Danfoss VLT PROFIBUS DP MCA 101, VLT FC 102 Series, VLT FC 103 Series, VLT FC 301, VLT FC 202 Programming Manual
...
MAKING MODERN LIVING POSSIBLE
Programming Guide
VLT® PROFIBUS DP MCA 101
VLT® Frequency Converter Series FC 102 • FC 103 • FC 202 • FC
301/302 • FCD 302
www.danfoss.com/drives
Contents Programming Guide
Contents
1 Introduction
1.1 Purpose of the Manual
1.2 Additional Resources
1.3 Document and Software Version
1.4 Product Overview
1.5 Approvals and Certifications
1.6 Symbols, Abbreviations and Conventions
2 Safety
2.1 Safety Symbols
2.2 Qualified Personnel
2.3 Safety Precautions
3 Configuration
3.1 Configure the PROFIBUS Network
3.2 Configure the Master
3.2.1 GSD File 9
3.3 Configure the Frequency Converter
3
3
3
3
3
4
5
6
6
6
6
8
8
9
11
3.3.1 Frequency Converter Parameters 11
3.3.2 LEDs 11
4 Control
4.1 PPO Types
4.2 Process Data
4.2.1 Process Control Data 14
4.2.2 Process Status Data 14
4.2.3 Reference Handling 15
4.2.4 Process Control Operation 15
4.2.5 Influence of the Digital Input Terminals upon FC Control Mode 16
4.3 Control Profile
4.4 PROFIdrive Control Profile
4.4.1 Control Word according to PROFIdrive Profile (CTW) 16
4.4.2 Status Word according to PROFIdrive Profile (STW) 18
4.4.3 PROFIdrive State Transition Diagram 19
4.5 Danfoss FC Control Profile
4.5.1 Control Word according to FC Profile (CTW) 20
13
13
14
16
16
20
4.5.2 Status Word according to FC Profile (STW) 21
4.6 Synchronise and Freeze
4.6.1 SYNC/UNSYNC 22
4.6.2 FREEZE/UNFREEZE 22
MG37G102 Danfoss A/S © Rev. 05/2014 All rights reserved. 1
22
Contents Programming Guide
5 Parameter Access
5.1 Parameter Access in General
5.2 DP-V1 Parameter Access
5.3 PCV Parameter Access
5.4 PROFIBUS DP Parameter and Data Type
6 Parameters
6.1 8-** PROFIBUS Parameters
6.2 9-** and 16-** PROFIBUS Parameters
6.3 PROFIBUS-specific Parameter List
7 Application Examples
7.1 Example 1: Process Data with PPO Type 6
7.2 Example 2: Control Word Telegram using PPO Type
7.3 Example 3: Status Word Telegram using PPO Type
7.4 Example 4: PLC Programming
8 Troubleshooting
23
23
23
28
31
33
33
35
42
43
43
44
45
46
48
8.1 Diagnosis
8.2 No Response to Control Signals
8.3 Warnings and Alarms
8.4 Fault Messages via DP Diagnosis
8.5 Extended Diagnosis
Index
48
48
50
53
54
55
2 Danfoss A/S © Rev. 05/2014 All rights reserved. MG37G102
Introduction
1 Introduction
Programming Guide
1
1
1.1 Purpose of the Manual
The VLT® PROFIBUS DP MCA 101 Programming Guide
provides information about configuring the system,
controlling the frequency converter, parameter access,
programming, troubleshooting, as well as some typical
application examples.
The programming guide is intended for use by qualified
personnel who are familiar with the VLT® frequency
converter, with PROFIBUS technology, and with the PC or
PLC that is used as a master in the system.
Read the instructions before programming and follow the
procedures in this manual.
VLT® is a registered trademark.
1.2 Additional Resources
Resources available for the frequency converters and
optional equipment:
The VLT® Operating Instructions provide the
•
necessary information for getting the frequency
converter up and running.
The VLT
•
information about capabilities and functionality to
design motor control systems.
The VLT® Programming Guide provides greater
•
detail on working with parameters and many
application examples.
The VLT® PROFIBUS DP MCA 101 Installation Guide
•
provides information about installing the
PROFIBUS and troubleshooting.
