Danfoss VLT FC 100, VLT FC 300 Series, VLT FC 200 Series Series Manual

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FC 100/ 200/ 300 DeviceNet Contents

Contents

1. Introduction

Safety Note 6

Assumptions 9

Hardware 9

Background Knowledge 9

Abbreviations 11

2. How to Install

Cabling 13

Installation of Option in the Frequency 17

3. How to Configure the System

Configure the Master 21

Configure the Frequency Converter 21

4. How to Control the Frequency Converter

DeviceNet Process Control Modes 23

I/O Assembly Instances 25

Process Data 25

ODVA Control Profile 27

Danfoss FC Control Profile 32

5. How to Access the Parameters

Explicit Messages 39

Object Classes 39

DeviceNet Object Classes 39

Danfoss Object Classes 50

Reading/Writing to Parameters with Index 51

6. Parameters

Parameter List 66

Data Types Supported 67

7. Application Examples

Example: Working with Instance 101/151 Process 69

8. Troubleshooting

Troubleshooting 73

Index

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Contents FC 100/ 200/ 300 DeviceNet

Contents | Illustration

Illustration 1.1: 9

Illustration 2.1: 13

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FC 100/ 200/ 300 DeviceNet Contents

Contents | Table

Table 8.1: LED: Module Status (MS) 73

Table 8.2: LED: Network Status (NS) 74

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1. Introduction FC 100/ 200/ 300 DeviceNet

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FC 100/ 200/ 300 DeviceNet 1. Introduction

1. Introduction

1.1.1. Copyright, Limitation of Liability and Revision Rights

This publication contains information proprietary to Danfoss A/S. By accepting and using this manual the user agrees that the information contained herein will be used solely for operating equipment from Danfoss A/S or equipment from other vendors provided that such equipment is intended for communication with Danfoss equipment over a PROFIBUS serial communication link. This publication is protected under the Copyright laws of Denmark and most other countries.

Danfoss A/S does not warrant that a software program produced according to the guidelines provided in this manual will function properly in every physical, hardware or software environment.

Although Danfoss A/S has tested and reviewed the documentation within this manual, Danfoss A/ S makes no warranty or representation, either express or implied, with respect to this documentation, including its quality, performance, or fitness for a particular purpose.

In no event shall Danfoss A/S be liable for direct, indirect, special, incidental, or consequential damages arising out of the use, or the inability to use information contained in this manual, even if advised of the possibility of such damages. In particular, Danfoss A/S is not responsible for any costs including but not limited to those incurred as a result of lost profits or revenue, loss or damage of equipment, loss of computer programs, loss of data, the costs to substitute these, or any claims by third parties.

Danfoss A/S reserves the right to revise this publication at any time and to make changes in its contents without prior notice or any obligation to notify previous users of such revisions or changes.

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1. Introduction FC 100/ 200/ 300 DeviceNet

1.2.1. Safety Note

The voltage of the frequency converter is dangerous whenever connected to mains. Incorrect installation of the motor, frequency converter or fieldbus may cause damage to the equipment, serious personal injury or death. Consequently, the instructions in this manual, as well as national and local rules and safety regulations, must be complied with.

1.2.2. Safety Regulations

1. The frequency converter must be disconnected from mains if repair work is to be carried out. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.

2. The [STOP/RESET] key on the control panel of the frequency converter does not disconnect the equipment from mains and is thus not to be used as a safety switch. 3. Correct protective earthing of the equipment must be established, the user must be protected against supply voltage, and the motor must be protected against overload in accordance with applicable national and local regulations.

3. Correct protective earthing of the equipment must be established, the user must be protected against supply voltage, and the motor must be protected against overload in accordance with applicable national and local regulations.

4. The earth leakage currents are higher than 3.5 mA.

5. Protection against motor overload is not included in the factory setting. If this function is desired, set par. 1-90

ETR warning

motor frequency. For the North American market: The ETR functions provide class 20 motor overload protection in accordance with NEC.

6. Do not remove the plugs for the motor and mains supply while the frequency converter is connected to mains. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.

7. Please note that the frequency converter has more voltage inputs than L1, L2 and L3, when load sharing (linking of DC intermediate circuit) and external 24 V DC have been installed. Check that all voltage inputs have been disconnected and that the necessary time has passed before commencing repair work.

. Note: The function is initialised at 1.16 x rated motor current and rated

Motor Thermal Protection

to data value

ETR trip

or data value

1.2.3. Warning Against Unintended Start

1. The motor can be brought to a stop by means of digital commands, bus commands, references or a local stop, while the frequency converter is connected to mains. If personal safety considerations make it necessary to ensure that no unintended start occurs, these stop functions are not sufficient.

2. While parameters are being changed, the motor may start. Consequently, the stop key [STOP/RESET] must always be activated; following which data can be modified.

3. A motor that has been stopped may start if faults occur in the electronics of the frequency converter, or if a temporary overload or a fault in the supply mains or the motor connection ceases.

1.2.4. Warning

Touching the electrical parts may be fatal - even after the equipment has been disconnected from mains.

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FC 100/ 200/ 300 DeviceNet 1. Introduction

Also make sure that other voltage inputs have been disconnected, such as external 24 V DC, load sharing (linkage of DC intermediate circuit), as well as the motor connection for kinetic back up.

Please refer to the relevant Operating Instructions for further safety guidelines.

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1. Introduction FC 100/ 200/ 300 DeviceNet

1.3. About this Manual

First time users can obtain the most essential information for quick installation and set-up in these chapters:

Introduction How to Install How to Configure the System Application Examples

For more detailed information including the full range of set-up options and diagnosis tools please refer to the chapters:

How to Control the Frequency Converter How to Access the Parameters Parameters Troubleshooting

1.4. Technical Overview

DeviceNet is a low-level network that standardizes communications between industrial devices (sensors, limit switches, motor controls) and high-level devices (controllers). DeviceNet follows the Open Systems Interconnection (OSI) model and is based on CAN technology for Media Access Control and Physical Signalling.

DeviceNet systems can be configured to operate in a master-slave or a distributed control architecture using peer-to-peer communication. Up to 63 nodes in a multi-drop network topology are supported, and communication options can be powered directly from the bus, using the same cable for communication. Nodes can be removed or inserted without powering down the network.

