-

2 CiA 402 vl Target Velocity 0x100

3 CiA 402 Control Word 0x06 CiA-402 State machine to "Ready to switch on" state

4 CiA 402 Control Word 0x0F

EtherCAT master can read motor control status from CiA-402 Status Word process data object. Actual velocity can be read from CiA-402 vl Velocity Actual object.

402 state machine goes to "Operational enabled"

state.

CiA-402 State machine to "Operation enabled" state. Motor starts to run with target speed defined by Tar-

get Velocity.

Figure 18. CiA-402 specific process data from AC drive

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Commissioning vacon • 73

CiA-402 state machine, control word, status word and other details are explained in chapter 7.3 Operating modes.

6.5.2 Controlling in Bypass mode

AC drive motor control mode is usually set to "Frequency control" when using Bypass mode.

In VACON Mode -> select "Frequency Ctrl".

In VACON

• APFIFF06 Multipurpose application: P2.6.1 Motor Ctrl Mode -> select "Freq Control"

• APFIFF08 Advanced application: P2.8.1 Motor Ctrl Mode -> select "Freq Control"

EtherCAT master can control the motor by writing into three process data objects. Bypass General Control Word content is application specific. All applications do not require usage of General Control Word. In this case content of this process data item is just ignored in AC drive.

• Bypass Fixed Control Word

• Bypass General Control Word

• Bypass Speed Setpoint Value

100 AC drives motor control mode can be changed with parameter P.3.1.2.1 Control

NXP this setting depends from application. In case of following applications:

EtherCAT master can monitor the motor status by reading three process data objects. All applications do not require usage of General Status Word. In this case content of this process data item can be just ignored in EtherCAT master.

• Bypass Fixed Status Word

• Bypass General Status Word

• Bypass Speed Actual Value

Figure 19. Bypass specific process data objects

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In the following Beckhoff TwinCAT example EtherCAT master sets the motor into running state with Speed setpoint value 2000. EtherCAT master writes following values into Bypass process data objects.

Figure 20. Bypass specific process data to AC drive

Table 23. Motor to run state in Bypass mode

Step Write to Value Description

1 Bypass Fixed Control Word 0x04 Request reset of active faults from AC drive

2 Bypass Fixed Control Word 0x01

Bypass Speed Setpoint

Value

2000

Target frequency is 20% from frequency range

defined by MinimumFrequency and Maxi-

mumFrequency parameters.

Switch AC drive to RUN mode. Motor starts to

run with target frequency defined by Bypass

Speed Setpoint Value.

EtherCAT master can read motor control status from Bypass Status Word data objects. Actual speed can be read from Bypass Speed Actual Value.

Figure 21. CiA-402 process data from AC drive

Bypass control word, status word and other details are explained in Chapter 7.3 "Operating modes".

6.5.3 Controlling the motor with CODESYS V3.x

Previous chapters instructed VACON CAT configuration tool. In case of CODESYS, the process data mapping can be done in EtherCAT slave device's Process data view.

drive configuration and controlling the motor by using Twin-

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Commissioning vacon • 75

Figure 22. Process data view in CODESYS

Step 1. Select "EtherCAT I/O Mapping" from EtherCAT slave device's menu tree to change "Always update variable" settings. Then select "Enabled 1 (use bus cycle task if not used in any task)".

Figure 23. I/O data update settings in CODESYS

Step 2. Select CODESYS program's menu bar "Online" -> "Login" to login into system.

If CODESYS asks about downloading the change to the application, then select download option. After this changed configuration settings are taken into use in CODESYS virtual EtherCAT master.

Figure 24. Login into system in CODESYS

Step 3. Click Start button to start communication.

Figure 25. Start system in CODESYS

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EtherCAT master have now connection to OPTEC EtherCAT. Process data values transferred between EtherCAT master and OPTEC EtherCAT can be seen in EtherCAT I/O Mapping page.

Figure 26. EtherCAT I/O mapping in CODESYS

6.5.3.1 Controlling in CiA-402 Drive Profile mode with CODESYS

Ensure that OPTEC EtherCAT is in CiA-402 Drive Profile mode. See Chapter 6.3 "Operation mode selection".

In the following Beckhoff TwinCAT example EtherCAT master sets the motor into running state with target velocity 200. New values are written into "Prepared Value field". New values are taken into use by pressing Ctrl + F7. After that the values are shown in Current value column.

Figure 27. CiA-402 Drive Profile commands in CODESYS

Table 24. Motor to run state in CiA-402 Drive Profile mode in CODESYS

Step Write to: Value Description

1 CiA 402 Control Word 128 (0x80) Request reset of active faults from AC drive

Motor start to run with target velocity 200

2 CiA 402 vl Target Velocity 200 (0xC8)

3 CiA 402 Control Word 6 (0x06)

4 CiA 402 Control Word 15 (0x0F)

After this motor starts to run. "CiA 402 Status Word" and "CiA 402 vl Actual Velocity" can be monitored from CODESYS.

6.5.3.2 Controlling in Bypass mode with CODESYS

Ensure that OPTEC EtherCAT is in Bypass mode. See Chapter 6.3 "Operation mode selection".

In the following Beckhoff TwinCAT example EtherCAT master sets the motor into running state with Speed setpoint value 1000. New values are written into "Prepared Value field". New values are taken into use by pressing Ctrl + F7. After that the values are shown in Current value column.

after CiA-402 state machine goes to "Oper-

ational enabled" state.

CiA-402 State machine to "Ready to switch

on" state

CiA-402 State machine to "Operation

enabled" state. Motor starts to run with

speed defined by Target Velocity.

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Commissioning vacon • 77

Figure 28. Bypass mode commands in CODESYS

Table 25. Motor to run state in Bypass mode in CODESYS

Step Write to: Value Description

After this motor starts to run. Following status process values can be monitored in CODESYS:

• Bypass Fixed Status Word

• Bypass General Status Word

• Bypass Speed Actual Value

Bypass Fixed Control

Word

Bypass Speed Setpoint

Value

Bypass Fixed Control

Word

4 (0x04) Request reset of active faults from AC drive

1000

(0x3E8)

1 (0x01)

Target frequency is 10% from frequency range

defined by MinimumFrequency and Maximum-

Frequency parameters.