The VLT® PROFIBUS DP MCA 101 Programming
•
Guide provides information about configuring the
system, controlling the frequency converter,
parameter access, programming, troubleshooting,
as well as some typical application examples.
Supplementary publications and manuals are available
from Danfoss. See www.danfoss.com/BusinessAreas/DrivesSo-
lutions/Documentations/VLT+Technical+Documentation.htm
for listings.
®
Design Guide provides detailed
Edition Remarks Software version
MG37G1xx - -
Table 1.1 Document and Software Version
1.4 Product Overview
1.4.1 Features of PROFIBUS DP-V1
2 different state machines can be selected:
•
PROFIdrive profile or Danfoss FC profile
Communication using PROFIBUS DP-V1, Master
•
Class 1 and Master Class 2.
Downward compatibility: New protocol
•
extensions retain all the functions of the previous
versions.
Intelligent base for future technologies such as
•
OPC, FDT/DTM, PROFINET.
Bus time-out reaction.
•
PLC/CPU stop reaction.
•
8 PPO types available.
•
Numerous relevant process data (PCD) types
•
available.
Automatic detection of baud rate and PPO type.
•
Extended diagnosis available.
•
Alarms and warnings available as text messages
•
within the PLC.
Configuration via MCT 10 Set-up Software.
•
Equidistant bus cycle time configurable in PLC
•
system.
Improved network efficiency, since the cyclic
•
parameter channel is no longer required.
Very short bus cycle times compared to industrial
•
ethernet .
Backwards compatibility with DP.
•
Technical Overview
1.4.2
1.3
Document and Software Version
This manual is regularly reviewed and updated. All
suggestions for improvement are welcome. Table 1.1 shows
the document version and the corresponding software
version.
MG37G102 Danfoss A/S © Rev. 05/2014 All rights reserved. 3
PROFIBUS
PROFIBUS is an international standard for fieldbus
communication in automation technology (IEC 61158 and
IEC 61784). The standard is supported by the member
companies of the PROFIBUS International User Community.
For information about PROFIBUS and downloads for
PROFIBUS DP and the PROFIdrive profile, refer to
www.Profibus.com.
PLC
130BA078.10
PLC
Master class 1
PC tool
Master class 2
130BA079.10
Introduction Programming Guide
1
PROFIBUS DP-V1
The PROFIBUS DP protocol enables communication
between PROFIBUS masters and followers.
Communication can be configured via MCT 10 Set-up
Software.
Cyclical/Acyclical Communication
PLC communicates with telegrams of constant
•
length.
Fits time-critical requirements.
•
Cyclical transmission via PPO types.
•
Extended diagnosis.
•
Illustration 1.2 PROFIBUS DP-V1
The PROFIBUS DP extension DP-V1 permits acyclical as well
as cyclical data communication. This feature can be used
by a DP master class 1 (for example, PLC), as well as a DP
master class 2 (for example, PC tool).
Illustration 1.1 PROFIBUS DP-V0
Features of a Master class 1 connection:
Cyclical data exchange (DP-V0).
•
Acyclical read/write on parameters.
•
Extended diagnosis.
•
The acyclical connection is fixed, and cannot be changed
during operation.
Features of a Master class 2 connection:
Initiate/Abort acyclical connection.
•
Acyclical read/write on parameters.
•
The acyclical connection can be established (Initiate) or
removed (Abort) dynamically even when a master class 1 is
active on the network. The DP-V1 acyclical connection can
be used for general parameter access as an alternative to
the PCV parameter channel.
1.5
Approvals and Certifications
More approvals and certifications are available. For more
information, contact a local Danfoss partner.