Each node on the network has its own unique Media Access Control IDentifier (MAC ID) to distinguish it on the network. The access control is based on the CSMA/CA (Carrier Sense Multiple Access / Collision Avoidance) principle, meaning that all nodes may have access to the network at the same time. If two nodes attempt to get control of the network bus simultaneously, the CAN protocol resolves the issue by arbitration. In this way collisions on the network are avoided.

DeviceNet defines device profiles for devices belonging to specific classes. For other devices, a custom class must be defined in order to make it DeviceNet compatible. This further enhances the interchangeability and interoperability of the network.

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FC 100/ 200/ 300 DeviceNet 1. Introduction

Illustration 1.1: Topology

1.5. Assumptions

These operating instructions assume that you are using a Danfoss FC 100, 200 or 300 frequency converter with DeviceNet. It is also assumed that as master you are using a PLC or PC equipped with a serial communication card supporting all the DeviceNet communication services required by your application. Furthermore, it is assumed that all requirements stipulated in the DeviceNet standard as well as those set up in the AC Drive Profile and those pertaining to the VLT frequency converter are strictly observed as well as all limitations therein fully respected.

1.6. Hardware

These operating instructions relate to the DeviceNet option type no. 130B1102 and 130B1201.

1.7. Background Knowledge

The Danfoss DeviceNet is designed to communicate with any master abiding by the DeviceNet standard. It is therefore assumed that you have full knowledge of the PC or PLC you intend to use as a master in your system. Any questions pertaining to hardware or software produced by any other manufacturer is beyond the scope of these operating instructions and is of no concern to Danfoss. If you have questions about how to set up master - master communication or communication to a non-Danfoss slave, please consult the appropriate documentation.

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1. Introduction FC 100/ 200/ 300 DeviceNet

1.8. Available Literature

The following literature is available for the FC 100, 200 and 300 series.

Title

VLT HVAC Drive FC 100 Operating Instructions MG.11.AX.YY VLT HVAC Drive FC 100 Design Guide MG.11.BX.YY VLT HVAC Drive FC 100 Programming Guide MG.11.CX.YY VLT AQUA Drive FC 200 Operating Instructions MG.20.NX.YY VLT AQUA Drive FC 200 Design Guide MG.20.MX.YY VLT AQUA Drive FC 200 Programming Guide MG.20.OX.YY VLT AutomationDrive FC 300 Operating Instructions MG.33.AX.YY VLT AutomationDrive FC 300 Design Guide MG.33.BX.YY VLT AutomationDrive FC 300 Programming Guide MG.33.MX.YY VLT AutomationDrive FC 100, 200 and 300 PROFIBUS Operating Instructions VLT AutomationDrive FC 100, 200 and 300 DeviceNet Operating Instructions VLT AutomationDrive FC 300 MCT 10 Software Dialogue MG.33.EX.YY PROFIBUS DP V1 Design Guide MG.90.EX.YY

X = Revision number Y = Language code Please also refer to mation.

www.danfoss.com/drives

for frequently asked questions and additional infor-

Literature no.

MG.33.CX.YY

MG.33.DX.YY

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FC 100/ 200/ 300 DeviceNet 1. Introduction

1.9. Abbreviations

ACK ACKnowledge BOC Bus Off Counter BOOL BOOLean expression CAN Controller Area Network CSMA/CA Carrier Sense Multiple Access/Collision Avoidance COS Change of State CTW Control Word EDS Electronic Data Sheet EMC Electromagnetic Compatibility ETR Electronic Thermal Relay FIFO First In First Out HF High Frequency HPFB High Performance Field Bus I/O Input/Output ISO International Standards Organization LCD Liquid Crystal Display LCP Local Control Panel LED Light Emitting Diode LSB Least Significant Bit MAC ID Media Access Control IDentifier MAV Main Actual Value MRV Main Reference Value MSB Most Significant Bit N/A Not Applicable ODVA Open DeviceNet Vendor Association OSI Open Systems Interconnection PC Personal Computer PCD Process Data PIW Peripheral Input Word PLC Programmable Logic Control PNU Parameter Number PPO Parameter-Process Data Object QW Peripheral Output Word SINT Signed Integer STW Status Word VSD Variable Speed Drive UDINT Unsigned Double Integer UNIT Unsigned Integer USINT Unsigned Short Integer

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2. How to Install FC 100/ 200/ 300 DeviceNet

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FC 100/ 200/ 300 DeviceNet 2. How to Install

2. How to Install

2.1. Cabling

2.1.1. Cable Lengths

Baud rate Max total cable

length

125k baud 500 meters (1640 ft.) 6 meters (20 ft.) for one drop 156 meters (512 ft.) 250k baud 250 meters (820 ft.) 78 meters (256 ft.) 500k baud 100 meters (328 ft.) 39 meters (128 ft.)

2.1.2. Cable Specifications

The cable used should be according to ODVA specifications.

Be aware that the ODVA “Flat Cable” is an unscreened cable type, and is not suited for use with frequency converters.

Drop length Maximum per drop Cumulative maxi-

mum

Illustration 2.1: ODVA “Thin Cable” cross section

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2. How to Install FC 100/ 200/ 300 DeviceNet

2.1.3. EMC Precautions

The following EMC precautions are recommended in order to achieve interference-free operation of the DeviceNet network. Additional EMC information is available in the relevant FC 100, 200 or 300 Operating Instructions and Design Guides.

NB!

Relevant national and local regulations, for example regarding protective earth connection, must be observed.

The DeviceNet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise from one cable to the other. Normally a distance of 200 mm (8 inches) is sufficient, but it is generally recommended to keep the greatest possible distance between the cables, especially where cables run in parallel over long distances. If the DeviceNet cable has to cross a motor and brake resistor cable they must cross each other at an angle of 90 degrees.

