Danfoss MCA 124 EtherCAT Option Operating Instructions
The MCA 124 EtherCAT Option allows you to connect your Danfoss VLT® AutomationDrive frequency converter to an EtherCAT network. This enables you to control and monitor the drive from a PLC or other master device via the EtherCAT protocol. The option card is easy to install and configure, with a built-in EtherCAT slave controller and two RJ-45 connectors for daisy-chaining multiple options in a line topology.
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Operating Instructions
MCA 124 EtherCAT
Contents MCA 124 EtherCAT Operating Instruction
Contents
1 Safety
1.1.4 Warning against Unintended Start
2 Introduction
3 How to Install
3.1.1 How to Install Option in Frequency Converter
4 How to Configure
4.1.2 Ethernet Link Parameters
4.2 Configure the Frequency Converter
5 Configure the Master
5.1 Import
5.2 Setting Up
6 How to Control the Frequency Converter
6.1 PDO Communication
6.2 Process Data
6.2.4 Process Control Operation
6.2.5 Influence of the Digital Input Terminals upon FC Control Mode
6.3 Control Profile
6.4 DS 402 Control Profile
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1
Contents MCA 124 EtherCAT Operating Instruction
6.4.3 DSP 402 State Transitions
6.5 Danfoss FC Control Profile
7 Communication Profile Area
7.2 1000-1FFF Communication Object Area
7.3 2000-5FFF Danfoss specific Object Area
7.4 6000-Device profile Object Area
8 Parameters
8.1 Parameter Group 0-** Operation/Display
8.2 Parameter Group 8-** Communication and Option
8.3 Parameter Group 12-** Ethernet
8.4 EtherCAT-specific Parameter List
9 Application Examples
9.1 Example: Process Data with PDO 23
9.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value
10 Troubleshooting
10.1.2 No Communication with the Frequency Converter
10.1.3 Warning 34 Appears even though Communication is Established
10.1.4 Frequency Converter Does Not Respond to Control Signals
10.1.5 Alarm and Warning Words
11 Warnings and Alarms
11.1 Status Messages
11.1.1 Warnings/Alarm Messages
Index
2 MG92A202 - VLT ® is a registered Danfoss trademark
Safety MCA 124 EtherCAT Operating Instruction
1 Safety
1.1.1 Copyright, Limitation of Liability and
Revision Rights
This publication contains information proprietary to
Danfoss. By accepting and using this manual, the user agrees that the information contained herein is used solely for operating equipment from Danfoss or equipment from other vendors if such equipment is intended for communication with Danfoss equipment over a serial communication link. This publication is protected under the Copyright laws of Denmark and most other countries.
Danfoss does not guarantee that a software program produced according to the guidelines provided in this manual functions properly in every physical, hardware, or software environment.
Although Danfoss has tested and reviewed the documentation within this manual, Danfoss gives no warranty or representation, either expressed or implied, with respect to this documentation. This includes its quality, performance, or fitness for a particular purpose.
In no event shall Danfoss be liable for direct, indirect, special, incidental, or consequential damages arising out of the use, or the inability to use information contained in this manual, even if advised of the possibility of such damages. In particular, Danfoss is not responsible for any costs including, but not limited to those incurred as a result of lost profits or revenue, loss or damage of equipment, loss of computer programs, loss of data, the costs to substitute these, or any claims by third parties.
Danfoss reserves the right to revise this publication at any time and to change its contents without prior notice or any obligation to notify previous users of such revisions or changes.
It has been assumed that all devices are sitting behind a firewall that does packet filtering and the environment has implemented restrictions on the software that can run inside the firewall. All nodes are assumed to be "trusted" nodes.
1.1.2 Safety Note
WARNING
HIGH VOLTAGE
The voltage of the frequency converter is dangerous whenever connected to mains. Incorrect installation of the motor, frequency converter or fieldbus may damage the equipment, cause serious personal injury, or death.
Consequently, the instructions in this manual, as well as national and local rules and safety regulations, must be complied with.
1.1.3 Safety Regulations
1.
2.
3.
4.
5.
The frequency converter must be disconnected from mains before carrying out repair work.
Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.
The off-command on the serial bus does not disconnect the equipment from mains and should not be used as a safety switch.
Correct protective earthing or grounding of the equipment must be established. The user must be protected against supply voltage, and the motor must be protected against overload in accordance with applicable national and local regulations.
The earth leakage currents are higher than 3.5
mA.
Do not remove the plugs for the motor and mains supply while the frequency converter is connected to mains. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.
1.1.4 Warning against Unintended Start
1.
2.
3.
The motor can be brought to a stop with bus commands while the frequency converter is connected to mains. If personal safety considerations make it necessary to ensure that no unintended start occurs, these stop functions are not sufficient.
While parameters are being changed, there is a risk that motor starts.
A motor that has been stopped can start if faults occur in the electronics of the frequency
1 1
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Safety MCA 124 EtherCAT Operating Instruction
1 1 converter, or if a temporary overload or a fault in the supply mains or the motor connection ceases.
WARNING
ELECTRICAL HAZARD
Touching the electrical parts may be fatal - even after the equipment has been disconnected from mains.
4 MG92A202 - VLT ® is a registered Danfoss trademark
Introduction MCA 124 EtherCAT Operating Instruction
2 Introduction
2.1.1 About this Manual
First time users can obtain the most essential information for quick installation and set-up in these chapters:
For more detailed information, including the full range of set-up options and diagnosis tools, refer to the chapters:
6 How to Control the Frequency Converter
Terminology:
In this manual several terms for Ethernet are used.
EtherCAT, is the term used to describe the
EtherCAT protocol.
Ethernet, is a common term used to describe the physical layer of the network and does not relate to the application protocol.
2.1.2 Assumptions
These operating instructions are under the conditions that the Danfoss EtherCAT option is used with a Danfoss FC
301/FC 302 frequency converter. The installed controller must support the interfaces described in this document.
Strictly observe all the requirements stipulated in the controller and the frequency converter, along with all limitations herein.
2.1.3 Hardware
This manual relates to the EtherCAT option MCA 124, type no. 130B5546 (uncoated) and 130B5646 (conformal coated).
2.1.4 Background Knowledge
The Danfoss EtherCAT Option Card is designed to communicate with any system complying with the
EtherCAT standard. Familiarity with this technology is assumed. Issues regarding hardware or software produced by other manufacturers, including commissioning tools, are beyond the scope of this manual, and not the responsibility of Danfoss.
For information regarding commissioning tools, or communication to a non-Danfoss node, consult the appropriate manuals.
2.1.5 Available Literature
Available Literature for FC 301/FC 302
The VLT AutomationDrive Operating Instructions,
MG33AXYY, provide the necessary information for getting the frequency converter up and running.
The VLT AutomationDrive Design Guide, MG33BXYY, entails all technical information about the frequency converter design and applications including encoder, resolver, and relay options.
-
The VLT AutomationDrive Profibus Operating
Instructions, MG33CXYY, provide the information required for controlling, monitoring, and programming the frequency converter via a
Profibus fieldbus.
The VLT AutomationDrive DeviceNet Operating
Instructions, MG33DXYY, provide the information required for controlling, monitoring, and programming the frequency converter via a
DeviceNet fieldbus.
-
The VLT AutomationDrive MCT 10 Set-up Software
Operating Instructions, MG10RXYY, provide information for installation and use of the software on a PC.
The VLT AutomationDrive IP21/Type 1 Instruction,
MI33AXYY, provides information for installing the
IP21/Type 1 option.
-
-
-
The VLT AutomationDrive 24 V DC Backup
Instruction, MI33BXYY, provides information for installing the 24 V DC Backup option.
The VLT AutomationDrive CanOpen Operating
Instructions, MG33JXYY.
The VLT AutomationDrive Modbus TCP Operating
Instructions, MG90PXYY.
The MCA 121 Ethernet/IP Operating Instructions,
MG90JXYY.
The MCA 120 PROFINET Operation Instruction,
MG90UXYY.
Danfoss technical literature is also available online at
http://www.danfoss.com/BusinessAreas/DrivesSolutions/.
2 2
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Introduction MCA 124 EtherCAT Operating Instruction
2 2
EMC
I/O
N/A
PC
PCD
PLC
PNU
REF
SDO
STW
IP
PDO
LCP
LED
LSB
MAV
MSB
MRV
Table 2.1
2.1.6 Abbreviations
Abbreviation
API
CC
CTW
DCP
DHCP
Definition
Actual Packet Interval
Control Card
Control Word
Discovery and Configuration Protocol
Dynamic Host Configuration Protocol Configuration
Electromagnetic Compatibility
Input/Output
Internet Protocol
Process Data Object
Local Control Panel
Light Emitting Diode
Least Significant Bit
Main Actual Value (actual output)
Most Significant Bit
Main Reference Value Reference
Not applicable
Personal Computer
Process Control Data
Programmable Logic Controller
Parameter Number
Reference (=MRV)
Service Data Object
Status Word
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How to Install MCA 124 EtherCAT Operating Instruction
3 How to Install
3.1.1 How to Install Option in Frequency
Converter
Items required for installing a fieldbus option in the frequency converter:
•
The fieldbus option
• Fieldbus option adaptor frame for the FC 300.
This frame is deeper than the standard frame to allow space for the fieldbus option beneath
• Strain relief (only for A1 and A2 enclosures)
Illustration 3.1
Illustration 3.2
EtherNet Port1
MS
MCA
121
MS1
MS2
SW.ver.
EtherNet Port2
Option A
Instructions:
1.
Remove LCP panel from the FC 300.
2.
3.
Remove the frame located beneath and discard it.
Push the option into place. The Ethernet connectors must be facing upwards.
4.
5.
Remove both knock-outs on the fieldbus option adaptor frame.
Push the fieldbus option adaptor frame for the FC
300 into place.
6.
Replace the LCP and attach cable.
NOTE
Do not strip and ground the Ethernet cable via the strain relief-plate! The grounding of screened Ethernet cable is done through the RJ-45 connector on the option.
NOTE
After installing the MCA 124 EtherCAT option, set
8-01 Control Site and 8-02 Control Word Source as follows:
8-01 Control Site: [2] Control word only or [0] Digital and ctrl. word
8-02 Control Word Source: [3] Option A
3.1.2 Network
It is of high importance that the media chosen for Ethernet data transmission are suitable. Usually CAT 5e and 6 cables are recommended for industrial applications. Both types are available as Unshielded Twisted Pair and Shielded
Twisted Pair. Generally, shielded cables are recommended for use in industrial environments and with frequency converters.
A maximum cable-length of 100 m is allowed between switches.
MG92A202 - VLT ® is a registered Danfoss trademark 7
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How to Install MCA 124 EtherCAT Operating Instruction
3 3
3.1.3 EtherCAT Cables
Cable Type
Cable Type
Specification
Ethernet standard Standard Ethernet (in accordance with IEEE
802.3), 100Base-TX (FastEthernet)
S/FTP (Screened Foiled Twisted Pair, ISO(IEC
11801 or EN 50173), CAT 5e
Damping 23.2 dB (at 100 MHz and 100 m each)
Crosstalk damping 24 dB (at 100 MHz and 100 m each)
Return loss 10 dB (100 m each)
Surge impedance 100 Ω
Table 3.1 Specification of EtherCAT Cables
3.1.4 LED Behaviour
The option has 3 bicolored LEDs that allow a fast and detailed diagnosis. The three LEDs are each linked to its unique part of the EtherCAT option:
LED Label
Status
Link/Act In
Link/Act Out
Description
Module Status, reflects the activity on the
EtherCAT slave
Link/status In, reflects the activity on the IN port
Link/status In, reflects the activity on the OUT port
Table 3.2
Power OFF or State INIT
PRE-OP State
SAFE-OP State
OP State
ERR-Init State
Link removed from In port
Table 3.3 Indication of Status LED
Power OFF or NO Link
Link
Link Active
Table 3.4 Link/Act LED
EtherCAT In Port EtherCAT Out Port
Status LED
Link/Activity
LEDs
I N
STATUS
Link/Act IN
Link/Act OUT
MCA124
EtherCAT
O U T
Option A
130B5546
MAC 00-1B-08-00-00-00
SW. ver. xx.xx (TM ver. X.xx)
Illustration 3.3 Overview of the Option
Green
8
Red
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How to Install MCA 124 EtherCAT Operating Instruction
3.1.5 Topology
The EtherCAT module features a built-in EtherCAT slave controller, thus having two Ethernet RJ-45 connectors. This module enables the possibility for connecting several
EtherCAT options in a line topology.