4 Danfoss A/S © Rev. 05/2014 All rights reserved. MG37G102
Introduction Programming Guide
1.6 Symbols, Abbreviations and
Conventions
CAN Controller area network
CTW Control word
DP Distributed periphery
DU Data unit
EEPROM Electrical erasable programmable read only memory
EMC Electromagnetic compatibility
FDT Field device tool
IND Sub index
LCD Liquid crystal display
LCP Local control panel
LED Light emitting diode
MAV Main actual value
MC1 Master class 1
MC2 Master class 2
MRV Main reference value
PC Personal computer
PCD Process data
PCA Parameter characteristics
PCV Parameter characteristics value
PDU Protocol data unit
PLC Programmable logic control
PNU Parameter number
PPO Parameter-process data
PVA Parameter value
RC Request/Response characteristics
SAP Service access point
SMP Spontaneous message
STW Status word
1
1
Table 1.2 Symbols and Abbreviations
Conventions
Numbered lists indicate procedures.
Bullet lists indicate other information and description of illustrations.
* indicates a default setting in a parameter.
Italicised text indicates
cross reference
•
link
•
parameter name
•
MG37G102 Danfoss A/S © Rev. 05/2014 All rights reserved. 5
Safety Programming Guide
2 Safety
22
2.1 Safety Symbols
The following symbols are used in this document:
WARNING
Indicates a potentially hazardous situation which could
result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation which could
result in minor or moderate injury. It can also be used to
alert against unsafe practices.
NOTICE
Indicates important information, including situations that
can result in damage to equipment or property.
2.2 Qualified Personnel
Correct and reliable transport, storage, installation,
operation, and maintenance are required for the troublefree and safe operation of the frequency converter. Only
qualified personnel are allowed to install or operate this
equipment.
Qualified personnel are defined as trained staff, who are
authorised to install, commission, and maintain equipment,
systems, and circuits in accordance with pertinent laws and
regulations. Additionally, the personnel must be familiar
with the instructions and safety measures described in
these operating instructions.
2.3
Safety Precautions
WARNING
HIGH VOLTAGE
Frequency converters contain high voltage when
connected to AC mains input, DC power supply, or load
sharing. Failure to perform installation, start-up, and
maintenance by qualified personnel can result in death
or serious injury.
Installation, start-up, and maintenance must be
•
performed by qualified personnel only.
WARNING
UNINTENDED START
When the frequency converter is connected to AC mains,
DC power supply, or load sharing, the motor may start at
any time. Unintended start during programming, service
or repair work can result in death, serious injury, or
property damage. The motor can start by means of an
external switch, a serial bus command, an input
reference signal from the LCP or LOP, via remote
operation using MCT 10 software, or after a cleared fault
condition.
To prevent unintended motor start:
Disconnect the frequency converter from mains.
•
Press [Off/Reset] on the LCP, before
•
programming parameters.
The frequency converter, motor, and any driven
•
equipment must be fully wired and assembled
when the frequency converter is connected to
AC mains, DC power supply, or load sharing.
WARNING
DISCHARGE TIME
The frequency converter contains DC-link capacitors,
which can remain charged even when the frequency
converter is not powered. Failure to wait the specified
time after power has been removed before performing
service or repair work, can result in death or serious
injury.
Stop motor.
•
Disconnect AC mains and remote DC-link power
•
supplies, including battery back-ups, UPS, and
DC-link connections to other frequency
converters.
Disconnect or lock PM motor.
•
Wait for the capacitors to discharge fully, before
•
performing any service or repair work. The
duration of waiting time is specified in the
relevant frequency converter Operating
Instructions, Chapter 2 Safety.
6 Danfoss A/S © Rev. 05/2014 All rights reserved. MG37G102
Safety Programming Guide
WARNING
LEAKAGE CURRENT HAZARD
Leakage currents exceed 3.5 mA. Failure to ground the
frequency converter properly can result in death or
serious injury.
Ensure the correct grounding of the equipment
•
by a certified electrical installer.
WARNING
EQUIPMENT HAZARD
Contact with rotating shafts and electrical equipment
can result in death or serious injury.
Ensure that only trained and qualified
•
personnel perform installation, start up, and
maintenance.
Ensure that electrical work conforms to national
•
and local electrical codes.
Follow the procedures in these operating
•
instructions.
2 2
CAUTION
INTERNAL FAILURE HAZARD
An internal failure in the frequency converter can result
in serious injury, when the frequency converter is not
properly closed.
Ensure that all safety covers are in place and
•
securely fastened before applying power.
