Danfoss vacon optec User guide
VACON®
AC DRIVES
OPTEC
ETHERCAT OPTION BOARD
INSTALLATION MANUAL
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vacon • 3 |
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TABLE OF CONTENTS |
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Document: DPD01207D |
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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 |
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 4
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 |
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7.2.11 Parameter Channel Write.............................................................................................. |
104 |
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7.2.12 Bypass Control............................................................................................................... |
105 |
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7.2.13 Bypass status ................................................................................................................. |
105 |
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7.2.14 Bypass Speed SetPoint Value ........................................................................................ |
106 |
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7.2.15 Bypass Speed Actual Value............................................................................................ |
106 |
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7.2.16 Process Data In.............................................................................................................. |
107 |
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7.2.17 Process Data Out ........................................................................................................... |
109 |
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7.2.18 CiA-402 Control Word .................................................................................................... |
110 |
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7.2.19 CiA-402 Status Word...................................................................................................... |
111 |
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7.2.20 CiA-402 vl Target Velocity.............................................................................................. |
111 |
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7.2.21 CiA-402 vl Velocity Demand........................................................................................... |
112 |
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7.2.22 CiA-402 vl Velocity Actual Value .................................................................................... |
112 |
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7.2.23 CiA-402 vl Velocity Min Max Amount ............................................................................. |
112 |
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7.2.24 CiA-402 vl Velocity Acceleration .................................................................................... |
113 |
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7.2.25 CiA-402 vl Velocity Deceleration.................................................................................... |
113 |
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7.2.26 CiA 402 Modes of Operation........................................................................................... |
114 |
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7.2.27 CiA-402 Modes of Operation Display ............................................................................. |
115 |
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7.2.28 CiA-402 supported Drive Modes .................................................................................... |
115 |
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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 |
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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vacon • 5 |
8.3.3 |
Fieldbus fault activation timers..................................................................................... |
133 |
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9. APPENDIX A: CANOPEN DS301 SPECIFIC DATA OBJECT DESCRIPTIONS..... |
134 |
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9.1 |
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Object 1001h: Error Register ......................................................................................... |
135 |
10. |
APPENDIX B: DEVICE PROFILE FOR DRIVES ................................................ |
136 |
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11. |
APPENDIX C - CONTROL AND STATUS WORD .............................................. |
137 |
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11.1 |
Control Word bit description ................................................................................... |
137 |
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11.2 |
Status Word Descriptions........................................................................................ |
139 |
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11.3 |
Control word bit support in drives........................................................................... |
140 |
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11.4 |
Status word bit support in drives............................................................................. |
141 |
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12. |
APPENDIX D - FIELDBUS PARAMETRISATION ............................................. |
142 |
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12.1 |
Fieldbus control and basic reference selection............................................................ |
142 |
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12.2 |
Controlling Fieldbus Parameter.................................................................................... |
143 |
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12.3 |
Torque control parametrization .................................................................................... |
144 |
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13. |
APPENDIX E - FIELDBUS PROCESS DATA mAPPING AND SCALING............. |
145 |
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14. |
APPENDIX F - FIELDBUS OPTION BOARD COMMUNICATION ....................... |
148 |
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14.1 |
Requirements for communication modes..................................................................... |
148 |
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14.2 |
Fiedlbus communication mode features and limitations ............................................. |
149 |
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14.3 |
Normal fieldbus communication ................................................................................... |
149 |
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14.4 |
Fast fieldbus communication ........................................................................................ |
150 |
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14.5 |
Fast PROFIBUS fieldbus communication...................................................................... |
151 |
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14.6 |
Normal Extended Mode ................................................................................................. |
151 |
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15. |
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APPENDIX G - PARAMETERS FOR APPLICATION DEVELOPERS................... |
152 |
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 6 |
Safety |
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
9000.emf
= WARNING or CAUTION
13006.emf
= Caution! Hot surface
9001.emf
1.1Danger
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 voltage is present. Always 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.
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.
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Safety |
vacon • 7 |
1.2Warnings
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.
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 8 |
Safety |
1.3grounding 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:
-2.5mm2 if mechanical protection is provided or
-4mm2 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/.
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
OPTEC EtherCAT - General |
vacon • 9 |
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® AC drive to an EtherCAT network and command/monitor the drive 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.
