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vacon optec
User guide
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Table of contents
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Danfoss vacon optec User guide

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
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
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
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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
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.
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
1
Safety vacon • 7
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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.
1
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
2
if mechanical protection is provided or
2
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/
1
OPTEC EtherCAT - General vacon • 9
Init
Operational
Boot
Pre-operational
10 111
9
7
34
8
56
2
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
8
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
2
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

2
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
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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
2
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.
3
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Layout and connections vacon • 13
Interface Board Connector
EtherCAT bus connectors IN/OUT
RUN ERR BS
J2
J1
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OUT
IN

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

Table 8. EtherCAT connectors

EtherCAT connector Description
J1 EtherCAT bus IN (PHY1) J2 EtherCAT bus OUT (PHY2)
4
vacon • 14 Layout and connections
OUT
IN
Interface Board Connector
LED indications
RUN ERR BS
J2
J1
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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
4
ON Application Controller Failure
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

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.
ON
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
IN
PHY1
Switch-PT-Empty
OPTEC-Slave1
OUT
PHY2
IN
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.
4

Figure 5.OPTEC option board EtherCAT in connector

Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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
VACON
5.1 Installation in VACON
®
VACON® 100 FLOW
VACON
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
®
20
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
1
2
Remove the cable cover.
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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
5
6
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.
5
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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.
1
2
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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.
3
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vacon • 20 Installation
Connect the flat cable from the option board mounting frame to VACON® 20.
4
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If a cable strain relief is required, attach the parts as shown in the figure.
5
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Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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.
6
7
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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5.2.2 Frames MI4, MI5

®
Make sure power is disconnected before opening the VACON
1a: For MI4: Open the cover.
20 cover.
1
2
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1b: For MI5: Open the cover and release the fan connector.
Connect the flex cable to option board connector PCB.
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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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.
3
Attach the option board with connector PCB to VACON® 20 and connect the flex cable.
4
5
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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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Assemble a clamp on top of the grounding plate on both sides of the option board.
6
8a: For MI4: Close the cover.
7
8b: For MI5: Remount the fan connector and close the cover.
5
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
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.
1
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.
5
vacon • 26 Installation
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7090_00
7091_007091_00
Remove the option slot cover.
2
Install the option board into the slot as shown in the figure.
3
4
Mount the option slot cover. Remove the plastic opening for the option board terminals.
5
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Installation vacon • 27
M4x55
9174.emf
DANGER

5.4 Installation in VACON® 100 family

Open the cover of the AC drive.
1
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.
5
vacon • 28 Installation
3023.emf
DE
3024.emf
Open the inner cover to reveal the option board slots (C,D,E).
2
3
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.
5
4
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!
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 pic­ture.
6
5
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
•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
VACON
®
and 100 X
VACON® 100 FLOW
®
VACON
20 X and CP
VACON
NXP
®
20
NXP00002V196 OPTEC_FW0128V003
FW0072V029 OPTEC_FW0128V003
FW0159V019 OPTEC_FW0128V003
To be defined 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
6
Operation mode Drive Profile
Drive Profile (1),
Bypass (2)
Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/
Operation mode defines how EtherCAT master can control the motor.
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