The two ports are not equal, and it is therefore important that the top left port is connected to the IN port of the device. Take the same precautions to connect the right port (OUT port) to the IN port of the subsequent device.
NOTE
Do not connect any non-EtherCAT device to the last port as this causes malfunction of the complete EtherCAT network.
3 3
Illustration 3.4 Line Topology
NOTE
In a line topology all frequency converters must be powered, either by mains or by their 24 V DC option cards, for the built-in EtherCAT slave controller to work.
Mounting frequency converters of different power-sizes in a line topology can result in unwanted power-off behavior, while using control word timeout (8-02 Control Word
Source to 8-06 Reset Control Word Timeout. Mount the
frequency converters with the longest discharge time first in the line topology.
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How to Install MCA 124 EtherCAT Operating Instruction
3 3
3.1.6 EMC Precautions
To achieve interference-free operation of the Ethernet, observe the following EMC precautions. Additional EMC information is available in the VLT AutomationDrive series
Design Guide, MG33BXYY.
NOTE
The correct handling of the shield of the motor cable is vital for the overall performance of the system. If the rules are not followed it can lead to loss of the control and mall function of the system.
NOTE
Always observe relevant national and local regulations, for example regarding protective earth connection.
The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise between the cables. Normally, a distance of 200 mm (8 inches) is sufficient, but maintaining the greatest possible distance between the cables is recommended, especially where cables run in parallel over long distances. When crossing is unavoidable, the Ethernet cable must cross motor and brake resistor cables at an angle of 90 °.
min. 200 mm
90 ° crossing
Illustration 3.5
Ethernet Cable
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How to Configure MCA 124 EtherCAT Operating Instruction
4 How to Configure
4.1.1 IP Settings
All IP-related parameters are located in parameter group
12-0*: The parameters are all set to EtherCAT standard values, so no setting is needed.
The EtherCAT option offers several ways of IP address assignment.
4.1.2 Ethernet Link Parameters
Parameter group 12-1* holds Ethernet Link information:
12-11 Link Duration
12-14 Link Duplex
Each port has unique Ethernet Link Parameters.
12-10 Link Status and 12-11 Link Duration displays
information on the link status, per port.
12-10 Link Status displays Link or No Link according to the
status of the present port.
12-11 Link Duration displays the duration of the link on the present port. If the link is broken, the counter is reset.
12-12 Auto Negotiation is a feature that enables two
connected Ethernet devices to choose common transmission parameters, such as speed and duplex mode.
In this process, the connected devices first share their capabilities and then choose the fastest transmission mode they both support.
Incapability between the connected devices could lead to decreased communication performance.
To prevent this, Auto Negotiation can be disabled.
Speed and 12-12 Auto Negotiation.
12-13 Link Speed - displays/sets the link speed for each
port. If no link is present, “None” is displayed.
12-14 Link Duplex - displays/sets the duplex mode for each port.
Half-duplex provides communication in both directions, but only in one direction at a time (not simultaneously).
Full-duplex allows for simultaneous communication in both directions.
4.2 Configure the Frequency Converter
4.2.1 VLT Parameters
Pay particular attention to the following parameters when configuring the frequency converter with an EtherCAT interface.
• 0-40 [Hand on] Key on LCP. If the [Hand on] key on the frequency converter is activated, control of the frequency converter via the EtherCAT interface is disabled.
• After an initial power up, the frequency converter automatically detects whether a fieldbus option is installed in slot A, and set 8-02 Control Word
Source to [Option A]. Adding, changing, or removing an option from an already commissioned frequency converter, does not change
8-02 Control Word Source. However, it causes a
Trip Mode, and the frequency converter displays an error.
• 8-10 Control Word Profile. Choose between the
Danfoss FC Profile and the DS 402 profile.
• 8-50 Coasting Select to 8-56 Preset Reference Select.
Selection of how to gate EtherCAT control commands with digital input command of the control card.
NOTE
When 8-01 Control Site is set to [2] Control word only, the settings in 8-50 Coasting Select to 8-56 Preset Reference
Select are overruled, and all act on Bus-control.
•
8-03 Control Word Timeout Time to 8-05 End-of-
Timeout Function. The reaction in the event of a bus time-out is set via these parameters.
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Configure the Master
5 Configure the Master
MCA 124 EtherCAT Operating Instruction
5 5
5.1 Import
5.1.1 Importing the XML File
To configure an EtherCAT Master, the configuration tool needs an XML file for each type of slave on the network.
The XML file is a text file containing the necessary communications set-up data for a slave. Download the
XML file for the FC 300 at http://www.danfoss.com/drives.
Option version
1.x and 2.x
Table 5.1
File
Danfoss_FC_series_ECAT_013.XML
The steps outlined in 5.2.1 Setting up the Master shows how
to add a new device to the TwinCAT Tool. For tools from other vendors, consult their relevant manuals.
Copy the XML file from the Danfoss Web page to the location: C:\TwinCAT\Io\EtherCAT, and restart the TwinCAT
System Manager. This will update the Device Description library of TwinCAT. If an older version of the XML file is installed, this has to be erased. If the older versions are not erased it can lead to wrong identification of the Drive on the EtherCAT network. The XML file contains three entrys,
FC 300, FC 301 and FC 302. The FC 300 is the the entry for older EtherCAT drive version 1.02, Where the EtherCAT version 2.xx are handled via the entries FC 301 and FC 302.
5.2 Setting Up
5.2.1 Setting up the Master
Inserting the Danfoss EtherCAT slave to the TwinCAT
Master
1.
Right click and select EtherCAT I/O master.
2.
Select Append Box...
Illustration 5.1
3.
4.
5.
Select Danfoss Power Electronics in the I/O
Catalogue of the Insert EtherCAT Device window.
Select VLT FC Series.
Select FC-300 VLT AutomationDrive.
12
Illustration 5.2
Danfoss FC-300 is inserted into the EtherCAT master system.
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Configure the Master MCA 124 EtherCAT Operating Instruction
Illustration 5.3
Illustration 5.5
To function properly, each of the four process data must be linked to variables inside the PLC. In this example, two transmit variables and two receive variables have been inserted in the PLC memory. To see a list of matching data
1.
2.
Select the variable.
Click the Linked to... button in the right window.
The status word is now linked to the variable STW in the
PLC. Remaining variables must be mapped equally to the variables in the PLC.
5 5
Illustration 5.4
In the following example, the status word is linked to the variable STW.
Illustration 5.6
After a successfully integrating the frequency converter to the TwinCAT system, the frequency converter is now ready for operation.
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How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
6 How to Control the Frequency Converter
6 6
6.1 PDO Communication
The DS402 profile for frequency converters specifies a number of communication objects (SDOs). SDOs are suitable for data exchange between a process controller, for example a PLC, and frequency converters. Some SDOs are defined for cyclic data transfer, so that process data
(PCD) can be transferred from the controller to the slave and vice versa. PDOs are used for cyclic data, a subset of the SDOs are PDO mappable.
PDO 23 is pure process data objects for applications requiring no cyclic parameter access. The PLC sends out process control data, and the frequency converter then responds with a transmit PDO containing process status data. In the Danfoss EtherCAT interface all PDOs are free selectable. The first two words of the process data area
(PCD 0 and PCD1) are set to a default value at factory, but can be changed.
Select the signals for transmission from the master to the frequency converter in 12-21 Process Data Config Write
(request from master to the frequency converter). Select the signals for transmission from the frequency converter to the master in (response: FC → master).
The EtherCAT option has only one PDO available - PDO 23.
The PDO 23 is flexible in size, so that it can be adjusted to fit all needs (max. 10 PCDs). The selection is made in the master configuration, and is then automatically downloaded to the frequency converter during the transition from Init to Pre-Op. No manual setting of PPO types in the frequency converter is required.
Selection [1] Standard telegram 1 is equivalent to PDO 23.
Receive PDOs (PLC Drive)
PDO 23
PCD 0
CTW
PCD 1
REF
PCD 9 write
Transmit PDOs (Drive
PDO 23
PCD 0
STW
Illustration 6.1
PLC)
PCD 1
MAV
PCD 9 read
6.2 Process Data
Use the process data part of the PDO for controlling and monitoring the frequency converter via the EtherCAT.
6.2.1 Process Control Data
Process data sent from the PLC to the frequency converter are defined as Process Control Data (PCD).
Master slave
0 1
CTW MRV
2
PCD
......
......
PCD write
9
PCD
Table 6.1
PCD 0 contains a 16-bit control word, where each bit controls a specific function of the frequency converter, see
6.3 Control Profile. PCD 1 contains a 16-bit speed set point
in percentage format. See 6.2.3 Reference Handling .
The content of PCD 2 to PCD 9 is programmed in
12-21 Process Data Config Write and 12-22 Process Data
Config Read.
6.2.2 Process Status Data
Process data sent from the frequency converter contain information about the current state of the frequency converter.
Slave master
0 1
STW MAV
Table 6.2
2
PCD
......
......
PCD read
9
PCD
PCD 0 contains a 16-bit status word, where each bit contains information regarding a possible state of the frequency converter.
PCD 1 contains per default the value of the current speed
of the frequency converter in percentage format (see 6.2.3
The content of PCD 2 to PCD 9 is programmed in
12-22 Process Data Config Read.
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How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
6.2.3 Reference Handling
The reference handling in FC 301/FC 302 is an advanced mechanism that sums up references from different sources.
For more information on reference handling, refer to the
FC 301/FC 302 Design Guide, MG33BXYY.
Illustration 6.2
The reference, or speed set point (MRV, sent via EtherCAT), is always transmitted to the frequency converter in percentage format as integers represented in hexadecimal
(0-4000 hex).
Depending on the setting of 3-00 Reference Range the reference and MAV are scaled accordingly:
Illustration 6.3
NOTE
If 3-00 Reference Range is set to [0] Min - Max, a negative reference is handled as 0%.
The speed limit parameters in 4-11 Motor Speed Low Limit
[RPM] to 4-14 Motor Speed High Limit [Hz] limits the actual frequency converter output.
4-19 Max Output Frequency sets the final speed limit.
The reference and the MAV have the format which appears
MRV / MAV
100%
75%
50%
25%
0%
-25%
-50%
-75%
-100%
Integer in hex
4000
3000
2000
1000
0
F000
E000
D000
C000
Integer in decimal
16.384
12.288
8.192
4.096
0
-4.096
-8.192
-12.288
-16.384
Table 6.3 Reference and MAV Formats
NOTE
Negative numbers are formed as a complement of two.
NOTE
The data type for MRV and MAV is 16-bit standardised value, which can express a range from -200% to +200%
(8001 to 7FFF).
1-00 Configuration Mode set to [0] Speed open loop.
3-00 Reference Range set to [0] Min - Max.
3-02 Minimum Reference set to 100 RPM.
3-03 Maximum Reference set to 3000 RPM.
0%
25%
50%
75%
100%
Table 6.4
MRV/MAV
0 hex
1000 hex
2000 hex
3000 hex
4000 hex
Actual Speed
100 RPM
825 RPM
1550 RPM
2275 RPM
3000 RPM
6.2.4 Process Control Operation
In process control operation 1-00 Configuration Mode is set to [3] Process.
The reference range in 3-00 Reference Range is always [0]
Min - Max.
- MRV represents the process setpoint.
- MAV expresses the actual process feedback (range
+/-200%).
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How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
6 6
6.2.5 Influence of the Digital Input
Terminals upon FC Control Mode
The influence of the digital input terminals upon control of the frequency converter can be programmed in
8-50 Coasting Select to 8-56 Preset Reference Select.
NOTE
Note the 8-01 Control Site overrules the settings in
8-50 Coasting Select to 8-56 Preset Reference Select, and
Terminal 37 Coasting Stop (safe) overrules any parameter.
Each digital input signal can be programmed to logic AND, logic OR, or to have no relation to the corresponding bit in the control word. This way, fieldbus only, fieldbus AND
Digital Input, or Ether Fieldbus OR Digital input terminal can initiate a specific control command, that is stop/coast.