Init
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8 |
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Pre-operational |
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Boot |
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7 |
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Safe-operational |
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Operational |
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11870_uk |
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Figure 1. EtherCAT device states |
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Table 2. EtherCAT device states |
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State |
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Service activation/deactivation |
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transition |
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1 |
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Start mailbox communication |
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2 |
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Stop mailbox communication |
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3 |
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Start process data transfer from EtherCAT slave to EtherCAT master |
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4 |
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Stop process transfer from EtherCAT slave to EtherCAT master |
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Start process data transfer from EtherCAT master to EtherCAT slave |
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6 |
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Stop process data transfer from EtherCAT master to EtherCAT slave |
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7 |
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Stop process data transfers |
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8 |
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Stop mailbox communication, stop process data transfer from Ether- |
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CAT slave to EtherCAT master |
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9 |
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Stop mailbox communication, stop process data transfers |
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10 |
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Start bootup mode (not supported in OPTEC EtherCAT) |
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11 |
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Restart device (not supported in OPTEC EtherCAT) |
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Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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® EtherCAT Option Board uses CAN application protocol over EtherCAT (CoE).
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
The VACON® EtherCAT Option Board supports the Velocity Mode
Table 3. List of abbreviations used in this document
Abbreviation |
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Explanation |
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EoE |
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Ethernet over EtherCAT |
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FB |
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Fieldbus |
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PPO |
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Parameter Process Data Object |
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PLC |
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Programmable Logic Controller |
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PHY(X) |
EtherCAT physical interface X, where X represents the number |
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of interface |
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PDO |
Process Data Object (Inputs and outputs. Values of type rota- |
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tional speed, voltage, frequency, electric current, etc.) |
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RPM |
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Revolutions per minute |
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SDO |
Service Data Object (Configuration settings, possibly node ID, |
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baud rate, offset, gain, etc.) |
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Table 4. List of data types used in this document |
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Type name |
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Bit size |
Explanation |
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INT8 |
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8 |
Signed short integer |
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UINT8 |
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8 |
Unsigned short integer |
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INT16 |
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16 |
Signed integer |
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UINT16 |
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16 |
Unsigned integer |
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INT32 |
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32 |
Signed long integer |
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UINT32 |
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32 |
Unsigned long integer |
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FLOAT32 |
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32 |
32-bit floating point |
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STRING3 |
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24 |
Three byte string |
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STRING5 |
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40 |
Five byte string |
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Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
OPTEC EtherCAT - General |
vacon • 11 |
2.1New 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 |
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• Support for VACON® NXP and VACON® 20 drives. |
V001 |
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• Support for VACON® 100 INDUSTRIAL, VACON® 100 FLOW, |
V002 |
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VACON® 100 X and VACON® 20 X/CP drives. |
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• Support for panel parameters and monitor values. See details |
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in Chapter 6.1 "AC drive and OPTEC EtherCAT option board |
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parametrization" |
V003 |
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• Support for Fast Communication and 16 process data when |
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installed to VACON® NXP drive. See details in “APPENDIX F - |
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FIELDBUS OPTION BOARD COMMUNICATION” |
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• Ethernet over EtherCAT support, see Chapter 6 "Commission- |
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ing" and Chapter 7.5 "Ethernet over EtherCAT". |
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• Added support for SM sync and DC sync modes, see |
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Chapter 7.2.3 "Sync Manager". |
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• Support for EtherCAT Device ID, see Chapter 6 "Commission- |
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ing". |
V004 |
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• New CANOpen objects: 0xFFF1 Fault history object and 0x604B |
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velocity setpoint factor. |
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• Added new parameters and monitor values. |
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• Support for 16 process data items for VACON® 100, either 16bit |
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or 32bit. |
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Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 12 |
EtherCAT option board technical data |
3.ETHERCAT OPTION BOARD TECHNICAL DATA
3.1 |
General |
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Table 6. Technical data |
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General |
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Board name |
OPTEC |
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Interface |
Two RJ-45 connectors |
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Shielded and Foiled Twisted |
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Pair (S/FTP) CAT5e * |
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EtherCAT connections |
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Shielded Twisted Pair (STP) |
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Transfer cable |
CAT5e |
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Foiled Twisted Pair (FTP) |
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CAT5e |
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Unshielded Twisted Pair (UTP) |
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CAT5e** |
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Speed |
10 / 100 Mb |
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Mailbox - CoE |
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Communications |
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Supported features |
• |
SDO Upload/Download |
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• |
SDO Info Service |
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Mailbox - EoE |
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Synchronization |
Freerun/SM sync, DC sync |
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Protocol |
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EtherCAT |
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Ambient operating tem- |
-10°C…50°C |
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perature |
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Storing temperature |
-40°C…70°C |
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Environment |
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Humidity |
<95%, no condensation |
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allowed |
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Altitude |
Max. 1000 m |
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Vibration |
0.5 G at 9...200 Hz |
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Safety |
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Fulfils EN50178 standard. |
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*Shielded and foiled twisted pair cable is recommended cable for EtherCAT connections
**Unshielded cable is not recommended for industrial purpose
3.2Cables
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.
