Vacon OPTE9 Installation Manual

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opte9

dual port ethernet option board

installation manual

vacon • 1

TABLE OF CONTENTS

Document: DPD01583D

Release date : 6/10/16

1. Safety...............................................................................................................4

1.1 Danger................................................................................................................................4

1.2 Warnings ............................................................................................................................5

1.3 Earthing and earth fault protection ...................................................................................6

2. OPTE9 Dual Port Ethernet - General................................................................7

2.1 New features ......................................................................................................................8

3. OPTE9 Ethernet board technical data ..............................................................9

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

3.2 Cables.................................................................................................................................9

4. Layout and connections..................................................................................10

4.1 Layout and connections ...................................................................................................10

4.2 LED Indications ................................................................................................................11

4.2.1 Profinet IO ........................................................................................................................12

4.3 Ethernet devices ..............................................................................................................13

4.3.1 Human to machine...........................................................................................................13

4.3.2 machine to machine.........................................................................................................14

4.4 Connections and wiring....................................................................................................15

4.4.1 Topology: Star ..................................................................................................................15

4.4.2 Topology: Daisy Chain ......................................................................................................15

4.4.3 Topology: Ring..................................................................................................................16

4.5 ACD (Address Conflict Detection) ....................................................................................20

5. Installation.....................................................................................................21

5.1 Installation in VACON® NX..............................................................................................22

5.2 Installation in VACON® 20...............................................................................................24

5.2.1 Frames MI1, MI2, MI3 ......................................................................................................24

5.2.2 Frames MI4, MI5 ..............................................................................................................27

5.3 Installation in VACON® 20 X and 20 CP ..........................................................................31

5.4 Installation in VACON® 100.............................................................................................33

5.5 installation in VACON® 100 X..........................................................................................36

5.6 PC Tools ...........................................................................................................................39

5.6.1 PC tool support ................................................................................................................39

5.6.2 Updating the OPTE9 option board firmware with VACON® Loader ...............................40

5.6.3 PC Tools for NX / NCIPConfig ..........................................................................................43

5.6.4 PC Tools for NX / NCDrive ...............................................................................................45

5.6.5 PC Tools for VACON® 100 and VACON® 20 / VACON® Live..........................................48

6. Commissioning ..............................................................................................51

6.1 Option board menu...........................................................................................................51

6.1.1 Option board parameters.................................................................................................51

6.1.2 Option board monitoring values ......................................................................................53

6.1.3 Communication protocol .................................................................................................53

6.1.4 IP Mode.............................................................................................................................54

6.1.5 IP Address ........................................................................................................................54

6.1.6 Communication timeout ..................................................................................................54

6.1.7 Profinet IO - Name of Station ..........................................................................................54

6.1.8 EIP Input and Output instance .........................................................................................55

6.1.9 EIP Product code offset ...................................................................................................55

6.1.10 Mode.................................................................................................................................55

6.1.11 MAC Address....................................................................................................................55

6.1.12 Modbus Unit Identifier .....................................................................................................55

6.2 Communication mode......................................................................................................56

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7. Modbus TCP / Modbus UDP ............................................................................57

7.1 Modbus UDP vs TCP.........................................................................................................58

7.2 Modbus communications.................................................................................................60

7.3 Data addresses in Modbus messages .............................................................................61

7.3.1 Modbus memory map ......................................................................................................61

7.3.2 Modbus data mapping......................................................................................................62

7.4 Modbus communication and connection timeout ...........................................................73

7.5 Quick setup.......................................................................................................................74

7.6 Modbus - example messages ..........................................................................................75

7.6.1 Example 1 - Write process data.......................................................................................75

7.6.2 Example 2 - Read process data .......................................................................................76

7.6.3 Example 3 - Exception response .....................................................................................77

8. PROFINET IO ..................................................................................................78

8.1 PROFIdrive 4.1 profile ......................................................................................................78

8.2 PROFIdrive 4.1 state machine..........................................................................................78

8.3 PROFINET IO process communication ............................................................................79

8.3.1 Telegram types ................................................................................................................79

8.3.2 Telegram building blocks ................................................................................................84

8.3.3 Quick setup.......................................................................................................................89

8.4 PROFIdrive IO parameters...............................................................................................89

8.4.1 Parameters of the PROFIdrive.........................................................................................89

8.4.2 Vendor-specific PROFIdrive parameters.........................................................................91

8.4.3 PROFIdrive signal numbers.............................................................................................92

8.4.4 User specific record data.................................................................................................95

8.4.5 Base Mode Parameter Access Model..............................................................................96

8.4.6 Parameter responses ....................................................................................................100

8.4.7 Drive parameter access using application ID................................................................104

8.4.8 Parameter channel examples .......................................................................................104

8.5 PROFINET IO communications and connection timeout...............................................108

9. EtherNet/IP..................................................................................................109

9.1 General information.......................................................................................................109

9.1.1 Overview .........................................................................................................................109

9.1.2 AC/DC Drive Profile........................................................................................................109

9.1.3 EDS file ...........................................................................................................................109

9.1.4 LED functionality ............................................................................................................110

9.1.5 Explicit Messaging .........................................................................................................111

9.1.6 EtherNet/IP communication and connection timeout...................................................116

9.2 Common Industrial Objects implemented by OPTE9 ....................................................118

9.2.1 CIP Objects .....................................................................................................................118

9.2.2 Vendor Specific Objects .................................................................................................143

9.3 Assembly instances implemented by OPTE9 ................................................................151

9.3.1 CIP I/O Assembly instances for AC/DC Drive ................................................................151

9.3.2 Vendor-specific I/O Assembly Instances.......................................................................155

9.3.3 Mapping of Standard Output Assemblies onto VACON® data......................................165

9.3.4 Mapping of VACON® data onto Standard Input Assemblies ........................................166

9.4 EtherNet/IP connection example ..................................................................................168

10. Fault tracing.................................................................................................169

10.1 Typical fault conditions ..................................................................................................169

10.2 Other fault conditions ....................................................................................................170

11. APPENDIX 1 - PROCESS DATA......................................................................171

12. APPENDIX 2 - CONTROL AND STATUS WORD............................................... 172

12.1 Control Word bit description ...................................................................................172

12.2 Status Word Descriptions ........................................................................................174

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12.3 Control word bit support in drives...........................................................................175

12.4 Status word bit support in drives.............................................................................176

13. APPENDIX 3 - EXAMPLE WITH SIEMENS PLC .............................................. 177

14. APPENDIX 4 - EXAMPLE WITH SIEMENS SIMATIC PDM ...............................185

15. APPENDIX 5 - FIELDBUS PARAMETRISATION..............................................189

15.1 Fieldbus control and basic reference selection ............................................................189

15.2 Torque control parametrization ....................................................................................190

16. APPENDIX 6 - LWIP LICENCE .......................................................................191

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vacon • 4 Safety

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1. SAFETY

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

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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Safety vacon • 5

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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 break 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.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 6 Safety

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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 mm2 Cu or 16

mm2 Al, through its total run.

b) Where the protective conductor has a cross-sectional area of less than 10 mm2 Cu or 16

mm2 Al, a second protective conductor of at least the same cross-sectional area must be provided up to a point where the protective conductor has a cross-sectional area not less than 10 mm2 Cu or 16 mm2 Al.

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

conductor.

The cross-sectional area of every protective 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

if mechanical protection is provided or

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

http://drives.danfoss.com/knowledge-center/technical-documentation/.

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 http://drives.danfoss.com/knowledge-center/technical-documentation/ .

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

OPTE9 Dual Port Ethernet - General vacon • 7

2. OPTE9 DUAL PORT ETHERNET - GENERAL

The VACON® AC drives can be connected to the Ethernet networks using the VACON® OPTE9 Dual Port Ethernet fieldbus option board (OPTE9). The drives can be daisy chained by utilizing two Ethernet ports of OPTE9. The option board supports PROFINET IO, Ethernet/IP, Modbus TCP and Modbus UDP fieldbus protocols. “EtherNet/IP topologies are supported. See details in Chapter 4.4 "Connections and wiring".

•Star

•Daisy chain

•Ring

Every appliance connected to an Ethernet network has two identifiers: a MAC address and an IP address. The MAC address (Address format: xx:xx:xx:xx:xx:xx) is unique for each appliance and cannot be changed.The Ethernet board’s MAC address can be found on the sticker attached to the board.

In a local network, IP addresses can be defined by the user as long as all the units connected to the network are given the same network portion of the address. Overlapping IP addresses cause conflicts between appliances. For more information about setting IP addresses, see Chapter 6.

is a trademark of ODVA, Inc. The following network

Table 2. List of abbreviations used in this document

Abbreviation Explanation

ACD Address Conflict Detection

CRC

DHCP

FB Fieldbus GW Gateway HI Upper 8/16 bits in a 16/32 bit value. LO Lower 8/16 bits in a 16/32 bit value. LWIP Light weight TCP/IP protocol stack for embedded systems. Modbus TCP /

Modbus UDP PDI Process data in (Profinet IO) PDO Process data out (Profinet IO)

PHY(X)

PLC Programmable Logic Controller

Cyclic Redundancy Check is an error-detecting code commonly used in fieldbusses to detect accidental changes to raw data.

Dynamic Host Configuration Protocol is used for dynamical resolving of network configuration parameters like an IP address.

Simple and vendor-neutral communication protocol intended for monitoring and controlling of field devices.

Ethernet physical interface X, where X represents the number of interface

PNU Parameter number (Profinet IO)

Profinet IO

RPM Revolutions per minute RSTP Rapid Spanning Tree Protocol

TCP

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Profinet is a standard for industrial automation in Ethernet network. Profinet IO describes the exchange of data between controllers and field devices.

Transmission Control Layer provides reliable, ordered and error-checked delivery of data streams between computers that are connected to a local area network.

vacon • 8 OPTE9 Dual Port Ethernet - General

Table 3. List of data types used in this document

Type name Bit size Explanation

INT8 8 Signed short integer UINT8 8 Unsigned short integer INT16 16 Signed integer UINT16 16 Unsigned integer INT32 32 Signed long integer UINT32 32 Unsigned long integer FLOAT32 32 32-bit floating point STRING3 24 Three byte string STRING5 40 Five byte string

2.1 New features

The following table shows the new features that are added in the OPTE9 Dual Port Ethernet's firmware versions.

Table 4. New features

New feature Firmware version

EtherNet/IP protocol V004 Ethernet ring support (RSTP) V004 Address Conflict Detection (ACD) V004 Media Redundancy Protocol (MRP) V006 Simple Network Management Protocol (SNMP) V006 LLDP-MIB, LLDP-EXT-DOT3-MIB, LLDP-EXT-PNO-MIB V006 EDD files SIMATIC PDM V006

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

OPTE9 Ethernet board technical data vacon • 9

3. OPTE9 ETHERNET BOARD TECHNICAL DATA

3.1 General

Table 5. Technical da ta

General Board name OPTE9

Ethernet connections

Communications

Protocol Modbus TCP, Modbus UDP, Profinet I/O, EtherNet/IP

Environment

Interface Two RJ-45 connectors Transfer cable Shielded Twisted Pair (STP) CAT5e Speed 10 / 100 Mb Duplex half / full Default IP-address By default the board is in DHCP mode

Ambient operating temperature

Storing temperature -40°C…70°C Humidity <95%, no condensation allowed

-10°C…50°C

Altitude Max. 1000 m Vibration 0.5 G at 9...200 Hz

Safety Fulfills EN50178 standard

3.2 Cables

For connecting the OPTE9 devices, use only Ethernet cables that meet at least the requirements of category 5 (CAT5) according to EN 50173 or ISO/IEC 11801.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 10 Layout and connections

4. LAYOUT AND CONNECTIONS

The VACON® OPTE9 Dual Port Ethernet option board is connected to the Ethernet bus using the standard RJ45 connectors (1 and 2). The communication between the control board and the AC drive takes place through a standard VACON® Interface Board Connector.

4.1 Layout and connections

RN ER BS

B C

11592_00

A Ethernet connector C Interface Board connector B Ethernet connector

Figure 1. The OPTE9 option board

Table 6. OPTE9 Ethernet ports

Ethernet port Description

1 Ethernet port 1 (PHY1) 2 Ethernet port 2 (PHY2)

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Layout and connections vacon • 11

RN ER BS

11593_00

4.2 LED Indications

ALED indications

Figure 2. The OPTE9 option board LED indicators

The table below lists possible LED combinations and their meanings. When the EtherNet/IP is active, the option board follows CIP standard for LED indications. Therefore, the indications described in Table 7 do not apply. See Chapter 9.1.4 "LED functionality".

Table 7. List of possible LED combinations

LED combinations Description

No power. All LEDs are OFF.

Option board firmware is corrupted or its software is missing. ER is blinking (0.25s ON / 0.25s OFF)

Option board failure. Option board is not operational. BS and possibly ER are blinking (2.5s ON / 2.5s OFF)

Option board is operational.

Protocol is ready for communications. RN is blinking (2.5s ON /

2.5s OFF).

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vacon • 12 Layout and connections

LED combinations Description

Protocol is communicating.

Protocol communication fault. ER is blinking to indicate a fault. RN is blinking to indicate that protocol is again ready for communications.

Protocol is communicating with an active fault. ER is blinking.

Duplicate IP address detected. RN is blinking.

Profinet IO only! In node flashing test all three LEDs are blinking.

4.2.1 Profinet IO

When using the "Node Flashing Test" function, you can determine to which device you are directly connected. For example, in Siemens S7, by using the menu command "PLC > Diagnostics/Setting > Node Flashing Test..." you can identify the station directly connected to the PG/PC if all three LEDs are flashing green.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Layout and connections vacon • 13

Power

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Vacon PC tools interface

- Parameters

- Slow rate actual Values:

- Trends

- Fault history

Ethernet switch

4.3 Ethernet devices

The common-use cases of Ethernet devices are 'human to machine' and 'machine to machine'. The basic features of these two cases are presented in the pictures below.

4.3.1 Human to machine

Requirements:

- Graphical User Interface

- Relatively slow communication in use

NOTE! NCDrive can be used in NXS and NXP drives via Ethernet. VACON® Live can be used with VACON® 100.

NOTE! The Ethernet connection to VACON® 20, VACON® 20 X and VACON® 20 CP via the OPTE9 Dual Port Ethernet is not yet supported.

Figure 3. Ethernet , Human to Machine

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 14 Layout and connections

Power

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MASTER

Real-Time Control

- Start/Stop, Direction,...

- Reference

- Feedback

Ethernet switch

4.3.2 machine to machine

Requirements:

- Industrial environment

- Fast communication in use

Figure 4. Ethernet, Machine to Machine

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Layout and connections vacon • 15

4.4 Connections and wiring

The OPTE9 has two Ethernet ports and an embedded switch. The option board is seen in network as a single device as it has only one MAC and IP address. This configuration enables three different topologies:

• Star (see Chapter 4.4.1)

• Daisy chain (see Chapter 4.4.2)

• Ring (see Chapter 4.4.3)

Each of these topologies has their own advantages and disadvantages. When designing the network you must carefully consider the risks and benefits against the cost of the selected topology.

The OPTE9 supports 10/100Mb speeds in both Full- and Half-duplex modes. However, real-time process control requires the Full-duplex mode and the 100-megabit speed. The boards must be connected to the Ethernet network with a Shielded Twisted Pair (STP) CAT-5e cable (or better).