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FC 100/ 200/ 300 DeviceNet 2. How to Install

2.1.4. Connection of the Cable Screen

Danfoss recommends connection of the screen of the DeviceNet cable to ground at both ends of the cable at every DeviceNet station (see Danfoss recommendation for further details). Low impedance ground connection of the screen is very important, also at high frequencies. Achieve this by connecting the surface of the screen to ground, for example by means of a cable clamp or a conductive cable gland. The frequency converter package includes various clamps and brackets to enable a proper ground connection of the DeviceNet cable screen. The screen connection required for CE and EMC compliance is shown in the following drawing.

2.1.5. ODVA Recommendation

The Screen must be connected to ground at only one point on the network.

NB!

Please note that this recommendation conflicts with the correct EMC installation.

2.1.6. Earth Connection

It is important that all stations connected to the DeviceNet network are connected to the same earth potential. The earth connection must have a low HF (high frequency) impedance. This can be achieved by connecting a large surface area of the cabinet to ground, for example by mounting the frequency converter on a conductive rear plate.

NB!

Particularly when there are long distances between the stations in a DeviceNet network, it may be necessary to use additional potential equalizing cables, connecting the individual stations to the same earth potential.

Pin no. Termi-

nal

1 V- Black GND 2 CAN_L Blue CAN

3 Drain (bare) Screen 4 CAN_H White CAN

5 V+ Red +24 V

Colour Name

LOW

HIGH

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2. How to Install FC 100/ 200/ 300 DeviceNet

2.1.7. DeviceNet Connection

It is essential to terminate the bus line properly. A mismatch of impedance may result in reflections on the line that will corrupt data transmission. The DeviceNet control card is provided with a plug-cable connector. When a plug connector is used as a splice between two trunk lines, the removal of devices will not sever the network. If required, strain relief must be provided by the developer. In current installations of this type of connector, the strain relief is attached to the product.

NB!

Install wires only when the network is inactive. This will prevent problems such as shorting the network supply or disrupting communications.

2.1.8. DeviceNet Termination

Termination resistors should be installed at each end of the bus line. The resistors must be mounted between terminal 2 (CAN_L) and terminal 4 (CAN_H) and should have the following specification: 121 Ohm, 1 % Metal film, 1/4 Watt

2.1.9. Drop Cable

An alternative to splicing two trunk lines in the connector on the control card is to use a DeviceNet connection box or a T-connector. For this kind of installation a drop cable is available as an option.

Drop cable order number: 195N3113

The connector is a micro-style, male, with rotating coupling nut, and fits into a Micro Device port.

2.1.10. Network Power Consumption

The DeviceNet option is powered via the internal power supply in the drive. The network voltage (+24 V) is detected only to determine if the bus is energized or not, thus the current draw from the network is negligible.

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FC 100/ 200/ 300 DeviceNet 2. How to Install

2.2. Installation of Option in the Frequency

To install a fieldbus option in the frequency converter you will need:

- The fieldbus option

- Fieldbus option adaptor frame for the frequency converter. This frame is deeper than the

standard frame, to allow space for the fieldbus option beneath.

- Cable holders

Instructions:

- Remove the LCD panel from the frequency converter.

- Remove the frame located beneath and discard.

- Push the option into place. Two positions are possible, with cable terminal facing either

up or down. The cable up position is often most suitable when several frequency converters are installed side by side in a rack, as this position permits shorter cable lengths.

- Push the fieldbus option adaptor frame for the frequency converter into place.

- Replace the LCD panel.

- Attach cable.

- Fasten the cable in place using cable holders. The top surface of the frequency converter

has pre-drilled threaded holes for attaching the cable holders to the unit.

- If an option is installed after initial power-up the frequency converter will be tripped and

display: Alarm 67

Option Change

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3. How to Configure the System FC 100/ 200/ 300 DeviceNet

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FC 100/ 200/ 300 DeviceNet 3. How to Configure the System

3. How to Configure the System

3.1. Configure the DeviceNet Network

All DeviceNet stations that are connected to the same bus network must have a unique station address. The DeviceNet address of the frequency converter can be selected via:

- Hardware switches (default 63)

- Parameter 10-02

63)

- Class code 0X03, Instance 1, Attrib-

ute 1

MAC ID

(default

3.1.1. Setting the DeviceNet Address using the Hardware Switches

Setting the DeviceNet Address using the Hardware Switches: Using the hardware switches it is possible to select an address range from 0-63 (factory setting 63) according to the table below:

Switch Address value - - +32 +16 +8 +4 +2 +1 Ex. address 5 - - OFF OFF OFF ON OFF ON Ex. address 20 - - OFF ON OFF ON OFF OFF Ex. address 35 - - ON OFF OFF OFF ON ON

8 7 6 5 4 3 2 1

NB!

Switch off the power supply before changing the hardware switches.

The address change will come into effect at the next power-up, and can be read in par. 10-02

MAC ID

3.1.2. Setting the DeviceNet Address via Par. 10-02

The address can be set via par. 10-02 setting). The address change will come into effect at the next power-up.

MAC ID

if the hardware switches are set to 63 (factory

MAC ID

3.1.3. Setting the DeviceNet Address with the Object Class Code 0x03, Attribute 1, Instance 1

The address can be set via the DeviceNet object class code 0x03 attribute 1 command if the hardware switch is set to 63 (factory setting). A new address becomes effective immediately after the class code 0x03, Instance 1, Attribute 1 command.

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3. How to Configure the System FC 100/ 200/ 300 DeviceNet

3.1.4. Baud Rate Setting

All DeviceNet stations connected to the same bus network must have the same Baud rate. The baud rate of the frequency converter can be selected via:

- Hardware switches

- Par. 10-01

- Object Class code 0x03, Instance 1, Attribute 2.

Baudrate Select

(default 125k Baud)

3.1.5. Setting the DeviceNet Baud Rate using the H ardware Switches

Using the hardware switches it is possible to select a baud rate of 125k baud (factory setting), 250k baud or 500 k baud according to the following table:

NB!

Switch off the power supply before changing the hardware switches.

The baud rate change will come into effect at the next power-up, and can be read in par. 10-01

Baudrate select

3.1.6. Setting the DeviceNet Baud Rate via Par. 10-01

lect

The baud rate can be set via par. 10-01 to ON (factory setting). The baud rate change will come into effect at the next power-up.