MG37G102 Danfoss A/S © Rev. 05/2014 All rights reserved. 7
130BD878.10
ON
1 2
SW. ver. XX.XX
MS
NS
ON
OFF
Code No. 130B1100
Termination
SN
SW
Address
ON
OFF
S600
S300
LD202 LD200
LD201 LD203
ON ON
8 7 6 5 4 3 2 1
PROFIBUS Option A
1
2
130BB708.10
1
2
4
3
5
Configuration
Programming Guide
3 Configuration
3.1 Configure the PROFIBUS Network
33
Ensure that all PROFIBUS stations connected to the same
bus network have a unique station address.
Select the PROFIBUS address of the frequency converter
via:
Hardware switches
•
9-18 Node Address
•
The PROFIBUS command SSA (Set Station
•
Address)
Setting the PROFIBUS Address using
3.1.1
the DIP Switches
To set the PROFIBUS address using the DIP switches:
1. Switch off the power supply.
2. Select an address in the range 0 to 125. Factory
setting is 127.
3. For location of the DIP switches, refer to
Illustration 3.1 and Illustration 3.2.
4. Set the switches according to the address, see
Table 3.1.
1 Termination switch
2 DIP switches
Illustration 3.1 Location and Sequence of the DIP Switches
The DIP switch in the FCD 302 are placed below the
inverter part, see Illustration 3.2.
Switch 8 7 6 5 4 3 2 1
Address
value
5 Not
35 Not
82 Not
Table 3.1 Examples: Setting the PROFIBUS Address using the
DIP Switches
NOTICE
Not
+64 +32 +16 +8 +4 +2 +1
used
OFF OFF OFF OFF ON OFF ON
used
OFF ON OFF OFF OFF ON ON
used
ON OFF ON OFF OFF ON OFF
used
Illustration 3.2 FCD 302 Dip Switches
Switch off the power supply before changing the DIP
switches.
Setting the PROFIBUS Address via 9-18 Node Address
1. Switch off the power supply.
8 Danfoss A/S © Rev. 05/2014 All rights reserved. MG37G102
2. Set the DIP switch to 126 or 127 (factory switch
setting).
3.
Set the address via 9-18 Node Address or the
PROFIBUS SSA-command.
4. The address change comes into effect at the next
power-up.
130BC915.10
130BC913.11
Configuration
Setting the PROFIBUS Address with Set Station Address
Command
1. Switch off the power supply.
2. Set the DIP switch to 126 or 127 (factory switch
setting).
3. Set the address via the "Set Station Address"
command. Use the "Set Station Address"
command to lock the programmed address and
to change the address. Unlock the address setting
by changing the 9-18 Node Address or the address
switch, followed by a power cycle. A new address
is effective immediately after the "Set Station
Address" command.
Programming Guide
3.2 Configure the Master
3.2.1 GSD File
To configure a PROFIBUS Master, the configuration tool
needs a GSD file for each type of follower on the network.
The GSD file is a PROFIBUS DP standard text file containing
the necessary communications set-up data for a follower.
Download the GSD file for the FC 102, FC 202 and FC
301/302 frequency converters at www.danfoss.com/Busines-
sAreas/DrivesSolutions/.
3 3
Illustration 3.3 Install GSD File
PROFIBUS SW version
(15-61 Option SW Version)
1.x da01040A.GSD
2.x da02040A.GSD
FCD 302 da01040B.GSD
Table 3.2 GSD File
The example below show the procedure of configuring a
PROFIBUS Master for FC 301/302, but the procedure is also
valid for the FCD 302.
1. Import the GSD file in the configuration tool.
2. Import the GSD file to the Simatic Manager
software tool. Import a GSD file once only for
each frequency converter series, following the
initial installation of the software tool. See
Illustration 3.3.
3. Use the browser for the GSD file, install all files,
and import both a GSD file and a bitmap for the
device into the hardware catalogue. See
Illustration 3.4 and Illustration 3.5.
GSD file
Illustration 3.4 Import a GSD File and a Bitmap
Illustration 3.5 Add a new GSD File
4. Import and access the FC 301/302 GSD file via
the path in the hardware catalogue, see
Illustration 3.6.