Use only industrial standard components in the network and avoid complex structures to minimize the length of response time and the amount of incorrect dispatches. Because of the internal switch in OPTE9, it does not matter in what port of the option board the Ethernet cables are connected to.

4.4.1 Topology: Star

In star network, all the devices are connected to the same switch(es). This topology reduces the damage caused by single cable failure. It would affect only to a single drive instead of them all. In this setup, a drive will receive only broadcast/multicast messages and messages directed to this drive.

Only one port from the OPTE9 can be connected to a switch in the star topology. Connecting both ports to switch(es) will cause an involuntary Ethernet ring which, in this setup, will break the network.

1PLC

2345678

Power

DRIVE

OPTE9-1

DRIVE

OPTE9-2

DRIVE

OPTE9-3

DRIVE

...

OPTE9-8

11660_u

Figure 5. Star Topology

4.4.2 Topology: Daisy Chain

The daisy-chaining allows you to reduce the costs for cabling and networking equipment such as switches. The maximum number of daisy-chained boards is 32. This restriction comes from the average latency (20 to 40 microseconds) per Ethernet switch. The drawback in the daisy chain topology is that it increases traffic in all except the last drive. The first drive in the daisy chain sees

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vacon • 16 Layout and connections

PLC

DRIVE

OPTE9-1

DRIVE

...

OPTE9-2

DRIVE

OPTE9-3

DRIVE

OPTE9-8

11597A_uk

all the traffic in the chain. Also damage to a single cable will drop all drives behind it from the network.

Both in daisy chain topology and in star topology, the last drive's port must not be connected back to the same line. This would cause an involuntary Ethernet ring which will break the network.

Figure 6. Daisy chain topology

4.4.3 Topology: Ring

In some cases it is possible to use OPTE9 in a ring topology. These cases are explained in Chapter 4.4.3.1 and Chapter 4.4.3.2. The ring topology gains the same reduced cabling cost as the daisy chain topology, but decreases the damage caused by a single cable failure.

4.4.3.1

Rapid Spanning Tree Protocol (RSTP)

To use the RSTP protocol, add a managed Ethernet switch that supports the RSTP protocol. If a single link is broken, the RSTP switch will notice this and start sending data from the PLC to both directions effectively creating two daisy chains. When the link has been repaired, the switch will notice this too and reverts back to normal operating mode. Compared to the star topology, the ring topology adds more network traffic to almost all drives. Damage to two cables will always create an isolated subnetwork.

In the RSTP configuration, one of the ports in the switch is "Designated Port" (DP) and the other "Alternative Port" (AP). When the network is functioning properly, the traffic flows through the designated port. Only the BPDU (Bridge Protocol Data Unit) packets are transferred through the AP port. The BPDU packets are used by the switch to determine if the network is working properly. If it detects that the BPDU packets do not go through the ring, it will change the alternative port to a second designated port. Now the switch will send packets to both directions in the broken ring (see Figure 8).

Each designated port has a list of MAC addresses which are behind that port. Only frames directed to the device in the MAC list are forwarded into that designated port. The broadcast and multicast frames are sent to all designated ports.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Layout and connections vacon • 17

PLC

Managed switch with RSTP support

DRIVE

OPTE9-1

DRIVE

...

OPTE9-2

DRIVE

OPTE9-3

DRIVE

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OPTE9-8

Power

DP AP

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PLC

Managed switch with RSTP support

DRIVE

OPTE9-1

DRIVE

...

OPTE9-2

DRIVE

OPTE9-3

DRIVE

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OPTE9-8

Power

DP DP

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Figure 7. Ring topology

In the example below, the Ethernet communication will be interrupted to device number three and other devices after that when the link is broken. The Fieldbus communication maybe faulted when the link is broken, but when the switch enables the second designated port, the connections can be reopened. In the RSTP protocol, it generally takes few seconds before the second designated port will be activated. This depends on the BPDU exchange cycle, which is 2 seconds by default.

Figure 8. Ring topology: Error in network

NOTE! The OPTE9 switch itself does not implement the RSTP protocol, so the network will always need a third party switch to support it.

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vacon • 18 Layout and connections

Configuration example

The screenshots below (Figure 9, Figure 10) show one example of configuring the RSTP in the switch (in this case an EtherWAN switch). Port two is the designated port and port one is the alternative port. The PLC was connected to port nine (the laptop taking the screenshots was in port 16). When configuring your switch, refer to the switch manufacturer's manual.

Figure 9. EtherWAN Switch RSTP Configuration example

Figure 10. EtherWAN Switch RSTP Configuration example - Port Settings

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Layout and connections vacon • 19

4.4.3.2 Media Redundancy Protocol (MRP)

The MRP is designed to react deterministically on a cable failure. This makes it suitable to be used in process automation. One of the nodes in the network has the role of Media Redundancy Master (MRM), which observes and controls the ring topology in order to react to network faults. Usually this device is PLC or network switch.

The other nodes in the network are called Media Redundancy Clients (MRC), and they react on received configuration frames from the MRM and can detect link changes on its ring ports. OPTE9 supports only MRC functionality.

The MRM and MRC have two ring ports, which take one of the following states:

•DISABLED

- All frames are dropped

•BLOCKING

- All frames are dropped, except the following frames: a) MRP frames (e.g. MRP_test and MRP_TopologyChange) b) Frames specified to pass ports in "Discarding" state, e.g. LLDP frames

•FORWARDING

- All frames are forwarded according to normal behaviour

The MRM sends MRP_Test frames in a configured time period to monitor the state of the ring topology. If the MRM receives its own MRP_Test frames (network is closed), one of the ring ports is set to FORWARDING state and the other to BLOCKED state (see Figure 11). If the MRP_Test frames are not received by the MRM (network is open), it sets both of its ring ports to FORWARDING state (see Figure 12).

The following figure shows an example of a MRP network, where the PLC acts as a MRM.

PLC

MRM

Forwarding Blocked

DRIVE

MRC

OPTE9-1

DRIVE

MRC

OPTE9-2 OPTE9-3

DRIVE

MRC

...

DRIVE

MRC

OPTE9-8

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Figure 11. MRP ring: Closed network

In the example below, the Ethernet communication will be interrupted to device number three and other devices after that when the link is broken. MRP can be configured to send test frames with different time periods, depending on the maximum allowed recovery time for the network. When using PROFINET IO, the recovery time is defined as 200 ms. Therefore, if the recovery time if less than the watchdog time, the fieldbus connection is not interrupted by the cable failure.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 20 Layout and connections

PLC

MRM

Forwarding Forwarding

DRIVE

MRC

OPTE9-1

DRIVE

MRC

OPTE9-2 OPTE9-3

DRIVE

MRC

...

DRIVE

MRC

OPTE9-8

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Figure 12. MRP ring: Error in network

NOTE: The OPTE9 can use MRP (as MRC) only when PROFINET IO is the selected protocol. When using MRP in a PROFINET IO network, it is suggested to set the watchdog time of each device in the ring to 200ms, as this is the time that a network of 50 nodes is guaranteed to recover. MRP is available in OPTE9 version V006 or later.

4.5 ACD (Address Conflict Detection)

The OPTE9 option board implements ACD algorithm (IETF RFC 5227). The implementation includes requirements from the EtherNet/IP protocol.

The ACD algorithm tries to actively detect if the IP address configured to this device is been used by another device in the same network. To accomplish this, ACD sends four ARP request packets when the device's Ethernet interface goes up or when its IP address changes. ACD prevents the use of the Ethernet interface until the ARP probing finishes. This delays the startup of fieldbus protocols about one second. During the delay or after it, the ACD passively checks incoming ARP messages for use of the device's IP address. If another device with the same IP address is detected, the ACD will try to defend its IP address with a single ARP message. If the other device with the same IP address also supports ACD, it should stop using the address. If not, the ACD will close the Ethernet connection and indicate the situation with LEDs. This is done according the "DefendWithPolicyB". Other policies are not supported. If the fieldbus protocol has been active, a fieldbus fault may be activated (depends on the fieldbus and drive application configuration).

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 21

5. INSTALLATION

The VACON® OPTE9 Dual Port Ethernet option board can be used with the following VACON® AC drives.

Table 8. Supported drives and slots

Drive Slots

VACON® NXP D, E NXP00002V188 V001

VACON® NXS D, E NXS00002V179 V001

VACON® 100 and 100 X D, E FW0072V018 V003

VACON® 100 FLOW D, E FW0159V012 V003

VACON® 20 - FW0107V011 V002

VACON® 20 X and CP - FW0117V007 V002

VACON® 100 Support

The VACON® 100 drives are supported from the OPTE9 firmware version V003. The process data in VACON® 100 is 32 bit. The 32-bit process data support is planned for later firmware release. Only 16-bit process data is supported.

EtherNet/IP support

From drive SW

version on

From OPTE9 SW

version on

EtherNet/IP protocol was added to OPTE9 firmware version V004. The table below shows required minimum drive firmware version .

Table 9. Required minimum drive firmware versions

Drive From drive SW version on

VACON® NXP NXP00002V191 VACON® NXS NXS00002V181

VACON® 100 and 100 X FW0072V018

VACON® 100 FLOW FW0159V012

VACON® 20 FW0107V012

VACON® 20 X and CP FW0117V009

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 22 Installation

13006.emf

5.1 Installation in VACON® NX

Make sure that the AC drive is switched off before an option or fieldbus board is changed or added!

VACON® NX AC drive.

Remove the cable cover.

Open the cover of the control unit.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 23

Install the OPTE9 Option Board in slot D or E on the control board of the AC drive. Make sure that the grounding plate fits tightly in the clamp.

Make a sufficiently wide opening for your cable by cutting the grid as wide as necessary.

Close the cover of the control unit and the cable cover.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 24 Installation

11649_00

11556A_00

5.2 Installation in VACON® 20

5.2.1 Frames MI1, MI2, MI3

Remove the cable connector lid from the AC drive.

11555A_00

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

Attach an option board mounting frame to the AC drive.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 25

Connect the flat cable from the option board mounting frame to V20.

11557A_00

If a cable strain relief is required, attach the parts as shown in the figure.

11558A_00

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 26 Installation

11559A_00

11560A_00

Install the option board to the option board holder. Make sure that the option board is securely fastened.

Cut free a sufficiently wide opening for the option board connector.

11650_00

Attach the option board cover to V20. Attach the strain relief cable clamp with screws if needed.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 27

13006.emf

11562_00

11563_00

5.2.2 Frames MI4, MI5

Make sure power is disconnected before opening the V20 cover.

1a: For MI4: Open the cover.

11561_00

1b: For MI5: Open the cover and release the fan connector.

Attach the option board support.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 28 Installation

11564_00

11565_00

Connect the flex cable to option board connector PCB.

Connect the option board to connector PCB.

Attach the option board with connector PCB to V20 and connect the flex cable.

11566_00

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 29

MI 04

MI 05

11567_00

11568_00

Attach a suitable grounding plate to V20. The grounding plate is marked with supported enclosure size.

Assemble a clamp on top of the grounding plate on both sides of the option board.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 30 Installation

11569_00

11570_00

8a: For MI4: Close the cover.

8b: For MI5: Remount the fan connector and close the cover.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 31

13006.emf

11643_00

13006.emf

5.3 Installation in VACON® 20 X and 20 CP

Do not add or replace option boards or fieldbus boards on an AC drive with the power switched on. This may damage the boards.

Open the cover of the drive.

MU3 example

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

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 32 Installation

7089_00

7090_00

7091_007091_00

Remove the option slot cover.

Install the option board into the slot as shown in the figure.

Mount the option slot cover. Remove the plastic opening for the option board terminals.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 33

M4x55

9174.emf

DANGER

5.4 Installation in VACON® 100

Open the cover of the AC drive.

The relay outputs and other I/O-terminals may have a dangerous control voltage present even when VACON® 100 is disconnected from mains.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 34 Installation

3023.emf

3024.emf

Open the inner cover to reveal the option board slots (C,D,E).

Install the fieldbus board into slot D or E. NOTE: Incompatible boards cannot be installed on VACON® 100. Compatible

boards have a slot coding

that enable the placing of the board.

Then connect the cable to its appropriate OPTEC EtherCAT option board RJ-45 connector.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 35

9202.emf

Fieldbus cables

Unless already done for the other control cables, cut free the opening on the AC drive cover for the fieldbus cable (protection class IP21). NOTE: Cut the opening on the same side you have installed the board in!

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.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 36 Installation

11638_00

5.5 installation in VACON® 100 X

Open the cover of the AC drive.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 37

11639_00

To get access to the option board slots, remove the screws and open the cover of the control unit.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 38 Installation

11641_00

Install the option board into the correct slot, D or E.

11640_00

Close the option board cover.

Remove the cable entry plate. If you installed the option board in the slot D, use the cable entry plate on the right side. If you installed the option board in the slot E, use the cable entry plate on the left side.

NOTE! The cable entry plate at the bottom of the drive is used only for mains and motor cables.

Open the necessary holes in the cable entry plate. Do not open the other holes. See the VACON® 100X Installation Manual for the dimensions of the holes.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 39

11642_00

Attach a cable gland on the hole in the cable entry plate. Pull the Ethernet cable through the hole.

NOTE! The Ethernet cable must go through the correct cable entry plate to avoid going near the motor cable.

8 9

5.6 PC Tools

Before connecting the OPTE9 option board to the network, its IP addresses must be set according to the network. By default, the option board uses a DHCP server to get an IP address. If your network does not have a DHCP server, you need to set an IP address manually. This can be accomplished with the PC tools described in this chapter or with the drive's keypad (see Chapter 6).

For more information about IP addresses or a DHCP server, contact your network administrator.

5.6.1 PC tool support

This table describes what PC tools are supported in each drive type. The connection type “serial” means a direct connection to the drive. The connection type “Ethernet” means a connection via the OPTE9 Ethernet port.

Put the cable entry plate back.

Close the cover of the AC drive.

Table 10. The supported PC tools with different drives

V100 NX V20

Too l Serial Ethernet Serial Ethernet Serial Ethernet

VACON® Loaderxxx

VACON® Live x x x

NCIPConfigxxx

NCDrive x

NCLoad Not supported with OPTE9 Dual Port Ethernet

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 40 Installation

5.6.2 Updating the OPTE9 option board firmware with VACON® Loader

The VACON® Loader can be downloaded from http://drives.danfoss.com website. It has been bundled with the VACON® Live software package.

To update the option board firmware, follow the steps below.

NOTE! With VACON® 20, the baud rate 9600 must be used. With VACON® 20 X and VACON® 20 CP, the following baud rates are supported: 9600, 19200, 38400 or 57600.

Step 1. Connect your PC to the controller by using the USB/RS485 cable.

Then select the firmware file which you want to load to the option board and double click it. This will start the VACON® Loader software. You can also start the program from the Windows Start menu. In this case, select the firmware file using the "Browse"-button (see Figure 13).

Figure 13. VACON® Loader: File selection

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 41

Step 2. Press 'next' and wait for the loader to find the network drives.

Then select a drive from the list and press 'Connect to Selected'. See Figure 14.

Figure 14. VACON® Loader: Connecting to drive

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 42 Installation

Step 3. Select the modules to be updated, press 'next' and wait until the operation is finished. See Figure 15 and Figure 16.