CAUTION
To control the frequency converter via EtherCAT, set
8-50 Coasting Select to either [1] Bus, or to [2] Logic AND.
Then set 8-01 Control Site to [0] Digital and ctrl.word or [2]
control word only.
More detailed information and examples of logical
relationship options are provided in 10 Troubleshooting.
6.3 Control Profile
The frequency converter can be controlled according to the DS402 profile, or the Danfoss FC profile. Select the desired control profile in 8-10 Control Word Profile. The choice of profile affects the control and status word only.
6.4 DS 402 Control Profile and 6.5 FC Control Profile provide
a detailed description of control and status data.
6.4 DS 402 Control Profile
6.4.1 Control Word According to DSP 402
Profile
(Par. 8-10 = DSP 402 profile)
Master-slave
CTW Speed ref.
Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 6.4
03
04
05
06
Bit
00
01
02
07
08
09
10
11
12
13
14
15
Table 6.5
Bit value=0
Switch off
Disable voltage
Quick stop
Disable operation
Disable ramp
Freeze
Ramp stop
No function
Bit value=1
Switch on
Enable voltage
Run
Enable operation
Enable ramp
Run enable
Start
Reset
Reserved
Reserved
Reserved
Jog 1 OFF
Reserved
Setup select (LSB)
Setup select (MSB)
Jog 1 ON
Forward Reversing
Explanation of the Control Bits
Bit 00, Switch OFF/ON
Bits 00, Switch OFF/ON
Bit 00=“0” - executes transition 2, 6 or 8.
Bit 00=“1” - executes transition 3.
Bit 01, Disable/Enable Voltage
Bit 01=“0” - executes transition 9, 10 or 12.
Bit 01=“1” - enables voltage.
Bit 02, Quick stop/Run
Bit 02="0" - executes transition 7, 10 or 11.
Bit 02="1" - quick stop not active.
Bit 03, Disable/enable Operation
Bit 03="0" - executes transition 5.
Bit 03="1" - enables operation.
Bit 04, Quick-stop/ramp
Bit 04="0" - executes transition 7 or 11, Quick stop.
Bit 04="1" - enables ramp.
Bit 05, Freeze output frequency/run enable
Bit 05="0" - the given output frequency is maintained even if the reference is changed.
Bit 05="1" - the frequency converter is again able to regulate, and the given reference is followed.
Bit 06, Ramp stop/start
Bit 06="0" - the frequency converter controls the motor down to stop.
Bit 01="1" - gives a start command to the frequency converter.
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How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
Bit 07, No function/reset
Reset of trip.
Bit 07="0" - there is no reset.
Bit 07="1" - a trip is reset.
Bit 08, 09 and 10
DSP402 reserved.
Bit 11, Jog 1 OFF/ON
Activation of pre-programmed speed in 8-90 Bus Jog 1
Speed
JOG 1 is only possible if Bit 04="0", and bit 00-03="1".
Bit 12
Danfoss reserved.
Bits 13/14, Selection of Setup
Bits 13 and 14 are used for choosing among the four
menu Set-ups in accordance with Table 6.6:
Set-up
0
0
1
1
Table 6.6 Set-up Selection Table
Bit 14
0
1
0
1
Bit 15, Forward/reversing
Bit 15="0" - no reversing.
Bit 15="1" - reversing.
NOTE
In factory setting reversing is set to [digital] in
Bit 13
1
2
3
4
6.4.2 Status Word According to DS 402
Profile
Slave-master
STW Output freq.
Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 6.5
07
08
09
10
03
04
05
06
00
Bit
01
02
11
12
13
14
15
Table 6.7
Bit value=0
Not ready to switch ON
Switched OFF
Operation disabled
No malfunction
Voltage disabled
Quick stop
Switch on disable
No warning
Reserved
Remote disabled
Set point not reached
Bit value=1
Ready to switch ON
Switched ON
Operation enabled
Malfunction
Voltage enabled
Run
Switch on enable
Warning
Remote enabled
Set point reached
Speed limit active Speed limit not active
Reserved
Reserved
Not running
Reserved
Running
Explanation of the Status Bits
Bit 00, Not ready to switch on/Ready to switch on
Bit 00="0" - state less than “Ready to switch on”.
Bit 00="1" - state at least = “Ready to Switch on”.
Bit 01, Switch off/Switch on
Bit 00="0" - state less than “Switched on”.
Bit 00="1" - state at least = “Switched on”.
Bit 02, Operation disable/Operation enable
Bit 00="0" - state less than “Operation enable”.
Bit 00="1" - state at least = “Operation enable”.
Bit 03, No fault/trip
Bit 03="0" - the frequency converter is not in a fault condition.
Bit 03="1" - the frequency converter has tripped and needs a reset signal to run.
Bit 04, Voltage disable/Voltage enable
Bit 04="0" - control word bit 01="1".
Bit 04="1" - control word bit 01="0".
Bit 05, Quick stop/Run
Bit 05="0" - control word bit 02="1".
Bit 05="1" - control word bit 02="0".
Bit 06, Start enable/Start disable
Bit 06="0" - state is not “Switch on disable”.
Bit 06="1" - state = “Switch on enable”.
Bit 07, No warning/Warning
Bit 07="0" - no warning situation.
Bit 07="1" - a warning has occurred.
6 6
MG92A202 - VLT ® is a registered Danfoss trademark 17
How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
6 6
Bit 08, Danfoss reserved:
Bit 09, Remote disable/Remote enable
Bit 09="0" - the frequency converter has been stopped with the stop key on the LCP, or [Local] has been selected in 3-13 Reference Site.
Bit 09="1" - it is possible to control the frequency converter via the serial port.
Bit 10, Set point not reached/Set point reached
Bit 10="0" - the actual motor speed is different from the speed reference set. This situation can occur while the speed is ramped up/down during start/stop.
Bit 10="1" - the present motor speed equals the speed reference set.
Bit 11, Speed limit not active/speed limit active
Bit 11="0" - the output frequency is out of the range set in parameters 4-11/4-12 Motor Speed low Limit RPM/Hz or parameters 4-13/4-14 Motor Speed high Limit RPM/Hz.
Bit 11="1" - the output frequency is within the mentioned range.
Bit 12, DSP 402 reserved
Bit 13, DSP 402 reserved
Bit 14, Running/Not running
Bit 14="0" - the motor is not running.
Bit 14="1" - the frequency converter has a valid start signal or that the output frequency is greater than 0 Hz.
Bit 15, Danfoss reserved.
8-10 Control Profile
Option:
[0] *
[7]
FC profile
CANopen DSP 402
Function:
FC Profile is the default control profile for the frequency converter, whereas CANopen DSP 402 is the CiA standardized control profile, featuring the special DSP 402 transition state machine.
18 MG92A202 - VLT ® is a registered Danfoss trademark
How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
Illustration 6.6 DSP 402 State Machine
MG92A202 - VLT ® is a registered Danfoss trademark 19
6 6
How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
6 6
6.4.3 DSP 402 State Transitions
11
11
12
6
7
8
1
2
4
5
-
Transition State
Start condition
0
3
Start-up ⇒ Not ready to switch on
Switch On Disabled ⇒ Switch On Disabled
Not Ready to Switch On ⇒ Switched On
Ready to Switch On ⇒ Switched On
Switched On ⇒ Ready to Switch On
Operation Enabled ⇒ Switched On
Switched On ⇒ Ready to Switch On
Ready to Switch On ⇒ Switch On Disable
Operation Enable ⇒ Ready to Switch On
9
10
Operation Enable
Switched On
⇒ Switch On Disable
⇒ Switched On Disable
Operation Enabled
Operation Enabled
Quick Stop Active
⇒ Quick Stop Active
⇒ Quick Stop Active
⇒ Switch On Disabled
13
14
15
16
Table 6.8
All states ⇒ Fault Reaction Active
Fault Reaction Active ⇒ Fault
Fault ⇒Switch On Disabled
Quick Stop Active ⇒ Operation Enable (not supported)
-
Control word Status word Action
0000 0000 -
0000 0200 -
0000, 0001 0240
0006 0231
0007 0233
000F
0007
0237
0233
-
-
-
0006
0001, 0000
0006
0231
0240
0231
-
-
-
Motor ramps to 0 RPM with programmed ramp down parameter.
0001, 0000 0240
If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.
If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.
0001, 0000 0240
0002
0003
0001, 0000 xxxx xxxx
0000
-
0207
0217
0240
023F
023F
0240
-
-
If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.
Motor ramps to 0 RPM with programmed quick ramp parameter.
Motor ramps to 0 RPM with programmed quick ramp parameter.
-
-
If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.
20 MG92A202 - VLT ® is a registered Danfoss trademark
How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
6.5 Danfoss FC Control Profile
6.5.1 Control Word according to FC Profile
(CTW)
To select Danfoss FC protocol in the control word,
8-10 Control Word Profile must be set to Danfoss FC protocol [0]. The control word is used to send commands from a master (PLC or PC) to a slave (frequency converter).
07
08
09
10
11
12
03
04
05
06
Bit
00
01
02
13
14
15
Table 6.9
Bit value=0
Reference value
Reference value
DC brake
Coasting
Quick stop
Hold output frequency
Ramp stop
No function
No function
Ramp 1
Data invalid
No function
No function
Parameter set-up
Parameter set-up
No function
Explanation of the Control Bits
Bit value=1 external selection lsb external selection msb
Ramp
No coasting
Ramp
Use ramp
Start
Reset
Jog
Ramp 2
Data valid
Relay 01 active
Relay 04 active selection lsb selection msb
Reverse
Bits 00/01 Reference value
Bits 00 and 01 are used to choose between the four reference values, which are pre-programmed in 3-10 Preset
Reference according to Table 6.10.
NOTE
In 8-56 Preset Reference Select a selection is made to define how Bit 00/01 gates with the corresponding function on the digital inputs.
Bit 01 Bit 00
1
1
0
0
Table 6.10
0
1
0
1
Programmed ref. value
1
2
3
4
Parameter
[0] 3-10 Preset Reference
[1] 3-10 Preset Reference
[2] 3-10 Preset Reference
[3] 3-10 Preset Reference
Bit 02, DC brake
Bit 02=“0” - leads to DC braking and stop. Braking current and duration are set in 2-01 DC Brake Current and 2-02 DC
Braking Time.
Bit 02=“1” - leads to ramping.
Bit 03, Coasting
Bit 03=“0” - causes the frequency converter to immediately coast the motor to a standstill.
Bit 03=“1” - enables the frequency converter to start the motor if the other starting conditions have been fulfilled.
NOTE
In 8-50 Coasting Select a selection is made to define how
Bit 03 gates with the corresponding function on a digital input.
Bit 04, Quick stop
Bit 04=“0” - causes a quick stop, ramping the motor speed down to stop via 3-81 Quick Stop Ramp Time.
Bit 04=“1” - the frequency converter ramps the motor speed down to stop via 3-81 Quick Stop Ramp Time.
Bit 05, Hold output frequency
Bit 05=“0” - causes the present output frequency (in Hz) to freeze. The frozen output frequency can only be changed with the digital inputs (5-10 Terminal 18 Digital Input to
5-15 Terminal 33 Digital Input) programmed to Speed up and Speed down.
Bit 05=“1” - use ramp.
NOTE
If Freeze output is active, stop the frequency converter with
• Bit 03 Coasting stop
•
Bit 02 DC braking
• Digital input (5-10 Terminal 18 Digital Input to
5-15 Terminal 33 Digital Input) programmed to DC
braking, Coasting stop, or Reset and coasting stop.
Bit 06, Ramp stop/start
Bit 06=“0” - causes a stop, in which the motor speed is ramped down to stop via the selected ramp down parameter.
Bit 06=“1" - permits the frequency converter to start the motor, if the other starting conditions have been fulfilled.
NOTE
In 8-53 Start Select a selection is made to define how Bit 06
Ramp stop/start gates with the corresponding function on a digital input.
Bit 07, Reset
Bit 07="0" - does not cause a reset.
Bit 07="1" - causes the reset of a trip. Reset is activated on the signals leading edge, that is, when changing from logic
"0" to logic "1".
6 6
MG92A202 - VLT ® is a registered Danfoss trademark 21
How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
6 6
Bit 08, Jog
Bit 08="0" - no function.
Bit 08="1" - 3-19 Jog Speed [RPM] determines the output frequency.
