Danfoss vacon optec 7 User guide

vacon

ac drives

devicenet option board opte7

user manual

®

vacon • 0

TABLE OF CONTENTS

Document: DPD01171B

Release date : 30.01.2015

1. Safety...............................................................................................................2

1.1 Danger................................................................................................................................2

1.2 Warnings ............................................................................................................................3

1.3 Earthing and earth fault protection ...................................................................................4

2. DeviceNet option board OPTE7 - General.........................................................5

2.1 Overview .............................................................................................................................5

2.1.1 DeviceNet physical layer and media..................................................................................5

2.2 DeviceNet protocol description .........................................................................................7

2.2.1 EDS (Electronic Data Sheet) file ........................................................................................8

3. DeviceNet option board OPTE7 - technical data ...............................................9

3.1 General...............................................................................................................................9

3.2 CAN cable...........................................................................................................................9

3.2.1 Recommended cable .......................................................................................................10

4. OPTE7 layout and connections .......................................................................11

4.1 Layout and connections ...................................................................................................11

4.2 LED Indications ................................................................................................................12

4.3 Jumpers ...........................................................................................................................14

5. Installation.....................................................................................................16

5.1 Installation in Vacon® 100...............................................................................................16

5.2 Prepare for use through fieldbus ....................................................................................18

5.3 Installation in Vacon® 20.................................................................................................21

5.3.1 Frames MI1, MI2, MI3 ......................................................................................................21

5.3.2 Frames MI4, MI5 ..............................................................................................................24

5.4 Installation in Vacon® 20 X and 20 CP ............................................................................28

5.5 Installation in Vacon® 100 X (Frames MM4-MM6) .........................................................31

6. Commissioning ..............................................................................................35

6.1 Parameter view ................................................................................................................35

6.2 Monitor view .....................................................................................................................35

6.3 Software info view ............................................................................................................36

6.4 Fieldbus parametrisation ................................................................................................36

6.4.1 Fieldbus control and basic reference selection ..............................................................36

6.4.2 Torque control parametrisation ......................................................................................37

6.4.3 Process data mapping and default settings....................................................................37

7. DeciveNet interface........................................................................................39

7.1 I/O messaging ..................................................................................................................39

7.1.1 Connection behaviour ......................................................................................................39

7.1.2 Input and Output Assemblies...........................................................................................40

7.1.3 Control Supervisor Behaviour .........................................................................................49

7.2 Explicit messaging ...........................................................................................................51

7.2.1 Connection behaviour ......................................................................................................51

8. Fault handling................................................................................................52

8.1 General and additional error codes.................................................................................53

9. Appendix A: Object dictionary ........................................................................54

9.1 Implemented CIP objects.................................................................................................54

9.1.1 List of Object Classes.......................................................................................................54

9.1.2 List of Services.................................................................................................................55

9.1.3 Class Code 0x01 - Identity Object ....................................................................................56

9.1.4 Class Code 0x02 - Message Router Object......................................................................58

9.1.5 Class Code 0x03 - DeviceNet Object................................................................................58

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9.1.6 Class Code 0x04 - Assembly Object ................................................................................61

9.1.7 Class Code 0x05 - DeviceNet Connection Object ............................................................62

9.1.8 Class Code 0x28 - Motor Data Object ..............................................................................65

9.1.9 Class Code 0x29 - Control Supervisor Object .................................................................67

9.1.10 Class Code 0x2A - AC/DC Drive Object............................................................................70

9.1.11 Class Code 0xA0 - Vendor Parameter Object..................................................................72

10. Appendix B: Communication attribute details................................................74

10.1 DeviceNet’s use of the CAN Identifier Field ....................................................................74

10.2 Connection object paths...................................................................................................74

11. Appendix C: Fault and warning codes ............................................................76

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1. SAFETY

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

Please read the information included in cautions and warnings carefully.

The cautions and warnings are marked as follows:

Table 1. Warning signs

= DANGER! Dangerous voltage

= WARNING or CAUTION

= Caution! Hot surface

1.1 Danger

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

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

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

ensure absence of voltage before starting any electrical work!