Switch AC drive to RUN mode. Motor starts to run

with frequency defined by Bypass Speed Setpoint

Value.

6.6 VACON® PC-tools

With VACON® PC-tools it is possible to do following operations for OPTEC EtherCAT:

• Update firmware into OPTEC EtherCAT option board

• Set parameters for OPTEC EtherCAT

• Read monitor values of OPTEC EtherCAT

6.6.1 PC tool support

This table describes which PC tools are supported in each AC drive type. The connection type "serial" means a direct serial connection to the AC drive. The connection type "Ethernet" means that Ethernet connection is supported by using for example the inbuilt Ethernet interface of VACON® 100 or the OPTE9 Dual Port Ethernet option board. As of OPTEC firmware V004 and after, also Ethernet over EtherCAT (EoE) is supported.

Table 26.

VACON® 100 family VACON® NXS/NXP VACON® 20 family

Tool

Serial Ethernet Serial Ethernet Serial Ethernet

VACON® Loader

VACON

NCIPConfig Not used with OPTEC EtherCAT

Live

NCDrive x x

NCLoad Not used with OPTEC EtherCAT

xxx

xx x

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6.6.2 OPTEC option board firmware update with VACON® Loader

You can update OPTEC EtherCAT firmware with VACON

Loader PC-tool. You need to have:

• PC with VACON

•VACON

AC drive in which OPTEC EtherCAT option board is installed

Loader installed

• Serial cable:

-VACON VACON serial port, then USB – RS232 converter device is needed between PC and VACON

NXP is connected to PC with RS232 serial cable which is connected from PC to

NXP control unit’s 9-pin DSUB connector (female). If PC does not contain RS232

NXP

control.

-VACON

The VACON

-> Downloads -> Software -> select “Drives” as Business unit. It is bundled with the VACON

100 and VACON® 20 are connected to PC with VACON® Serial Cable.

Loader can be downloaded from https://www.danfoss.com/en/service-and-support/

Live

software package. After starting the installation program, follow the on-screen instructions.

The OPTEC EtherCAT firmware can be downloaded from https://www.danfoss.com/en/serviceand-support/ -> Software -> select “Drives” as Business unit -> Fieldbus firmware.

To update the option board firmware, follow the steps below.

NOTE! With VACON the following baud rates are supported: 9600, 19200, 38400 or 57600. With VACON

CON

NXP drives VACON® Loader selects a correct baud rate automatically.

20, the baud rate 9600 must be used. With VACON® 20 X and VACON® 20 CP,

100 and VA-

Step 1: Connect your PC to the controller by using the serial cable.

Then select the firmware file which you want to load to the option board and double click it. This

starts the VACON

Loader software. You can also start the program from the Windows Start menu.

In this case, select the firmware file using the "Browse"-button.

Figure 29. VACON® Loader: File selection

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Commissioning vacon • 79

Step 2: Press 'next' and wait for the loader to find the network drives.

Then select a drive from the list and press 'Connect to Selected'.

Figure 30. VACON® Loader: Connecting to drive

Step 3: Select the modules to be updated, press 'next' and wait until the operation is finished.

Figure 31. VACON® Loader: Firmware loading

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vacon • 80 Commissioning

Figure 32.VACON® Loader: Loading is finished

6.6.3 PC Tools for VACON® NXP: NCDrive

You can configure the VACON PC-tool. You need to have:

• PC with NCDrive installed

•VACON

• In case of Serial connection:

- If PC contains RS232 serial port, then connect the serial cable from PC to VACON trol unit’s 9-pin DSUB connector (female).

- If PC does not contain RS232 serial port, then USB – RS232 converter device is needed between PC and VACON

• In case of Ethernet connection:

- Another option board supporting Ethernet connection, for example OPTE9 Dual Port Ethernet Option Board and an Ethernet cable connected to it or

- OPTEC EtherCAT option board with firmware V004 or later and Ethernet over EtherCAT enabled on master PLC.

The NCDrive can be downloaded from https://www.danfoss.com/en/service-and-support/ -> Downloads -> Software -> select “Drives” as Business unit. After starting the installation program, follow the on-screen instructions.

NXP drive

NXP AC drive and OPTEC EtherCAT parameters with the NCDrive

NXP con-

NXP control.

Once the program is installed successfully, you can launch it by selecting it in the Windows Start menu. Select Help --> Contents if you want more information about the software features.

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/

Commissioning vacon • 81

6.6.3.1 NCDrive Serial communication settings

Connect your PC to the controller by using the USB/RS485 cable.

Select Tools -> Options… -> Communication tab. Then define settings for your USB - RS232 adapter and press Ok.

Figure 33. NCDrive: Serial communication settings

6.6.3.2 NCDrive Ethernet communication settings

For NCDrive Ethernet connection you need to have:

• Working Ethernet connection between PC and AC drive

• NCDrive is parametrized to use Ethernet connection

See instructions from Ethernet option board manual. Option board manuals can be downloaded from https://www.danfoss.com/en/service-and-support/ -> Documentation -> Select “Drives” as Business unit -> Select “VACON Option Boards” as Product Series.

6.6.3.3 Connecting to NCDrive

Press the "ON-LINE" button. The NCDrive will connect to the drive and start loading parameter information.

Figure 34. NCDrive: Going online

Figure 35. NCDrive: Loading information from the drive

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vacon • 82 Commissioning

To change the option board settings, navigate to the "M 7 Expander boards" menu and select the slot in which OPTEC EtherCAT is connected to. It is possible to change parameters defined in Chapter 6.1 "AC drive and OPTEC EtherCAT option board parametrization".