Bit 09, Selection of ramp 1/2
Bit 09="0" - ramp 1 is active (3-40 Ramp 1 Type to
3-47 Ramp 1 S-ramp Ratio at Decel. Start).
Bit 09="1" - ramp 2 (3-50 Ramp 2 Type to 3-57 Ramp 2 S-
ramp Ratio at Decel. Start) is active.
Bit 10, Data not valid/Data valid
Is used to tell the frequency converter whether it should use or ignore the control word.
Bit 10="0" - the control word is ignored.
Bit 10="1" - the control word is used. This function is relevant, because the control word is always contained in the telegram, regardless of which type of telegram is used.
Thus, it is possible to turn off the control word if you do not wish to use it when updating or reading parameters.
Bit 11, Relay 01
Bit 11="0" - relay 01 not activated.
Bit 11="1" - relay 01 activated, provided Control word bit
11 has been chosen in 5-40 Function Relay.
Bit 12, Relay 04
Bit 12="0" - relay 04 has not been activated.
Bit 12="1" - relay 04 has been activated, provided Control
word bit 12 has been chosen in 5-40 Function Relay.
Bit 13/14, Selection of set-up
Bits 13 and 14 are used to choose from the four menu set-
The function is only possible when Multi-Set-ups is selected in 0-10 Active Set-up.
Set-up
1
2
3
4
Bit 14
0
0
1
1
Bit 13
0
1
0
1
Table 6.11
NOTE
In 8-55 Set-up Select a selection is made to define how Bit
13/14 gates with the corresponding function on the digital inputs.
Bit 15 Reverse
Bit 15="0" - no reversing.
Bit 15="1" - reversing.
6.5.2 Status Word according to FC Profile
(STW)
The status word is used to inform the master (for example, a PC) of the operation mode of the slave (frequency converter).
Refer to for an example of a status word telegram using
PPO type 3.
Explanation of the Status Bits
Bit 00, Control not ready/ready
Bit 00="0" - the frequency converter has tripped.
Bit 00="1" - the frequency converter controls are ready, but the power component is not necessarily receiving any power supply (in case of external 24 V supply to controls).
Bit 01, frequency converter ready
Bit 01="0" - the frequency converter is not ready for operation.
Bit 01="1" - the frequency converter is ready for operation, but there is an active coasting command via the digital inputs or via serial communication.
Bit 02, Coasting stop
Bit 02="0" - the frequency converter has released the motor.
Bit 02="1" - the frequency converter can start the motor when a start command is given.
Bit
00
01
06
07
08
09
02
03
04
05
10
11
12
13
14
15
Bit=0
Control not ready
Frequency converter not ready
Coasting
No error
No error
Reserved
No error
No warning
Speed reference
Local operation
Bit=1
Control ready
Frequency converter ready
Enable
Trip
-
Error (no trip)
Triplock
Warning
Speed=reference
Bus control
Out of frequency limit Frequency limit ok
No operation In operation
Frequency converter OK Stopped, autostart
Voltage OK Voltage exceeded
Torque OK
Timer OK
Torque exceeded
Timer exceeded
Table 6.12
22 MG92A202 - VLT ® is a registered Danfoss trademark
How to Control the Frequenc...
MCA 124 EtherCAT Operating Instruction
Bit 03, No error/trip
Bit 03="0" - the frequency converter is not in fault mode.
Bit 03="1" - the frequency converter is tripped, and that a reset signal is required to re-establish operation.
Bit 04, No error/error (no trip)
Bit 04="0" - the frequency converter is not in fault mode.
Bit 04=“1” - there is a frequency converter error but no trip.
Bit 05, Not used
Bit 05 is not used in the status word.
Bit 06, No error/triplock
Bit 06="0" - the frequency converter is not in fault mode.
Bit 06=“1” - the frequency converter is tripped, and locked.
Bit 07, No warning/warning
Bit 07="0" - there are no warnings.
Bit 07="1" - a warning has occurred.
Bit 08, Speed reference/speed = reference
Bit 08="0" - the motor is running, but that the present speed is different from the preset speed reference. It could, for example, be the case while the speed is being ramped up/down during start/stop.
Bit 08="1" - the present motor present speed matches the preset speed reference.
Bit 09, Local operation/bus control
Bit 09="0" - [Stop/Reset] is activated on the control unit, or that Local control in 3-13 Reference Site is selected. It is not possible to control the frequency converter via serial communication.
Bit 09="1" - it is possible to control the frequency converter via the fieldbus/serial communication.
Bit 10, Out of frequency limit
Bit 10="0" - the output frequency has reached the value in
4-11 Motor Speed Low Limit [RPM] or 4-13 Motor Speed High
Limit [RPM].
Bit 10="1" - the output frequency is within the defined limits.
Bit 11, No operation/in operation
Bit 11="0" - the motor is not running.
Bit 11="1" - the frequency converter has a start signal or the output frequency is greater than 0 Hz.
Bit 12, frequency converter OK/stopped, autostart
Bit 12="0" - there is no temporary over temperature on the frequency converter.
Bit 12="1" - the frequency converter has stopped because of over temperature, but the unit has not tripped and resumes operation once the over temperature stops.
Bit 13, Voltage OK/limit exceeded
Bit 13="0" - there are no voltage warnings.
Bit 13="1" - the DC voltage in the frequency converters intermediate circuit is too low or too high.
Bit 14, Torque OK/limit exceeded
Bit 14="0" - the motor current is lower than the torque limit selected in 4-16 Torque Limit Motor Mode or
4-17 Torque Limit Generator Mode.
Bit 14="1" - the torque limits in 4-16 Torque Limit Motor
Mode and 4-17 Torque Limit Generator Mode have been exceeded.
Bit 15, Timer OK/limit exceeded
Bit 15="0" - the timers for motor thermal protection and
VLT thermal protection, respectively, have not exceeded
100%.
Bit 15="1" - one of the timers has exceeded 100%.
6 6
MG92A202 - VLT ® is a registered Danfoss trademark 23
Communication Profile Area MCA 124 EtherCAT Operating Instruction
7 Communication Profile Area
7 7
The section describes the general layout of the EtherCAT communication area which is supported. The process data objects are defined in this area.
7.2 1000-1FFF Communication Object Area
7.2.1 1000 - 1FFF Communication Object Overview
6041
6042
6043
6044
6046
6048
6049
604C
1111
1616
1A16
1C00
1C12
1C13
2000-5FFF
6040
1010
1011
1018
1100
1110
Index (hex)
1000
1001
1002
1003
1008
1009
100A
6060
6061
6502
6504
Table 7.1 Communication Object Overview
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
ARRAY
RECORD
RECORD
ARRAY
ARRAY
ARRAY
ARRAY
RECORD
RECORD
RECORD
VAR
Object (Symbolic Name)
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
ARRAY
ARRAY
RECORD
VAR
ARRAY
Name
Device type
Error register
Manufacturer status register
Pre-defined error field
Manufacturer device name
Manufacturer hardware version
Manufacturer software version
Store parameters
Restore default parameters
Identity object
EtherCAT address
Virtual MAC address
Virtual IP address info
Receive PDO parameter
Transmit PDO parameter
Sync manager type
RxPDO assign
TxPDO assign
Vendor specific area
Control word
Status word
Vl_target_velocity
Vl_velocity_demand
Vl_actual_value
Vl_velocity_min_max_amount
Vl_velocity_acceleration
Vl_velocity_acceleration
Vl dimension factor
Modes of operation
Modes of operation display
Supported frequency converter mode
Frequency converter manufacture ro ro ro rw ro rw ro ro rw rw rw rw rw rw ro rw ro ro ro rw rw ro ro ro
Read/Write ro ro ro ro constant constant constant
Type
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
VISIBLE_STRING
VISIBLE_STRING
VISIBLE_STRING
UNSIGNED32
UNSIGNED32
Identity (23h)
UNSIGNED16
UNSIGNED8
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED16
UNSIGNED16
See description
UNSIGNED16
UNSIGNED16
SIGNED16
SIGNED16
SIGNED16
UNSIGNED32
See description
See description
UNSIGNED32
UNSIGNED8
UNSIGNED8
UNSIGNED32
VISIBLE_STRING
24 MG92A202 - VLT ® is a registered Danfoss trademark
Communication Profile Area MCA 124 EtherCAT Operating Instruction
7.2.2 1000h Device Type
This object describes the type of device and its functionality. It is composed of a 16-bit field describing the device profile used, and a second 16-bit field providing additional information about optional functionality of the device.
Additional Information
Mode Bits Type Bits
31..
24 23..
0
16
1 (frequency converters)
Device Profile Number
Bits
15..
402
0
Table 7.2 1000h Device Type
7.2.3 1001h Error Register
This object is the error register of the device. Only bit 0 is supported. The other information of errors is read with object 603Fh.
Bit
0
Meaning
Generic error
Table 7.3 1001h Error Register
7.2.4 1002h Manufacturer Status Register
The contents of this object are manufacturer specific, and inform of the state of the frequency converter:
4
5
2
3
Value
1
Meaning
Init
Pre-operational
Boot
Safe-operational
Operational
Table 7.4 1002h Manufacturer Status Register
7.2.5 1003h Predefined Error Field
Holds the error on the frequency converter. Setting index 0 to 0 erases the field. Disabling the diagnosis trigger (FC p807) disables the display of values in this object (that is, they stay at 0).
Index
1003h 0
1003h 1
Meaning
Number of stored errors
Current error
Table 7.5 1003h Predefined Error Field
The current error consist of two 16 bit word, where the most significant word holds the information if a warning or alarm is set.
Bit0
Bit1
1, Alarmword 1 has an active Alarm (16-90 Alarm Word)
1, Alarmword 2 has an active Alarm (16-91 Alarm Word
2)
Bit2
Bit3
0, Reserved
1, Warningword 1 has an active Warning (P 16-92)
Bit4 1, Warningword 2 has an active Warning (P 16-93)
Bit5-15 0, Reserved
Table 7.6
The least significant word reflects the following possible errors:
5112
5210
6100
7110
8100
8302
3100
3130
3210
3220
3300
4210
4310
5110
Code (hex)
0
1000
2130
2213
2240
2310
2311
Table 7.7
Meaning
No fault
General fault
Short circuit
Overcurr. during startup
Short to earth
Continuous overcurrent
Current inside the device, no. 1
Mains voltage
Phase failure
Overvoltage inside the device undervoltage inside the device
Output voltage
Exceed device temperature
Excess frequency converter temperature
Low voltage power supply
+24 V power supply
Measurement circuit
Internal software fault
Brake chopper
Communication
Torque limiting
7.2.6 1008h Manufacturer Device Name
This object contains the device name as defined in
15-40 FC Type.
7.2.7 1009h Manufacturer Hardware
Version
This object contains the Danfoss FC hardware version.
7 7
MG92A202 - VLT ® is a registered Danfoss trademark 25
Communication Profile Area MCA 124 EtherCAT Operating Instruction
7 7
7.2.8 100Ah Manufacturer Software Version
This object contains the Danfoss software version as displayed in 15-49 SW ID Control Card.
7.2.9 1010h Store Parameters
In the standard configuration, the contents of parameters written via fieldbus are stored in volatile memory, that is, the changed data will be lost after a power cycle. This index permits non-volatile storage of all frequency converter parameters which have been changed.
Index, Sub-Index Meaning
1010h 0 Number sub-index supported
1010h 1
1010h 2
Save option parameters
Save communication option parameters
1010h 3
1010h 4
1010h 5
Reserved
Save edit setup
Save frequency converter parameters/all setups
Table 7.8 1010h Store Parameters
Writing the value “save” (0x65766c173) to sub-index 1 stores all frequency converter parameters of all set-ups into non-volatile memory, all other values are rejected.
Sub-index 4 does the same for the Edit Set-up. This function is handled via 12-28 Store Data Values.
7.2.10 1011h Restore Default Parameters
To restore factory default settings:
1.
Write the value “load” to sub-index 1.
2.
3.
Initiate the next power cycle manually.
The default value is restored.