MG37G102 Danfoss A/S © Rev. 05/2014 All rights reserved. 9
130BA564.11
130BC912.11
130BC911.11
Configuration
Programming Guide
33
Illustration 3.8 Drag and Drop PPO Type 6 Word Consistent to
Illustration 3.6 Import and Access the GSD file via the Path in
the Hardware Catalogue
5. Open a project, set up the hardware and add a
PROFIBUS master system.
6. Select FC 300, then drag and drop it onto the
PROFIBUS in the hardware diagram.
7. A window for the address of the FC 300 appears.
Select the address from the scroll-down list.
Ensure that the address setting matches the
previous address setting in 9-18 Node Address. See
Illustration 3.7.
the first slot
The configuration tool automatically assigns addresses in
the peripheral address area. In this example, the input and
output area have the following configurations:
PPO type 6
PCD word
number
Input
address
Set-up STW MAV
1 2 3 4
256-257 258-259 260-261 262-263
parameter 9
-16 PCD
Read
Configu-
ration.2
parameter 9
-16 PCD
Read
Configu-
ration.3
Illustration 3.7 Select the Address
8. Set up the peripheral input and output data. Data
set up in the peripheral area is transmitted
cyclically via PPO types. Drag and drop a PPO
type 6 word consistent to the first slot, see
Illustration 3.8. See the PPO types in
chapter 4 Control for more information.
Table 3.3 PCD read (VLT to PLC)
PCD word
number
Output
address
Set-up CTW MRV
Table 3.4 PCD write (PLC to VLT)
1 2 3 4
256-257 258-259 260-261 262-263
parameter 9
-15 PCD
Write
Configu-
ration.2
parameter 9
-15 PCD
Write
Configu-
ration.3
Alternative: For PROFIBUS SW version 2.x and higher, Autoconfiguration of process data is supported. This feature
makes it possible to configure the process data
(parameter 9-15 PCD Write Configuration and
parameter 9-16 PCD Read Configuration) from the PLC/
Master. To use Auto-configuration, make sure to enable the
feature under DP follower Properties. See Illustration 3.9.
10 Danfoss A/S © Rev. 05/2014 All rights reserved. MG37G102
130BT322.11
Configuration
Illustration 3.9 Enable Feature under DP Follower Properties
Programming Guide
NOTICE
DP V1 diagnosis is supported for PROFIBUS SW version
2.x and higher. The default setting of the PROFIBUS
option is DP V1 diagnosis. If DP V0 diagnosis is required,
change the setting under DP follower Properties.
0-40 [Hand on] Key on LCP. Pressing [Hand on]
•
disables control of the frequency converter via
PROFIBUS.
Parameter 8-02 Control Word Source. After an
•
initial power-up, the frequency converter
automatically detects whether a fieldbus option is
installed in slot A, and sets parameter 8-02 Control
Word Source to [Option A]. If an option is added
or changed in or removed from an already
commissioned frequency converter, it does not
change parameter 8-02 Control Word Source, but
enters Trip mode, and the frequency converter
displays an error.
Parameter 8-10 Control Word Profile. Select
•
between the Danfoss FC Profile and the
PROFIdrive profile.
8-50 Coasting Select to 8-56 Preset Reference Select.
•
Select how to gate PROFIBUS control commands
with digital input command of the control card.
Parameter 8-03 Control Word Timeout Time to
•
8-05 End-of-Timeout Function. Set the reaction in
the event of a bus time-out via these parameters.
9-18 Node Address.
•
Parameter 8-07 Diagnosis Trigger.
•
NOTICE
When 8-01 Control Site is set to , the settings in
8-50 Coasting Select to 8-56 Preset Reference Select are
overruled, and all act on Bus-control.
3 3
Illustration 3.10 DP V1 Diagnosis
Download the configuration file to the PLC. The PROFIBUS
system is able to go online, and it starts to exchange data
when the PLC is set to Run mode.
3.3
Configure the Frequency Converter
3.3.1 Frequency Converter Parameters
The following parameters are important when configuring
the frequency converter with a PROFIBUS interface:
3.3.2 LEDs
The 2 bi-colour LEDs in the PROFIBUS card indicate the
status of PROFIBUS communication.