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

voltage is present.

Always

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

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

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vacon • 3 Safety

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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 Vacon 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
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.

Start/Stop logic has been selected

.

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

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

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

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

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1.3 Earthing and earth fault protection

CAUTION!

The AC drive must always be earthed with an earthing conductor connected to the earthing 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 mm

Al, through its total run.

b) Where the protective conductor has a cross-sectional area of less than 10 mm

2

Al, a second protective conductor of at least the same cross-sectional area must be

mm
provided up to a point where the protective conductor has a cross-sectional area not less
than 10 mm

2

Cu or 16 mm2 Al.

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

conductor.

2

Cu or 1 6 mm2

2

Cu or 16

The cross-sectional area of every protective earthing 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 www.vacon.com/downloads

.

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 www.vacon.com/downloads

.

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vacon • 5 DeviceNet option board OPTE7 - General

DeviceNet

master

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2. DEVICENET OPTION BOARD OPTE7 - GENERAL

2.1 Overview

OPTE7 is a DeviceNet option board for Vacon AC drives. It allows the AC drive to be controlled using
the DeviceNet protocol. The option board implements the AC Drive device profile as defined by CIP.

The OPTE7 option board connects a drive into the DeviceNet network. There can be 64 nodes in one
network. The baud rate is up to 500 kbit/s. The DeviceNet master can control and monitor the drives.

Figure 1. Typical DeviceNet network structure

2.1.1 DeviceNet physical layer and media

The basic trunkline-dropline topology provides separate twisted pair busses for both signal and
power distribution. Thick or thin cable can be used for either trunklines or droplines. End-to-end
network distance varies with data rate and cable size.

Devices can be powered directly from the bus and communicate with each other using the same
cable. Nodes can be removed from or inserted to the network without powering down the network.

Power taps can be added at any point in the network which makes redundant power supplies
possible. The trunkline current rating is 8 amperes. An opto-isolated design option allows externally
powered devices (e.g. AC drive’s starters and solenoid valves) to share the same bus cable. Other
CAN-based networks allow only a single power supply (if at all) for the entire network.

2

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Terminator

Trunk Line

Zero drop Short drops

Node Node

Node

Node

Node

Node

Node

Node

Node

Node

Node

Node

Node

Drop•

line

TerminatorTap

Figure 2. Thick or thin cable for either trunklines or droplines

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vacon • 7 DeviceNet option board OPTE7 - General

2.2 DeviceNet protocol description

DeviceNet is a communication protocol that is managed by the ODVA (Open DeviceNet Vendors
Association). It uses CAN (Controller Area Network) as the backbone technology and at the higher
level it implements CIP (Common Industrial Protocol). CIP is used by the following protocols:

• DeviceNet

• EtherNet/IP

• ControlNet

•CompoNet

CIP ensures high integrity/interoperability between all of these, especially from the end user
perspective. CIP is object-oriented. It defines objects with its attributes and supported services. The
objects can have multiple instances. Instance zero indicates object’s class itself. Depending on the
implemented profile, some objects are mandatory and have to be implemented. Additionally, each
vendor can implement vendor-specific objects.

The following objects are implemented by the OPTE7 option board:

Table 2.

Class Object

0x01 Identity
0x02 Message Router

Required by

DeviceNet

Required by Drive

Profile

Vendor-Specific 0xA0 Vendor Parameter

Physical / Data link

layer

Application layer CIP - Common Industrial Protocol

Profiles AC/DC Drives

CAN - Controller Area Network

0x03 DeviceNet
0x04 Assembly
0x05 DeviceNet Connection
0x28 Motor Data
0x29 Control Supervisor
0x2A AC/DC Drive

Table 3.