Index, Sub-Index Meaning
1011h 0 Number of sub-index supported
1011h 1
1011h 2
Restore all default parameters and restart
Restore communication related parameters
Table 7.9 1011h Restore Default Parameters
Writing the value “load” (0x64616F6C) stores all frequency converter parameters of all set-ups into non-volatile memory, all other values are rejected, and errors code
0x08000020 is returned. The frequency converter has to be power cycled before the changes get active. These objects execute an initialisation command in 14-22 Operation
Mode.
7.2.11 1018h Identity Object
This object contains general information about the device.
The Vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer.
The manufacturer-specific Product code (sub-index 2h) identifies a specific device version.
The manufacturer-specific Revision number (sub-index 3h) consists of a major revision number and a minor revision number.
Index, Sub-Index Meaning
1018h 0 Number of entries
1018h 1
1018h 2
1018h 3
Vendor ID
Product code
1018h 4
Revision number (major revision number and minor revision number)
Serial number
Table 7.10 1018h Identity Object
7.2.12 1100h EtherCAT Address
This object contains the EtherCAT address of the device assigned by the master.
7.2.13 1110h Virtual MAC Address
This object contains the virtual MAC address for the EoE communication.
Index, Sub-Index
1110h 0
1110h 1
1110h 2
1110h 3
1110h 4
1110h 5
1110h 6
Meaning
Number sub-index supported
Byte 0 of MAC address (LSB)
Byte 1 of MAC address
Byte 2 of MAC address
Byte 3 of MAC address
Byte 4 of MAC address
Byte 5 of MAC address (MSB)
Table 7.11 1110h Virtual MAC Address
26 MG92A202 - VLT ® is a registered Danfoss trademark
Communication Profile Area MCA 124 EtherCAT Operating Instruction
7.2.14 1111h Virtual IP Address Info
This object contains the virtual IP Info objects about IP addresses, gateways, DNS etc.
Index, Sub-Index Meaning
1111h 0 Number sub-index supported
Data Type
UNSIGNED8
1111h 1
1111h 2
IP Address
Subnet Mask
UNSIGNED32
UNSIGNED32
1111h 3
1111h 4
1111h 5
Default Gateway
DNS Server
DNS Name
UNSIGNED32
UNSIGNED32
STRING
Table 7.12 1111h Virtual IP Address Info
For the DNS Name, the maximum string length is 97 characters, where the DNS Name consist of the host name and the DNS name separated by a “.”
7.2.15 1C00h Sync Manager Type
This object contains a list of all configured sync mangers and their types.
Index, Sub-Index Meaning
1C00h 0 Number of entries
1C00h 1
1C00h 2
1C00h 3
Sync-Manager Type Channel 1: Mailbox Write
Sync-Manager Type Channel 2: Mailbox Read
1C00h 4
Sync-Manager Type Channel 3: Process Data
Write (Outputs)
Sync-Manager Type Channel 4: Process Data
Read (Inputs)
Table 7.13 1C00h Sync Manager Type
7.2.16 1C12h RxPDO Assignment
Sync manager 2 is used for process output data. Multiple
RxPDOs can be mapped to this sync manager. Object
1C12h contains the list of all RxPDOs.
Index, Sub-Index
1C00h 0
1C00h 1
Meaning
Number of entries
RxPDO configurable
Table 7.14 1C12h RxPDO Assignment
7.2.17 1C13h TxPDO Assignment
Sync manager 3 is used for process input data. Multiple
RxPDOs can be mapped to this sync manager. Object
1C13h contains the list of all TxPDOs.
Index, Sub-Index
1C00h 0
1C00h 1
Meaning
Number of entries
RxPDO configurable
Table 7.15 1C13h TxPDO Assignment
7.3 2000-5FFF Danfoss specific Object Area
7.3.1 2000h-5FFFh Danfoss Specific Object
Area
The area 2000h to 5FFFh holds the indexes for accessing the Danfoss FC parameters. All parameters in the frequency converter are linked to indexes in this area. The first index available is index 2001h. This index is linked to the frequency converters parameter 1 (language). The rest of the EtherCAT index follows the same rule, where the frequency converters parameter number plus 2000h gives the EtherCAT index. For example, the reading the running hours in 15-01 Running Hours, is calculated by 2000h + parameter number in hex number = 2000h+5DD=index
25DDh . The xml file does only contain a subset of the frequency converters parameters. This subset has the indexes that are required for setting up the PDO communication. If a full list is required, the full list can be readout from the frequency converter. This list allows access to all parameters. This generates the correct information
regarding option installed in the B and C slot. Table 7.16
shows a few indexes and their mapping.
Index
2001h
2002h
2003h
..
2078h
2079h
..
24B1h
24B2h
Parameter
0-01 Language
0-02 Motor Speed Unit
0-03 Regional Settings
1-20 Motor Power [kW]
1-22 Motor Voltage
12-01 IP Address
Table 7.16 2000h-5FFFh Vendor Specific Object Area
7.4 6000-Device profile Object Area
7.4.1 6000h-9FFFh Standardised Device
Profile Area
The area 6000h to 9FFFh holds the indexes specified by the ETG (ETherCAT user Group) for various device profiles.
The Danfoss EtherCAT does support three profiles, FC
Profile, MCO and the DS 402 profile, velocity mode. The profile is selected via 8-10 Control Word Profile, Control
Word Profile, or via Index 6060h Modes of operation. The
7 7
MG92A202 - VLT ® is a registered Danfoss trademark 27
Communication Profile Area MCA 124 EtherCAT Operating Instruction
7 7 profile area has up to 13 indexes depending on the selection made in 8-10 Control Word Profile.
Table 7.17 shows the support of indexes, depending on
setting of 8-10 Control Word Profile (Index 6060h)
Index Name
6040h Control word
6041h Status word
6042h Vl_target_velocity
6043h Vl_velocity_demand
6044h Vl_velocity_effort
6046h Vl_velocity_min_max_amount
6048h Vl_velocity_acceleration
6049h Vl_velocity_deceleration
604Ch Vl dimension factor
6060h Modes of operation
6061h Modes of operation display
6502h Supported frequency converter mode
6504h Frequency converter manufacture
8-10 Control Word Profile=FC
Profile
-
-
-
-
-
-
-
√
√
-
-
√
√
8-10 Control Word
Profile=MCO
-
-
-
-
-
-
-
√
√
-
-
√
√
Table 7.17 6000h-9FFFh Standardised Device Profile Area
7.4.2 6040h Control Word
8-10 Control Word Profile=DS
402
√
√
√
√
√
√
√
√
√
√
√
√
√
7.4.7 6046h vl_velocity_min_max_amount
This object contains the control word in accordance with
DS 402. The control word consists of 16 bit, these 16 bit are used for controlling the frequency converter (for example, start, stop, reset), The control word is described
in 6.4 DS 402 Control Profile.
The vl_ velocity_min_max_amount is the minimum and maximum RPM at the motor shaft. The two values are obtained from 3-02 Minimum Reference and 3-03 Maximum
Reference. The readout values in 3-02 Minimum Reference and 3-03 Maximum Reference will be truncated.
7.4.3 6041h Status Word
This object contains the Status word in accordance to DS
402. The status word consists of 16 bit. The 16 bits shows the state and status of the frequency converter (for example, running, ramping, on speed). The Status word is
described in 6.4 DS 402 Control Profile.
7.4.4 6042h vl_target_velocity
The vl_target_velocity is the required velocity of the system. The velocity is in RPM, the value is scaled by the vl dimension factor 604Ch.
7.4.8 6048h vl_velocity_acceleration
The vl_ velocity_acceleration index specifies the slope of the acceleration ramp. It is generated as the quotient of the delta_speed and delta_time. The Delta time is stored in 3-41 Ramp 1 Ramp up Time, and the Delta speed is store locally in the options non volatile memory. After a power down the delta speed will be generated from the frequency converter 1-25 Motor Nominal Speed. This can give a different readout from the frequency converter, but the slope value is maintained.
7.4.5 6043h vl_velocity_demand
The vl_velocity_demand is the velocity of the system after the ramp controller. The velocity is in RPM, the value is scaled by the vl dimension factor 604Ch.
7.4.6 6044h vl_actual_value
The vl_actual_value is the velocity at the motor shaft. The velocity is in RPM, and is obtained from 16-17 Speed [RPM].
Index, Sub-Index
1048h 0
1048h 1
1048h 2
Meaning
Number of sub-index supported
Delta speed
Delta time
Table 7.18 6048h vl_velocity_acceleration
7.4.9 6049h vl_velocity_deceleration
The vl_ velocity_deceleration index specifies the slope of the deceleration ramp. It is generated as the quotient of the delta_speed and delta_time. The Delta time is stored in 3-42 Ramp 1 Ramp Down Time, and the Delta speed is stored locally in the options non volatile memory. After a
28 MG92A202 - VLT ® is a registered Danfoss trademark
Communication Profile Area MCA 124 EtherCAT Operating Instruction power down the delta speed will be generate from the frequency converter 1-25 Motor Nominal Speed. This can give a different readout from the frequency converter, but the slope value is maintained.
Index, Sub-Index
1049h 0
1049h 1
1049h 2
Meaning
Number of sub-index supported
Delta speed
Delta time
Table 7.19 6049h vl_velocity_deceleration
7.4.10 604Ch vl_dimension_factor
The vl_dimension_factor configures the numerator and denominator of the factor. The vl_dimension_factor serves to include gearing in calculation or serves to scale specific units of the user. It influences the vl_target_velocity, vl_velocity_indexes.
Index, Sub-Index
104Ch 0
104Ch 1
104Ch 2
Meaning
Number of sub-index supported
Numerator
Denomerator
Table 7.20 604Ch vl_dimension_factor
7.4.11 6060h Modes of Operation
This index is used for selection the DanfossFC profile, MCO profile or the DS 402 profile. The index links directly to
8-10 Control Word Profile. If this value is changed while in operation, the option enters the “Error PREOP” state.
Index, 6060h Value Meaning
-2 MCO profile (only possible if MCO305 is mounted)
-1
2
FC Profile
DS 402 profile
Table 7.21 6060h Modes of Operation
7.4.12 6061h Modes of Operation Display
This index is used to display which mode the frequency converter is in. The mode can be changed via index 6060.
The values are the same as used for index 6060.
Index, 6061h Value
-1
Meaning
Default display operation
Table 7.22 6061h Modes of Operation Display
7.4.13 6502h Supported Frequency
Converter Mode
This index informs the user of which operating mode the frequency converter is capable of. Bit 1 is set, indicating that the frequency converter can run DS 402 velocity mode, bit 16 FC profile and 17 indicates MCO profile.
7.4.14 6504h Frequency Converter
Manufacturer
The data is coded as a string.
Emergency Object
This section describes the general layout of the EtherCAT emergency object. The emergency object is used to signal error states in the frequency converters to the master. The frequency converter can be programmed automatically to send the EMCY object if an alarm or warning is activated.
The frequency converter resends the EMCY object if one of the alarms or warnings is removed.
Communication Object Overview
The EMCY object always consists of 8 bytes data, see
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
EMCY code
Object 1003h sub index 1
Object
1001h
Vendor specific information
See below
Reserv ed
Reserv ed
Table 7.23 Communication Object Overview
Reserv ed
Reserv ed
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MG92A202 - VLT ® is a registered Danfoss trademark 29
Communication Profile Area MCA 124 EtherCAT Operating Instruction
7 7
Code (hex)
0
1000
2130
2213
2240
2310
2311
3100
3130
3210
3220
3300
4210
4310
5110
5112
5210
6100
7110
8100
8302
Table 7.24 Byte 0 and 1
Meaning
No fault
General fault
Short Circuit
Overcurr. during startup
Short to earth
Continuous overcurrent
Current inside the device, No. 1
Mains voltage
Phase failure
Overvoltage inside the device
Undervoltage inside the device
Output voltage
Exceed device temperature
Excess frequency converter temperature
Low voltage power supply
+24 V Power supply
Measurement circuit
Internal software fault
Brake chopper
Communication
Torque limiting
0
1
No errors
Error active
Table 7.25 Byte 2
Bit0
Bit1
1, Alarmword 1 has an active Alarm (16-90 Alarm Word)
1, Alarmword 2 has an active Alarm (16-91 Alarm Word
2)
Bit2
Bit3
0, Reserved
1, Warningword 1 has an active Warning (P 16-92)
Bit4 1, Warningword 2 has an active Warning (P 16-93)
Bit5-15 0, Reserved
Table 7.26 Byte 3
Reserved
Table 7.27 Byte 4 to byte 7
30 MG92A202 - VLT ® is a registered Danfoss trademark
Parameters MCA 124 EtherCAT Operating Instruction
8 Parameters
8.1 Parameter Group 0-** Operation/Display
0-37 Display Text 1
Range: Function:
0
N/A *
[0 -
0
N/A]
In this parameter it is possible to write an individual text string for display in the LCP or to be read via serial communication. If to be displayed permanently select Display Text 1 in
0-20 Display Line 1.1 Small, 0-21 Display Line 1.2
Small, 0-22 Display Line 1.3 Small, 0-23 Display Line
2 Large or 0-24 Display Line 3 Large. Press [
▲
] or
[
▼
] to change a character. Press [
◀
] and [
▶
] to move the cursor. When a character is highlighted by the cursor, it can be changed. Press [
▲
] or [
▼
] to change a character. A character can be inserted by placing the cursor between two characters and pressing [
▲
] or [
▼
].