The LED marked NS (FCD 302: NS2) indicates the network
status, that is, the cyclical communication to the PROFIBUS
master. When this light is constant green, data exchange
between the master and the frequency converter is active.
The LED marked MS (FCD 302: BUS MS) indicates the
module status, that is, acyclical DP V1 communication from
either a PROFIBUS master class 1 (PLC) or a master class 2
(MCT 10, FDT tool). When this light is constant green, DP
V1 communication from master classes 1 and 2 is active.
For details of the full range of communications status
indicated by the LEDs, refer to chapter 8 Troubleshooting.
MG37G102 Danfoss A/S © Rev. 05/2014 All rights reserved. 11
A
130BC259.10
Configuration Programming Guide
33
Illustration 3.11 FCD 302 LED Panel
12 Danfoss A/S © Rev. 05/2014 All rights reserved. MG37G102
Control Programming Guide
4 Control
4.1 PPO Types
The PROFIBUS profile for frequency converters specifies a
number of communication objects (Parameter process data
objects, PPO). The PROFIBUS profile for frequency
converters is suitable for data exchange between a process
controller (for example PLC) and a frequency converter. All
PPOs are defined for cyclic data transfer (that is, DP V0), so
that process data (PCD) and parameters (PCA) can be
transferred from the master to the follower and vice versa.
Pure process data objects
PPO types 3, 4, 6, 7 and 8 are pure process data objects
for applications requiring no cyclic parameter access. The
PLC sends out process control data, and the frequency
converter then responds with a PPO of the same length,
containing process status data.
Illustration 4.1 shows the available PPO types:
PCD 1: The first 2 bytes of the process data area
•
(PCD 1) comprise a fixed part present in all PPO
types.
PCD 2: The next 2 bytes (PCD 2) are fixed for PCD
•
write entries (see parameter 9-15 PCD Write
Configuration [1]), but configurable for PCD read
entries (see parameter 9-16 PCD Read Configuration [1]).
PCD 3-10: In the remaining bytes, from PCD 3
•
and on, the process data can be parameterised
with process signals, see
parameter 9-23 Parameters for Signals.
The signals for transmission from the master to the
frequency converter are determined by the setting in
parameter 9-15 PCD Write Configuration (request from
master to the frequency converter).
The signals for transmission from the frequency converter
to the master (response from the frequency converter to
master) are determined by the setting in
parameter 9-16 PCD Read Configuration .
Parameter channel and process data
PPO types 1, 2 and 5 consist of a parameter channel and
process data. Use the parameter channel for reading
and/or updating of parameters (successively). Alternatively,
for better utilisation of I/O and thus PLC capacity, access
parameters via DP V1, by selecting a pure process data
object (PPO type 3, 4, 6, 7 or 8).
Select the PPO type in the master configuration. The
selection is automatically recorded in the frequency
converter. No manual setting of PPO types in the
frequency converter is required. Read the current PPO type
in 9-22 Telegram Selection. The setting [1] Standard telegram
1 is equivalent to PPO type 3.
In addition, all PPO types can be set up as word-consistent
or module-consistent. The process data area can be word
or module consistent, whereas the parameter channel
must always be module consistent.
Word-consistent data is transmitted as individual
•
independent words between the PLC and the
frequency converter.
Module-consistent data is transmitted as sets of
•
interrelated words transferred simultaneously
between the PLC and the frequency converter.
4 4
MG37G102 Danfoss A/S © Rev. 05/2014 All rights reserved. 13
CTW/STW
REF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
Standard telegram
1
PCD 4
Read/
Write
PCD 5
Read/
Write
PPO 4
PPO 6
PPO 7
PPO 8
Danfoss telegram
(The old PPO type 3)
PCV
CTW/STW REF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
PCD 4
Read/
Write
PCD 5
Read/
Write
CTW/STW
REF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
PCD 4
Read/
Write
PCD 5
Read/
Write
PCD 6
Read/
Write
PCD 7
Read/
Write
PCD 8
Read/
Write
PCD 9
Read/
Write
CTW/STW REF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
PCD 4
Read/
Write
PCD 5
Read/
Write
PCD 6
Read/
Write
PCD 7
Read/
Write
CTW/STW REF/MAV
CTW/STW REF/MAV
PPO 3
CTW/STW REF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
PPO 2
PCV
CTW/STW
REF/MAV
PPO 1
PCV
130BD911.10
Control Programming Guide
44
Illustration 4.1 Available PPO Types
4.2
Process Data
Use the process data part of the PPO to control and
monitor the frequency converter via the PROFIBUS.