2

Configuration file EDS - Electronic Data Sheet

Baud rates 125 kbit/s, 250 kbit/s, and 500 kbit/s

Bus length

Max nodes 64

Trunk length is inversely proportional to the speed, i.e. 500, 250
and 100 meters respectively

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2.2.1 EDS (Electronic Data Sheet) file

EDS is a configuration file that describes the capabilities of the DeviceNet node. It can be used by
the configuration tool to simplify the process of commissioning. EDS is actually a simple text file that
follows the rules specified by the ODVA in the DeviceNet specification. Therefore, it could be opened
and viewed with a simple text editor e.g. Notepad.

The EDS file for the OPTE7 option board can be downloaded from www.vacon.com

.

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vacon • 9 DeviceNet option board OPTE7 - technical

3. DEVICENET OPTION BOARD OPTE7 - TECHNICAL DATA

3.1 General

Table 4. Technical data of OPTE7 option board

CAN bus electrical

isolation

Ambient temperature As specified in drive specification (-10°C...40°C)

Storing temperature As specified in drive specification (-40°C...70°C)

Humidity 0-95%, non-condensing, corrosive

Vibration and

electrical safety

Emission C2 level, EN 61800-3 (2004)

Immunity C2 level, EN 61800-3 (2004)

CAN Interface

500 VDC

EN 61800-5-1 (2007)
5-15.8 Hz 1mm (peak)

15.8-150 Hz 1 G

Isolation

Protection

2500 V rms isolation with a less than
10-ns propagation delay

±8kV ESD IEC 61000-4-2 Contact
Discharge
±80V Fault Protection
greater than ±12V common Mode Range

3.2 CAN cable

The recommended cables for installation are 4-wire twisted and shielded cables with an impedance
of 120 Ohm. The network topology is a 2-wire bus line that is terminated at both ends by resistors
representing the characteristic impedance of the bus line. The typical CAN cable impedance is 120
Ohm, so you must use termination resistors of ~120 Ohm. For long networks, use a higher resistor
value (150-300 Ohm).

Table 5. Bus parameter relation to cable length

Cable length Max bit rate [kbit/s]

100 m 500
250 m 250
500 m 120

3

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3.2.1 Recommended cable

For all DeviceNet installations the use of 4-wire cable is recommended.

Vacon recommends the following cable:

- UNITRONIC® BUS CAN FD P, colour-coded in accordance with DIN 47100.

Figure 3. Recommended cable

Table 6. Cable thickness, length and baud rate relation

Bit rate Min cable thickness [mm2]

500 kbit/s 0.34
250 kbit/s 0.34 0.6
125 kbit/s 0.34 0.6 0.6

Cable length [m] 100 250 500

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vacon • 11 OPTE7 layout and connections

M/N A N/M

1
2
3
4

5

6

7

product code

serial no.

9338A_00

Pin 1

Pin 5

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4. OPTE7 LAYOUT AND CONNECTIONS

4.1 Layout and connections

OPTE7 has two different hardware revisions with slightly different layouts. The layout is different in
the LED arrangement and the termination resistor orientation.

The two hardware revisions are marked with different product codes, and this product code can be
seen in the sticker on the top side of the option board (see the location in Figure 6).

The two hardware revisions are 70CVB01817 and 70CVB01555.

1 = V- (GND)
2 = CAN L
3 = SHIELD (shield connector)
4 = CAN H
5 = V+ (24V)
6 = Cable shield grounding option
7 = CAN bus termination jumper

Figure 4. OPTE7 board layout

4

Figure 5. CAN connector

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OPTE7 layout and connections vacon • 12

7086_00

N A MM A N

70CVB01817 70CVB01555

Table 7. CAN connector pinout

Pin Description

1 V-, isolated digital ground
2CAN LO
3 Shield connector
4CAN HI
5 V+ (24V), communication power supply

4.2 LED Indications

The DeviceNet option board includes two LED status indicators next to the connector: network
status (N), and module status (M).

Figure 6. OPTE7 LED indicators

The network status provides information on the network connection status, and the module status
provides information on the DeviceNet module.

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vacon • 13 OPTE7 layout and connections

Table 8. Module status led

LED status Description

OFF No power is supplied to the drive.

Green OPTE7 is operating normally.