Baudrate select

Baud rate switch Par. 10-01 1 1 125 k Baud 0 0 250 k Baud 0 1 500 k Baud 1 0

8 7

Baudrate se-

if the hardware switches 1 and 2 are set

3.1.7. Setting the DeviceNet Baud Rate with the Object Class Code 0x03 Attribute 2

The baud rate can be set via the DeviceNet object class code 0x03 attribute 2 command, if the hardware switches 1 and 2 are set to ON (factory setting). A new baud rate becomes effective immediately after the class code 0x03 attribute 2 command.

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FC 100/ 200/ 300 DeviceNet 3. How to Configure the System

3.2. Configure the Master

3.2.1. EDS File

A large part area of the system configuration is the setting of application related parameters. EDS (Electronic Data Sheet) files simplify the setting up of most of the DeviceNet configurable parameters. Danfoss provides a generic English EDS file covering all voltage and power sizes, for offline configuration. The EDS file can be downloaded from http://www.danfoss.com/drives.

NB!

The EDS-file does not contain all parameters but a selected, limited number of parameters with generic minimum, maximum and default values.

3.3. Configure the Frequency Converter

3.3.1. VLT Parameters

Pay particular attention to the following parameters when configuring the frequency converter with a DeviceNet interface. Please refer to the Parameters chapter for more details of each parameter.

• Par. 0-40

•Par. 8-10

• Par. 8-50 to 8-56 (see section

• Par. 8-03 to 8-05. The reaction in the event of a bus time out is set via these parameters

• Par.. 10-01

• Par. 10-02

3.3.2. LEDs

The DeviceNet control card contains two bi-colour (green/red) LEDs for each connector hook-up port, to indicate the state of the device and the network respectively. For details of the range of communications status indicated by the LEDs, please refer to the Troubleshooting chapter.

[Hand on] key on LCP

If the Hand button on the frequency converter is activated, control of the drive via the DeviceNet interface is disabled. After initial power-up the frequency converter will automatically detect whether a fieldbus option is installed in slot A, and set par. 8-02

Word Source

already commissioned drive, it will not change par. 8-02 but will enter Trip Mode, and the frequency converterwill display an error.

Choose between the Danfoss FC Profile and the ODVA profile. Select the desired DeviceNet instance in par. 10-10

trol commands with digital input command of the control card.

to [Option A]. If an option is added to, changed in or removed from an

Control Word Profile

Baud rate

MAC ID

. Default is 125 kbps.

. Default is 63.

(see section

Process Data Type Selection

Parameters

How to Control the Frequency Converter

). Selection of how to gate the DeviceNet con-

Control

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4. How to Control the Frequency Converter FC 100/ 200/ 300 DeviceNet

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FC 100/ 200/ 300 DeviceNet 4. How to Control the Frequency Converter

4. How to Control the Frequency Converter

4.1. DeviceNet Process Control Modes

This section describes two of three possible process control modes: Polling and Change of State (COS). The third FC control mode uses the acyclical mode Explicit Messaging via the Standard DeviceNet Control Supervisory object CLASS 29H. The Control Supervisory object is described within the

DeviceNet Object Classes

4.1.1. Polling

section,

How to Access the Parameters

chapter.

This is a classical Master-Slave connection and the standard DeviceNet operation mode. The master controls the data exchange by sending cyclical poll-requests to the connected slaves, and the slaves answers by sending a poll-response to the master. The master can control and monitor the frequency converter by polling the DeviceNet or Danfoss objects (I/O Instances).

4.1.2. Change of State, COS

This an event-controlled operation mode used to minimize network traffic. Messages are transmitted only if a defined state or value has changed. The condition for triggering a COS message is determined by the insertion of COS-filters (parameters 10-20 to 10-23), for each bit in the different PCD-words. The filter acts like a logical AND-function: If a bit in the filter is set to “1”, the COS-function triggers upon a change to the corresponding bit for the PCD-word.

POLLED I/O

Master → slave

Slave → master

CTW MRV

STW MAV

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4. How to Control the Frequency Converter FC 100/ 200/ 300 DeviceNet

The figure below shows the different PCDs and their corresponding filter parameters.

Par. 10-20 to 10-23 can be used to filter out undesired events for COS. If a filter bit is set to 0, the corresponding I/0 Instance bit will be unable to produce a COS message. By default, all bits in the COS filters are set to 0.

In order to signal that the connection has not been interrupted, or the device is not powered off, a Heartbeat Message is transmitted within a specified time interval (Heartbeat Interval). This interval is defined in Attribute Heartbeat Time of the connection object, Class Code 0x05.

To prevent the device from producing heavy network traffic if a value changes frequently, the Production Inhibit Time (an attribute of the connection object) is defined. This parameter defines the minimum time between two COS messages.

The Attribute Expected Package Rate defines the maximum time between two COS messages even when the value is unchanged. In the event of COS connection, the Explicit Package Rate is identical with the Heartbeat Interval mentioned above. This timer is used both as transmission trigger and inactivity watchdog, depending upon whether the connection is producer or consumer.

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FC 100/ 200/ 300 DeviceNet 4. How to Control the Frequency Converter

4.2. I/O Assembly Instances

I/O Assembly Instances are a number of defined process control objects with defined content comprising control and status information. The figure below shows the I/O Assembly Instance options for controlling and monitoring the frequency converter.

4.3. Process Data

Process data comprises the control and status data in the I/O Assembly Instances.

The CTW, MRV and STW and MAV have defined formats and functions, depending upon the I/O Instance chosen. PCD1 and PCD2 are freely configurable for instance 101/151 via par. 10-11 and 10-12.

The VLT DeviceNet provides a flexible way for the user to customize the number of Process Data (I/O words) and the functionality of each word. To activate the user definable process data, select the I/O Instance 101/151 in par. 10-10 to four words in the input and output area. This selection uses the Danfoss-specific profile for the Control word and Status word as well for the Main Reference Value/Main Actual Value.

The first two words are fixed on the VLT DeviceNet, whereas the user can select the input and output, PCD 3 and PCD 4. The number of PCDs active in a system is fixed to 2 words.

NB!

Selection of Instance 101/151 under par. 10-10 is only possible if FC Profile has been selected in par. 8-10

To enable use of PCD data from the VLT DeviceNet, configure the contents of each single PCD word in par. 10-11 to par. 10-11 and 10-12 are effected immediately in the PCD data.