8.2 Parameter Group 8-** Communication and Option
8-01 Control Site
Option: Function:
The setting in this parameter overrides
the settings in 8-50 Coasting Select to
8-56 Preset Reference Select.
[0] * Digital and ctrl.word
Control by using both digital input and control word.
[1] Digital only Control by using digital inputs only.
[2] Controlword only Control by using control word only.
8-03 Control Word Timeout Time
Range: Function:
1.0 s * [0.1 -
18000.0 s]
Enter the maximum time expected to pass between the reception of two consecutive telegrams. If this time is exceeded, it indicates that the serial communication has stopped. The function selected in
8-04 Control Word Timeout Functionis then
carried out. A valid control word triggers the time-out counter.
8-04 Control Word Timeout Function
Select the time-out function. The time-out function activates when the control word fails to be updated within the time
period specified in 8-03 Control Word Timeout Time.
Option:
[0] * Off
Function:
Resumes control via serial bus (fieldbus or standard) using the most recent control word.
[1] Freeze output Freezes output frequency until communication resumes.
[2] Stop Stops with auto restart when communication resumes.
[3] Jogging
[4] Max. speed
Runs the motor at JOG frequency until communication resumes.
Runs the motor at maximum frequency until communication resumes.
[5] Stop and trip Stops the motor, then resets the frequency converter to restart: via the fieldbus, via the reset button on the LCP, or via a digital input.
[7] Select setup 1 Changes the set-up upon reestablishment of communication following a control word time-out. If communication resumes after a
time-out, 8-05 End-of-Timeout Function
defines whether to resume the set-up used before the time-out, or to retain the set-up endorsed by the time-out function.
[8] Select setup 2 See [7] Select setup 1
[9] Select setup 3 See [7] Select setup 1
[10] Select setup 4 See [7] Select setup 1
NOTE
To change the set-up after a time-out, the following configuration is required:
Set 0-10 Active Set-up to [9] Multi set-up and select the relevant link in 0-12 This Set-up Linked to.
8-05 End-of-Timeout Function
Option: Function:
Select the action after receiving a valid control word following a time-out. This parameter is active only when 8-04 Control
Timeout Function is set to [7] Set-up 1, [8] Set-
up 2, [9] Set-up 3 or [10] Set-up 4.
[0] Hold set-up Retains the set-up selected in 8-04 Control
Timeout Function and displays a warning, until
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MG92A202 - VLT ® is a registered Danfoss trademark 31
Parameters MCA 124 EtherCAT Operating Instruction
8 8
8-05 End-of-Timeout Function
Option: Function:
8-06 Reset Control Timeout toggles. Then the frequency converter resumes its original setup.
[1] * Resume setup
Resumes the set-up active before the timeout.
8-06 Reset Control Word Timeout
This parameter is active only when [0] Hold set-up has been
selected in 8-05 End-of-Timeout Function.
Option: Function:
[0] *
Do not reset Retains the set-up specified in 8-04 Control
Word Timeout Function, following a control
word time-out.
[1] Do reset Returns the frequency converter to the original set-up following a control word timeout. The frequency converter performs the reset and then immediately reverts to the [0]
Do not reset setting
8-07 Diagnosis Trigger
This parameter enables and controls the frequency converter diagnosis/Emergency function. In Profibus, it expands the diagnosis data to 24 byte. In EtherCAT, it activates the transmission of the Emergency object. The Emergency object consists of 8 byte of data, where byte 3 indicates an active alarm or warning. Bit 0=1 Alarmword 1 has an active Alarm. Bit 1=1
Alarmword 2 has an active Alarm. Bit 2, reserved, Bit 3=1
Warningword 1 has an active warning. Bit 4=1 Warningword 2 has an active warning. Bits 5-7, reserved.
Option: Function:
NOTE
The following is only valid for
Profibus and EtherCAT.
-
-
[0] Disable: Do not send extended diagnosis/emergency data even if they appear in the frequency converter.
[1] Trigger on alarms: Send extended diagnosis/emergency data when one or more alarms appear in alarm 16-90 Alarm
Word or 9-53 Profibus Warning
Word.
[2] Trigger alarms/warn.: Send extended diagnosis/emergency data if one or more alarms or warnings appear in alarm
16-90 Alarm Word, 9-53 Profibus
Warning Word, or warning
16-92 Warning Word.
8-07 Diagnosis Trigger
This parameter enables and controls the frequency converter diagnosis/Emergency function. In Profibus, it expands the diagnosis data to 24 byte. In EtherCAT, it activates the transmission of the Emergency object. The Emergency object consists of 8 byte of data, where byte 3 indicates an active alarm or warning. Bit 0=1 Alarmword 1 has an active Alarm. Bit 1=1
Alarmword 2 has an active Alarm. Bit 2, reserved, Bit 3=1
Warningword 1 has an active warning. Bit 4=1 Warningword 2 has an active warning. Bits 5-7, reserved.
Option: Function:
Enabling diagnosis can cause increased bus traffic. Not all fieldbus types support
Diagnosis functions.
[0] * Disable
[1] Trigger on alarms
[2] Trigger alarm/ warn.
8-08 Readout Filtering
If the speed feedback value readouts on fieldbus are fluctuating, this function is used. Select filtered if the function is required. A power-cycle is required for changes to take effect.
Option:
[0] * Motor Data Std-
Filt.
Function:
Select [0] for normal bus readouts.
[1] Motor Data LP-
Filter
Select [1] for filtered bus readouts of the following parameters:
16-10 Power [kW]
16-11 Power [hp]
16-12 Motor Voltage
16-14 Motor Current
16-16 Torque [Nm]
16-17 Speed [RPM]
16-22 Torque [%]
16-25 Torque [Nm] High
8-10 Control Word Profile
Select the interpretation of the control and status words corresponding to the installed fieldbus. Only the selections valid for the fieldbus installed in slot A are visible in the LCP display. If the parameter is changed while the frequency converter is in operation mode, the frequency converter goes to error state, and the control of the frequency converter is lost.
Option:
[0] *
[7]
FC Profile
CANopen DSP 402
Function:
32 MG92A202 - VLT ® is a registered Danfoss trademark
Parameters MCA 124 EtherCAT Operating Instruction
8-13 Configurable Status Word STW
Option: Function:
This parameter enables configuration of bits 12–15 in the status word.
[0] No function
[1] * Profile Default Function corresponds to the profile default selected in 8-10 Control Profile.
[2] Alarm 68 Only Only set in case of an Alarm 68.
[3] Trip excl. Alarm
68
Set in case of a trip, except if Alarm 68 executes the trip.
[10] T18 DI status.
The bit indicates the status of terminal 18.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
[11] T19 DI status.
The bit indicates the status of terminal 19.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
[12] T27 DI status.
The bit indicates the status of terminal 27.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
[13] T29 DI status.
The bit indicates the status of terminal 29.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
[14] T32 DI status.
The bit indicates the status of terminal 32.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
[15] T33 DI status.
The bit indicates the status of terminal 33.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
[16] T37 DI status The bit indicates the status of terminal 37.
0” indicates T37 is low (safe stop)
“1” indicates T37 is high (normal)
[21] Thermal warning
[30] Brake fault
(IGBT)
The thermal warning turns on when the temperature exceeds the limit in the motor, the frequency converter, the brake resistor, or the thermistor.
Output is Logic ‘1’ when the brake IGBT is short-circuited. Use this function to protect the frequency converter if there is a fault on the brake modules. Use the output/relay to cut out the main voltage from the frequency converter.
[40] Out of ref.
range
[60] Comparator 0 See parameter group 13-1*. If Comparator
0 is evaluated as TRUE, the output goes high. Otherwise, it is low.
[61] Comparator 1 See parameter group 13-1*. If Comparator
1 is evaluated as TRUE, the output goes high. Otherwise, it is low.
[62] Comparator 2 See parameter group 13-1*. If Comparator
2 is evaluated as TRUE, the output goes high. Otherwise, it is low.
[63] Comparator 3 See parameter group 13-1*. If Comparator
3 is evaluated as TRUE, the output goes high. Otherwise, it is low.
8-13 Configurable Status Word STW
Option: Function:
[64] Comparator 4 See parameter group 13-1*. If Comparator
4 is evaluated as TRUE, the output goes high. Otherwise, it is low.
[65] Comparator 5 See parameter group 13-1*. If Comparator
5 is evaluated as TRUE, the output goes high. Otherwise, it is low.
[70] Logic Rule 0 See parameter group 13-4*. If Logic Rule 0 is evaluated as TRUE, the output goes high. Otherwise, it is low.
[71] Logic Rule 1
[72] Logic Rule 2
See parameter group 13-4*. If Logic Rule 1 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-4*. If Logic Rule 2 is evaluated as TRUE, the output goes high. Otherwise, it is low.
[73] Logic Rule 3
[74] Logic Rule 4
[75] Logic Rule 5
[80] SL Digital
Output A
See parameter group 13-4*. If Logic Rule 3 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-4*. If Logic Rule 4 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-4*. If Logic Rule 5 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See 13-52 SL Controller Action. The output goes high whenever the Smart Logic
Action [38] Set digital out A high is executed. The output goes low whenever the Smart Logic Action [32] Set digital out
A low is executed.
[81] SL Digital
Output B
[82] SL Digital
Output C
[83] SL Digital
Output D
See 13-52 SL Controller Action. The input goes high whenever the Smart Logic
Action [39] Set digital out B high is executed. The input goes low whenever the Smart Logic Action [33] Set digital out
B low is executed.
See 13-52 SL Controller Action. The input goes high whenever the Smart Logic
Action [40] Set digital out C high is executed. The input goes low whenever the Smart Logic Action [34] Set digital out
C low is executed.
See 13-52 SL Controller Action. The input goes high whenever the Smart Logic
Action [41] Set digital out D high is executed. The input goes low whenever the Smart Logic Action [35] Set digital out
D low is executed.
[84] SL Digital
Output E
See 13-52 SL Controller Action. The input goes high whenever the Smart Logic
Action [42] Set digital out E high is executed. The input goes low whenever the Smart Logic Action [36] Set digital out
E low is executed.
8 8
MG92A202 - VLT ® is a registered Danfoss trademark 33
Parameters MCA 124 EtherCAT Operating Instruction
8 8
8-13 Configurable Status Word STW
Option:
[85] SL Digital
Output F
Function:
See 13-52 SL Controller Action. The input goes high whenever the Smart Logic
Action [43] Set digital out F high is executed. The input goes low whenever the Smart Logic Action [37] Set digital out
F low is executed.
8-14 Configurable Control Word CTW
Option: Function:
Selection of control word bit 10 if it is active low or active high.
[0] None
[1] * Profile default
[2] CTW Valid, active low
8-50 Coasting Select
Option: Function:
Select control of the coasting function via the terminals (digital input) and/or via the bus.
[0] Digital input
[1] Bus
Activates Start command via a digital input.
Activates Start command via the serial communication port or fieldbus option.
[2] Logic AND Activates Start command via the fieldbus/serial communication port, AND additionally via one of the digital inputs.
[3] * Logic OR Activates Start command via the fieldbus/serial communication port OR via one of the digital inputs.
8-51 Quick Stop Select
Select control of the Quick Stop function via the terminals
(digital input) and/or via the bus.