Figure 15. Option board slot selection

Figure 16. VACON® Loader: Firmware loading

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 43

Figure 17. VACON® Loader: Loading is finished

5.6.3 PC Tools for NX / NCIPConfig

The VACON® OPTE9 Dual Port Ethernet option board can be configured with the NCIPConfig tool.

Before the option board can be used, a valid IP address must be set. By default, the OPTE9 uses a DHCP server. If your network does not have a DHCP server, you will need to set an IP address manually and change the "IP Mode" to "static".

For more information about IP addresses or a DHCP server, contact your network administrator.

To install the NCIPConfig tool, start the installation program from the CD or download it from http:/ /drives.danfoss.com website. After starting the installation program, follow the on-screen instructions.

Once the program is installed successfully, you can launch it by selecting it in the Windows Start menu. Follow these instructions to set the IP addresses. Select Help --> Manual if you want more information about the software features.

Step 1. Connect your PC to the Ethernet network with an Ethernet cable.

You can also connect the PC directly to the device using a crossover cable. This option may be needed if your PC does not support the Automatic crossover function.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 44 Installation

Step 2. Perform network nodes scanning.

Select Configuration --> Scan (Figure 18) and wait until the devices connected to the bus in the tree structure are displayed on the left side of the screen.

Figure 18. Network nodes scanning

NOTE! The NCIPConfig uses broadcast messages for scanning devices. Some network switches might block the broadcast messages. In this case, each network node must be scanned separately.

Step 3. Set the option board settings.

To change the board name, select the cell in the column 'Node' and enter the name of the node. To change the node IP settings, select the cell in the right column and enter the value according to the network IP settings. The program will report conflicts with a red color in table cells. To change the IP Mode, click the cell and select the desired mode from the dropdown list (Figure 19).

To commit the changes, mark the checkbox and select Configuration->Configure- from the menu.

Figure 19. Change the option board settings

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 45

Step 4. Change the protocol settings.

To change the currently active protocol, select the setting from the tree structure. A dialog box opens. Select the desired protocol from the dropdown list (Figure 20). After clicking "ok" the setting will be activated.

The rest of the settings can be changed similarly, but values are edited in the tree (Figure 21). See Chapter 6 for more information about the settings.

Figure 20. Change the currently active protocol value

Figure 21. Change the communication timeout value

5.6.4 PC Tools for NX / NCDrive

You can configure the drive parameters with the NCDrive. Some of the OPTE9 parameters can be configured with the NCDrive. However, it is recommended to use the NCIPConfig tool for the OPTE9 Dual Port Ethernet configuration in the NX drives.

You need to have a PC with an Ethernet connection and the NCDrive tool installed. To install the NCDrive, start the installation program from the CD or download it from http://drives.danfoss.com website. After starting the installation program, follow the on-screen instructions.

Once the program is installed successfully, you can launch it by selecting it in the Windows Start menu. Select Help --> Contents if you want more information about the software features.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 46 Installation

Before using the NCDrive, you need to configure the option board IP settings with NCIPConfig. If the option board does not have valid IP settings you will not be able to connect with the NCDrive.

Step 1. Connect your PC to the Ethernet network with an Ethernet cable.

You can also connect the PC directly to the device using a crossover cable. This option may be needed if your PC does not support Automatic crossover function.

Step 2. In order to connect to the drive, you need to select the active drive first. Press the "Drive Select" button (see Figure 22) to scan the network drives.

Figure 22. NC Drive: “Drive Select”

Step 3. In the "Select the active drive" dialog (see Figure 23), select the drive you want to connect to. Then press the "Set Active Drive" button. Now you can close the dialog.

The IP information presented in the dialog comes from the option board, other information comes from the drive.

Figure 23. NC Drive: Active drive selection

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 47

Step 4. Press the "ON-LINE" button. The NCDrive will connect to the drive and start loading parameter information. This will take a few minutes. See Figure 24 and Figure 25.

Figure 24. NC Drive: Going online

Figure 25. Loading information from the drive

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 48 Installation

Step 5. To change the option board settings, navigate to the "M7Expander boards" menu and select the slot that the OPTE9 is connected to. You can change the IP address, network mask and default gate address in the menu item "G 7.x". After you have changed the IP settings, you need to change "IP Mode" to "Fixed IP" in order to activate the settings.

For more information about these settings, see Chapter 6.1.

Figure 26. NC Drive: OPTE9 parameters

NOTE! The NCDrive software can be used with the Ethernet board in NXS, NXP and NXL drives.

NOTE! The NCDrive software is recommended to be used in LAN (Local Area Network) only.

NOTE! This feature does not work with VACON® 100 drives.

5.6.5 PC Tools for VACON

VACON® Live can be used to configure the IP settings of the OPTE9 option board. VACON® Live can be downloaded from http://drives.danfoss.com website.

To configure the IP settings of the OPTE9 option board, follow the steps below:

NOTE! VACON connection over the OPTE9 Ethernet port.

Step 1. Connect your PC to the Ethernet network with an Ethernet cable. You can also connect the PC directly to the drive using a crossover cable. This option may be needed if your PC does not support Automatic crossover function.

® 20, VACON® 20 X and VACON® 20 Cold Plate do not support VACON® Live

® 100 and VACON® 20 / VACON® Live

You can also connect to the VACON same for both connections.

NOTE! You cannot use VACON address. If you change the IP settings of the option board when connected through it, VACON® Live connection will be lost.

® 100 drive by its serial port. In any case the steps below are the

® Live via the option board if the option board does not have a valid IP

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Installation vacon • 49

Step 2. Start VACON® Live. When the program starts and it asks "Select startup mode", select "Online". The program will scan your network for compatible drives. When found, they will be added to the list. Select the drive that the OPTE9 option board is connected to and press "Connect to select".

Figure 27. VACON® Live: The ”Startup mode” dialogue box

Figure 28. VACON® Live: The “Select devices” dialogue box

NOTE! The first column is the drive's name, but the information about IP and MAC addresses come from the option board (if the device on the list is an option board).

NOTE! Some switches block broadcast messages. In this case, each network node must be scanned separately.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 50 Installation

Step 3. To change the IP settings, navigate to the "5. I/O and Hardware" menu and select the slot that the OPTE9 is connected to. You can change the IP address, network mask and default gate address in the menu item "5.x.3 Parameters". After you have changed the IP settings, you need to change "IP Mode" to "Fixed IP" in order to activate the settings. For more information about these settings, see Chapter 6.1.

Figure 29. VACON® Live: OPTE9 IP Address Mode

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Commissioning vacon • 51

6. COMMISSIONING

The VACON® OPTE9 Dual Port Ethernet option board is commissioned with the control keypad by giving values to appropriate parameters in the option board menu (or via PC tools, see Chapter 5.6 "PC Tools").

Keypad commissioning procedures and location of parameters differ a little with different drive types:

• In the NXP/NXS option board, parameters are located under the menu M5 (Expander board

menu).

• In the VACON® 100 option board, parameters are located under the menu M7 (I/O and Hard-

ware).

6.1 Option board menu

The control keypad makes it possible for the user to see which expander boards are connected to the control board and to reach and edit the parameters associated with the expander board.

6.1.1 Option board parameters

The OPTE9 board parameters are listed in the table below.

Table 11. Parameters menu structure

# Name Default Range Description

2IP Mode* DHCP

3 IP Part 1* 192 1…223 IP Address Part 1 4 IP Part 2* 168 0…255 IP Address Part 2 5 IP Part 3* 0 0…255 IP Address Part 3 6 IP Part 4* 10 0…255 IP Address Part 4 7 Subnet mask P1 255 0…255 Subnet Mask Part 1 8 Subnet mask P2 255 0…255 Subnet Mask Part 2 9 Subnet mask P3 255 0…255 Subnet Mask Part 3

10 Subnet mask P4 255 0…255 Subnet Mask Part 4

Comm. Protocol*

Modbus

Modbus (1),

Profinet IO (2),

EtherNet/IP (3)

Fixed IP (1),

DHCP (2)

Active protocol

IP mode. When in DHCP mode, the IP address cannot be changed manually.

11 Default GW P1 192 0…255 Default Gateway Part 1 12 Default GW P2 168 0…255 Default Gateway Part 2 13 Default GW P3 0 0…255 Default Gateway Part 3 14 Default GW P4 1 0…255 Default Gateway Part 4

15 Comm. Timeout 10 s 0…65535 s

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

PNIO Name Of Station

"" 1...240 char

Communication timeout in seconds

For Profinet IO only. Only visible in VACON® 100 drives.

vacon • 52 Commissioning

# Name Default Range Description

"20" (1), "21" (2),

EIP Output Instance*

EIP Input Instance*

"23" (3),

"25" (4), "101" (5), "111" (6), "128" (7),

"131" (8)

"151" (9),

"161" (10)

"70" (1),

"71" (2),

"73" (3),

"75" (4), "107" (5), "117" (6), "127" (7),

"137" (8)

"157" (9),

"167" (10)

EtherNet/IP output assembly instance. Shows the active output instance. The instance is selected during the IO connection open request.

EtherNet/IP input assembly instance. Shows the active input instance. The instance is selected during the IO connection open request.

20 Mode* Normal

* These parameters are locked when either PROFINET IO connection, EtherNet/IP implicit connection or a

Modbus connection is established to write process data (i.e. when fieldbus can be used to control the process).

EIP Product Code Offset

Modbus Unit Identifier*

00…99

Normal (1),

NX Mode (2),

V100 Mode (3)

255 1…247, 255

Only in VACON® 100. After this setting is changed, drive must be restarted.

Modbus Unit Identifier. Used only with Modbus UDP.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Commissioning vacon • 53

6.1.2 Option board monitoring values

The monitor menu shows the currently active IP settings. For example, these values will show '0' when a DHCP server is trying to get an IP address. After the address is received, these values are updated.

Table 12. Monitor menu structure

# Name Range Description

1IP Part 1

2 IP Part 2 0…255 Current IP Address Part 2 3 IP Part 3 0…255 Current IP Address Part 3 4 IP Part 2 0…255 Current IP Address Part 4 5 Subnet mask P1 0…255 Current Subnet Mask Part 1 6 Subnet mask P2 0…255 Current Subnet Mask Part 2 7 Subnet mask P3 0…255 Current Subnet Mask Part 3 8 Subnet mask P4 0…255 Current Subnet Mask Part 4

9 Default GW P1 0…223 Current Default Gateway Part 1 10 Default GW P2 0…255 Current Default Gateway Part 2 11 Default GW P1 0…255 Current Default Gateway Part 3 12 Default GW P4 0…255 Current Default Gateway Part 4

13 Fieldbus protocol status

14 Communication status 0.0…64.999

1…223

Initializing (1),

Stopped (2),

Operational (3),

Faulted (4)

Current IP Address Part 1

0-64 Number of messages with errors 0-999 Number of messages without communication errors

15 Drive control word - Control word in drive format (hex) 16 Drive status word - Status word in drive format (hex) 17 Protocol control word - Control word in protocol format (hex) 18 Protocol status word - Status word in protocol format (hex)

19 EIP Product Code -

20 MAC Address -

6.1.3 Communication protocol

The OPTE9 option board comes with several fieldbus protocols. The user can select the one used in their network from the list. Only one protocol can be active at a time.

Currently used EtherNet/IP Product Code

Used device MAC address. Available in NXP, NXS and VACON® 100 drives.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

vacon • 54 Commissioning

6.1.4 IP Mode

The IP mode determines how the option board IP settings are set. If a DHCP server is selected, then the option board will try to retrieve its IP settings from the DHCP server connected to the local network. If the option board is unable to retrieve its IP settings, it will set a link-local address as the current IP address after about one minute (for example 169.x.x.x).

If "Fixed IP" is set as IP mode, the settings IP Part 1-4, Subnet Part 1-4 and Default gateway 1-4 are used.

6.1.5 IP Address

IP is divided into 4 parts. (Part = Octet). Changing these values does not have any effect if the current IP mode is "DHCP". The value will become active when the mode is changed to "fixed IP". When these values are changed and the mode is "fixed IP", the changes are taken into use immediately.

6.1.6 Communication timeout

It defines how much time can pass from the last received message from the Master Device before a fieldbus fault is generated. The functionality of this value is protocol-specific.

A fieldbus fault is also generated if the Ethernet link is down for over 60 seconds after the device startup. The Ethernet link status is being checked until the fieldbus communication is activated. After that the active fieldbus protocol controls the activation of the fieldbus fault.

The functionality of this value is protocol-specific.

6.1.6.1

For Modbus, this value defines a time in which a message must be received (from Client in Modbus TCP/UDP) before a fieldbus fault is generated. If timeout is set to zero, no fault is created.

See Chapter 7.4.

6.1.6.2

For these protocols, this value is considered as an additional timeout which works on top the timeout mechanism of the protocol. When a connection loss is noticed, a fault activation is started. If communication timeout value is zero, the fault is activated immediately, otherwise the fault activates after a specified time. If the connection is reopened before the specified time has elapsed, no fault is created.

See Chapter 8.5 "PROFINET IO communications and connection timeout" for more details on how a timeout is created in OPTE9 while using PROFINET IO protocol.

See Chapter 9.1.6 "EtherNet/IP communication and connection timeout" for more details for more details on how a timeout is created in OPTE9 while using EtherNet/IP protocol.

6.1.7 Profinet IO - Name of Station

Modbus

Profinet IO and EtherNet/IP

The Profinet IO "Name of Station" parameter can be set via VACON® Live or NCIPConfig. Other possibility is to set this name by writing it via Ethernet with the DCP protocol. In case of VACON® 100 drives, the last 18 characters of the Name of Station can be read but not written from the panel. The name is empty if no name is set, or if name is set as "temporary" by network device.

NOTE! In case of VACON® 20, VACON® 20 X and VACON® 20 CP, the “Name of Station” must be defined with NCIPConfig tool or by writing the name from the PLC.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Commissioning vacon • 55

6.1.8 EIP Input and Output instance

These parameters will show what instances are being used now. The instances actually used are taken from the IO connection open request. So, although these values are parameters they act more like monitoring values.

6.1.9 EIP Product code offset

This value can be used to differentiate drives for the PLC program. For example, if one drive is running a different application (with different parameters) than other drives, this offset in the product code will enable the PLC to use a different EDS file to read those parameters from this drive.

Remember that if you change this value, you need also to change the EDS file used or change the product code value in your EDS file.

6.1.10 Mode

The "Mode"-parameter is available only when the OPTE9 has been installed to the VACON® 100 drive. When the mode is changed, the OPTE9 fieldbus protocols will emulate old C-series option boards or VACON® 100 internal implementations.

Table 13. Mode values

Mode value Description

Normal Option board will identify itself as OPTE9 (depends on fieldbus protocol)

NX Mode

V100 Mode Option board will identify itself as VACON® 100 drive.

6.1.11 MAC Address

This value shows the OPTE9 device MAC address. The format differs between used VACON® AC drive. In VACON® 100 the format is 00:11:22:33:44:55 and in VACON® NX 001122334455. This value is not visible in VACON® 20 drives.

Example for VACON® 100: 00:21:99:1a:00:24

Example for VACON® NX: 0021991a0024

6.1.12 Modbus Unit Identifier

This value is used to select Modbus unit identifier / slave address. When using Modbus TCP the value 255 must be used, and this field is ignored as the IP address is used to access the correct device. When using Modbus UDP the values and their significance is explained in table below. Values from 1 to 247 and 255 can be set to OPTE9.