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Layout and connections |
vacon • 13 |
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® Interface Board Connector.
Table 7. EtherCAT connector pin assignment
Pin |
Core colouring |
Signal |
Description |
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1 |
yellow |
TD + |
Transmission Data + |
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2 |
orange |
TD - |
Transmission Data - |
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3 |
white |
RD + |
Receiver Data + |
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6 |
blue |
RD - |
Receiver Data - |
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4.1Layout and connections
RUN ERR BS
<![if ! IE]><![endif]>OUT
<![if ! IE]><![endif]>IN
J2
J1
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Interface Board |
EtherCAT bus |
Connector |
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connectors IN/OUT |
9399A_uk |
Figure 2.VACON® EtherCAT option board OPTEC
Table 8. EtherCAT connectors
EtherCAT connector |
Description |
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J1 |
EtherCAT bus IN (PHY1) |
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J2 |
EtherCAT bus OUT (PHY2) |
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Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 14 |
Layout and connections |
4.2LED Indications
LED indications
RUN ERR BS
<![endif]>OUT
J2
<![endif]>IN
J1
Interface Board
Connector 9400A_uk
Figure 3. VACON® EtherCAT option board OPTEC LED indicators
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.
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Table 9. EtherCAT RUN, GREEN |
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LED RUN |
Meaning |
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OFF |
OPTEC EtherCAT is in INITIALISATION state. |
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Blinking |
OPTEC EtherCAT is in PRE-OPERATIONAL state. |
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(once/0,2 s) |
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Single Flash |
OPTEC EtherCAT is in SAFE-OPERATIONAL state. |
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(once/2 s) |
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Flickering |
OPTEC EtherCAT is in INITIALISATION state. |
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ON |
OPTEC EtherCAT is in OPERATIONAL state. |
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Table 10. EtherCAT ERR, RED |
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LED ERR |
Meaning |
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OFF |
No Error |
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Blinking |
Invalid configuration |
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(once/0,4 s) |
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Single Flash |
ASIC synchronization error |
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(once/2 s) |
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Double Flash |
Process Data Watchdog Timeout/EtherCAT Watchdog Timeout |
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Flickering |
ASIC hardware failure |
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ON |
Application Controller Failure |
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LED ERR Green is used by EtherCAT option board only at startup to indicate boot status.
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Layout and connections |
vacon • 15 |
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Table 11. EtherCAT ERR, GREEN |
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LED ERR |
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Meaning |
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OFF |
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No Error |
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Blink once |
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Option board is powered on |
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Blinking |
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Option board boot failure |
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LED BS provides information about the EtherCAT option board internal state.
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Table 12. BS = OPTEC board status, GREEN |
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LED BS |
Meaning |
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OFF |
Option board is not activated. |
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ON |
Option board is in initialization state, waiting activation com- |
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mand from the AC drive. |
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Blinking fast |
Option board is activated and in RUN state |
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(once /1 s) |
• Option board is ready for external communication |
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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 |
Error name |
Long |
Short |
Description |
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number |
flashes |
flashes |
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1 |
Initialization Error |
1 |
2 |
Board Initialization Failed |
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2 |
Setup Error |
1 |
3 |
Board Setup Failed |
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3 |
System Error 1 |
1 |
4 |
Internal System Error 1 |
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4 |
System Error 2 |
2 |
1 |
Internal System Error 2 |
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5 |
System Error 3 |
2 |
2 |
Internal System Error 3 |
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6 |
EEPROM Error |
2 |
3 |
Option Board EEPROM Read/Write Error |
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7 |
ASIC Error |
2 |
4 |
EtherCAT ASIC Communication Error |
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8 |
Fieldbus Error |
3 |
1 |
Fieldbus Interface Error |
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9 |
OB Service Error |
3 |
2 |
Option Board Service Error |
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10 |
OB Manager Error |
3 |
3 |
Option Board Manager Error |
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Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 16 |
Layout and connections |
4.3Topologies
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.
4.4Connecting 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.
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ETH |
IN |
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OUT |
IN |
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PHY1 |
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PHY2 |
PHY1 |
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Switch-PT-Empty |
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Switch-PT-Empty |
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OPTEC-Slave1 |
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OPTEC-Slave2 |
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Switch-PT-Empty |
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EtherCAT Master
9420_uk
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.