Option:
[0]
[1]
[2]
[3] *
Digital input
Bus
Logic AND
Logic OR
Function:
8-52 DC Brake Select
Option: Function:
Select control of the DC brake via the terminals
(digital input) and/or via the fieldbus.
NOTE
Only selection [0] Digital input is available when 1-10 Motor Construction is set to [1]
PM non-salient SPM.
[0] Digital input
Activates Start command via a digital input.
8-52 DC Brake Select
Option: Function:
[1] Bus Activates Start command via the serial communication port or fieldbus option.
[2] Logic AND Activates Start command via the fieldbus/serial communication port, AND additionally via one of the digital inputs.
[3] * Logic OR Activates Start command via the fieldbus/serial communication port OR via one of the digital inputs.
8-53 Start Select
Option: Function:
Select control of the frequency converter start function via the terminals (digital input) and/or via the fieldbus.
[0] Digital input
[1] Bus
Activates Start command via a digital input.
Activates Start command via the serial communication port or fieldbus option.
[2] Logic AND Activates Start command via the fieldbus/serial communication port, AND additionally via one of the digital inputs.
[3] * Logic OR Activates Start command via the fieldbus/serial communication port OR via one of the digital inputs.
8-54 Reversing Select
Option: Function:
[0] Digital input
Select control of the frequency converter reverse function via the terminals (digital input) and/or via the fieldbus.
[1] Bus Activates the Reverse command via the serial communication port or fieldbus option.
[2] Logic AND Activates the Reverse command via the fieldbus/serial communication port, AND additionally via one of the digital inputs.
[3] * Logic OR Activates the Reverse command via the fieldbus/serial communication port OR via one of the digital inputs.
8-55 Set-up Select
Option: Function:
Select control of the frequency converter setup selection via the terminals (digital input) and/or via the fieldbus.
[0] Digital input
[1] Bus
Activates the set-up selection via a digital input.
Activates the set-up selection via the serial communication port or fieldbus option.
34 MG92A202 - VLT ® is a registered Danfoss trademark
Parameters MCA 124 EtherCAT Operating Instruction
8-55 Set-up Select
Option: Function:
[2] Logic AND Activates the set-up selection via the fieldbus/ serial communication port, AND additionally via one of the digital inputs.
[3] * Logic OR Activate the set-up selection via the fieldbus/ serial communication port OR via one of the digital inputs.
8-90 Bus Jog 1 Speed
Range:
100 RPM * [0 - par. 4-13
RPM]
Function:
Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option.
8-91 Bus Jog 2 Speed
Range:
200 RPM * [0 - par. 4-13
RPM]
Function:
Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option.
8.3 Parameter Group 12-** Ethernet
8.3.1 12-0* IP Settings
12-00 IP Address Assignment
Option: Function:
Selects the IP Address assignment method.
[0]
MANUAL IP-address can be set in 12-01 IP Address IP
Address.
[1]
[2]
DHCP
[10] * DCP
IP-address is assigned via DHCP server.
BOOTP IP-address is assigned via BOOTP server.
DCP Assigned via the DCP protocol.
12-01 IP Address
Range: Function:
0 * [0 - 2147483647 ] Configure the IP address of the option.
Read-only if 12-00 IP Address Assignment
set to DHCP or BOOTP.
12-02 Subnet Mask
Range:
0 N/A * [0 - 2147483647
N/A]
Function:
Configure the IP subnet mask of
the option. Read-only if 12-00 IP
Address Assignment set to DHCP or
BOOTP.
12-03 Default Gateway
Range: Function:
0 * [0 -
2147483647 ]
Configure the IP default gateway of the
option. Read-only if 12-00 IP Address
Assignment set to DHCP or BOOTP. In a
non-routed network this address is set to the IP address of the IO Device
12-04 DHCP Server
Range: Function:
0 * [0 - 2147483647 ] Read only. Displays the IP address of the found DHCP or BOOTP server.
12-05 Lease Expires
Range: Function:
0 N/A * [0 - 0 N/A] Read only. Displays the lease-time left for the current DHCP-assigned IP address.
12-06 Name Servers
Range: Function:
0 N/A * [0 - 2147483647 N/A] IP addresses of Domain Name
Servers. Can be automatically assigned when using DHCP.
12-07 Domain Name
Range: Function:
0 N/A [0 - 0 N/A] Domain name of the attached network. Can be automatically assigned when using DHCP network.
12-08 Host Name
Range:
0 [0 - 2147483647 ]
Function:
Logical (given) name of option.
NOTE
The display of the frequency converter only shows the first
19 characters, but the remaining characters are stored in the frequency converter.
12-09 Physical Address
Range: Function:
0 N/A * [0 - 0 N/A] Read only Displays the Physical (MAC) address of the option.
8.3.2 12-1* Ethernet Link Parameters
12-1* Ethernet Link parameters
Option: Function:
Applies for whole parameter group.
[0] Port 1
[1] Port 2
8 8
MG92A202 - VLT ® is a registered Danfoss trademark 35
Parameters MCA 124 EtherCAT Operating Instruction
8 8
12-10 Link Status
Option: Function:
Read only. Displays the link status of the Ethernet ports.
[0] No Link
[1] Link
12-11 Link Duration
Range: Function:
0 N/A * [0 - 0 N/A] Read only. Displays the duration of the present link on each port in dd:hh:mm:ss.
12-12 Auto Negotiation
Option: Function:
Configures Auto Negotiation of Ethernet link parameters, for each port: ON or OFF.
[0] Off Link Speed and Link Duplex can be configured in
12-13 Link Speed and 12-14 Link Duplex.
[1] * On
NOTE
It is recommended to set 12-12 Auto Negotiation to [0] Off for the EtherCAT option and for the connected port. This setting ensures that the connected ports are set to an optimized Link Speed with Link Duplex setting. If only one of the ports in a link is set to Auto Negotiation ON, the ports can switch to half duplex, which results in poor network performance. Most switches today have Auto negotiation set, but it can then take longer to establish a connection.
12-13 Link Speed
Option: Function:
Forces the link speed for each port in 10 Mbps
or 100 Mbps. If 12-12 Auto Negotiation is set to:
ON, this parameter is read only and displays the actual link speed. If no link is present, “None” is displayed.
[0] None
[1] 10 Mbps
[2] * 100 Mbps
12-14 Link Duplex
Option: Function:
Forces the duplex for each port to Full or Half duplex. If 12-12 Auto Negotiation is set to:
[ON], this parameter is read only.
[0] Half Duplex
[1] * Full Duplex
8.3.3 12-2* Process Data
12-20 Control Instance
Range: Function:
[None, 20, 21,
100, 101, 103]
Read only. Displays the connection to the master. In Ethernet IP: If no CIP connection is present, “None” is displayed. In EtherCAT: If no connection is active "None" is displayed, else it displays the active PDO.
12-21 Process Data Config Write
Range: Function:
[[0 - 9] PCD read 0 - 9] Configuration of readable process data.
NOTE
For configuration of 2-word (32-bit) parameter read/write, use two consecutive arrays in 12-21 Process Data Config
Write and 12-22 Process Data Config Read.
12-22 Process Data Config Read
Range: Function:
[[0 - 9] PCD read 0 - 9] Configuration of readable process data.
12-23 Process Data Config Write Size
Range: Function:
16 * [8 - 32 ] Sets the number of bits being sent from the frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least significant bit of the signal is transferred from the frequency converter.
12-24 Process Data Config Read Size
Range: Function:
16 * [8 - 32 ] Sets the number of bits being sent to the frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least significant bit of the signal is transferred to the frequency converter. The preceding bits are set to zero.
12-28 Store Data Values
Option:
[0] *
[1]
[2]
Off
Store all setups
Store all setups
Function:
12-29 Store Always
Option: Function:
Activates function that always stores received parameter data in non-volatile memory (EEPROM).
[0] * Off
[1] On
36 MG92A202 - VLT ® is a registered Danfoss trademark
Parameters MCA 124 EtherCAT Operating Instruction
8.3.4 12-5* EtherCAT
12-50 Configured Station Alias
Range: Function:
0 * [0 - 65535 ] This parameter shows the configured EtherCAT station alias for the frequency converter.
Changes are active after a power cycle.
12-51 Configured Station Address
Range: Function:
0 * [0 - 65535 ] This parameter shows the configured station address. The parameter can only be set by the master at power up.
12-59 EtherCAT Status
Range: Function:
0 * [0 - 4294967295 ] This parameter contains status information on the EtherCAT interface.
Each of the 32 bits are linked to a status information of the EtherCAT interface.
Bit
0
Meaning
Link Status port 1
7
8
5
6
3
4
1
2
Link Status port 2
Link speed port 1
Link speed port 2
Link Duplex port 1
Link Duplex port 2
Auto Negotiation Port 1
Auto Negotiation Port 2
Auto Crossover Port 1
9 Auto Crossover Port 2
10 Duplicate IP
11 Valid IP Address
12 Station Address Given
13 Wrong Tx Config
14 Wrong Rx Config
15 TxPDO1 Disabled
16 RxPDO1 Disabled
17 TxPDO6
18 RxPDO6
19 Reserved
20 Reserved
21 Reserved
22 Reserved
23 TxPDO23
24 RxPDO23
25
26
27 Warning 34
28 State
29 State
30 State
Disabled/Enabled
Disabled/Enabled
Disabled/Enabled
Disabled/Enabled
Disabled/Enabled
Disabled/Enabled
Not active/Active
0/1
Disconnected/Connected
Disconnected/Connected
0/10 Mbps/100 Mbps
0/10 Mbps/100 Mbps
Half/Full
Half/Full
Disabled/Enabled
Disabled/Enabled
Straight/Crossed
Straight/Crossed
Disabled/Enabled
Disabled/Enabled
Disabled/Enabled
No/Yes
No/Yes
Bit
31 State
Table 8.1
Meaning 0/1
8.3.5 12-8* Other Ethernet Services
12-80 FTP Server
Option:
[0] * Disabled
[1] Enabled
Function:
Disables the built-in FTP server.
Enables the built-in FTP server.
12-81 HTTP Server
Option: Function:
[0] * Disabled Disables the built-in HTTP (web) server.
[1] Enabled Enables the built-in HTTP (web) server.
12-82 SMTP Service
Option: Function:
[0] * Disabled Disables the SMTP (e-mail) service on the option.
[1] Enabled Enables the SMTP (e-mail) service on the option.
12-89 Transparent Socket Channel Port
Range: Function:
Size related *
[ 0 -
0. ]
Configures the TCP port number for the transparent socket channel. This configuration enables FC telegrams to be sent transparently on Ethernet via TCP. Default value is 4000, 0 means disabled. The MCT
10 Set-up Software uses this port.
8.3.6 12-9* Advanced Ethernet Settings
12-90 Cable Diagnostic
Option: Function:
Enables/disables advanced Cable diagnosis function. If enabled, the distance to cable errors
can be read out in 12-93 Cable Error Length. The
parameter resumes to the default setting of
Disable after the diagnostics have finished.
[0] * Disabled
[1] Enabled
NOTE
The cable diagnostics function is only issued on ports where there is no link (see 12-10 Link Status, Link Status)
8 8
MG92A202 - VLT ® is a registered Danfoss trademark 37
Parameters MCA 124 EtherCAT Operating Instruction
12-91 Auto Cross Over
Option: Function:
[0] Disabled Disables the auto cross-over function.
[1] * Enabled Enables the auto cross-over function.
12-93 Cable Error Length
Range: Function:
0
N/A *
[0 -
65535
N/A]
If Cable Diagnostics is enabled in 12-90 Cable
Diagnostic, the built-in switch is possible via
Time Domain Reflectometry (TDR). This measurement technique detects common cabling problems such as open circuits, short circuits, and impedance mismatches or breaks in transmission cables. The distance from the option to the error is displayed in meters with an accuracy of +/-2 m. The value 0 means no errors detected.