Option board will identify itself as old C-series counterpart and will emu-

late selected features.

Table 14. Modbus Unit Identifier field description when using Modbus UDP

# Unit identifier Description

0 Broadcast Broadcast address, messages are accepted by all devices

1...247 Slave address Messages with this unit identifier and broadcast (0) are accepted 255 Non-significant Messages with all unit identifiers are accepted (setting is ignored)

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vacon • 56 Commissioning

The value 0 can be used to control several devices with a broadcast message, e.g. to command all devices to stop at the same time. This feature will also work if all devices have the unit identifier value 255.

6.2 Communication mode

The OPTE9 option board shall support multiple communication modes to AC drive in future release. This will, among other features, enable transmitting and receiving 16 process data items at 1 ms interval.

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Modbus TCP / Modbus UDP vacon • 57

11608_uk

Master´s

message

Slave

response

Start

Address

Function

Data

CRC

End

Start

Address

Function

Data

CRC

End

7. M ODBUS TCP / MODBUS UDP

Modbus is a communication protocol developed by Modicon systems. In simple terms, it is a way of sending information between electronic devices. The device requesting the information is called the Modbus Master (or the Client in Modbus TCP/UDP) and the devices supplying information are Modbus Slaves (in Modbus TCP/UDP servers). In a standard Modbus network, there is one Master and up to 247 Slaves, each with a unique Slave Address from 1 to 247. The Master can also write information to the Slaves. Modbus is typically used to transmit signals from instrumentation and control devices back to the main controller or data gathering system.

The Modbus communication interface is built around messages. The format of these Modbus messages is independent of the type of physical interface used. The same protocol can be used regardless of the connection type. Because of this, Modbus gives the possibility to easily upgrade the hardware structure of an industrial network, without the need for large changes in the software. A device can also communicate with several Modbus nodes at once, even if they are connected with different interface types, without the need to use a different protocol for every connection.

Figure 30. Basic structure of Modbus frame

On simple interfaces like RS485, the Modbus messages are sent in plain form over the network. In this case, the network is dedicated to Modbus. When using more versatile network systems like TCP/IP over Ethernet, the Modbus messages are embedded in packets with the format necessary for the physical interface. In that case Modbus and other types of connections can co-exist at the same physical interface at the same time. Although the main Modbus message structure is peerto-peer, Modbus is able to function on both point-to-point and multidrop networks.

Each Modbus message has the same structure. Four basic elements are present in each message. The sequence of these elements is the same for all messages, to make it easy to parse the content of the Modbus message. A conversation is always started by a master in the Modbus network. A Modbus master sends a message and depending of the contents of the message a slave takes action and responds to it. There can be more than one master in a Modbus network. Addressing in the message header is used to define which device should respond to a message. All other nodes on the Modbus network ignore the message if the address field does not match their own address.

If you need to contact VACON® service in problems related to Modbus TCP/UDP, send a description of the problem together with the Drive Info File to tech.supportVDF@vacon.com. If possible, also send a "Wireshark" log from the situation if applicable.

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vacon • 58 Modbus TCP / Modbus UDP

7.1 Modbus UDP vs TCP

In addition to TCP, the OPTE9 option board supports also UDP (from OPTE9 firmware version V006). It is recommended that UDP is when reading and writing rapidly and repetitively (cyclically) same data as in case of process data. TCP must be used for single operations, like service data (e.g. reading or writing parameter values).

The key difference between UDP and TCP is that when using TCP each and every Modbus frame needs to be acknowledged by the receiver (see the figure below). This adds extra traffic to the network and more load to the system (PLC and drives) because software needs to keep track of sent frames to make sure that they have reached their destination.

Modbus TCP Communication

PLC

TCP, SYN

TCP, SYN, ACK

Open

Connection

Modbus Response, TCP, ACK

Communicate

Connection

TCP, ACK

Modbus Query

TCP, ACK

Modbus Query

TCP, ACK TCP, ACK

TCP, FIN, ACK

TCP, ACK

Drive

Modbus UDP Communication

PLC Drive

Modbus Query

Modbus Response

Modbus Query

Communicate

11716_uk

Figure 31. Modbus TCP and UDP communication comparison

Another difference between TCP and UDP is that UDP is connectionless. TCP connections are always opened with TCP SYN messages and closed with TCP FIN or TCP RST. With UDP, the first packet is already a Modbus query. The OPTE9 treats IP address and port combination as a connection. If port changes, it is considered as a new connection or as a second connection if both stay active.

When using UDP, it is not guaranteed that the sent frame reaches is destination. PLC must keep track of the Modbus requests by using the Modbus transaction id-field. It actually must do this also when using TCP. If PLC does not receive response in time from drive in UDP connection, it needs to send the query again. When using TCP, the TCP/IP stack will keep resending the request until it has been acknowledged by the receiver (see Figure 32 ). If PLC sends new queries during this time, some of those may not be sent to network (by TCP/IP stack) until previous sent package(s) has been acknowledged. This can cause small packet storms when the connection is resumed between PLC and drive (See Figure 33).

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Modbus TCP / Modbus UDP vacon • 59

Modbus TCP Communication

PLC Drive

Modbus Query (1)

Modbus Response (1), TCP, ACK

TCP, ACK

Modbus Query (2)

Packet lost, no response

TCP retransmission, Modbus Query (2)

Packet lost, no response

TCP retransmission, Modbus Query (2)

Modbus Response (2), TCP, ACK

Normal communication continues

Modbus UDP Communication

PLC Drive

Modbus Query (1)

Modbus Response (1)

Modbus Query (2)

Packet lost, no response

Modbus Query (3)

Packet lost, no response

Modbus Query (4)

Modbus Response (4)

Normal communication continues

11717_uk

Figure 32. Modbus TCP and UDP communication errors comparison

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vacon • 60 Modbus TCP / Modbus UDP

Modbus TCP Communication

PLC Drive

Modbus Modbus

Modbus Query (1)

Modbus Query (2)

Modbus Query (3)

Modbus Query (4)

Modbus

Response (1,2,3)

Modbus

Response (4)

TCP

stack

TCP Modbus Query

Retransmission

Modbus Query (1)

Retransmission

Modbus Query (1,2)

Retransmission

Modbus Query (1,2,3)

Retransmission Modbus Query (1,2,3)

TCP, ACK

TCP, Modbus Query (4)

TCP, ACK

TCP, Modbus Response (1,2,3)

TCP, ACK

TCP, Modbus Response (4)

TCP, ACK

TCP

stack

Packet lost

Modbus Query

(1,2,3)

Modbus Response

(1,2,3)

Modbus Query (4)

Modbus Response

(4)

Normal communication continues

11718_uk

Figure 33. Modbus TCP retransmissions

Losing one packet is not a big issue because the same request can be sent again after timeout. In TCP, the packages always reach their destination but if network congestion causes retransmissions, those packages will most likely contain old data or instructions when they reach their destination.

7.2 Modbus communications

The Modbus-VACON® interface features are presented below:

• Direct control of VACON® drive (e.g. Run, Stop, Direction, Speed reference, Fault reset)

• Access to VACON® parameters

• VACON® status monitoring (e.g. Output frequency, Output current, Fault code)

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Modbus TCP / Modbus UDP vacon • 61

7.3 Data addresses in Modbus messages

All data addresses in Modbus messages are referenced to zero. The first occurrence of a data item is addressed as item number zero. For example:

• The coil known as 'Coil 1' in a programmable controller is addressed as 'Coil 0000' in the data address field of a Modbus message.

• Coil 127 decimal is addressed as 'Coil 007E hex' (126 decimal).

• Holding register 40001 is addressed as register 0000 in the data address field of the message. The function code field already specifies a 'holding register' operation. Therefore the '4XXXX' reference is implicit.

• Holding register 40108 is addressed as register 006B hex (107 decimal).

7.3.1 Modbus memory map

The VACON® variables and fault codes as well as the parameters can be read and written from Modbus. The parameter addresses are determined in the application. Every parameter and actual value has been given an ID number in the application. The ID numbering of the parameters as well as the parameter ranges and steps can be found in the application manual in question. The parameter value are given without decimals. If several parameters/actual values are read with one message, the addresses of the parameters/actual values must be consecutive.

Table 15. Supported functions

Function

code

1 (0x01) Read coils Discrete 00000-0FFFF 2 (0x02) Read Input Discrete Discrete 10000-1FFFF 3 (0x03) Read holding registers 16bit 40000-4FFFF 4 (0x04) Read input registers 16bit 30000-3FFFF 5 (0x05) Force single coils Discrete 00000-0FFFF

6 (0x06) Write single register 16bit 40000-4FFFF 15 (0x0F) Force multiple coils Discrete 00001-0FFFF 16 (0x10) Write multiple registers 16bit 40000-4FFFF 23 (0x17) Read/Write multiple registers 16bit 40000-4FFFF

NOTE! Broadcasting is not supported in TCP.

Current terminology Access type

Address

range (hex)

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vacon • 62 Modbus TCP / Modbus UDP

7.3.2 Modbus data mapping

7.3.2.1 Coil registers

Coil registers contain binary data (Read/Write). See Table 16.

Table 16. Defined coil registers

Address Function Purpose

0001 RUN/STOP Control Word, bit 0 0002 Direction Control Word, bit 1 0003 Fault reset Control Word, bit 2

0017 Reset

0018 Reset Clears energy trip counter

Clears operation days trip counter

7.3.2.2

The VACON® drives have trip counters for operation days and energy. These counters can be reset to zero by writing value '1' to addresses defined in Table 17. Resetting the counters is not supported in VACON® 20, VACON® 20 X or VACON® 20 CP.

For compatibility with OPT-CI, these registers can be cleared also by writing '1' to these coils.

Clearing resettable counters

Table 17. Clearing trip counters

Address Function Purpose

40101 Reset

40301 Reset Clears energy trip counter

Address Function Purpose

0017 Reset

0018 Reset Clears energy trip counter

Clears operation days trip counter

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Modbus TCP / Modbus UDP vacon • 63

7.3.2.3 Input Discrete registers

Input discrete registers contain binary data (Read). See Table 18.

Table 18. Defined Input Descrete registers

Address Function Purpose

10001 Ready Status Word, bit 0 10002 Run Status Word, bit 1 10003 Direction Status Word, bit 2 10004 Fault Status Word, bit 3 10005 Alarm Status Word, bit 4 10006 At reference Status Word, bit 5 10007 Zero speed Status Word, bit 6 10008 Flux ready Status Word, bit 7

7.3.2.4

The values can be read with function code 4. These are for compatibility with the OPT-CI option board. They return the same values as holding register counterparts.

Address range Purpose Access type See R/W Max R/W size

101 - 105

201 - 203 Energy counter 16bit Table 31 RO 5/0

301 - 303

401 - 430 Fault history 16bit Table 34 RO 30/0

Input registers

Table 19.

1 - 5 Operation day counter 16bit Table 27 RO 5/0

Resettable operation day counter

Resettable energy counter

16bit Table 29

16bit Table 33

R, Write 1 to

first index to

reset

R, Write 1 to

first index to

reset

5/0

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vacon • 64 Modbus TCP / Modbus UDP

7.3.2.5 Holding registers

The values can be read with function code 3. Modbus registers are mapped to drive IDs as follows:

Table 20. Defined holding registers

Address range Purpose Access type See R/W Max R/W size

0001 - 2000

VACON® Application ID’s

16bit Table 21 RW 30/30

2001 - 2019 FBProcessDataIN 16bit Table 22 RW 19/19

2051 - 2086 FBProcessDataIN

32bit

Table 22 RW 36/36

2101 - 2119 FBProcessDataOUT 16bit Table 23 RO 19/0

2151 - 2186 FBProcessDataOUT

2200 - 10000

VACON® Application ID’s

32bit

16bit Table 21 RW 30/30

Table 23 RO 3 6/0

10501 - 10530 IDMap 16bit Figure 34 RW 30/30

10601 - 10630 IDMap Read/Write 16bit Table 24 RW

10701 - 10760 IDMap Read/Write

20001 - 40000

VACON® Application ID's

32bit

Table 24 RW 30/30

Table 21 RW 30/30

30/30

40001 - 40005 Operation day counter 16bit Table 27 RO 5/0

40011 - 40012 Operation day counter

40101 - 40105

Resettable operation day counter

32bit

16bit Table 29

Table 26 RO 2/0

R, Write 1 to

first index to

5/0

reset

40111 - 40112

Resettable operation day counter

32bit Table 28 RO 2/0

40201 - 40203 Energy counter 16bit Table 31 RO 3/0 40211 - 40212 Energy counter 32bit Table 30 RO 2/0

R, Write 1 to first index to

reset

3/0

40301 - 40303

40311 - 40312

Resettable energy counter

16bit Table 33

32bit Table 32 RO 2/0

40401 - 40430 Fault history 16bit Table 34 RO 30/0

40501

40511-40568

These items are supported only in VACON® 100. Not supported in current version. See chapter 5.

In VACON® 20, VACON® 20 X and VACON® 20 CP, the maximum R/W size for IDmap operations is

12/30.

7.3.2.5.1. VACON® APPLICATION IDS

Communication timeout

Fault history with 16 bit fault codes

16bit Table 36 RW 1/1

16bit Table 35 RO 30/0

Application IDs are parameters that depend on the drive's application. These parameters can be read and written by pointing the corresponding memory range directly or by using the so-called ID map (more information below). The easiest way to read a single parameter value or parameters with

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Modbus TCP / Modbus UDP vacon • 65

consecutive ID numbers is to use a straight address. It is possible to read 30 consecutive ID addresses. Notice that the operation will fail if even one of the consecutive IDs do not exist.

Parameters which have 32 bit value can be read from their own range. For example, if you want to read the value for ID 864 (FB Status Word), the address must be set to 21726. This address value comes from values: 20000 + ((ID -1) * 2). The ID value is reduced with one because of zero-based addressing and the result is multiplied with 2 because one 32 bit value will take two (16 bit) addresses.

Table 21. Parameter IDs

Address range Purpose ID range

0001-2000 16 bit application parameters 1-2000

2200-10000 16 bit application parameters 2200-10000

20001-40000 32 bit application parameters 1-10000

7.3.2.5.2. FB PROCESS DATA IN

The process data fields are used to control the drive (e.g. Run, Stop, Reference, Fault Reset) and to quickly read actual values (e.g. Output frequency, Output current, Fault code). The values in these indexes can be read and written. The fields are structured as follows (continued on the next page):

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vacon • 66 Modbus TCP / Modbus UDP

Process Data Master -> Slave (max 22 bytes)

Table 22. Fieldbus Process Data IN

Address

Name Range/Type

16-bit 32-bit*

2001

2002 - FB General Control Word Binary coded

2003

2004

2005

2006

2007

2008

2009

2010

2011

2012*

2051 = High data

2052 = Low data

2053 = High data

2054 = Low data

2055 = High data

2056 = Low data

2057 = High data

2058 = Low data

2059 = High data

2060 = Low data

2061 = High data

2062 = Low data

2063 = High data

2064 = Low data

2065 = High data

2066 = Low data

2067 = High data

2068 = Low data

2069 = High data

2070 = Low data

2071 = High data

2072 = Low data

FB Control Word Binary coded

FB Speed Reference 0…10000 (100%)

FB Process Data In 1

FB Process Data In 2

FB Process Data In 3

FB Process Data In 4

FB Process Data In 5

FB Process Data In 6

FB Process Data In 7

FB Process Data In 8

See Chapter 11 "APPENDIX 1 -

PROCESS DATA"

FB Process Data In 9

2013*

2014*

2015*

2016*

2017*

2018*

2019*

* Available in future release

Control word bits

See Chapter 12 "APPENDIX 2 - CONTROL AND STATUS WORD" for control word bit descriptions.