Process Data Config Write

Process Data Type Selection

Control Word Profile

and par. 10-12

. This will change the I/O size

Process Data Config Read

. Changes

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4. How to Control the Frequency Converter FC 100/ 200/ 300 DeviceNet

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FC 100/ 200/ 300 DeviceNet 4. How to Control the Frequency Converter

4.4. ODVA Control Profile

4.4.1. Control Word under Instances 20/70 and 21/71

Control Word under Instances 20/70 and 21/71 Set par. 8-10

Control Word Profile

ODVA, and select the instance in par. 10-10

Process Data Type Selection

The control word in Instances 20 and 21 is defined in the overview to the right:

NB!

Note that the bits 00 and 02 in Instance 20 are identical with bits 00 and 02 in the more extensive Instance 21.

Bit In st anc e 20 Instance 21

00 Stop Run Fwd Stop Run Fwd 01 - - Stop Run Rev 02 No func-

03 - - - 04 - - - 05 - - - Net Ctrl 06 - - - Net Ref 07-15 - - - -

Bit = 0 Bit = 1 Bit = 0 Bit = 1

tion

Fault reset

No function

Fault reset

Explanation of the Bits:

Bit 0, Run Fwd: Bit 0 = "0" means that the VLT frequency converter has a stop command. Bit 0 = "1" leads to a start command and the VLT frequency converter will start to run the motor clockwise.

Bit 1, Run Rev: Bit 1 = "0" leads to a stop of the motor. Bit 1 = "1" leads to a start of the motor.

Bit 2, Fault Reset: Bit 2 = "0" means that there is no reset of a trip. Bit 2 = "1" means that a trip is reset.

Bit 3, No function: Bit 3 has no function.

Bit 4, No function: Bit 4 has no function.

Bit 5, Net Control: Bit 5 = "0" means that the drive is controlled from the standard inputs. Bit 5 = "1" means that DeviceNet controls the drive.

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4. How to Control the Frequency Converter FC 100/ 200/ 300 DeviceNet

NB!

Please note that changes will affect par. 8-50 to 8-56.

Bit 6, Net Reference: Bit 6 = "0" Reference is from the standard inputs. Bit 6 = "1" Reference is from DeviceNet.

NB!

Please note that changes will affect parameters 3-15 to 3-17 Reference source X.

For the Speed reference, see section

21/71

Bus Speed Reference Value under Instances 20/70 and

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FC 100/ 200/ 300 DeviceNet 4. How to Control the Frequency Converter

4.4.2. Status Word under Instances 20/70 and 21/71

The status word in Instances 70 and 71 is defined in the overview to the right:

NB!

Note that the bits 00 and 02 in Instance 70 are identical with bits 00 and 02 in the more extensive Instance 71.

Bit In st anc e 70 Instance 71

00 - Fault - Fault 01 - - - Warning 02 - Running

03 - - - Running

04 - - - Ready 05 - - - Ctrl from

06 - - - Ref. from

07 - - - At ref. 08-15 - - State Attribute

Bit = 0 Bit = 1 Bit = 0 Bit = 1

1 Fwd

- Running 1 Fwd

2 Rev.

Net

Explanation of the Bits:

Bit 0, Fault: Bit 0 = "0" means that there is no fault in the frequency converter. Bit 0 = "1" means that there is a fault in the frequency converter.

Bit 1, Warning: Bit 0 = "0" means that there is no unusual situation. Bit 0 = "1" means that an abnormal condition has arisen.

Bit 2, Running 1: Bit 2 = "0" means that the drive is not in one of these states or that Run 1 is not set. Bit 2 = "1" means that the drive state attribute is enabled or stopping, or that Fault-Stop and bit 0 (Run 1) of the control word are set at the same time.

Bit 3, Running 2: Bit 3 = "0" means that the drive is in neither of these states or that Run 2 is not set. Bit 3 = "1" means that the drive state attribute is enabled or stopping, or that fault-stop and bit 0 (Run 2) of the control word are set at the same time.

Bit 4, Ready: Bit 4 = "0" means that the state attribute is in another state. Bit 4 = "1" means that the state attribute is ready, enabled or stopping.

Bit 5, Control from net: Bit 5 = "0" means that the drive is controlled from the standard inputs. Bit 5 = "1" means that DeviceNet has control (start, stop, reverse) of the drive.

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4. How to Control the Frequency Converter FC 100/ 200/ 300 DeviceNet

Bit 6, Ref from net: Bit 6 = "0" means that the reference comes from inputs to the drive. Bit 6 = "1" means that the reference comes from DeviceNet.

Bit 7, At reference: Bit 7 = "0" means that the motor is running, but that the present speed is different from the preset speed reference, i.e. the speed is being ramped up/down during start/stop. Bit 7 = "1" means that the drive and reference speeds are equal.

Bit 8 - 15, State attribute: (Instance 71 only) Represents the state attribute of the drive, as indicated in the table to the right:

For more detail of the actual output speed, see the section

20/70 and 21/71

Bit Number 8 (Vendor specific) 9 Start up 10 Not ready 11 Ready 12 Enabled 13 Stopping 14 Fault stop 15 Faulted

Meaning

Actual Output Speed under Instances

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FC 100/ 200/ 300 DeviceNet 4. How to Control the Frequency Converter

4.4.3. Bus Speed Reference Value under Instances 20/70 and 21/71

The speed reference value is transmitted to the frequency converter in the form of a 16bit word. The value is transmitted as a whole number. Negative figures are formatted by means of 2’s complement.

The bus speed reference has the following format:

Par. 3-00 = "0" [ref

MIN

-> ref

] 0 (0000 Hex) [RPM] =>+ 32767 (7FFF Hex) [RPM]

MAX

Par. 3-00 = "1" [-ref

The actual reference [Ref. %] in the frequency converter depends on the settings in the following parameters: Par. 1-23 Par. 1-25 Par. 3-03

Note that if the bus speed reference is negative, and the control word contains a run reverse signal, the drive will run clockwise (- - is +).