Figure 36. NCDrive: Parameter menu

6.6.4 PC Tools for VACON® 100 and VACON® 20: VACON® Live

You can configure the VACON eters with the VACON

Live PC-tool. Also monitor values of these devices can be read with VACON®

100 AC drives, VACON® 20 AC drives and OPTEC EtherCAT param-

Live. You need to have:

• PC with VACON

•VACON

100 or VACON® 20 AC drive

Live installed

• In case of Serial connection:

-VACON

Serial Cable (USB - Serial cable) which is connected from PC to AC drive control

unit.

-In case of VACON not needed in case of VACON

20 also MCA (Micro Communications Adapter) is required. This adapter is

20 X / CP.

• In case of Ethernet connection:

- Another option board supporting Ethernet connection, for example OPTE9 Dual Port Ethernet Option Board and an Ethernet cable connected to it or

- OPTEC EtherCAT option board with firmware V004 or later and Ethernet over EtherCAT enabled on master PLC.

-In case of VACON

100 it is possible to use inbuilt Ethernet connection.

NOTE! VACON

20, VACON® 20 X and VACON® 20 Cold Plate do not support VACON® Live connec-

tion over Ethernet.

The VACON

Live can be downloaded from https://www.danfoss.com/en/service-and-support/ -> Downloads -> Software -> select “Drives” as Business unit. After starting the installation program, follow the on-screen instructions.

Once the program is installed successfully, you can launch it by selecting it in the Windows Start menu. Select Help --> Contents if you want more information about the software features.

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/

Commissioning vacon • 83

6.6.4.1 VACON® Live Serial communication settings

Step 1: Connect your PC to VACON® AC drive with VACON® Serial Cable.

Step 2: Start VACON

startup mode. After this the program scans compatible drives.

Live. When the program starts, it asks "Select startup mode". Select "Online"

Figure 37. VACON® Live: To online mode

Step 2b: If VACON® Live cannot find your AC drive then ensure that "Serial / Ethernet" or "Serial" is selected. After that press "Scan".

Figure 38. VACON® Live: Communication settings

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/

vacon • 84 Commissioning

Step 3: After successful scanning VACON® Live shows the drive in connected drives window. Select the drive and press "Connected to Selected". After this VACON value tree from the drive.

Live reads parameter and monitor

Figure 39. VACON® Live: Communication settings

6.6.4.2 VACON® Live Ethernet communication settings

For VACON® Live Ethernet connection you need to have:

• Working Ethernet connection between PC and AC drive

• VACON

See instructions from VACON Ethernet option board manual. Manuals can be downloaded from https://www.danfoss.com/en/ service-and-support/ -> Documentation -> Select “Drives” as Business unit -> Select “VACON Option Boards” as Product Series.

Live is parametrized to use Ethernet connection

100 Modbus, PROFINET IO, Ethernet/IP, BACnet or OPTE9 Dual Port

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/

Commissioning vacon • 85

6.6.4.3 OPTEC EtherCAT parameters in VACON Live

OPTEC EtherCAT parameters and monitor values can be found from "5. I/O and Hardware" menu. With VACON

Live it is possible to modify OPTEC EtherCAT parameters and view monitor values.

Figure 40. VACON® Live: OPTEC EtherCAT parameters.

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/

vacon • 86 EtherCAT

7. ETHERCAT

The OPTEC Option Board offers data objects through EtherCAT by the process data image and by mailbox protocols. The supported mailbox protocols is CanOpen Over EtherCAT(CoE). The available data objects depend on the accessing method used.

The difference between the process data image and mailbox protocols are that the mailbox transfer is initiated only on demand and the process data image is constantly kept up-to date between the EtherCAT Master and all EtherCAT slaves in the EtherCAT bus.

Figure 41. Communication between EtherCAT bus and VACON® drive

CONTROL BOARD

CANopen

Application

Object Dictionary

SDO

CoE CoE

Mailbox

EtherCAT Slave Controller

EtherCAT bus

Process Data

OPTION BOARD

PDO Mapping

Process Data

9421_uk

7.1 Data object list

Data objects from index 1000h to 1018h are CANopen DS-301 specific and descriptions can be found from Chapter 9 "APPENDIX A: CANOPEN DS301 SPECIFIC DATA OBJECT DESCRIPTIONS". Data objects from index 1C30h to 1C4Fh are EtherCAT sync manager specific.

Data objects from 2000h to 5EFFh are dynamically mapped, meaning that they are not defined by the option board. These objects are defined by the EtherCAT Master ESI configuration file and vary depending on the drive and application used. See Figure 18 for more details.

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/

EtherCAT vacon • 87

Table 27. All data objects

Index:

Sub-index

1000 - Device type UINT32 RO

1001 - Error register UINT8 RO

1008 - Manufacturer Device Name STRING5 RO

1009 - Manufacturer Hardware Version STRING3 RO

100A - Manufacturer Software Version STRING8 RO

1018 0 Identity Object Group RO

01 Vendor ID UINT32 RO

02 Product Code UINT32 RO

03 Revision Number UINT32 RO

04 Serial Number UINT32 RO

1600 0 1st Receive PDO Mapping Group RO

01 CiA-402 Control word UINT32 RO

Name Type R/W Description

General Parameters

Receive PDO Mapping Parameters

See Chapter 9 for description

02 CiA-402 vl Target Velocity UINT32 RO

1601 0 2nd Receive PDO Mapping Group RO

01 Drive Process Data In 1 UINT32 RO

02 Drive Process Data In 2 UINT32 RO

03 Drive Process Data In 3 UINT32 RO

04 Drive Process Data In 4 UINT32 RO

1602 0 3rd Receive PDO Mapping Group RO

01 Drive Process Data In 5 UINT32 RO

02 Drive Process Data In 6 UINT32 RO

03 Drive Process Data In 7 UINT32 RO

04 Drive Process Data In 8 UINT32 RO

1603 0 4th Receive PDO Mapping Group RO

01 Drive Process Data In 9 UINT32 RO

02 Drive Process Data In 10 UINT32 RO

03 Drive Process Data In 11 UINT32 RO

04 Drive Process Data In 12 UINT32 RO

EtherCAT process data objects from

EtherCAT master to OPTEC EtherCAT

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vacon • 88 EtherCAT

Table 27. All data objects

Index:

Sub-index

1604 0 5th Receive PDO Mapping Group RO

01 Drive Process Data In 13 UINT32 RO

02 Drive Process Data In 14 UINT32 RO

03 Drive Process Data In 15 UINT32 RO

04 Drive Process Data In 16 UINT32 RO

0 6th Receive PDO Mapping Group RO

01 Drive process data in 1, 32bit UINT32 RO

1605

1606

02 Drive process data in 2, 32bit UINT32 RO

03 Drive process data in 3, 32bit UINT32 RO

04 Drive process data in 4, 32bit UINT32 RO

0 7th Receive PDO Mapping Group RO

01 Drive process data in 5, 32bit UINT32 RO

02 Drive process data in 6, 32bit UINT32 RO

03 Drive process data in 7, 32bit UINT32 RO

04 Drive process data in 8, 32bit UINT32 RO

0 8th Receive PDO Mapping Group RO

Name Type R/W Description

EtherCAT process data objects from

EtherCAT master to OPTEC EtherCAT

01 Drive process data in 9, 32bit UINT32 RO

1607

1608

1610 0 17th Receive PDO Mapping Group RO

1A00 0 1st Transmit PDO Mapping Group RO

02 Drive process data in 10, 32bit UINT32 RO

03 Drive process data in 11, 32bit UINT32 RO

04 Drive process data in 12, 32bit UINT32 RO

0 9th Receive PDO Mapping Group RO

01 Drive process data in 13, 32bit UINT32 RO

02 Drive process data in 14, 32bit UINT32 RO

03 Drive process data in 15, 32bit UINT32 RO

04 Drive process data in 16, 32bit UINT32 RO

01 Bypass Fixed Control Word UINT32 RO

02 Bypass General Control Word UINT32 RO

03 Bypass Speed Setpoint Value UINT32 RO

Transmit PDO Mapping Parameters

01 CiA-402 Status Word UINT32 RO

02 CiA-402 vl Velocity Actual Value UINT32 RO

EtherCAT process data objects from

OPTEC EtherCAT to EtherCAT master

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EtherCAT vacon • 89

Table 27. All data objects

Index:

Sub-index

1A01 0 2nd Transmit PDO Mapping Group RO

01 Drive Process Data out 1 UINT32 RO

02 Drive Process Data out 2 UINT32 RO

03 Drive Process Data out 3 UINT32 RO

04 Drive Process Data out 4 UINT32 RO

1A02 0 3rd Transmit PDO Mapping Group RO

01 Drive Process Data out 5 UINT32 RO

02 Drive Process Data out 6 UINT32 RO

03 Drive Process Data out 7 UINT32 RO

04 Drive Process Data out 8 UINT32 RO

1A03 0 4th Transmit PDO Mapping Group RO

01 Drive Process Data out 9 UINT32 RO

02 Drive Process Data out 10 UINT32 RO

03 Drive Process Data out 11 UINT32 RO

Name Type R/W Description

EtherCAT process data objects from

OPTEC EtherCAT to EtherCAT master

04 Drive Process Data out 12 UINT32 RO

1A04 0 5th Transmit PDO Mapping Group RO

01 Drive Process Data out 13 UINT32 RO

02 Drive Process Data out 14 UINT32 RO

03 Drive Process Data out 15 UINT32 RO

04 Drive Process Data out 16 UINT32 RO

0 6th Transmit PDO Mapping Group RO

01 Drive process data out 1, 32bit UINT32 RO

1A05

1A06

02 Drive process data out 2, 32bit UINT32 RO

03 Drive process data out 3, 32bit UINT32 RO

04 Drive process data out 4, 32bit UINT32 RO

0 7th Transmit PDO Mapping Group RO

01 Drive process data out 5, 32bit UINT32 RO

02 Drive process data out 6, 32bit UINT32 RO

03 Drive process data out 7, 32bit UINT32 RO

04 Drive process data out 8, 32bit UINT32 RO

EtherCAT process data objects from

OPTEC EtherCAT to EtherCAT master

EtherCAT process data objects from

OPTEC EtherCAT to EtherCAT master

0 8th Transmit PDO Mapping Group RO

01 Drive process data out 9, 32bit UINT32 RO

1A07

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/

02 Drive process data out 10, 32bit UINT32 RO

03 Drive process data out 11, 32bit UINT32 RO

04 Drive process data out 12, 32bit UINT32 RO

EtherCAT process data objects from

OPTEC EtherCAT to EtherCAT master

vacon • 90 EtherCAT

Table 27. All data objects

Index:

Sub-index

0 9th Transmit PDO Mapping Group RO

01 Drive process data out 13, 32bit UINT32 RO

1A08

1A10 0 17th Transmit PDO Mapping Group RO

1C12 0 RxPDO assign Group RW

02 Drive process data out 14, 32bit UINT32 RO

03 Drive process data out 15, 32bit UINT32 RO

04 Drive process data out 16, 32bit UINT32 RO

01 Bypass Fixed Status Word UINT32 RO

02 Bypass General Status Word UINT32 RO

03 Bypass Speed Actual Value UINT32 RO

01 Receive PDO Mapping 1 UINT16 RW

02 Receive PDO Mapping 2 UINT16 RW

03 Receive PDO Mapping 3 UINT16 RW

04 Receive PDO Mapping 4 UINT16 RW

Name Type R/W Description

PDO Assign Parameters

EtherCAT process data objects from

OPTEC EtherCAT to EtherCAT master

EtherCAT process data objects from

OPTEC EtherCAT to EtherCAT master

Assign of EtherCAT process data objects

that are transferred from EtherCAT

master to OPTEC EtherCAT

05 Receive PDO Mapping 5 UINT16 RW

06 Receive PDO Mapping 6 UINT16 RW

1C13 0 TxPDO assign Group RW

01 Transmit PDO Mapping 1 UINT16 RW

02 Transmit PDO Mapping 2 UINT16 RW

03 Transmit PDO Mapping 3 UINT16 RW

04 Transmit PDO Mapping 4 UINT16 RW

05 Transmit PDO Mapping 5 UINT16 RW

06 Transmit PDO Mapping 6 UINT16 RW

Sync Manager Parameters

1C32 0 SM Output parameters Group RO

01 Sync mode UINT16 RW Current output sync mode

04 Sync modes supported UINT16 RO Supported output sync modes

05 Minimum cycle time UINT32 RO Minimum cycle time supported

06 Calc and copy time UINT32 RO Calculation and copy time

09 Delay time UINT32 RO Hardware delay time

Assign of EtherCAT process data objects

that are transferred from OPTEC

EtherCAT to EtherCAT master

0B SM-Event missed UINT16 RO SM event missed counter

0C Cycle time too small UINT16 RO Cycle time too small counter

20 Sync error BOOLEAN RO Indicates sync error

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EtherCAT vacon • 91

Table 27. All data objects

Index:

Sub-index

1C33 0 SM Input parameter Group RO

01 Sync mode UINT16 RW Current input sync mode

04 Sync modes supported UINT16 RO Supported input sync modes

05 Minimum cycle time UINT32 RO Minimum cycle time supported

06 Calc and copy time UINT32 RO Calculation and copy time

09 Delay time UINT32 RO Hardware delay time

0B SM-Event missed UINT16 RO SM event missed counter

0C Cycle time too small UINT16 RO Cycle time too small counter

20 Sync error BOOLEAN RO Indicates sync error

2000 - First application specific object - -

5EFF - Last application specific object - -

Name Type R/W Description

Dynamic Manufacturer Specific Parameter Area

Static Manufacturer Specific Parameters

Chapter 7.4 "Accessing drive

parameters via CoE MailBox"

Chapter 7.4 "Accessing drive

parameters via CoE MailBox"

5FF1

0Fault history GroupRW

01 Item 1, fault code UINT16 RO Fault code of fault history item 1

02 Item 1, subcode UINT16 RO Subcode of fault history item 1

03 Item 1, seconds UINT32 RO

04 Item 1, milliseconds UINT16 RO

05 Item 2, fault code UINT16 RO Fault code of fault history item 2

06 Item 2, subcode UINT16 RO Subcode of fault history item 2

... ... As many as there are subindexes

5FF2 - Drive System Time UINT32 RW Time in Unix format

5FF3 0 Drive Information Group RO

01 Drive Serial Number STRING20 RO Serial number

02 Drive Name STRING40 RW VACON

5FF4 0 ESI File Selection Mode Group RO

Number of subindexes (4 times number

of fault history items). Cleared if 0 is

written.

Timestamp seconds of fault history item

Timestamp milliseconds of fault history

item 1

100 drive name

01 Selection Mode UINT16 RW Selected mode

02 Static Product Code UINT32 RW Static mode product code

03 Static Revision Number UINT16 RW Static mode revision number

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vacon • 92 EtherCAT

Table 27. All data objects

Index:

Sub-index

5FF5 0 Operating Energy Group RO Access drive energy counters

01 Energy FLOAT32 RO Total energy

02 Trip Energy FLOAT32 RO Trip energy value

03 Reset Trip Energy UINT16 RW Reset Trip Energy

5FF6 0 Trip Operating Time Group RO

01 Years UINT16 RO Trip operating years

02 Days UINT16 RO Trip operating days

03 Hours UINT16 RO Trip operating hours

04 Minutes UINT16 RO Trip operating minutes

05 Seconds UINT16 RO Trip operating seconds

06 Total seconds UINT32 RO Total trip operating seconds

07 Reset Trip Operating Time UINT16 RW Reset Trip Operating Time

5FF7 0 Operating Time Group RO

01 Years UINT16 RO Operating years

Name Type R/W Description

02 Days UINT16 RO Operating days

03 Hours UINT16 RO Operating hours

04 Minutes UINT16 RO Operating minutes

05 Seconds UINT16 RO Operating seconds

06 Total seconds UINT32 RO Total operating seconds

5FF8 0 ParReadCoE Group RO Parameter channel read

01 ParReadID UINT16 RW Read ID

02 ParReadIDValue UINT32 RO Read value

03 ParReadSeqNo UINT16 RO Read sequence number

04 ParReadIDStatus INT16 RO Read status

5FF9 0 ParWriteCoE Group RO Parameter channel write

01 ParWriteID UINT16 RW Write ID

02 ParWriteIDValue UINT32 RW Write value

03 ParWriteSeqNo UINT16 RO Write sequence number

04 ParWriteIDStatus INT16 RO Write status

5FFA 0 Bypass Control Group RO

01 Bypass Fixed Control Word UINT16 RW Bypass mode control word

02 Bypass General Control Word UINT16 RW Application specific control word

5FFB 0 Bypass Status Group RO

01 Bypass Fixed Status Word UINT16 RO Bypass mode status word

02 Bypass General Status Word UINT16 RO Application specific status word

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EtherCAT vacon • 93

Table 27. All data objects

Index:

Sub-index

5FFC - Bypass Speed Setpoint Value UINT16 RW Bypass speed control

5FFD - Bypass Speed Actual Value UINT16 RO Bypass actual speed

5FFE 0 Drive Process Data In Group RO

01 Drive Process Data In 1 UINT16 RO

02 Drive Process Data In 2 UINT16 RO

03 Drive Process Data In 3 UINT16 RO

04 Drive Process Data In 4 UINT16 RO

05 Drive Process Data In 5 UINT16 RO

06 Drive Process Data In 6 UINT16 RO

07 Drive Process Data In 7 UINT16 RO

08 Drive Process Data In 8 UINT16 RO

09 Drive Process Data In 9 UINT16 RO

10 Drive Process Data In 10 UINT16 RO

11 Drive Process Data In 11 UINT16 RO

Name Type R/W Description

Application specific process data from

EtherCAT master to OPTEC EtherCAT

12 Drive Process Data In 12 UINT16 RO

13 Drive Process Data In 13 UINT16 RO

14 Drive Process Data In 14 UINT16 RO

15 Drive Process Data In 15 UINT16 RO

16 Drive Process Data In 16 UINT16 RO

17 Drive Process Data In 1, 32bit UINT32 RO

18 Drive Process Data In 2, 32bit UINT32 RO

19 Drive Process Data In 3, 32bit UINT32 RO

20 Drive Process Data In 4, 32bit UINT32 RO

21 Drive Process Data In 5, 32bit UINT32 RO

22 Drive Process Data In 6, 32bit UINT32 RO

23 Drive Process Data In 7, 32bit UINT32 RO

24 Drive Process Data In 8, 32bit UINT32 RO

25 Drive Process Data In 9, 32bit UINT32 RO

26 Drive Process Data In 10, 32bit UINT32 RO

27 Drive Process Data In 11, 32bit UINT32 RO

32bit value of Process Data In.

Supported only by VACON

100.

28 Drive Process Data In 12, 32bit UINT32 RO

29 Drive Process Data In 13, 32bit UINT32 RO

30 Drive Process Data In 14, 32bit UINT32 RO

31 Drive Process Data In 15, 32bit UINT32 RO

32 Drive Process Data In 16, 32bit UINT32 RO

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vacon • 94 EtherCAT

Table 27. All data objects

Index:

Sub-index

5FFF 0 Drive Process Data Out Group RO

01 Drive Process Data Out 1 UINT16 RO

02 Drive Process Data Out 2 UINT16 RO

03 Drive Process Data Out 3 UINT16 RO

04 Drive Process Data Out 4 UINT16 RO

05 Drive Process Data Out 5 UINT16 RO

06 Drive Process Data Out 6 UINT16 RO

07 Drive Process Data Out 7 UINT16 RO

08 Drive Process Data Out 8 UINT16 RO

09 Drive Process Data Out 9 UINT16 RO

10 Drive Process Data Out 10 UINT16 RO

11 Drive Process Data Out 11 UINT16 RO

12 Drive Process Data Out 12 UINT16 RO

13 Drive Process Data Out 13 UINT16 RO

Name Type R/W Description

Application specific process data from

OPTEC EtherCAT to EtherCAT master

14 Drive Process Data Out 14 UINT16 RO

15 Drive Process Data Out 15 UINT16 RO

16 Drive Process Data Out 16 UINT16 RO

17 Drive Process Data Out 1, 32bit UINT32 RO

18 Drive Process Data Out 2, 32bit UINT32 RO

19 Drive Process Data Out 3, 32bit UINT32 RO

20 Drive Process Data Out 4, 32bit UINT32 RO

21 Drive Process Data Out 5, 32bit UINT32 RO

22 Drive Process Data Out 6, 32bit UINT32 RO

23 Drive Process Data Out 7, 32bit UINT32 RO

24 Drive Process Data Out 8, 32bit UINT32 RO

25 Drive Process Data Out 9, 32bit UINT32 RO

26 Drive Process Data Out 10, 32bit UINT32 RO

27 Drive Process Data Out 11, 32bit UINT32 RO

28 Drive Process Data Out 12, 32bit UINT32 RO

29 Drive Process Data Out 13, 32bit UINT32 RO

32bit value of Process Data Out. Supported only by VACON

100.

30 Drive Process Data Out 14, 32bit UINT32 RO

31 Drive Process Data Out 15, 32bit UINT32 RO

32 Drive Process Data Out 16, 32bit UINT32 RO

CiA-402 Parameters

6040 CiA 402 Control Word UINT16 RW Control CiA-402 State Machine

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EtherCAT vacon • 95

Table 27. All data objects

Index:

Sub-index

6041 CiA 402 Status Word UINT16 RO Current CiA-402 state

6042 CiA 402 vl Target Velocity INT16 RW RPM-speed request

6043 - CiA 402 vl Velocity Demand INT16 RO Ramp generator output scaled into RPM

6044 - CiA 402 vl Velocity Actual INT16 RO Current RPM-speed

6046 0 CiA 402 vl Velocity Min Max Amount Group RO

01 CiA 402 vl Velocity Min Amount UINT32 RW Minimum RPM-speed

02 CiA 402 vl Velocity Max Amount UINT32 RW Maximum RPM-speed

6048 0 CiA 402 vl Velocity Acceleration Group RO Slope of the acceleration ramp

01 CiA 402 vl Velocity Delta Speed UINT32 RW

02 CiA 402 vl Velocity Delta Time UINT16 RW

6049 0 CiA 402 vl Velocity Deceleration Group RO Slope of the deceleration ramp

01 CiA 402 vl Velocity Delta Speed UINT32 RW

02 CiA 402 vl Velocity Delta Time UINT16 RW

0 CiA-402 vl Velocity Setpoint Factor Group RO

Name Type R/W Description

Adjust scaling of CiA-402 vl Target

Velocity and CiA-402 vl Velocity Actual

604B

6060 - Modes of Operation INT8 RW Select operate mode

6061 - CiA 402 Modes Of Operation Display INT8 RO Current CiA-402 operation mode

6502 CiA 402 Supported Drive Modes UINT32 RO Supported CiA-402 drive

vl Velocity Setpoint Factor

Numerator

vl Velocity Setpoint Factor

Denominator

UINT16 RO Numerator of scaling factor

UINT16 RW Denominator of scaling factor

7.2 Data Object Descriptions

This chapter explains thoroughly all the data objects mentioned in Chapter 7.1.

The table below explains for the format of the data object tables of the following chapters.

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vacon • 96 EtherCAT

Table 28. Legend of Data Object description table

Name of the Data Object

PDO Index CoE Index Valid in Mode R/W

States the OPTEC Option Board mode in which data

States the access right of this data object:

• R = Data object is Read-Only

• RW = Data object is Writable and Readable

Process data object index if the object is

mapped to the pro-

cess data.