2073 = High data

2074 = Low data

2075 = High data

2076 = Low data

2077 = High data

2078 = Low data

2079 = High data

2080 = Low data

2081 = High data

2082 = Low data

2083 = High data

2084 = Low data

2085 = High data

2086 = Low data

FB Process Data In 10

FB Process Data In 11

FB Process Data In 12

FB Process Data In 13

FB Process Data In 14

FB Process Data In 15

FB Process Data In 16

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Modbus TCP / Modbus UDP vacon • 67

7.3.2.5.3. FB PROCESS DATA OUT

Values in these indexes can be only read, not written.

Table 23. Fieldbus Process Data OUT

Address

Name Range/Type

16-bit 32-bit*

2101

2102 -

2103

2104

2105

2106

2107

2108

2109

2110

2111

2112*

2151 = High data 2152

= Low data

2153 = High data

2154 = Low data

2155 = High data

2156 = Low data

2157 = High data

2158 = Low data

159 = High data

2160 = Low data

2161 = High data

2162 = Low data

2163 = High data

2164 = Low data

2165 = High data

2166 = Low data

2167 = High data

2168 = Low data

2169 = High data

2170 = Low data

2171 = High data

2172 = Low data

FB Status Word Binary coded

In case of 16-bit,

FB General Status Word

(High data)

FB Actual Speed 0…10000 (100.00%)

FB Process Data Out 1

FB Process Data Out 2

FB Process Data Out 3

FB Process Data Out 4

FB Process Data Out 5

FB Process Data Out 6

FB Process Data Out 7

FB Process Data Out 8

See Chapter 11 "APPENDIX 1 -

FB Process Data Out 9

Binary coded

PROCESS DATA"

2113*

2114*

2115*

2116*

2117*

2118*

2119*

* Available in future release

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2173 = High data

2174 = Low data

2175 = High data

2176 = Low data

2177 = High data

2178 = Low data

2179 = High data

2180 = Low data

2181 = High data

2182 = Low data

2183 = High data

2184 = Low data

2185 = High data

2186 = Low data

FB Process Data Out 10

FB Process Data Out 11

FB Process Data Out 12

FB Process Data Out 13

FB Process Data Out 14

FB Process Data Out 15

FB Process Data Out 16

vacon • 68 Modbus TCP / Modbus UDP

ID Value

699 123

700 321

701 456

702 654

703 1789

704 987

705 2741

706 1147

707 258

708 3852

Parameters

Address Data: ID

10501 700

10502 702

10503 707

10504 704

Address Data: ID

10601 321

10602 654

10603 258

10604 987

ID Map

11609_uk

Status Word bits

See Chapter 12 "APPENDIX 2 - CONTROL AND STATUS WORD" for status word bit descriptions.

The use of process data depends on the application. In a typical situation, the device is started and stopped with the Control Word (CW) written by the Master and the Rotating speed is set with Reference (REF). With PD1…PD16 the device can be given other reference values (e.g. Torque reference).

With the Status Word (SW) read by the Master, the status of the device can be seen. Actual Value (ACT) and PD1…PD16 show the other actual values.

7.3.2.5.4. ID MAP

Using the ID map, you can read consecutive memory blocks that contain parameters whose IDs are not in a consecutive order. The address range 10501 - 10530 is called 'IDMap', and it includes an address map in which you can write your parameter IDs in any order. The address range 10601 10630 is called 'IDMap Read/Write', and it includes values for parameters written in the IDMap. As soon as one ID number has been written in the map cell 10501, the corresponding parameter value can be read and written in the address 10601, and so on. The address range 10701 - 10760 contains the ID Map for 32bit values. Maximum of 30 IDs and ID values can be written and read with single request except in VACON® 20 and 20 X/CP it is possible to access only 12 ID value items at a time.

NOTE! 32 bit data not supported in the current version. See chapter 5.

Figure 34. ID Map initialization example

Once the ID Map address range has been initialized with the parameter IDs, the parameter values can be read and written in the IDMap Read/Write address range address (IDMap address + 100).

Table 24. Parameter Values in 16-bit IDMap Read/Write registers

Address Data

10601 Data included in parameter ID700 10602 Data included in parameter ID702 10603 Data included in parameter ID707 10604 Data included in parameter ID704

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Modbus TCP / Modbus UDP vacon • 69

If the ID Map table has not been initialized, all the fields show index as '0'. If it has been initialized, the parameter IDs included in it are stored in the flash memory of the OPTE9 option board.

Table 25. Example of parameter values in 32-bit IDMap Read/Write registers

Address Data

10701 Data High, parameter ID700 10702 Data Low, parameter ID700 10703 Data High, parameter ID702 10704 Data Low, parameter ID702

7.3.2.5.5. OPERATION DAY COUNTER

Control unit operating time counter (total value). This counter cannot be reset. The values are read only.

NOTE! The feature Operation day counter does not work with VACON® 20, VACON® 20 X or VACON® 20 CP drives.

Operation day counter as seconds

This counter in registers 40011

d to 40012d holds the value of operation days as seconds in a 32-bit

unsigned integer.

Table 26. Operation days counter as seconds

Address Description

40011 High data

40012 Low data

Holds the counter value as seconds.

Operation day counter

This counter in registers 40001

d to 40005d holds the value of operation days counter. The values are

read only.

For compatibility with V100 internal Modbus TCP/UDP and the OPT-CI option board, this counter is found from two different register areas: holding registers 40001

d to 40005d and input registers 1d to

Table 27. Operation day counter

Holding register

addres

Input register

address

Purpose

40001 1 Years 40002 2 Days 40003 3 Hours 40004 4 Minutes 40005 5 Seconds

7.3.2.5.6. RESETTABLE OPERATION DAY COUNTER

This register holds the value for resettable control unit operating time counter (trip value). The values are read only.

For resetting this counter see Chapter 7.3.2.2 "Clearing resettable counters".

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vacon • 70 Modbus TCP / Modbus UDP

NOTE! The feature Resettable operation day counter does not work with VACON® 20, VACON® 20 X or VACON® 20 CP drives.

Resettable operation day counter as seconds

This counter in registers 40111

d to 40112d holds the value of resettable operation days as seconds

in a 32-bit unsigned integer.

Table 28. Resettable operation days counter as seconds

Address Description

40111 High data

40112 Low data

Holds the counter value as seconds.

Resettable operation day counter

This counter in registers 40101

d to 40105d holds the value of operation days counter.

For compatibility with V100 internal Modbus TCP/UDP and the OPT-CI option board, this counter is found from two different register areas: holding registers 40101 30101

d to 30105d.

d to 40105d and input registers

Table 29. Resettable operation day counter

Holding register

addres

Input register

address

Purpose

40101 101 Years 40102 102 Days 40103 103 Hours 40104 104 Minutes 40105 105 Seconds

7.3.2.5.7 ENERGY COUNTER

This counter holds the value of total amount of energy taken from a supply network. This counter cannot be reset. The values are read only.

Energy counter as kWh

This counter is in registers 40211

d to 40212d and is a 32-bit floating point (IEEE 754) value containing

the number of kilowatt-hours (kWh) that is in the drive's energy counter. This value is read-only.

Table 30. Energy counter as kWh

Address Description

40211 High data

40212 Low data

Holds the value of energy counter in kWh. Datatype is 32 bit float IEEE 754

Energy counter

These registers hold three values for the energy counter, amount of energy used, format of the energy value and unit of the energy value.

For compatibility with V100 internal Modbus TCP/UDP and the OPT-CI option board, this counter is found from two different register areas: holding registers 40201 to 203

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d to 40203d and input registers 201d

Modbus TCP / Modbus UDP vacon • 71

Example: If energy = 1200, format = 52, unit = 1, then actual energy is 12.00 kWh.

Table 31 . Energy counter

Holding register address

40201 201 Energy Amount of energy taken from a supply network.

40202 202 Format

40203 203

7.3.2.5.8. RESETTABLE ENERGY COUNTER

This counter holds the value of total amount of energy taken from a supply network since the counter was last reset. For resetting this counter see Chapter 7.3.2.2 "Clearing resettable counters". The values are read only.

Resettable energy counter as kWh

Input register address

Purpose Description

The last number of the Format field indicates the decimal point place in the Energy field. Example: 40 = 4 number of digits, 0 fractional digits 41 = 4 number of digits, 1 fractional digit 42 = 4 number of digits, 2 fractional digits

Unit

1 = kWh

2 = MWh

3 = GWh 4 = TWh

Unit of the value.

This counter is in registers 40311d to 40312d and is a 32-bit floating point (IEEE 754) value containing the number of kilowatt-hours (kWh) that is in the drive's resettable energy counter.

Table 32. Resettable energy counter as kWh

Address Description

40311 High data

40312 Low data

Resettable energy counter

These registers hold three values for the energy counter, amount of energy used, format of the energy value and unit of the energy value.

For compatibility with V100 internal Modbus TCP/UDP and the OPT-CI option board, this counter is found from two different register areas: 40301

Holds the value of energy counter in kWh since last counter reset. Datatype is 32 bit float IEEE 754

d to 40303d and 301d to 303d.

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vacon • 72 Modbus TCP / Modbus UDP

Example: If energy = 1200, format = 52, unit = 1, then actual energy is 12.00 kWh.

Table 33. Resettable energy counter

Holding register address

40301 301 Energy Amount of energy taken from a supply network.

40302 302 Format

40303 303

7.3.2.5.9. FAULT HISTORY

The fault history can be viewed by reading from address 40401 onward. The faults are listed in chronological order so that the latest fault is mentioned first and the oldest last. The fault history can contain 29 faults at the same time. (In VACON® 20, VACON® 20 X and VACON® 20 CP it is possible to read nine faults). For compatibility with V100 internal Modbus TCP/UDP and the OPT-CI option board, this counter is also found from input register area: 401

Input register address

Purpose Description

Unit

1 = kWh

2 = MWh

3 = GWh 4 = TWh

Unit of the value.

d to 403d.

NOTE! Reading the fault history items is slow. Reading all 30 items at once might take up to three seconds.

The fault history contents are represented as follows:

Table 34. Fault history

Holding register

address

40401 401 Upper byte is a fault code, lower byte is a sub code 40402 402 40403 403

... ...

40429 429

7.3.2.5.10. FAULT HISTORY WITH 16-BIT ERROR CODES

The fault history can be viewed by reading from address 40511 onward. The faults are listed in a chronological order so that the latest fault is mentioned first and the oldest last. These addresses contain the fault code and the subcode for the fault. Reading can be started from any address. (In VACON® 20, VACON® 20 X and VACON® 20 CP it is possible to read nine faults).

Input register

address

Purpose

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Modbus TCP / Modbus UDP vacon • 73

NOTE! Reading the fault history items is slow. Reading all 30 items at once might take up to three seconds.

Table 35. Fault history with 16-bit error codes

Holding register

address

40511 Fault code 1 16-bit fault code in index 1. 40512 Sub code 1 16-bit sub code for the fault in index 1. 40513 Fault code 2 16-bit fault code in index 2. 40514 Sub code 2 16-bit sub code for the fault in index 2.

... ...

40567 Fault code 29 40568 Sub code 29

Purpose Description

7.4 Modbus communication and connection timeout

It is possible to open up to three connections to the OPTE9 option board. One of the connections could be used for process data and other just for reading monitoring data. In most cases it is desirable that if "monitor" connection gets disconnected, no fault is generated but when the connection is handling the process data, a fault should be generated in the time specified.

This register address enables the user to give custom communication timeout for each connection. If a custom timeout value is used, it must be given every time a connection is opened. Timeout can be set only to the connection which is been used to access this register. By default the connection uses the communication timeout value given via panel parameters.

If the cable is disconnected, a fieldbus fault is activated after the timeout period. When communication timeout is zero, no fault is activated.

Table 36. Communication timeout register

Holding register

address

40501

Purpose Description

Communication

timeout

Connection timeout value for this connection in seconds.

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vacon • 74 Modbus TCP / Modbus UDP

Communicating

CheckYes

Communication timeout zero?

Connection closed or broken?

Broken

Has second connection with

communication timeout

other than zero?

Figure 35. The Modbus TCP/UDP function in case of timeout

7.5 Quick setup

Timeout

FAULT! No fault

Received packet during

communication

timout time?

Yes

Closed

Yes

7092_uk

Following these instructions, you can easily and fast set up your Modbus for use:

In the AC drive application: Choose Fieldbus as the active control place (see drives User's Manual).

In the Master software:

1. Set the settings in the master software.

2. Set the Control Word to '0' (2001).

3. Set the Control Word to '1' (2001).

4. Drive's status is RUN.

5. Set the Reference value to '5000' (50.00%) (2003).

6. Actual speed is 5000 (25.00 Hz if MinFreq is 0.00 Hz and MaxFreq is 50.00 Hz).

7. Set the Control Word to '0' (2001).

8. Drive's status is STOP.

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Modbus TCP / Modbus UDP vacon • 75

7.6 Modbus - example messages

7.6.1 Example 1 - Write process data

Write the process data 42001…42003 with command 16 (Preset Multiple Registers).

Command Master - Slave:

ADDRESS 01 hex Slave address 1 hex (= 1)

FUNCTION 10 hex Function 10 hex (= 16)

Starting address HI 07 hex Starting address 07D0 hex (= 2000)

DATA Starting address LO D0 hex

No. of registers HI 00 hex Number of registers 0003 hex (= 3)

No. of registers LO 03 hex

Byte count 06 hex Byte count 06 hex (= 6)

Data HI 00 hex

Data LO 01 hex

Data HI 00 hex Data 2 = 0000 hex (= 0).

Data 1 = 0001 hex (= 1). Setting control word run bit to 1.

Data LO 00 hex

Data HI 13 hex

Data LO 88 hex

ERROR CHECK CRC HI C8 hex

CRC LO CB hex CRC field C8CB hex (= 51403)

Message frame:

01 10 07 D0 00 03 06 00 01 00 00 13 88 C8 CB

The reply to Preset Multiple Registers message is the echo of 6 first bytes.

Answer Slave - Master:

ADDRESS 01 hex Slave address 1 hex (= 1)

FUNCTION 10 hex Function 10 hex (= 16)

Starting address HI 07 hex Starting address 07D0 hex (= 2000)

DATA Starting address LO D0 hex

No. of registers HI 00 hex Number of registers 0003 hex (= 3)

No. of registers LO 03 hex

ERROR CHECK CRC HI 80 hex

Data 3 = 1388 hex (= 5000), Speed Reference to 50.00%

CRC LO 85 hex CRC 8085 hex (= 32901)

Reply frame:

01 10 07 D0 00 03 80 85

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vacon • 76 Modbus TCP / Modbus UDP

7.6.2 Example 2 - Read process data

Read the Process Data 42103…42104 with command 4 (Read Input Registers).