Tx-Led
OPTEC
Board
Rx-Led
9419_uk.emf
Figure 5.OPTEC option board EtherCAT in connector
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Installation |
vacon • 17 |
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 |
From AC drive SW |
From OPTEC SW |
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version on |
version on |
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VACON® NXP |
D, E |
NXP00002V187 |
V001 |
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VACON® 100 INDUSTRIAL |
D, E |
FW0072V016 |
V002 |
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and 100 X |
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VACON® 100 FLOW |
D, E |
FW0159V010 |
V002 |
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VACON® 20 X and CP |
- |
FW0117V006 |
V002 |
|
VACON® 20 |
- |
FW0107V009 |
V001 |
5.1Installation in VACON® NXP
Make sure that the AC drive is switched off before an option or fieldbus board is changed or added!
VACON® NXP AC drive.
1
Remove the cable cover.
2
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 18 |
Installation |
Open the cover of the control unit.
3
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.
4
Make a sufficiently wide opening for your cable by cutting the grid as wide as necessary.
5
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6 |
Close the cover of the control unit and the cable cover. |
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Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Installation |
vacon • 19 |
5.2Installation in VACON® 20
5.2.1Frames MI1, MI2, MI3
Remove the cable connector lid from the
AC drive.
1
11555A_00
Select a correct grounding plate and attach it to the option board mounting frame. The grounding plate is marked with the supported enclosure size.
2
11649_00
Attach an option board mounting frame to the AC drive.
3
11556A_00
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 20 |
Installation |
Connect the flat cable from the option board mounting frame to VACON® 20.
4
11557A_00
If a cable strain relief is required, attach the parts as shown in the figure.
5
11558A_00
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Installation |
vacon • 21 |
Install the option board to the option board holder. Make sure that the option board is securely fastened.
6
11559A_00
Cut free a sufficiently wide opening for the option board connector.
7
11650_00
Attach the option board cover to VACON® 20. Attach the strain relief cable clamp with screws if needed.
8
11560A_00
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 22 |
Installation |
5.2.2Frames MI4, MI5
Make sure power is disconnected before opening the VACON® 20 cover.
1a: For MI4: Open the cover.
11561_00
1
1b: For MI5: Open the cover and release the fan connector.
11562_00
Connect the flex cable to option board connector PCB.
2
11564_00
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Installation |
vacon • 23 |
Connect the option board to connector PCB.
3
11565_00
Attach the option board with connector PCB to VACON® 20 and connect the flex cable.
4
11566_00
Attach a suitable grounding plate to VACON® 20. The grounding plate is marked with supported enclosure size.
MI 05
MI 04
5
11567_00
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 24 |
Installation |
Assemble a clamp on top of the grounding plate on both sides of the option board.
6
11568_00
8a: For MI4: Close the cover.
11569_00
7
8b: For MI5: Remount the fan connector and close the cover.
11570_00
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Installation |
vacon • 25 |
5.3Installation 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.
13006.emf
Open the cover of the drive.
1
11643_00
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.
13006.emf
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 26 |
Installation |
Remove the option slot cover.
2
7089_00
Install the option board into the slot as shown in the figure.
3
7090_00
Mount the option slot cover. Remove the plastic opening for the option board terminals.
4
7091_00
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Installation |
vacon • 27 |
5.4Installation in VACON® 100 family
Open the cover of the AC drive.
M4x55
1
9174.emf
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.
DANGER
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
vacon • 28 |
Installation |
Open the inner cover to reveal the option board slots (C,D,E).
2
3023.emf
Install the fieldbus board into slot D or E.
NOTE: Incompatible boards cannot be installed on VACON® 100 family AC drive. Compatible boards have a slot coding that enable the placing of the board.
3 |
|
D |
E |
|
3024.emf |
Then connect the cable to its appropriate OPTEC EtherCAT option board RJ-45
4connector.
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Installation |
vacon • 29 |
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!
5
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 pic-
6 ture.
Fieldbus cables
9202.emf
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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.
6.1AC 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.
•In case of VACON® 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 |
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|
SW version |
|
VACON® NXP |
NXP00002V196 |
OPTEC_FW0128V003 |
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VACON® 100 INDUSTRIAL |
FW0072V029 |
OPTEC_FW0128V003 |
|
and 100 X |
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VACON® 100 FLOW |
FW0159V019 |
OPTEC_FW0128V003 |
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VACON® 20 X and CP |
To be defined |
OPTEC_FW0128V003 |
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VACON® 20 |
To be defined |
OPTEC_FW0128V003 |
6.1.1Option 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), |
Operation mode defines how EtherCAT |
|
|
Bypass (2) |
master can control the motor. |
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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