CoE MailBox index

of the described

data object.

of this object is valid:

• Bypass = Data is valid when OPTEC is in Bypass mode

• CiA-402 = Data is valid when OPTEC is in CiA402 Drive Profile Mode

7.2.1 RxPDO assign

The RxPDO assign object is used to select the process data objects that are transmitted from EtherCAT master to OPTEC EtherCAT. In OPTEC EtherCAT all these indices are fixed, meaning that process data object's internal content cannot be modified in EtherCAT bus level.

In case of CiA-402 Drive Profile mode:

• Assigning of following RxPDO objects is mandatory: 0x1600, 0x1601, 0x1602, 0x1610

• Assigning of following RxPDO objects is optional: 0x1603, 0x1604

In case of Bypass mode:

• Assigning of following RxPDO objects is mandatory: 0x1601, 0x1602, 0x1610

• Assigning of following RxPDO objects is optional: 0x1603, 0x1604

• Assigning of following RxPDO objects is not required: 0x1600

NOTE! Enabling and disabling of 0x1600 CiA-402 specific process data object changes Operation mode of OPTEC EtherCAT. See details in Chapter 6.3.3 "Operation mode selection using PDO assignment".

Each of following RxPDOs contains four (4) process data items: 0x1601, 0x1602, 0x1603 and 0x1604. For example, 0x01601 2nd Receive PDO Mapping contains following process data items:

• Drive Process Data In 1

• Drive Process Data In 2

• Drive Process Data In 3

• Drive Process Data In 4

All VACON items requires Normal Extended Communication or Fast Communication support from VACON

AC drives supports eight (8) receive process data items. Using of 9-16 process data

AC drive. See details of communication modes in Chapter 14 "APPENDIX F - FIELDBUS OPTION BOARD COMMUNICATION".

If EtherCAT master assigns 16 process data items and VACON data items, then content of RxPDOs 9-16 is ignored in VACON

AC drive supports only 8 process

AC drive.

RxPDO assign descriptions

PDO Index CoE Index Valid in Mode R/W

- 1C12:0 Bypass, CiA-402 RW

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EtherCAT vacon • 97

Sub-index Name Type Access Description

1C12:01 Sub-index 001 UINT16 RO Fixed, mandatory 1C12:02 Sub-index 002 UINT16 RO Fixed, mandatory 1C12:03 Sub-index 003 UINT16 RO Fixed, mandatory

1C12:04 Sub-index 004

1C12:05 Sub-index 005 UINT16 RO Fixed, optional 1C12:06 Sub-index 006 UINT16 RO Fixed, optional

UINT16 RO Fixed, mandatory in CiA-402 Drive Profile

mode, optional in Bypass mode

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vacon • 98 EtherCAT

7.2.2 TxPDO assign

The TxPDO assign object is used to select the process data objects that are transmitted from OPTEC EtherCAT to EtherCAT master. In OPTEC EtherCAT all these indices are fixed, meaning that process data object's internal content cannot be modified in EtherCAT bus level.

In case of CiA-402 Drive Profile mode:

• Assigning of following TxPDO objects is mandatory: 0x1A00, 0x1A01, 0x1A02, 0x1A10

• Assigning of following TxPDO objects is optional: 0x1A03, 0x1A04

In case of Bypass mode:

• Assigning of following TxPDO objects is mandatory: 0x1A01, 0x1A02, 0x1A10

• Assigning of following TxPDO objects is optional: 0x1A03, 0x1A04

• Assigning of following TxPDO objects is not required: 0x1A00

NOTE! Enabling and disabling of 0x1A00 CiA-402 specific process data object changes Operation mode of OPTEC EtherCAT. Please see details in chapter 6.3.3 Operation mode selection using PDO assignment

Each of following TxPDOs contains four (4) process data items: 0x1A01, 0x1A02, 0x1A03 and 0x1A04. For example, 0x01A01 2nd Transmit PDO Mapping contains following process data items:

• Drive Process Data Out 1

• Drive Process Data Out 2

• Drive Process Data Out 3

• Drive Process Data Out 4

All VACON

AC drives supports eight (8) transmit process data items. Using of 9-16 process data items requires Normal Extended Communication or Fast Communication support from VACON AC drive. See details of communication modes in Chapter 14 "APPENDIX F - FIELDBUS OPTION BOARD COMMUNICATION".

If EtherCAT master assigns 16 process data items and VACON

AC drive supports only 8 process

data items, then content of TxPDOs 9-16 is set to zero in OPTEC EtherCAT option board.

TxPDO assign descriptions

PDO Index CoE Index Valid in Mode R/W

- 1C13:0 Bypass, CiA-402 RW

Sub-index Name Type Access Description

1C13:01 Sub-index 001 UINT16 RW Fixed, mandatory 1C13:02 Sub-index 002 UINT16 RW Fixed, mandatory 1C13:03 Sub-index 003 UINT16 RW Fixed, mandatory

1C13:04 Sub-index 004

UINT16 RW Fixed, mandatory in CiA-402 Drive Profile

mode, optional in Bypass mode

1C13:05 Sub-index 005 UINT16 RW Fixed, optional

1C13:06 Sub-index 006 UINT16 RW Fixed, optional

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EtherCAT vacon • 99

7.2.3 Sync Manager

These objects are used to set the inputs and outputs of the synchronization parameters.

7.2.3.1 Sync mode

The status of the input and output parameters of the synchronization manager. To identify the current synchronization mode read the objects 0x1c32 and 0x1c33. To select the synchronization mode write to these indexes. OPTEC V003 and earlier support only freerun mode. OPTEC V004 and later supports SM synchronous or DC synchronous modes.