Example:

Par. 1-25 Par. 1-23 Par. 3-03

In order to run the motor at 25%, the reference transmitted must be: (1420*0,25) = 355 = 163hex

163hex => 25% => Fout = 12,5Hz

Motor Frequency Motor Nominal Speed Maximum Reference

Motor Nominal Speed Motor Frequency Maximum Reference

-> +ref

MAX

= 50 Hz

] -32767 (8001 Hex ) =>+32767 [RPM] (7FFF Hex)

MAX

= 1420 RPM

4.4.4. Actual Output Speed under Instances 20/70 and 21/71

The value of the actual speed of the motor is transmitted in the form of a 16-bit word. The value is transmitted as a whole number. Negative figures are formed by means of 2’s complement.

The actual speed value has the following format:

-32767 (8000 Hex) [RPM] -> +32767 [RPM] (7FFF Hex) [RPM]

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4. How to Control the Frequency Converter FC 100/ 200/ 300 DeviceNet

4.5. Danfoss FC Control Profile

4.5.1. Control Word under Instances 100/150 and 101/151

To select FC protocol in the control word, par.

Control Word Profile

8-10 protocol [0]. The control word is used to send commands from a master (PLC or PC) to a slave (frequency converter).

The control word in Instances 100/101 is defined as follows to the right:

must be set to FC

Bit Bit value = 0 Bit value = 1

00 Reference value External selection lsb 01 Reference value External selection msb 02 DC brake Ramp 03 Coasting No coasting 04 Quick stop Ramp 05 Hold output frequency Use ramp 06 Ramp stop Start 07 No function Reset 08 No function Jog 09 Ramp 1 Ramp 2 10 Data invalid Data valid 11 No function Relay 01 active 12 No function Relay 04 active 13 Parameter set-up Selection lsb 14 Parameter set-up Selection msb 15 No function Reverse

Explanation of the Control Bits:

Bits 00/01 Bits 00 and 01 are used to choose between the four reference values, which are pre-programmed in par. 3-10

Preset Reference

according to the table to the right:

Program-

Parameter

Bit 01 Bit 00

med ref. value

1 3-10 [0] 0 0 2 3-10 [1] 0 1 3 3-10 [2] 1 0 4 3-10 [3] 1 1

NB!

In par. 8-56

Preset Reference Select

a selection is made to define how Bit 00/01

gates with the corresponding function on the digital inputs.

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FC 100/ 200/ 300 DeviceNet 4. How to Control the Frequency Converter

Bit 02, DC brake: Bit 02 = ’0’ leads to DC braking and stop. Braking current and duration are set in par. 2-01

Brake Current

Bit 02 = ’1’ leads to ramping.

Bit 03, Coasting: Bit 03 = ’0’ causes the frequency converter to immediately "let go" of the motor (the output transistors are "shut off"), so that it coasts to a standstill. Bit 03 = ’1’ enables the frequency converter to start the motor if the other starting conditions have been fulfilled.

Bit 04, Quick stop: Bit 04 = ’0’ causes a stop, in which the motor speed is ramped down to stop via par. 3-81

and 2-02

NB!

In par. 8-50 corresponding function on a digital input.

Stop Ramp Time

DC Braking Time

Coasting Select

a selection is made to define how Bit 03 gates with the

Quick

Bit 05, Hold output frequency: Bit 05 = ’0’ causes the present output frequency (in Hz) to freeze. The frozen output frequency can then be changed only by means of the digital inputs (parameters 5-10 to 5-15) programmed to Speed up and Speed down.

NB!

If Hold output is active, only the following can stop the frequency converter:

• Bit 03 Coasting stop

•Bit 02 DC braking

• Digital input (parameters 5-10 to 5-15) programmed to DC braking, Coasting stop or Reset and coasting stop.

Bit 06, Ramp stop/start:

Bit 06 = ’0’ causes a stop, in which the motor speed is ramped down to stop via the selected

ramp down

parameter.

NB!

In par. 8-53 gates with the corresponding function on a digital input.

Start Select

a selection is made to define how Bit 06 Ramp stop/start

Bit 06 = ’1’ permits the frequency converter to start the motor, if the other starting conditions have been fulfilled.

Bit 07, Reset: Bit 07 = ’0’ does not cause a reset. Bit 07 = ’1’ causes the reset of a trip. Reset is activated on the leading edge of the signal, i.e. when changing from logic ’0’ to logic ’1’.

Bit 08, Jog: Bit 08 = ’1’ causes the output frequency to be determined by par. 3-19

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Jog Speed

4. How to Control the Frequency Converter FC 100/ 200/ 300 DeviceNet

Bit 09, Selection of ramp 1/2: Bit 09 = "0" means that ramp 1 is active (parameters 3-40 to 3-47). Bit 09 = "1" means that ramp 2 (parameters 3-50 to 3-57) is active.

Bit 10, Data not valid/Data valid: Is used to tell the frequency converter whether the control word is to be used or ignored. Bit 10 = ’0’ causes the control word to be ignored, Bit 10 = ’1’ causes the control word to be used. This function is relevant, because the control word is always contained in the telegram, regardless of which type of telegram is used, i.e. it is possible to turn off the control word if you do not wish to use it in connection with updating or reading parameters.

Bit 11, Relay 01: Bit 11 = "0" Relay not activated. Bit 11 = "1" Relay 01 activated, provided Control word bit 11 has been chosen in par. 5-40

Function Relay

Bit 12, Relay 04: Bit 12 = "0" Relay 04 has not been activated. Bit 12 = "1" Relay 04 has been activated, provided Control word bit 12 has been chosen in par. 5-40

Function Relay

Set-up

1 0 0 2 0 1 3 1 0 4 1 1

Bit 14 Bit 13

Bit 13/14, Selection of set-up: Bits 13 and 14 are used to choose from the four menu set-ups according to the table to the right:

The function is only possible when Multi-Set-ups is selected in par. 0-10

NB!

In par. 8-55 the corresponding function on the digital inputs.

Bit 15 Reverse: Bit 15 = ’0’ causes no reversing. Bit 15 = ’1’ causes reversing.