4.2.1 Process Control Data
Process control data (PCD) is the process data sent from
the PLC to the frequency converter.
Master/follower
1 2 3 ....... 10
CTW MRV PCD ....... PCD
PCD write
Table 4.1 Process Control Data
PCD 1 contains a 16-bit control word, and each bit controls
a specific function of the frequency converter, see
chapter 4.3 Control Profile.
PCD 2 contains a 16-bit speed setpoint in percentage
format. See chapter 4.2.3 Reference Handling.
The content of PCD 3 to PCD 10 is determined by the
settings in parameter 9-15 PCD Write Configuration and
parameter 9-16 PCD Read Configuration.
4.2.2 Process Status Data
Process status data is the process data sent from the
frequency converter, and contains information about the
current state.
Follower master
1 2 3 ...... 10
STW MAV PCD ...... PCD
PCD read
Table 4.2 Process Status Data
PCD 1 contains a 16-bit status word, and each bit contains
information regarding a possible state of the frequency
converter.
PCD 2 contains per default the value of the current speed
of the frequency converter in percentage format (see
chapter 4.2.3 Reference Handling). PCD 2 can be configured
to contain other process signals.
14 Danfoss A/S © Rev. 05/2014 All rights reserved. MG37G102
Control
Programming Guide
The content of PCD 3 to PCD 10 is determined by the
settings in parameter 9-16 PCD Read Configuration.
4.2.3 Reference Handling
The reference handling is an advanced mechanism that
sums up references from different sources, as shown in
Illustration 4.2.
For more information on reference handling, refer to the
Design Guide of the relevant frequency converter.
Illustration 4.2 Reference
The actual output of the frequency converter is limited by
the speed limit parameters Motor Low/High Speed Limit
[RPM/Hz] in 4-11 Motor Speed Low Limit [RPM] to 4-14 Motor
Speed High Limit [Hz].
The final speed limit is set in 4-19 Max Output Frequency.
Table 4.3 lists the reference (MRV) and the feedback (MAV)
formats.
MRV/MAV Integer in hex Integer in decimal
100% 4000 16,384
75% 3000 12,288
50% 2000 8,192
25% 1000 4,096
0% 0 0
-25% F000 -4,096
-50% E000 -8,192
-75% D000 -12,288
-100% C000 -16,384
Table 4.3 Reference/Feedback (MRV/MAV) Format
NOTICE
Negative numbers are formed as complement of 2.
4 4
The reference, or speed setpoint, is sent via PROFIBUS and
is always transmitted to the frequency converter in
percentage format as integers represented in hexadecimal
(0-4000 hex).
The reference (MRV) and feedback (MAV) are always scaled
equally. The setting of 3-00 Reference Range determines the
scaling of the reference and feedback (MAV), see
Illustration 4.3.
Illustration 4.3 Reference (MRV) and Feedback (MAV), Scaled
NOTICE
The data type for MRV and MAV is a N2 16-bit
standardised value, expressing a range from -200% to
+200% (8001 to 7FFF).
Example
The following settings determine the speed, as shown in
Table 4.4:
1-00 Configuration Mode set to [0] Speed open
•
loop.
3-00 Reference Range set to [0] Min-Max.
•
3-02 Minimum Reference set to 100 RPM.
•
3-03 Maximum Reference set to 3000 RPM.
•
MRV/MAV Actual speed [RPM]
0% 0 hex 100
25% 1000 hex 825
50% 2000 hex 1550
75% 3000 hex 2275
100% 4000 hex 3000
Table 4.4 Actual Speed for MRV/MAV
4.2.4
NOTICE
When 3-00 Reference Range is set to [0] Min - Max, a
negative reference is handled as 0%.