Command Master - Slave:

ADDRESS 01 hex Slave address 1 hex (= 1)

FUNCTION 04 hex Function 4 hex (= 4)

Starting address HI 08 hex Starting address 0836 hex (= 2102)

DATA Starting address LO 36 hex

No. of registers HI 00 hex Number of registers 0002 hex (= 2)

No. of registers LO 02 hex

ERROR CHECK CRC HI 93 hex

CRC LO A5 hex CRC 93A5 hex (= 37797)

Message frame:

01 04 08 36 00 02 93 A5

The reply to the Read Input Registers message contains the values of the read registers.

Answer Slave - Master:

ADDRESS 01 hex Slave address 1 hex (= 1)

FUNCTION 04 hex Function 4 hex (= 4)

Byte count 04 hex Byte count 4 hex (= 4)

DATA Data HI 13 hex

Data LO 88 hex

Data HI 09 hex

Data LO C4 hex

ERROR CHECK CRC HI 78 hex

CRC LO E9 hex CRC 78E9 hex (= 30953)

Reply frame:

01 04 04 13 88 09 C4 78 E9

Speed reference = 1388 hex (=5000 =>

50.00%)

Output Frequency = 09C4 hex (=2500 =>25.00Hz)

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Modbus TCP / Modbus UDP vacon • 77

7.6.3 Example 3 - Exception response

In an exception response, the Slave sets the most-significant bit (MSB) of the function code to 1. The Slave returns an exception code in the data field.

Command Master - Slave:

ADDRESS 01 hex Slave address 1 hex (= 1)

FUNCTION 04 hex Function 4 hex (= 4)

Starting address HI 17 hex Starting address 1770 hex (= 6000)

DATA Starting address LO 70 hex

No. of registers HI 00 hex

No. of registers LO 05 hex

ERROR CHECK CRC HI 34 hex

CRC LO 66 hex CRC 3466 hex (= 13414)

Message frame:

Invalid number of registers 0005 hex (=

01 04 17 70 00 05 34 55

Exception response

Answer Slave - Master:

ADDRESS 01 hex Slave address 1 hex (= 1)

FUNCTION 84 hex Most significant bit set to 1

DATA Error code 04 hex Error code 04 => Slave device failure

ERROR CHECK CRC HI 42 hex

CRC LO C3 hex CRC 42C3 hex (= 17091)

Reply frame:

01 84 04 42 C3

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vacon • 78 PROFINET IO

Highest priority transition .. .. Lowest priority transition

Power ON

S1: Switching On Inhibited

ZSW1 bit 6 = True; 0,1,2 = False

General state diagram

11610_uk

OFF AND No Coast Stop AND No Quick Stop

STW1 bit0=False AND bit1=True AND bit2=True

Coast Stop OR Quick Stop

AND No Quick Stop

STW1 bit1=False OR bit2=False

Coast Stop

SWT1 bit1=False

Standstill detected

Disble operation

STW1 bit3=False

S2: Ready For Switching On

ZSW1 bit 0 = True; 1,2,6 = False

Ramp stop

Quick stop

STW1 bit0=True

OFF

STW1 bit0=False

OFF

STW1 bit0=False

Quick stop

STW1 bit2=False

Quick stop

STW1 bit2=False

Standstill detected OR Disable operation

STW1 bit3=False

S5: Switching Off

ZSW1 bit0,1 =True bit 2,6=False

Coast stop OR Quick stop

STW1 bit1=False OR bit2=False

Coast stop

STW1 bit1=False

S3: Switched On

ZSW1 bit 0,1 = True; 2,6 = False

S4: Operation

ZSW1 bit 0,1,2”p.e” = True; 6=False

Enable operation

STW1 bit3=True

Disable operation

STW1 bit3=False

8. PROFINET IO

PROFINET is the Ethernet-based automation standard of PROFIBUS International for the implementation of an integrated and consistent automation solution based on Industrial Ethernet. PROFINET supports the integration of simple distributed field devices and time-critical applications in (switched) Ethernet communication, as well as the integration of component-based distributed automation systems for vertical and horizontal integration of networks.

OPTE9 implements PROFINET IO version 2.3 with conformance class B and the highest netload class (class III), making it suitable for use in larger automation systems.

8.1 PROFIdrive 4.1 profile

To provide interoperability between devices from different manufacturers, a "standard" must be defined so that:

• The devices behave in the same way.

• They produce and/or consume the same basic set of I/O data.

• They contain the same basic set of configurable attributes.

The formal definition of this information is known as a device profile.

8.2 PROFIdrive 4.1 state machine

STW1 (Control Word) and ZSW1 (Status Word) follow the state machine presented below:

Figure 36. General state diagram

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PROFINET IO vacon • 79

8.3 PROFINET IO process communication

The PROFIdrive profile specifies telegrams used for process communication. The OPTE9 supports 4 type of different telegrams with and without extra process data items. These telegrams contain either PROFIdrive or VACON® -specific signals or a combination of both.

It is also possible to use up to eight (8) Process Data fields, or sixteen (16) when using extended or fast communication mode. If the normal communication mode is used, the upper 8 Process Data items (9-16) are either zeroes (actual data) or not used (setpoint data). See chapter 6.2 for more details. The following chapters describe the different types of telegrams and the signals that form them.

8.3.1 Telegram types

8.3.1.1

Standard Telegram 1 types are used, when a standard VACON® application is used and PROFIdrive functionality is required. These telegrams (Table 37) use PROFIdrive-defined control word, status word, speed setpoint value and speed actual value. When using these telegrams, the process data fields are communicated as 16-bit values.

Telegra m No. Tele gr am Abbreviation

Standard Telegram 1 and variants

Table 37. Standard Telegram 1 and variants

102 Standard Telegram 1 + 1 Process Data ST1 + 1 PD 103 Standard Telegram 1 + 2 Process Data ST1 + 2 PD 104 Standard Telegram 1 + 3 Process Data ST1 + 3 PD 100 Standard Telegram 1 + 4 Process Data ST1 + 4 PD 105 Standard Telegram 1 + 5 Process Data ST1 + 5 PD 106 Standard Telegram 1 + 6 Process Data ST1 + 6 PD 107 Standard Telegram 1 + 7 Process Data ST1 + 7 PD 101 Standard Telegram 1 + 8 Process Data ST1 + 8 PD 138 Standard Telegram 1 + 12 Process Data * ST1 + 12 PD

Standard Telegram 1 ST1

139 Standard Telegram 1 + 16 Process Data * ST1 + 16 PD

* 12 and 16 process data items will be available in future releases. At the moment, the incoming process data 9-

16 is not handled. Outgoing process data 9-16 is zero.

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vacon • 80 PROFINET IO

Table 38. Standard Telegram 1 setpoint and actual data

Bytes Setpoint Actual value

1...2 STW1 8.3.2.1 ZSW1 8.3.2.2

3...4 NSOLL_A 8.3.2.3 NIST_A 8.3.2.4

5...6 PDI1

7...8 PDI2 PDO2

... ... ...

19...20 PDI8 PDO8

21...22 PDI9* PDO9*

... ... ...

35...36 PDI16* PDO16*

* Not used / zero if not supported (see chapter 6.2)

8.3.1.2 VACON®-specific Telegram 1 and its variants

8.3.2.11

PDO1

8.3.2.11

These telegrams (Table 39) use VACON®-defined control word, status word, speed setpoint value and speed actual value to directly access the AC drive application. When using these telegrams, the process data fields are communicated as 16-bit values.

Table 39. Vendor telegram 1 and variants

Telegra m No. Tele gr am Abbreviation

108 Vendor Telegram 1 Vendor 1 109 Vendor Telegram 1 + 1 Process Data Vendor 1 + 1 PD 110 Vendor Telegram 1 + 2 Process Data Vendor 1 + 2 PD 111 Vendor Telegram 1 + 3 Process Data Vendor 1 + 3 PD 112 Vendor Telegram 1 + 4 Process Data Vendor 1 + 4 PD 113 Vendor Telegram 1 + 5 Process Data Vendor 1 + 5 PD 114 Vendor Telegram 1 + 6 Process Data Vendor 1 + 6 PD 115 Vendor Telegram 1 + 7 Process Data Vendor 1 + 7 PD 116 Vendor Telegram 1 + 8 Process Data Vendor 1 + 8 PD 140 Vendor Telegram 1 + 12 Process Data * Vendor 1 + 12 PD 141 Vendor Telegram 1 + 16 Process Data * Vendor 1 + 16 PD

* 12 and 16 process data items will be available in future releases. At the moment, the incoming process data 9-

16 is not handled. Outgoing process data 9-16 is zero.

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PROFINET IO vacon • 81

Table 40. Vendor telegram 1 setpoint and actual data

Bytes Setpoint Actual value

1...2 FB FIXED CW 8.3.2.5 FB FIXED SW 8.3.2.6

3...4 FB SPEED REF 8.3.2.9 FB SPEED ACT 8.3.2.10

5...6 PDI1

7...8 PDI2 PDO2

... ... ....

19...20 PDI8 PDO8

21...22 PDI9* PDO9*

... ... ...

35...36 PDI16* PDO16*

* Not used / zero if not supported (see chapter 6.2)

8.3.1.3 VACON®-specific Telegram 2 and its variants

These telegrams (Table 41) use VACON®-defined control word, status word, speed setpoint value and speed actual value to directly access the AC drive application. The difference to vendor telegram 1 types are the added general control and status words.

NOTE! This telegram type is not supported when using VACON® 100 AC drives. 32-bit process data support for VACON® 100 AC drives is added in future release.

Table 41. Vendor telegram 2 and variants

Telegra m No. Tele gr am Abbreviation

8.3.2.11

PDO1

8.3.2.11

117 Vendor Telegram 2 Vendor 2 118 Vendor Telegram 2 + 1 Process Data Vendor 2 + 1 PD 119 Vendor Telegram 2 + 2 Process Data Vendor 2 + 2 PD 120 Vendor Telegram 2 + 3 Process Data Vendor 2 + 3 PD 121 Vendor Telegram 2 + 4 Process Data Vendor 2 + 4 PD 122 Vendor Telegram 2 + 5 Process Data Vendor 2 + 5 PD 123 Vendor Telegram 2 + 6 Process Data Vendor 2 + 6 PD 124 Vendor Telegram 2 + 7 Process Data Vendor 2 + 7 PD 125 Vendor Telegram 2 + 8 Process Data Vendor 2+ 8 PD 142 Vendor Telegram 2 + 12 Process Data * Vendor 2 + 12 PD 143 Vendor Telegram 2 + 16 Process Data * Vendor 2 + 16 PD

* 12 and 16 process data items will be available in future releases. At the moment, the incoming process data 9-

16 is not handled. Outgoing process data 9-16 is zero.

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vacon • 82 PROFINET IO

When using these telegrams, the process data fields are communicated as 32-bit values, but when using VACON® NX or 20-series AC-drives, the data is actually 16-bits and transferred in the lower bytes.

Table 42. Process data item definition when using Vendor telegram 2

Bytes VACON® NX VACON® 20 VACON® 100

1...2 16-bit Process data 16-bit Process data

3...4 Not used Not used

Table 43. Vendor telegram 2 setpoint and actual data

Bytes Setpoint Actual value

1...2 FB FIXED CW 8.3.2.5 FB FIXED SW 8.3.2.6

3...4 FB GENERAL CW 8.3.2.7 FB GENERAL SW 8.3.2.8

5...6 FB SPEED REF 8.3.2.9 FB SPEED ACT 8.3.2.10

7...10 PDI1*

11...14 PDI2* PDO2*

... ... ...

35...38 PDI8* PDO8*

39...42 PDI9** PDO9**

... ... ...

67...70 PDI16** PDO16**

* 32-bits. See Table 42 ** See above Not used / zero if not supported (see chapter 6.2)

8.3.2.11

Future release: 32-bit process data

PDO1*

8.3.2.11

8.3.1.4 VACON®-specific Telegram 3 and its variants

These telegrams (Table 44) use PROFIdrive-defined control word, status word, speed setpoint value and speed actual value with VACON® general control and status words for added functionality.

NOTE! This telegram type is not supported when using VACON® 100 AC drives. 32-bit process data support for VACON® 100 AC drives is added in future release.

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PROFINET IO vacon • 83

Table 44. Vendor telegram 3 and variants

Telegra m No. Tele gr am Abbreviation

126 Vendor Telegram 3 Vendor 3 127 Vendor Telegram 3 + 1 Process Data Vendor 3 + 1 PD 128 Vendor Telegram 3 + 2 Process Data Vendor 3 + 2 PD 129 Vendor Telegram 3 + 3 Process Data Vendor 3 + 3 PD 130 Vendor Telegram 3 + 4 Process Data Vendor 3 + 4 PD 131 Vendor Telegram 3 + 5 Process Data Vendor 3 + 5 PD 132 Vendor Telegram 3 + 6 Process Data Vendor 3 + 6 PD 133 Vendor Telegram 3 + 7 Process Data Vendor 3 + 7 PD 134 Vendor Telegram 3 + 8 Process Data Vendor 3 + 8 PD 144 Vendor Telegram 3 + 12 Process Data * Vendor 3 + 12 PD 145 Vendor Telegram 3 + 16 Process Data * Vendor 3 + 16 PD

* 12 and 16 process data items will be available in future releases. At the moment, the incoming process data 9-

16 is not handled. Outgoing process data 9-16 is zero.

Table 45. Process data item definition when using Vendor telegram 3

Bytes VACON® NX VACON® 20 / 20 X VACON® 100

1...2

3...4 Not used Not used

Bytes Setpoint Actual value

1...2 STW1 8.3.2.1 ZSW1 8.3.2.2

3...4 FB GENERAL CW 8.3.2.7 FB GENERAL SW 8.3.2.8

5...6 NSOLL_A 8.3.2.3 NIST_A 8.3.2.4

7...10 PDI1*

11...14 PDI2* PDO2*

... ... ...

35...38 PDI8* PDO8*

16-bit Process

data

Table 46. Vendor telegram 3 setpoint and actual data

16-bit Process data

Future release: 32-bit process data

8.3.2.11

PDO1*

8.3.2.11

39...42 PDI9** PDO9**

... ... ...

67...70 PDI16** PDO16**

* 32-bits. See Table 45 ** See above Not used / zero if not supported (see chapter 6.2)

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vacon • 84 PROFINET IO

8.3.1.5 VACON®-specific Telegram 4 and its variants

Use these telegram types (Table 47) as a replacement for the OPT-CP option board, when using "Bypass mode".

You can also use these telegram types when the PROFIdrive functionality is required and a VACON® application with PROFIdrive state machine is activated (e.g. VACON® NX Advanced Application).

Table 47. Vendor telegram 4 and variants

Telegra m No. Tele gr am Abbreviation

135 Vendor Telegram 4 Vendor 4 136 Vendor Telegram 4 + 4 Process Data Vendor 4 + 4 PD 137 Vendor Telegram 4 + 8 Process Data Vendor 4 + 8 PD 146 Vendor Telegram 4 + 12 Process Data Vendor 4 + 12 PD 147 Vendor Telegram 4 + 16 Process Data Vendor 4 + 16 PD

Table 48. Vendor telegram 4 setpoint and actual data

Bytes Setpoint Actual value

1...2 FB FIXED CW 8.3.2.5 FB GENERAL SW 8.3.2.8

3...4 FB SPEED REF 8.3.2.9 FB SPEED ACT 8.3.2.10

5...6 PDI1

7...8 PDI2 PDO2

... ... ...