Set-up Select

a selection is made to define how Bits 13/14 gate with

Active Set-up

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FC 100/ 200/ 300 DeviceNet 4. How to Control the Frequency Converter

4.5.2. Status Word under Instances 100/150 and 101/151

The status word in Instance 150/151 is defined as follows to the right:

Bit Bit = 0 Bit = 1

00 Control not ready Control ready 01 Drive not ready Drive ready 02 Coasting Enable 03 No error Trip 04 No error Error (no trip) 05 Reserved 06 No error Trip lock 07 No warning Warning 08 Speed ≠ reference Speed = reference 09 Local operation Bus control 10 Out of frequency limit Frequency limit ok 11 No operation In operation 12 Drive ok Stopped, auto start 13 Voltage ok Voltage exceeded 14 Torque ok Torque exceeded 15 Timer ok Timer exceeded

Explanation of the Statur Bits:

Bit 00, Control not ready/ready: Bit 00 = ’0’ means that the frequency converter has tripped. Bit 00 = ’1’ means that the frequency converter controls are ready, but that the power component is not necessarily receiving any power supply (in case of external 24 V supply to controls).

Bit 01, Drive ready: Bit 01 = ’1’. The frequency converter is ready for operation, but there is an active coasting command via the digital inputs or via serial communication.

Bit 02, Coasting stop: Bit 02 = ’0’. The frequency converter has released the motor. Bit 02 = ’1’. The frequency converter can start the motor when a start command is given.

Bit 03, No error/trip: Bit 03 = ’0’ means that the frequency converter is not in fault mode. Bit 03 = ’1’ means that the frequency converter is tripped, and that a reset signal is required to re-establish operation.

Bit 04, No error/error (no trip): Bit 04 = ’0’ means that the frequency converter is not in fault mode. Bit 04 = “1” means that there is a frequency converter error but no trip.

Bit 05, Not used: Bit 05 is not used in the status word.

Bit 06, No error / trip lock: Bit 06 = ’0’ means that the frequency converter is not in fault mode. Bit 06 = “1” means that the frequency converter is tripped, and locked.

Bit 07, No warning/warning: Bit 07 = ’0’ means that there are no warnings.

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4. How to Control the Frequency Converter FC 100/ 200/ 300 DeviceNet

Bit 07 = ’1’ means that a warning has occurred.

Bit 08, Speed ≠ reference/speed = reference: Bit 08 = ’0’ means that the motor is running, but that the present speed is different from the preset speed reference. It might, for example, be the case while the speed is being ramped up/ down during start/stop. Bit 08 = ’1’ means that the present motor present speed matches the preset speed reference.

Bit 09, Local operation/bus control: Bit 09 = ’0’ means that [STOP/RESET] is activated on the control unit, or that Local control in par. 3-13

Reference site

communication. Bit 09 = ’1’ means that it is possible to control the frequency converter via the fieldbus/ serial communication.

Bit 10, Out of frequency limit: Bit 10 = ’0’, if the output frequency has reached the value in par. 4-11 par. 4-13 Bit 10 = "1" means that the output frequency is within the defined limits.

Motor Speed High Limit

is selected. It is not possible to control the frequency converter via serial

Motor Speed Low Limit

Bit 11, No operation/in operation: Bit 11 = ’0’ means that the motor is not running. Bit 11 = ’1’ means that the frequency converter has a start signal or that the output frequency is greater than 0 Hz.

Bit 12, Drive OK/stopped, auto start: Bit 12 = ’0’ means that there is no temporary over temperature on the inverter. Bit 12 = ’1’ means that the inverter has stopped because of over temperature, but that the unit has not tripped and will resume operation once the over temperature stops.

Bit 13, Voltage OK/limit exceeded: Bit 13 = ’0’ means that there are no voltage warnings. Bit 13 = ’1’ means that the DC voltage in the frequency converter’s intermediate circuit is too low or too high.

Bit 14, Torque OK/limit exceeded: Bit 14 = ’0’ means that the motor current is lower than the torque limit selected in par. 4-16

Torque Limit Motor Mode

Bit 14 = ’1’ means that the torque limit in par. 4-16 and 4-17 has been exceeded.

Bit 15, Timer OK/limit exceeded: Bit 15 = ’0’ means that the timers for motor thermal protection and VLT thermal protection, respectively, have not exceeded 100%. Bit 15 = ’1’ means that one of the timers has exceeded 100%.

or par. 4-17

Torque Limit Generator Mode

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FC 100/ 200/ 300 DeviceNet 4. How to Control the Frequency Converter

4.5.3. Bus Reference Value under Instances 100/150 and 101/151

The frequency reference value is transmitted to the frequency converter in the form of a 16bit word. The value is transmitted as a whole number (-32767 to 32767). Negative figures are formatted by means of 2’s complement.

The bus reference has the following format:

100% = 4000 Hex

Par. 3-00 = "0" ["ref

Par. 3-00 = "1" [- ref +100%

MIN

MAX

-> ref

-> + ref

"] 0 -> 16384 (4000 Hex) ~ 0 -> 100%

MAX

] -16384 (C000 Hex) -> +16384 (4000 Hex) ~ -100% ->

MAX

Master slave→ 16 bit

CTW Speed ref. RPM

4.5.4. Actual Output Frequency under Instances 100/150 and 101/151

The value of the actual output frequency of the frequency converter is transmitted in the form of a 16-bit word. The value is transmitted as a whole number (-32767 -> 32767) Negative figures are formed by means of 2’s complement.

Slave master→ 16 bit

STW Actual ref. RPM

The actual output frequency has the following format:

-32767 ->+32767.

-16384 (C000 Hex) corresponds to -100%, and 16384 (4000 Hex) corresponds to 100%.

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5. How to Access the Parameters FC 100/ 200/ 300 DeviceNet

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FC 100/ 200/ 300 DeviceNet 5. How to Access the Parameters

5. How to Access the Parameters

5.1. Explicit Messages

DeviceNet is based on the CAN protocol. This means that every message contains an 11-bit CAN identifier field to define the connection ID. These CAN identifiers are also used to determine access priority.

The MAC ID is stored in the header of the message, which is split into four different message groups.