Sync mode descriptions

PDO Index CoE Index Valid in Mode R/W

- 1C32:01,

Bypass, CiA-402 RW

1C33:01

1C32:01 1C33:01 Name Description

22DC sync

Application is run synchronous to EtherCAT sync0 event based on distributed clocks unit

1 34 SM sync Application is run synchronous to bus cycle

0 0 Free run mode

The EtherCAT communication and the application run independently of each other

Writing an unsupported value to SM sync mode produces an error. It is recommended to set the sync mode via master PLC settings and not by writing manually Sync mode parameter.

7.2.3.2 Sync modes supported

Supported sync modes can be determined by reading the logical high (1) bits from this object.

Sync Modes Supported descriptions

PDO Index CoE Index Valid in Mode R/W

- 1C32:04,

Bypass, CiA-402 RO

1C33:04

Bit Name

Description

V004 and later V003 and earlier

15 Not in use - 14 Dynamic Cycle time Not supported Not supported 3-13 Not in use - 2 DC synchronous mode supported Supported Not supported 1 SM synchronous mode supported Supported Not supported 0 Free run mode supported Supported Supported

7.2.3.3 Other parameters

All other Sync mode input and sync mode output parameters are explained in the following table. They are only supported by OPTEC V004 and later.

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vacon • 100 EtherCAT

Index Name Description

05 Minimum cycle time Minimum cycle time supported by device 06 Calc and copy time Calculation and copy time of device 09 Delay time Delay time of device 11

SM-Event missed

Cycle time too small

Sync error

Increases if DC sync0 event triggers and SM event was not detected before sync0 event

Increases if SM event occurs while handling earlier SM event

Boolean flag to indicate if SM_event missed or Cycle time too small have been detected

7.2.4 Drive System Time

Use the object to read and write drive system time. Feature is supported in VACON VACON

100 product family. Time is presented as unsigned 32 bit Unix time. For example, Unix time

NXP and

1614179339 is 24-February-2021 15:08:59. Drive System Time can be accessed also via parameter channel by using ID 2551. See details of parameter channel in Chapter 7.4 "Accessing drive parameters via CoE MailBox".

In VACON time zone and setting the daylight-saving mode. If VACON

100 family, the default time zone is UTC. Local time can be configured by changing the

100 AC drive is equipped with Real-time

clock battery, then setting of the time is not necessary after power cycle.

VACON VACON

NXP AC drive does not have time settings, so value written to this ID must be local time.

NXP system time is zero after the drive boots up. The system time is started after writing

into ID 2551.

CiA-402 Modes of operation Display descriptions

PDO Index CoE Index Valid in Mode R/W

- 5FF2 Bypass, CiA-402 RW

Bit(s) Name Description

0-31 Drive System Time Range 0…4294967295

7.2.5 Drive Information

Use the object to read information from the drive. In case of VACON

100 product family you can

also use this object to read and write the name of the drive.

Drive Information descriptions

PDO Index CoE Index Valid in Mode R/W

- 5FF3:0 Bypass, CiA-402 RO

Sub-index Name Type Access Description

5FF3:01 Drive serial number STRING20 RO The serial number of the drive

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Danfoss vacon optec User guide

Specifications and Main Features

Frequently Asked Questions

User Manual

1. SAFETY

Table 1. Warning signs

1.1 Danger

1.2 Warnings

1.3 grounding and earth fault protection

2. OPTEC ETHERCAT - GENERAL

Figure 1. EtherCAT device states

Table 2. EtherCAT device states

Table 3. List of abbreviations used in this document

Table 4. List of data types used in this document

2.1 New features

Table 5. OPTEC EtherCAT firmware versions

3. ETHERCAT OPTION BOARD TECHNICAL DATA

3.1 General

Table 6. Technical data

3.2 Cables

4. LAYOUT AND CONNECTIONS

Table 7. EtherCAT connector pin assignment

4.1 Layout and connections

Figure 2.VACON® EtherCAT option board OPTEC

Table 8. EtherCAT connectors

4.2 LED Indications

Figure 3. VACON® EtherCAT option board OPTEC LED indicators

Table 9. EtherCAT RUN, GREEN

Table 10. EtherCAT ERR, RED

Table 11. EtherCAT ERR, GREEN

Table 12. BS = OPTEC board status, GREEN

Table 13. Error codes

4.3 Topologies

4.4 Connecting the board in line topology

Figure 4. VACON® OPTEC option board EtherCAT IN/OUT

Figure 5.OPTEC option board EtherCAT in connector

5. INSTALLATION

Table 14. Supported AC drives and slots

5.2 Installation in VACON® 20

5.2.1 Frames MI1, MI2, MI3

5.2.2 Frames MI4, MI5

5.3 Installation in VACON® 20 X and 20 CP

5.4 Installation in VACON® 100 family

6. COMMISSIONING

6.1 AC drive and OPTEC EtherCAT option board parametrization

Table 15. EtherCAT parameters and monitor value support

6.1.1 Option board parameters

Table 16. OPTEC EtherCAT Parameters

6.1.1.1 Operation mode

6.1.1.2 Communication timeout

6.1.1.3 Station alias

6.1.1.4 Device ID

6.1.1.5 Vl setpoint factor

6.1.2 Option board monitor values

Table 17. OPTEC EtherCAT monitor values

6.1.2.1 FB Protocol status

6.1.2.2 EtherCAT Run

6.1.2.3 Communication status

6.1.2.4 Operate Mode

6.1.2.5 AL Status Code

Table 18. EtherCAT AL Status Codes

6.1.2.6 SM Watchdog

6.1.2.7 Station Alias

6.1.2.8 Drive control word

6.1.2.9 Drive status word

6.1.2.10 Protocol control word

6.1.2.11 Protocol status word

6.1.2.12 ESI Selection Mode

6.1.2.13 Product Code

6.1.2.14 Revision Number

6.1.2.15 IP part 1

6.1.2.16 IP part 2

6.1.2.17 IP part 3

6.1.2.18 IP part 4

6.1.2.19 Subnet mask P1

6.1.2.20 Subnet mask P2

6.1.2.21 Subnet mask P3

6.1.2.22 Subnet mask P4

6.1.2.23 Default GW IP P1

6.1.2.24 Default GW IP P2