19...20 PDI8 PDO8

21...22 PDI9* PDO9*

... ... ...

35...36 PDI16* PDO16*

* Not used / zero if not supported (see chapter 6.2)

8.3.2 Telegram building blocks

8.3.2.1

The following table lists the assignments of bits in the control word 1.

PROFIdrive Control Word 1 (STW1)

8.3.2.11

PDO1

8.3.2.11

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PROFINET IO vacon • 85

Table 49. Overview of the assignments of bits of the control word 1

Significance

Bit

Bit value is 1 Bit value is 0

0ON OFF 1 No Coast Stop (no OFF2 ) Coast Stop (OFF2) 2 No Quick Stop (no OFF3) Quick Stop (OFF3) 3 Enable Operation Disable Operation 4 Enable Ramp Generator Reset Ramp Generator 5 Unfreeze Ramp Generator Freeze Ramp Generator 6 Enable Setpoint Disable Set Point 7 Fault Acknowledge (0 -> 1) 8 Not used 9 Not used

10* Control by PLC No control by PLC

11 Device-specific Device-specific

12-15 Device-specific Device-specific

*Bits in a control word do not have any effect unless bit 10 is enabled.

Bit 0: Switching ON / OFF

This bit is used in combination with other bits to enable operation of the drive. When this bit is set to 0 during operation, the drive performs a ramp stop.

Bit 1: Coast stop command

This bit is used to request a coast stop to be executed. When it is set to 0 during operation, the drive performs a coast stop.

Bit 2: Quick stop command

This bit is used to request a quick stop to be executed. When it is set to 0 during operation, the drive quickly ramps down to zero speed and stops.

Bit 3: Enabling of operation

This bit is used in combination with other bits to enable operation of the drive. When it is set to 0 during operation, the drive performs a coast stop.

Bit 4: Enabling of ramp generator

This bit is used in combination with other bits to enable operation of the drive. When it is set to 0 during operation, the drive quickly decelerates to zero speed.

Bit 5: Freezing of ramp generator

This bit can be used to freeze the setpoint value used by the drive. The value is frozen if this bit is set to 0. If the bit is 1, the setpoint value provided by the master is continuously updated.

Bit 6: Enabling of setpoint value

This bit can be used to disable the fieldbus setpoint value. If this bit is set to 0, the option board ignores the setpoint value by the master and instead uses a setpoint value of 0. During operation, if this bit is set to 0, the drive decelerates to a standstill.

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vacon • 86 PROFINET IO

Bit 7: Fault acknowledge

This bit is used to acknowledge faults in the drive. When a rising edge (0 -> 1) is seen in this bit by the option board, it requests the drive to acknowledge present faults. The functionality of this bit is rising-edge sensitive only.

Bit 10: Control by PLC

This bit is used by the master to indicate that it is in control of the slave and that the commands sent via fieldbus are valid.

During operation, this bit must be 1. If the drive is not operating and this bit is 0, the drive cannot be started.

If the drive is operating, and this bit becomes 0, the option board freezes the process data provided to the drive, and sets its state to FAULT. The drive reaction to this fieldbus fault depends on the drive parameterization.

8.3.2.2

The table below lists the assignments of the status word 1.

PROFIdrive Status Word 1 (ZSW1)

Table 50. Overview of the assignments of bits of the status word 1

Significance

Bit

Bit value is 1 Bit value is 0

0 Ready to Switch On Not Ready To Switch On 1 Ready To Operate Not Ready To Operate

3 Fault Present No Fault 4 Coast Stop Not Activated (No OFF2) Coast Stop Activated (OFF2) 5 Quick Stop Not Activated (No OFF3) Quick Stop Activated (OFF3) 6 Switching On Inhibited Switching On Not Inhibited 7 Warning Present No Warning 8 Speed Error Within Tolerance Range Speed Error Out Of Tolerance Range 9 Control by PLC Requested No Control by PLC Requested

Operation Enabled (drive follows set-

point)

Operation Disabled

10 f Or n Reached Or Exceeded f Or n Not Reached 11 Device-specific Device-specific 12 Drive running Drive stopped 13 Drive is ready Drive is not ready

14-15 Device-specific Device-specific

Bit 0: Readiness to switch on

This bit indicates whether the drive is ready to switch on the power electronics. When the bit has the value 0, the drive is not ready to switch on the power electronics. When the bit has the value 1, the drive is ready to switch on the power electronics.

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PROFINET IO vacon • 87

Bit 1: Readiness to operate

This bit indicates whether the drive is ready to begin operation. When the bit has the value 0, the power electronics is switched off and the drive is unable to begin operation. When the bit has the value 1, the power electronics is switched on and the drive can begin operation if requested by the master.

Bit 2: State of operation

This bit indicates whether the drive is operating or not. When the bit has the value 0, the drive is not operating. When the bit has the value 1, the drive is operating.

Bit 3: Presence of fault

This bit indicates the presence of unacknowledged faults in the drive. When the bit has the value 0, no unacknowledged faults are present in the drive. When the bit has the value 1, at least one unacknowledged fault is present in the drive.

Bit 4: Coast stop activated

This bit indicates whether a coast stop command is active or not. When the bit has the value 0, a coast stop command is active. When the bit has the value 1, no coast stop command is active.

Bit 5: Quick stop activated

This bit indicates whether a quick stop command is active or not. When the bit has the value 0, a quick stop command is active. When the bit has the value 1, no quick stop command is active.

Bit 6: Switching on inhibition

This bit indicates whether the power electronics may be switched on or not. When the bit has the value 0, the power electronics may be switched on. When the bit has the value 1, the power electronics are prevented from switching on.

Bit 7: Presence of warning

This bit indicates the presence of warning/alarm information in the drive. When the bit has the value 0, no warning is present. When the bit has the value 1, a warning is present.

Bit 8: Running at setpoint

This bit indicates whether the drive is operating and the actual speed value matches the setpoint value. When the bit has the value 0, the actual speed value does not match the setpoint value. When the bit has the value 1, the actual speed value matches the setpoint value.

Bit 9: Request control by master

This bit indicates whether the fieldbus master should take control of the drive. When this bit has the value 0, the master does not take control of the drive. When this bit has the value 1, the master is requested to take control of the drive.

In OPTE9, this bit depends on the configuration for the drive control place. If the control place is assigned to fieldbus, the bit has the value 1. If the control place is elsewhere, the bit has the value 0.

Bit 10: Setpoint reached or exceeded

This bit indicates whether the setpoint value has been reached or exceeded. When this bit has the value 0, the setpoint value has not been reached or exceeded. When this bit has the value 1, the setpoint value has been reached or exceeded.

Bit 12: Drive running

This bit indicates drive state. If bit is 1, the motor is running. If bit is zero, the motor has been stopped.

Bit 13: Drive ready

This bit indicates drive state. If bit is 1, the drive is ready for transition to running state.

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vacon • 88 PROFINET IO

8.3.2.3 PROFIdrive speed setpoint value NSOLL_A

Normalised 16-bit speed setpoint (containing a sign bit and a 15-bit integer).

• NSOLL_A = 0x4000 corresponds to 100% of the parameterized maximum motor speed.

• NSOLL_A = 0xC000 corresponds to -100% of the parameterized maximum motor speed.

8.3.2.4

Normalised 16-bit actual speed.

• NIST_A = 0x4000 corresponds to 100% of the parameterized maximum motor speed.

• NIST_A = 0xC000 corresponds to -100% of the parameterized maximum motor speed.

8.3.2.5

For details about vendor control word, see Chapter 12 "APPENDIX 2 - CONTROL AND STATUS WORD"

8.3.2.6

For details about vendor status word, see Chapter 12 "APPENDIX 2 - CONTROL AND STATUS WORD".

8.3.2.7

FB General Control Word is 16-bit in length and it is completely application-dependent.

8.3.2.8

PROFIdrive speed actual value NIST_A

VACON® FBFixedControlWord

VACON®FBFixedStatusWord

VACON® FBGeneralControlWord

VACON® FBGeneralStatusWord

FB General Status Word is 16-bit in length and it is completely application-dependent.

8.3.2.9

The FBSpeedReference value is unsigned in the range 0...10000d (0...2710h). The value 0 corresponds to MinimumFrequency and the value 10000d corresponds to MaximumFrequency. Requested direction is indicated using bit 1 in the FBFixedControlWord.

8.3.2.10

The FBActualSpeed value is unsigned in the range 0...10000d (0...2710h). The value 0 corresponds to MinimumFrequency and the value 10000d corresponds to MaximumFrequency. The direction is indicated using bit 2 in the FBFixedStatusWord.

8.3.2.11

The Process Data variables are vendor-specific variables that can be communicated to and from the drive. There can be up to eight Process Data variables communicated in a single telegram. Values sent from the option board to the master are called ProcessDataOut variables, while the values sent from the master to the option board are called ProcessDataIn variables. The contents of the ProcessDataOut variables can be parameterised in the drive using a feature known as Fieldbus Process Data mapping. See the drive's Application Manual for further details.

VACON® FBSpeedReference

VACON® FBSpeedActual

VACON® Process Data

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

PROFINET IO vacon • 89

8.3.3 Quick setup

By following these instructions, you can easily and fast set up your Profinet IO for use:

In the AC drive application: Choose Fieldbus as the active control place (see the drive's User's Manual).

In the Master software:

1.Set the Control Word value to 0hex.

2.Set the Control Word value to 47Ehex.

3.Set the Control Word value to 47Fhex.

4.AC drive status is RUN.

5.Set the Reference value to '2000Hex' (=50.00%).

6.Actual speed is 2000Hex (25.00 Hz if MinFreq is 0.00 Hz and MaxFreq is 50.00 Hz)

7.Set the Control Word value to 47Ehex.

8.AC drive status is STOP.

8.4 PROFIdrive IO parameters

8.4.1 Parameters of the PROFIdrive

The table below lists the basic PROFIdrive parameters (continued on the next page).

Table 51. PROFIdrive basic parameters

PNU Significance Data type Explanation

Selection switch for DO IO

915

916

922 Telegram selection Unsigned16

923

930 Operating mode Unsigned16 1 = Speed control mode

Data in the setpoint tele-

gram

Selection switch for DO IO

Data in the actual value

List of all parameters for

signals

Array[n]

Unsigned16

Array[n]

Unsigned16

Array[n]

Unsigned16

Describes the data in the setpoint telegram. The parameter is an array of signals' numbers that creates the setpoint telegram.

Describes the data in the actual value telegram. The parameter is an array of signals' numbers that creates the actual value telegram.

Currently selected standard telegram is read. It returns for example 1 for ST1. See chapter 8.5.1.1., chapter , chapter 8.5.1.3, chapter 8.5.1.4 for possible values.

The parameter is an array. The index of the array indicates for a signal number and its value for corresponding parameter number. Not supported standard signals, those in range 1-99, have values set to 0. Gaps between the device-specific signals are also filled with 0. Refer to Table 54.

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vacon • 90 PROFINET IO

Table 51. PROFIdrive basic parameters

PNU Significance Data type Explanation

The fault message counter is incremented each time that the fault buffer changes. This means that it is guaran-

944 Fault message counter Unsigned16

947 Fault number

964 Drive Unit Identification

Array[n]

Unsigned16

Array[n]

Unsigned16

teed that the fault buffer is consistently read-out. Without this parameter, it is not guaranteed that the fault buffer does not change while reading-out.

The parameter is an array of 8 elements. The first element indicates an active unacknowledged fault. The following elements contain acknowledged ones. The latest acknowledged fault number is at index 1 and oldest one at index 7.

An array is structured in the following way (index meaning): 0 = Manufacturer code (0x01BA) 1 = Drive Unit Type (0x0002): 1 = VACON NX series, 2 = VACON 100 series, 3 = VACON 20 series 2 = Software version - XXYYd (XX - major revision, YY - minor revision) 3 = Firmware date (year) - YYYYd 4 = Firmware date (day/month) DDMMd 5 = Number of Drive Objects (0x0001)

965

975 DO identification

Profile identification num-

ber

OctetString2

Array[n]

Unsigned16

Two bytes to identify the profile that is used. 1st - profile number; PROFIdrive (3d) 2nd - profile version number; 4.1 (41d)

An array is structured in the following way (index meaning): 0 = Manufacturer code (0x01BA) 1 = Drive Unit Type (0x0003) 2 = Software version - XXYYd (XX - major revision, YY - minor revision) 3 = Firmware date (year) - YYYYd 4 = Firmware date (day/month) DDMMd 5 = Drive Object Type Class - Axis (0x0001) 6 = Drive Object Sub-class 1 - Only Application Class 1 (0x0001) 7 = Drive Object ID (value 1)

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PROFINET IO vacon • 91

Table 51. PROFIdrive basic parameters

PNU Significance Data type Explanation

980: This is a list of the parameter numbers of all the implemented parameters. The list does not contain the number 980-

980 - 989

Number list of defined pa-

rameter

Array[n]

Unsigned16

989. Parameters are listed in the ascending (growing) order. The end-oflist is indicated by the value 0. 981-989: Not used. Length of each is 1 and value is 0, indicating an empty list.

8.4.1.1 PROFIdrive parameters for PROFINET IO communication interface

The table below lists the PROFINET IO communication interface parameters.

Table 52. PROFIdrive parameters

PNU Significance Data type Explanation

Octect-

61000 NameOfStation

String[240]

with-out null

termination

61001 IpOfStation

Unsigned32 IP Address of the Station for the PROFI-

61002 MacOfStation OctetString [6]

61003 DefaultGatewayOfStation Unsigned32

61004 SubnetMaskOfStation Unsigned32

Name of Station for the PROFINET IO Network Interface, which is related to this Drive Unit.

NET IO Network Interface. MAC Address of the Station for the PRO-

FINET IO Network Interface Default Gateway for the Station for the

PROFINET IO Network Interface. Subnet Mask of the Station for the PRO-

FINET IO Network Interface.

8.4.2 Vendor-specific PROFIdrive parameters

The table below lists vendor-specific PROFIdrive parameters.

Table 53. PROFIdrive drive-specific parameters

PNU Significance Data type Explanation

9900 Test parameter (non-array) Unsigned16

Array[n]

9901 Test parameter (array)

10001 Drive parameter access

10100 Profile control word (STW1) Unsigned16 PROFIdrive 4.1 control word (STW1).

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Unsigned16

Array[n]

Special case, data

type depends

from the sub

index

For testing purposes. Does not affect the operation of the drive.

An array of 16 elements. Used only for testing purposes. Does not affect the operation of the drive.

A parameter used to access parameters from the drive application. You can do this by putting the desired drive parameter ID into the sub index field of the parameter request. See chapter 8.4.8

vacon • 92 PROFINET IO

Table 53. PROFIdrive drive-specific parameters

PNU Significance Data type Explanation

10101

10102 Profile status word (ZSW1) Unsigned16 PROFIdrive 4.1 status word (ZSW1).

10103

10109

10110

10111

10112 VACON® Fixed Control Word Unsigned16 Fixed control word. 10113 VACON® Fixed Status Word Unsigned16 Fixed status word. 10114 VACON® Speed reference Unsigned16 Speed reference. 10115 VACON® Speed Actual value Unsigned16 Actual speed value.