9 8 7 6 5 4 3 2 1 0 Identifier bits 0 Group 1 ID Source MAC ID Message Group 1 1 0 MAC ID Group 2 ID Message Group 2 1 1 Group 3 iD Source MAC ID Message Group 3 1 1 1 1 1 Group 4 ID Message Group 4 1 1 1 1 1 1 1 X X X X Invalid Can Identifiers

FC 100, 200 and 300 parameters can be accessed by the Standard DeviceNet service Explicit Message. Two classes of explicit messages are supported: Message group 2: Explicit messages take place via pre-defined master/slave connections. Message group 3: Explicit messages take place via dynamically established lower prioritized connections.

5.2. Object Classes

The following Standard DeviceNet objects can be accessed:

Class ID 01h Identity Object Class ID 10h Parameter Group Object Class ID 03h DeviceNet Object Class ID 28h Motor Data Object Class ID 04h Assembly Object Class ID 29h Control Supervisory Object Class ID 05h Connection Object Class ID 2Ah AC/DC Drive Object Class ID 0Fh Parameter Object Class ID 2Bh Acknowledge Handler Object

The following DeviceNet Vendor Specific Objects are also available: Class ID 100d to 119d Danfoss Classes. The above Object classes are described in the following sections:

Danfoss Object Classes

5.3. DeviceNet Object Classes

DeviceNet Object Classes

and

5.3.1. Class ID 01h Identity Object

This is a standard DeviceNet Object for identification of the device (frequency converter). The Heartbeat Interval can be set in this Object. The attributes supported for this class are listed below.

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5. How to Access the Parameters FC 100/ 200/ 300 DeviceNet

5.3.2. Class ID 0x01

Attribute

1 Get Vendor USINT 97 Danfoss Drives

2 Get Device

3 Get Product

4 Get Revision UNIT Software version

5 Get Status UNIT 6 Get Serial

7 Get Product

10 Get/Set Heartbeat

Access Name Data

type

UNIT 2 AD/DC Motor

Type

UNIT 100 See EDS File Sec-

Code

UDINT From frequency

Number

String FC 100, 200 or

Name

USINT 0-255 sec 0 Off

Interval

Min/ Max

5.3.3. Class ID 03h DeviceNet Object

This is a standard DeviceNet Object for configuration and status of the DeviceNet connection. The attributes supported for this class are listed below.

Units Default Description

Vendor Code

tion

on FC 100, 200 or 300

converter

300

5.3.4. Class ID 0x03

Attribute

1 Get/Set MAC ID USINT 0-63 63 Node address 2 Get/Set Baud Rate USINT 0-2 0 0=125

4 Get BOC Bus-Off Counter 5 Get Allocate

6 Get MAC ID

7 Get Baud rate

Access Name Data

information

Switch changed

switched from last power up

Min/

type

BOOL 0-1 0 The node ad-

BOOL 0-1 0 The baud rate

Max

Units Default Description

1=250 2=500

Only required if predefined Master/Slave is implemented

dress switch has changed since the last powerup/reset

switch has changed since the last powerup

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FC 100/ 200/ 300 DeviceNet 5. How to Access the Parameters

5.3.5. Class ID 04h Assembly Object

This is a standard DeviceNet Object for transfer of the I/O Instances (Process Data) described in the section “How to control the Frequency Converter”. Using this it is possible to send or read any of the defined Instances, either by polling or explicit messaging.

The attributes supported for this class are listed below.

5.3.6. Class ID 0x04

Attribute

3 Set Data ARRAY

Instance

20 Set 2 Words DeviceNet AC/DC Profile Instance 20/70 21 Set 2 Words DeviceNet AC/DC Profile Instance 21/71 70 Get 2 Words DeviceNet AC/DC Profile Instance 20/70 71 Get 2 Words DeviceNet AC/DC Profile Instance 21/71 100 Set 2 Words Danfoss specific, no PCD

101 Set 4 Words Danfoss specific, 2 PCD Words Instance 101/151 150 Get 2 Words Danfoss specific, no PCD

151 Get 4 Words Danfoss specific, 2 PCD Words Instance 101/151

Access Name Data

type

Access Size Description Parameters 10-10 selec-

Words

Min/ Max

5.3.7. Class ID 05h Connection Object

This is a standard DeviceNet Object for allocation and managing I/O and explicit messaging connections. For this class three Instances are supported: Explicit Messages, Polled I/O and Change of State connections.

Units Default Description

tion:

Instance 100/150

The attributes supported for the different instances are listed below.

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5. How to Access the Parameters FC 100/ 200/ 300 DeviceNet

5.3.8. Instance 1 Attributes: Explicit Message Instance

Attribute

1 Get State USINT State of the object 2 Get Instance

3 Get Transport

4 Get Produced

5 Get Consumed

6 Get Initial

7 Get Produced

8 Get Consumed

9 Get/Set Expected

12 Get Watchdog

13 Get Produced

14 Get Produced

15 Get Consumd

16 Get Consumed

17 Get Production

Access Name Data

type

USINT Indicates either I/O or Explicit Message

Type

USINT Defines behaviour of the connection Class Trigger

UINT CAN Identifier Field when the connection transConnection ID

UINT CAN Identifier Field value that denotes message Connection ID

USINT Defines the message group(s) across which proCommunication Characteristics

UINT Maximum number of bytes transmitted across Connectin size

UINT Maximum number of bytes received across this Connection size

UINT Defines value used in Transmission Trigger TimPackage Rate

USINT Defines how to handle Inactivity/Watchdog timeout action

UINT Number of Bytes in the produced connection Connection Path Length

Array of Connectino Path

Connection Path Length

Connection Path

Inhibit Time

USINT

UINT Number of bytes in the consumed connection

Array of

USINT

UINT Defines minimum time between new data pro-

Description

mits

to be received

ductions and consumptions associated with this connection occur

this connection

connection

er and Inactivity/Watchdog timer

timeout

path attribute

Specifies the Application object(s) whose data is to be produced by these Connection Objects

path attribute

Specifies the Application object(s) that are to receive the data consumed by this Connection object

ductin. This attribute is required for I/O Client connection.

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FC 100/ 200/ 300 DeviceNet 5. How to Access the Parameters

5.3.9. Instance 2 Attributes: Polled I/O