MG37G102 Danfoss A/S © Rev. 05/2014 All rights reserved. 15
Process Control Operation
In process control operation, 1-00 Configuration Mode is set
to [3] Process.
The reference range in 3-00 Reference Range is always [0]
Min - Max.
Control
•
•
Programming Guide
MRV represents the process setpoint.
MAV expresses the actual process feedback
(range ±200%).
4.4
PROFIdrive Control Profile
This section describes the functionality of the control word
and status word in the PROFIdrive profile.
4.2.5 Influence of the Digital Input
Terminals upon FC Control Mode
Set the influence of the digital input terminals upon
44
control of the frequency converter in 8-50 Coasting Select
to 8-56 Preset Reference Select.
NOTICE
The setting of 8-01 Control Site overrules the settings in
8-50 Coasting Select to 8-56 Preset Reference Select. The
setting of terminal 37 Coast stop (safe) overrules any
other parameter.
Each of the digital input signals can be programmed to
logic AND, logic OR, or to have no relation to the
corresponding bit in the control word. In this way the
following signal sources initiate a specific control
command, for example stop/coast:
fieldbus only,
•
fieldbus AND digital input, or
•
either fieldbus OR digital input terminal.
•
CAUTION
To control the frequency converter via PROFIBUS, set
8-50 Coasting Select to either [1] Bus , or to [2] Logic AND,
and set 8-01 Control Site to [0] or [2].
For more detailed information and examples of logical
relationship options, see chapter 8 Troubleshooting.
4.3
Control Profile
Control the frequency converter according to
the PROFIdrive profile, see chapter 4.4 PROFIdrive
•
Control Profile, or
the Danfoss FC control profile, see
•
chapter 4.5 Danfoss FC Control Profile.
Select the desired control profile in parameter 8-10 Control
Word Profile. The choice of profile affects the control and
status word only.
Chapter 4.4 PROFIdrive Control Profile and
chapter 4.5 Danfoss FC Control Profile provide a detailed
description of control and status data.
4.4.1 Control Word according to PROFIdrive
Profile (CTW)
The control word is used to send commands from a master
(e.g. a PC) to a follower.
Bit Bit=0 Bit=1
00 OFF 1 ON 1
01 OFF 2 ON 2
02 OFF 3 ON 3
03 Coasting No coasting
04 Quick stop Ramp
05 Hold frequency output Use ramp
06 Ramp stop Start
07 No function Reset
08 Jog 1 OFF Jog 1 ON
09 Jog 2 OFF Jog 2 ON
10 Data invalid Data valid
11 No function Slow down
12 No function Catch up
13 Parameter set-up Selection lsb
14 Parameter set-up Selection msb
15 No function Reverse
Table 4.5 Control Word Bits
Explanation of the control bits
Bit 00, OFF 1/ON 1
Normal ramp stops using the ramp times of the actual
selected ramp.
Bit 00="0" leads to the stop and activation of the output
relay 1 or 2 if the output frequency is 0 Hz and if [Relay
123] has been selected in 5-40 Function Relay.
When bit 0="1", the frequency converter is in State 1:
“Switching on inhibited”.
Refer to Illustration 4.4.
Bit 01, OFF 2/ON 2
Coasting stop.
When bit 01="0", a coasting stop and activation of the
output relay 1 or 2 occurs if the output frequency is 0 Hz
and if [Relay 123] has been selected in 5-40 Function Relay.
When bit 01="1", the frequency converter is in State 1:
“Switching on inhibited”. Refer to Illustration 4.4.
Bit 02, OFF 3/ON 3
Quick stop using the ramp time of 3-81 Quick Stop Ramp
Time.
When bit 02="0", a quick stop and activation of the output
relay 1 or 2 occurs if the output frequency is 0 Hz and if
[Relay 123] has been selected in 5-40 Function Relay.
When bit 02="1", the frequency converter is in State 1:
“Switching on inhibited”.
16 Danfoss A/S © Rev. 05/2014 All rights reserved. MG37G102
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