Flashing green

Flashing red The OPTE7 has detected a Recoverable Fault.

Red The OPTE7 has detected an Unrecoverable Fault.

LED status Description

OFF

Flashing green

Green The OPTE7 is online and allocated to a master.

Flashing red One or more I/O connections are in the Timed–Out state.

Red

OPTE7 is in the Standby state, or the device needs commission­ing due to missing, incomplete or incorrect configuration.

Table 9. Network status led

OPTE7 is not online.

• The device has not completed the Dup_MAC_ID test yet.

• If the Module Status LED is off, the device is not powered.

The OPTE7 has passed the Dup_MAC_ID test, is online, but is
not allocated to a master.

The OPTE7 cannot communicate on the network (Duplicate MAC
ID, or Bus–off).

4

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OPTE7 layout and connections vacon • 14

3
4
5

6

7

3
4
5

6

7

7087_00

70CVB01817 70CVB01555

4.3 Jumpers

The termination resistor jumper location differs on used hardware version. The jumper locations
can be seen from figure below.

Figure 7. Jumper locations

The jumper settings for the CAN bus termination resistor are shown in the figure below.

1

2

A

1

B

1

C

3

A

2

3

3

2

2

3

1

3

2

1

B

70CVB0155570CVB01817

C

3

2

1

7088_00

Figure 8. Termination resistor settings

A = Termination resistor 120 Ohm connected

B = Termination resistor is not connected to the CAN bus. (Factory default setting)

C = Termination resistor is not connected to the CAN bus

The jumper settings for the CAN cable shield grounding are shown in the following figure.

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vacon • 15 OPTE7 layout and connections

3

1

2

3

2

1

1

2

3

A

B

C

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Figure 9. Cable shield grounding option

A = CAN connector pin 3 (shield) connected to the drive chassis with a high-impedance RC circuit.
Recommended option when equipotential bonding is poor.

B = CAN connector pin 3 (shield) connected directly into the drive chassis. Recommended option
when equipotential bonding is good. (Factory default setting).

C = CAN connector pin 3 is unconnected.

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DANGER

5. INSTALLATION

5.1 Installation in Vacon® 100

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 the AC drive is disconnected from mains.

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vacon • 17 Installation

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DE

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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 the drive. Compatible boards

have a slot coding

that enable the placing of the board.

5

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10

5

5.2 Prepare for use through fieldbus

Strip about 15 mm of the fieldbus cable and cut off the grey cable shield.
Remember to do this for both bus cables (except for the last device).
Leave no more than 10 mm of the cable outside the terminal block and strip the
cables at about 5 mm to fit in the terminals.

4

5

Also strip the cable now at such a distance from the terminal that you can fix it to
the frame with the grounding clamp. Strip the cable at a maximum length of 15
mm. Do not strip the aluminum cable shield!

Then connect the cable to its appropriate terminals on the OPTE7 DeviceNet
option board terminal block.

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vacon • 19 Installation

Cable clamp

Using the cable clamp included in the delivery of the drive, ground the shield of
the CAN cable to the frame of the AC drive.
NOTE! This can be done in all drives if there is no difference in PE potential
between the drives. However, if there is PE potential difference then the shield
should be connected to PE only at one point in the system. The shields of the
cables shall be joint but not connected to several PE points with different poten­tial.

6

7

8

If the AC drive is the last device on the bus, the bus termination must be set

with jumper X13.
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

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Fieldbus
cables

Fieldbus cable

= Bus termination

Termination

activated

Ter min ation

activated with

jumper

Termination

deactivated

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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.

9

The bus termination must be set for the first and the last device of the fieldbus
line. See also step 7 on page 19. We recommend that the first device on the bus
and, thus, terminated was the master device.

10

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vacon • 21 Installation

11649_00

11556A_00

5.3 Installation in Vacon® 20

5.3.1 Frames MI1, MI2, MI3

Remove the cable connector lid from the AC
drive.

1

11555A_00

2

3

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

Attach an option board mounting frame to the
drive.

5

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