10118 Clear VACON® fault history Unsigned16

10119 Read VACON® fault history

10120 VACON® General Control word Unsigned16 General control word. 10121 VACON® General Status word Unsigned16 General status word.

10122

10123

10124 Drive operation time counter Unsigned32

10125

10126 Drive energy counter Float32

10127 Drive energy trip counter Float32

Profile speed setpoint value

(NSOLL_A)

Profile speed actual value

(NIST_A)

VACON® 16-bit Process Data

Out

Speed physical reference

parameter

VACON® 32-bit Process Data

Out

Drive operation time trip coun-

ter

Integer16

Integer16 PROFIdrive 4.1 speed actual value (NIST_A).

Array[n]

Unsigned16

Array[n]

Unsigned16

Array[n]

Unsigned16

Array[n]

Unsigned32

Array[n]

Unsigned32

PROFIdrive 4.1 speed setpoint value (NSOLL_A).

An array of 16 elements. From PDI1 (index 0) to PDI16 (index 15).

An array of 16 elements. From PDO1 (index 0) to PDO16 (index 15).

The parameter describes how many RPM is meant by 100% in the PROFIdrive 4.1 speed setpoint and actual value fields.

To clear the fault history, write a value to the parameter.

An array of 40 elements consisting of VACON® fault history fault codes.

An array of 16 elements. From PDI1 (index 0) to PDI16 (index 15).

An array of 16 elements. From PDO1 (index 0) to PDO16 (index 15).

Drive operation time in seconds as 32 bit unsigned integer.

Drive operation time trip counter in seconds as 32 bit unsigned integer. Writing zero will reset trip counter.

Drive energy counter in KWh as 32 bit float (IEEE 754).

Drive energy trip counter in KWh as 32 bit float (IEEE 754). Writing zero will reset trip counter.

8.4.3 PROFIdrive signal numbers

The table below lists the PROFIdrive signal numbers (continued on the next page).

Table 54. PROFIdrive signal numbers

Signal no. Signal name PNU PNU name

1 Control word 1 10100 PROFIdrive control word (STW1)

2 Status word 1

5 Speed setpoint A 10101

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10102

PROFIdrive status word (ZSW1)

PROFIdrive speed setpoint value

(NSOLL_A)

PROFINET IO vacon • 93

Table 54. PROFIdrive signal numbers

Signal no. Signal name PNU PNU name

6 Speed actual value A 10103 PROFIdrive speed actual value (NIST_A)

51 Output current 10104 Always returns zero.

54 Active power 10106 Always returns zero. 57 Speed actual value A 10107 Always returns zero.

58 Drive status/fault word 10108 Always returns zero. 100 VACON® PDO1 10110 VACON® 16-bit Process Data Out 101 VACON® PDO2 10110 VACON® 16-bit Process Data Out 102 VACON® PDO3 10110 VACON® 16-bit Process Data Out 103 VACON® PDO4 10110 VACON® 16-bit Process Data Out 104 VACON® PDO5 10110 VACON® 16-bit Process Data Out 105 VACON® PDO6 10110 VACON® 16-bit Process Data Out 106 VACON® PDO7 10110 VACON® 16-bit Process Data Out 107 VACON® PDO8 10110 VACON® 16-bit Process Data Out

Active current

(torque proportional)

10105 Always returns zero.

110 VACON® PDI1 10109 VACON® 16-bit Process Data In 111 VACON® PDI2 10109 VACON® 16-bit Process Data In 112 VACON® PDI3 10109 VACON® 16-bit Process Data In 113 VACON® PDI4 10109 VACON® 16-bit Process Data In 114 VACON® PDI5 10109 VACON® 16-bit Process Data In 115 VACON® PDI6 10109 VACON® 16-bit Process Data In 116 VACON® PDI7 10109 VACON® 16-bit Process Data In 117 VACON® PDI8 10109 VACON® 16-bit Process Data In 118 VACON® fixed control word 10112 VACON® Fixed Control Word 119 VACON® fixed status word 10113 VACON® Fixed Status Word

120

121 VACON® fixed actual value 10115 VACON® Speed Actual value

122*

123*

124* VACON® DW PDO1 10123 VACON® 32-bit Process Data Out 125* VACON® DW PDO2 10123 VACON® 32-bit Process Data Out 126* VACON® DW PDO3 10123 VACON® 32-bit Process Data Out

VACON® fixed reference

value

VACON® general control

word

VACON® general status

word

10114 VACON® Speed reference

10120 VACON® General Control word

10121 VACON® General Status word

127* VACON® DW PDO4 10123 VACON® 32-bit Process Data Out 128* VACON® DW PDO5 10123 VACON® 32-bit Process Data Out 129* VACON® DW PDO6 10123 VACON® 32-bit Process Data Out 130* VACON® DW PDO7 10123 VACON® 32-bit Process Data Out 131* VACON® DW PDO8 10123 VACON® 32-bit Process Data Out 132* VACON® DW PDI1 10123 VACON® 32-bit Process Data Out

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vacon • 94 PROFINET IO

Table 54. PROFIdrive signal numbers

Signal no. Signal name PNU PNU name

133* VACON® DW PDI2 10123 VACON® 32-bit Process Data Out 134* VACON® DW PDI3 10122 VACON® 32-bit Process Data In 135* VACON® DW PDI4 10122 VACON® 32-bit Process Data In 136* VACON® DW PDI5 10122 VACON® 32-bit Process Data In 137* VACON® DW PDI6 10122 VACON® 32-bit Process Data In 138* VACON® DW PDI7 10122 VACON® 32-bit Process Data In 139* VACON® DW PDI8 10122 VACON® 32-bit Process Data In

140 VACON® PDO9 141 VACON® PDO10 142 VACON® PDO11 143 VACON® PDO12 144 VACON® PDO13 145 VACON® PDO14 146 VACON® PDO15 147 VACON® PDO16 148 VACON® PDI9 149 VACON® PDI10 150 VACON® PDI11 151 VACON® PDI12 152 VACON® PDI13 153 VACON® PDI14 154 VACON® PDI15 155 VACON® PDI16 156 VACON® DW PDO9* 157 VACON® DW PDO10* 158 VACON® DW PDO11* 159 VACON® DW PDO12* 160 VACON® DW PDO13* 161 VACON® DW PDO14* 162 VACON® DW PDO15*

10110 VACON® 16-bit Process Data Out

10109 VACON® 16-bit Process Data In

10123 VACON® 32-bit Process Data Out

163 VACON® DW PDO16* 164 VACON® DW PDI9* 165 VACON® DW PDI10* 166 VACON® DW PDI11* 167 VACON® DW PDI12*

10122 VACON® 32-bit Process Data In

168 VACON® DW PDI13* 169 VACON® DW PDI14* 170 VACON® DW PDI15* 171 VACON® DW PDI16*

* 32 bit data not supported in current version. See chapter 5.

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PROFINET IO vacon • 95

8.4.4 User specific record data

For easy access to drive parameters and monitoring values, the OPTE9 maps the PROFINET user specific record indexes 0x0000 - 0x7FFF directly into the application IDs of the drive based on the IEC61131 standard. Both read and write access is supported.

NOTE! The response data is in raw format. See application manual for available IDs, amount of decimals and the unit used for the parameters.

IDs can be read/written as VACON® NX scaled values in all drives, or, in VACON® 100 series AC drives, also as actual raw value.

Table 55. Application ID access settings

Slot Subslot Description Note

1 Access IDs as VACON® NX scaled values

2 Access IDs as VACON® 100 actual data type

Only available in VACON®

100

In the examples below, the following index values are used:

• 102 = Maximum frequency (Hz)

• 600 = Motor control mode

Table 56. Example 1: Reading values from different AC drives

Read command Response

AC drive

Slot Subslot Index Hex Dec Actual value

102 13 88 5000 50.00 Hz

Any 1 1

600 00 01 1 1 = OL Speed 102 00 07 A1 20 500000 50.0000 Hz

VACON® 100 1 2

600 00 00 00 01 1 1 = OL Speed

Table 57. Example 2: Writing values for different AC drives

Write command

AC drive

Slot Subslot Index Length Value (Hex)

102 2 11 94 45.00 Hz

Any 1 1

600 2 00 00 0 = OL Frequency 102 4 00 06 DD D0 45.0000 Hz

VACON® 100 1 2

600 4 00 00 00 00 0 = OL Frequency

Actual value

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vacon • 96 PROFINET IO

11611_uk

Contoller/Supervisor

(Client)

Communication system DU/DO Parameter

manager (Server)

Parameter

processing in the

Parameter Manager

Parameter

Request

Write Parameter response

from PAP

Parameter

Request

Error because

response

not yet available

Read Parameter response

from PAP

Error bacause

response

not yet available

Read Parameter response

from PAP

Parameter

response

Read Parameter response

from PAP

Parameter

response

Time line

8.4.5 Base Mode Parameter Access Model

The PROFIdrive parameters are accessed according to the model presented below:

Both indexes can be used to access PROFIdrive parameters. There is no difference in operation between them with current implementation.

The structure of parameter requests is described in the table below:

Block definition Byte n+1 Byte n n

Request Header Request Reference Request ID 0

1st Parameter Address Attribute No. of Elements 4

nth Parameter Address ... 4 + 6 x (n - 1)

1st Parameter Value(s)

(only for request

"Change parameter")

nth Parameter Values ...

Figure 37. PROFIdrive parameter access model

Table 58. Parameter access services

Parameter access service Index

Base Mode Parameter - Local 0xB02E

Base Mode Parameter - Global 0xB02F

Table 59. Parameter request

Axis-No. / DO-ID No. of Parameters = n 2

Parameter Number (PNU)

Subindex

Format No. of Values 4 + 6 x n

Values

...

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PROFINET IO vacon • 97

Block definition Byte n+1 Byte n n

4 + 6 x n + ... +

(For-mat_n x

Qty_n)

The structure of parameter responses is described in the table below:

Table 60. Parameter response

Block definition Byte n+1 Byte n n

Response header Request Ref. mirrored Response ID 0

Axis-No. / DO-ID mirrored No. of Parameters = n 2

1st Parameter Value(s)

(only for request

"Request")

Values or Error Values

Format No. of Values 4

...

nth Parameter Values ...

The table below contains descriptions of parameters.

Table 61. Parameter description

Sub-

index

1 Identifier (ID) Unsigned16

3 Standardisation factor

4Variable attribute

5 Reserved

6Name

7Low limit

8 High limit

9 Reserved

10 ID extension Unsigned16 Not used, always 0.

Field name Data type Description

A bitmask with information about the parameter characteristics.

Number of array ele-

ments

Unsigned16

FloatingPoint (IEEE

754)

Array of two

Unsigned8

Array of four

Unsigned8

ASCII string, 16 char-

acters

Array of four

Unsigned8

Array of four

Unsigned8

Array of two

Unsigned8

For array parameters, the number of elements in the array.

If the information represented by the parameter can be converted into a standardised form, this field contains a factor for this conversion.

Contains two index numbers for describing the parameter information.

Reserved, always 0.

Symbolic name of the parameter.

Limit for valid values of the parameter.

Reserved, always 0.

4 + ... +

(Format_n x

Qty_n)

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vacon • 98 PROFINET IO

Sub-

index

12 Normalisation field Unsigned16

8.4.5.1 Parameter requests

There are two types of parameter requests in PROFIdrive:

• Read requests for reading parameters from the device

• Change requests for writing parameters to the device

Each parameter request consists of three elements:

• Request header

• Parameter address

• Parameter value (only in Change requests)

Request header

Field name Data type Description

Normalisation refer-

ence parameter

Parameter address(es)

Unsigned16

Parameter value(s)

Parameter number, the value of which is used as normalisation reference for the parameter whose description this is.

Contains information about normalisation of this parameter.

8.4.5.2

The request header consists of 4 fields, each one octet in size.

Octet

number

2 Request ID Defines the type of request.

3 Axis Number Not used, should be set to 1.

Request header

Table 62. Request header

Field name Description Allowed values

Unique number for each request/response pair. This

Request Refer-

ence

Requested num-

ber of

parameters

value is changed by the master for each new request. It is mirrored by the slave in the response.

The number of parameters affected by the request.

A bitmask with information about the parameter characteristics.

Use 0x01 for Read requests. Use 0x02 for Change requests. Other values are not allowed.

Use 1 for OPTE9 PROFINET IO. Other values should not be used.

Values 1 to 39 are allowed. The value 0 is not allowed. Values 40 to 255 are not allowed.

Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

Vacon OPTE9 Installation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. SAFETY

1.1 Danger

1.2 Warnings

1.3 Earthing and earth fault protection

2. OPTE9 DUAL PORT ETHERNET - GENERAL

2.1 New features

3. OPTE9 ETHERNET BOARD TECHNICAL DATA

3.1 General

3.2 Cables

4. LAYOUT AND CONNECTIONS

4.1 Layout and connections

4.2 LED Indications

4.2.1 Profinet IO

4.3 Ethernet devices

4.3.1 Human to machine

4.3.2 machine to machine

4.4 Connections and wiring

4.4.1 Topology: Star

4.4.2 Topology: Daisy Chain

4.4.3 Topology: Ring

4.5 ACD (Address Conflict Detection)

5. INSTALLATION

5.1 Installation in VACON® NX

5.2 Installation in VACON® 20

5.2.1 Frames MI1, MI2, MI3

5.2.2 Frames MI4, MI5

5.3 Installation in VACON® 20 X and 20 CP

5.4 Installation in VACON® 100

5.5 installation in VACON® 100 X

5.6 PC Tools

5.6.1 PC tool support

5.6.2 Updating the OPTE9 option board firmware with VACON® Loader

5.6.3 PC Tools for NX / NCIPConfig

5.6.4 PC Tools for NX / NCDrive

6. COMMISSIONING

6.1 Option board menu

6.1.1 Option board parameters

6.1.2 Option board monitoring values

6.1.3 Communication protocol

6.1.4 IP Mode

6.1.5 IP Address

6.1.6 Communication timeout

6.1.7 Profinet IO - Name of Station

6.1.8 EIP Input and Output instance

6.1.9 EIP Product code offset

6.1.10 Mode

6.1.11 MAC Address

6.1.12 Modbus Unit Identifier

6.2 Communication mode

7. M ODBUS TCP / MODBUS UDP

7.1 Modbus UDP vs TCP

7.2 Modbus communications

7.3 Data addresses in Modbus messages

7.3.1 Modbus memory map

7.3.2 Modbus data mapping

7.4 Modbus communication and connection timeout

7.5 Quick setup

7.6 Modbus - example messages

7.6.1 Example 1 - Write process data

7.6.2 Example 2 - Read process data

7.6.3 Example 3 - Exception response

8. PROFINET IO

8.1 PROFIdrive 4.1 profile

8.2 PROFIdrive 4.1 state machine

8.3 PROFINET IO process communication

8.3.1 Telegram types

8.3.2 Telegram building blocks

8.3.3 Quick setup

8.4 PROFIdrive IO parameters

8.4.1 Parameters of the PROFIdrive

8.4.2 Vendor-specific PROFIdrive parameters

8.4.3 PROFIdrive signal numbers

8.4.4 User specific record data

8.4.5 Base Mode Parameter Access Model