8 8
8.4 EtherCAT-specific Parameter List
Parameter Default value
8-01 Control Site
8-02 Control Word Source
8-03 Control Word Timeout Time
8-04 Control Word Timeout Function
8-05 End-of-Timeout Function
8-06 Reset Control Word Timeout
8-10 Control Word Profile
8-13 Configurable Status Word STW
8-50 Coasting Select
8-52 DC Brake Select
8-53 Start Select
8-55 Set-up Select
8-56 Preset Reference Select
[0] Dig. & ctrl. word
[0] FC RS485
1
[0] Off
[0] Hold set-up
[0] Do not reset
[0] Disable
[0] FC profile
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
8-90 Bus Jog 1 Speed
8-91 Bus Jog 2 Speed
12-00 IP Address Assignment
12-01 IP Address
12-03 Default Gateway
12-04 DHCP Server
12-08 Host Name
12-10 Link Status
12-12 Auto Negotiation
12-13 Link Speed
100 rpm
200 rpm
0.0.0.0
0.0.0.0
0.0.0.0
0.0.0.0
0.0.0.0
0
0.0.0.0
00:1B:08:00:00:00
[0] No Link
00:00:00:00
[1] On
[0] None
[1] Full Duplex
Range
[0-2]
[0-4]
0.1-18000
[0-10]
[0-1]
[0-1]
[0-3]
[0-x]
-
-
-
-
-
-
-
-
-
[0-1]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
0-4-13 Motor Speed High
Limit [RPM]
-
0-4-13 Motor Speed High
Limit [RPM]
-
[0-1]
[0-2]
[0-1]
-
-
-
-
-
-
-
-
-
-
-
67
-
-
-
-
-
-
-
-
-
-
-
67
-
-
-
-
-
-
-1
-
Conversion index
Data type
Uint8
Uint8
Uint32
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint16
Uint16
Unsigned 8
Unsigned 32
Unsigned 32
Unsigned 32
Unsigned 32
Unsigned 32
Unsigned 32
String
String
Visible string 17
Unsigned 8
Time diff. w/ date
Unsigned 8
Unsigned 8
Unsigned 8[
38 MG92A202 - VLT ® is a registered Danfoss trademark
Parameters MCA 124 EtherCAT Operating Instruction
Parameter Default value Range
12-20 Control Instance
12-21 Process Data Config Write
Application Dependent
Application Dependent
12-22 Process Data Config Read
12-23 Process Data Config Write Size
12-24 Process Data Config Read Size
12-27 Master Address
16
16
0
[0] Off
12-28 Store Data Values
12-29 Store Always
12-50 Configured Station Alias
12-51 Configured Station Address
12-80 FTP Server
12-81 HTTP Server
12-82 SMTP Service
[0] Off
0
0
0
[0] Disable
[0] Disable
[0] Disable
12-89 Transparent Socket Channel Port [0] Disable
12-91 MDI-X
[0] Disable
[0] Enable
0
12-98 Interface Counters
12-99 Media Counters
16-84 Comm. Option STW
16-90 Alarm Word
16-92 Warning Word
0
0
0
0
0
0-255
1-32
1-32
0-4294967295
-
-
-
[0–1]
[0–1]
[0–1]
[0–1]
[0-1]
[0-1]
0-200
0-65535
0-65535
0-FFFF
0-FFFF
0-FFFF
Table 8.2
Refer to the relevant Operating Instructions for a comprehensive parameter list.
-
-
-
-
-
0
-
-
-
-
0
0
-
-
0
Conversion index
Data type
Unsigned 16
Unsigned 16
Unsigned 32
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 16
Unsigned 16
Unsigned 16
V2
Uint32
Uint32
8 8
MG92A202 - VLT ® is a registered Danfoss trademark 39
Application Examples
9 Application Examples
MCA 124 EtherCAT Operating Instruction
9 9
9.1 Example: Process Data with PDO 23
This example shows how to work with PDO 23, which consists of Control Word/Status Word and Reference/Main
Actual Value. The PDO contains up to ten objects, which can be programmed to monitor process signals:
From controller
From frequency converter
04
0
CTW
STW
7C
07
0F
Byte #
Table 9.1
1 2 3
The application requires monitoring of the motor torque and digital input, so PCD 2 is set up to read the current motor torque. PCD 3 is set up to monitor the state of an external sensor via the process signal digital input. The sensor is connected to digital input 18.
20
1
MRV
MAV
00
00
20
4
An external device is also controlled via control word bit
11 and the built-in relay of the frequency converter.
Reversing is permitted only when the reversing bit 15 in the control word and the digital input 19 are set to high.
For safety reasons, the frequency converter stops the motor if the EtherCAT cable is broken, the master has a system failure, or the PLC is in stop mode.
Recieve PDO’s (PLC → Drive)
PCD 0
CTW
PCD 1
REF
Transmit PDO’s (Drive → PLC)
PCD 0
STW
PCD 1
MAV
PCD 2
Torque [Nm]
PCD 3
Digital Inputs
13
19
20
12
18
20
Relay
04-05
+
Sensor
-
+
Reversing
-
Ext. Device
230Vac
Illustration 9.1
PCD
00
2
PCD[2]
PCD[2]
00
3F
5
A6
6
00
00
7
3
PCD
PCD[3]
00
08
8
40 MG92A202 - VLT ® is a registered Danfoss trademark
Application Examples
Program the frequency converter as follows:
Parameter
4-10 Motor Speed Direction
5-10 Terminal 18 Digital Input
5-11 Terminal 19 Digital Input
5-40 Function Relay
8-03 Control Word Timeout Time
8-04 Control Word Timeout Function
8-10 Control Word Profile
8-50 Coasting Select
8-52 DC Brake Select
8-53 Start Select
8-55 Set-up Select
8-56 Preset Reference Select
12-21 Process Data Config Write
12-22 Process Data Config Read
MCA 124 EtherCAT Operating Instruction
12-23 Process Data Config Write Size
12-24 Process Data Config Read Size
Setting
[2] Both directions
[0] No operation
[10] Reversing
[36/37] Control word bit 11/12
1 s
[2] Stop
[0] FC Profile
[1] Bus
[1] Bus
[1] Bus
[1] Bus
[2] Logic AND
[1] Bus
[1] Bus
[0] Sub index 16-80 Fieldbus CTW 1
[1] Sub index 16-85 FC Port CTW 1
[0] Sub index 16-03 Status Word
[1] Sub index 16-05 Main Actual Value [%]
[2] Sub index 16-16 Torque [Nm]
[3] Sub indes 16-60 Digital Input
[0] Sub index 16
[1] Sub index 16
[0] Sub index 16
[1] Sub index 16
[2] Sub index 16
[3] Sub index 16
Table 9.2
9 9
MG92A202 - VLT ® is a registered Danfoss trademark 41
Application Examples MCA 124 EtherCAT Operating Instruction
9 9
9.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value
This example shows how the control word telegram relates to the controller and the frequency converter, using FC
Control Profile.
example to demonstrate the full range of modules. All the values shown are arbitrary, and are provided for demonstration purposes only.
The control word telegram is sent from the PLC to the frequency converter. Standard Telegram 1 is used in the
PQW:
Bit no.:
PCD
0 1
CTW MRV
04 7C 20 00
2
PCD
3
PCD
256
CTW
258 260 262
MRV
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9
0 0 0 0 0 1 0 0 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0
0 4 7 C 2 0
8
0
7
0
6
0
0
5
0
4
0
3
0
Table 9.3 Standard Telegram 1 Example
2
0
0
1
0
0
0
Table 9.3 indicates the bits contained within the control
word, and how they are presented as process data in
Standard Telegram 1 for this example.
Table 9.4 indicates which bit functions, and which
corresponding bit values are active for this example.
11
12
13
07
08
09
10
03
04
05
06
Bit
00
01
02
Bit value=0
Reference value
Reference value
DC brake
Coasting
Quick stop
Freeze output
Ramp stop
No function
No function
Ramp 1
Data not valid
No function
No function
Parameter set-up
14
15
Function active
Parameter set-up
No function
Function inactive
Table 9.4 Bit Functions
Bit value=1
External selection lsb
External selection msb
Ramp
Enable
Ramp
Ramp enable
Start
Reset
Jog
Ramp 2
Valid
Relay 01 active
Relay 02 active
Selection lsb
Selection msb
Reversing
0
0
0
0
1
0
0
Bit value
0
0
1
1
1
1
1
0
0
C
7
4
0
42 MG92A202 - VLT ® is a registered Danfoss trademark
Troubleshooting MCA 124 EtherCAT Operating Instruction
10 Troubleshooting
10.1.1 LED Status
EtherCAT In Port EtherCAT Out Port
Status LED
Link/Activity
LEDs
I N
STATUS
Link/Act IN
Link/Act OUT
MCA124
EtherCAT
O U T
Option A
130B5546
MAC 00-1B-08-00-00-00
SW. ver. xx.xx (TM ver. X.xx)
Illustration 10.1
Power OFF or State INIT
PRE-OP State
SAFE-OP State
OP State
ERR-Init State
Link removed from In port
Table 10.1 Indication of Status LED
Power OFF or NO Link
Link
Link Active
Table 10.2 Link/Act LED
Green
Red
MG92A202 - VLT ® is a registered Danfoss trademark 43
10 10
Troubleshooting MCA 124 EtherCAT Operating Instruction
10 10
10.1.2 No Communication with the
Frequency Converter
If there is no communication with the frequency converter, proceed with the following checks:
Check 1: Is the cabling correct?
Check that the cable is mounted correctly. Check if the corresponding Network LED shows link activity. Link/Act
Check 2: Does the hardware configuration match?
Check that the Station Alias in the master matches the
value in 12-50 Configured Station Alias
Check 3: Is the correct XML file installed?
Download the correct XML file from http:// www.danfoss.com/BusinessAreas/DrivesSolutions/.
Check 4: What is the value of parameter 12-59?
The 12-59 EtherCAT Status does contain 32 bits, which each
is linked to internal information. The different bits will give a good overview over possible errors.
Illustration 10.2
EtherNet Port1
MCA
121
MS
MS1
MS2
SW.ver.
EtherNet Port2
Option A
15-61 Option SW Version
1.x
1.x or 2.x
XML File
Danfoss_FC_series_ECAT_00
1.XML
Danfoss_FC_series_ECAT_00
20.XML
Table 10.3
10.1.3 Warning 34 Appears even though
Communication is Established
If the master is in stop mode, Warning 34 appears. Check that the master is in run mode.
10.1.4 Frequency Converter Does Not
Respond to Control Signals
Check 1: Is the Control word valid?
If bit 10=0 in the Control word, the frequency converter does not accept the Control word.
Check 2: Is the relationship between bits in the Control word and the terminal I/Os correct?
Check the logical relationship in the frequency converter.
Define the desired logical relationship in 8-50 Coasting
Select to 8-56 Preset Reference Select according to the following range of options. Select the FC control mode, digital input and/or serial communication, using
8-50 Coasting Select to 8-56 Preset Reference Select.
The following tables show a coast command's effect upon the frequency converter for the full range of 8-50 Coasting
Select settings.
The effect of control mode upon the function of
8-50 Coasting Select, 8-51 Quick Stop Select, and 8-52 DC
Brake Select is as follows:
If [0] Digital input is selected, the terminals control the
Coast and DC Brake functions.
NOTE
Coasting, Quick Stop, and DC brake functions are active for logic 0.
Terminal Bit 02/03/04
1
1
0
0
0
1
0
1
Table 10.4 [0] Digital input
Function
Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
44 MG92A202 - VLT ® is a registered Danfoss trademark
Troubleshooting MCA 124 EtherCAT Operating Instruction
If [1] Serial communication is selected, commands are activated only when given via serial communication.
0
1
Terminal Bit 02/03/04
0 0
1
1
0
1
Function
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
Table 10.5 [1] Serial communication
If [2] Logic AND is selected, both signals must be activated to perform the function.
0
1
Terminal Bit 02/03/04
0 0
1
1
0
1
Table 10.6 [2] Logic AND
Function
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
If [3] Logic OR is selected, activation of one signal activates the function.
0
1
Terminal Bit 02/03/04
0 0
1
1
0
1
Table 10.7 [3] Logic OR
Function
Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
The effect of control mode upon the function of 8-53 Start
Select and 8-54 Reversing Select:
If [0] Digital input is selected, the terminals control the start and reversing functions
0
1
Terminal Bit 06/15
0 0
1
1
0
1
Table 10.8 [0] Digital input
Function
Stop/Anti-clockwise
Stop/Anti-clockwise
Start/Clockwise
Start/Clockwise
If [1] Serial communication is selected, commands are activated only when given via serial communication.
0
1
Terminal Bit 02/03/04
0 0
1
1
0
1
Function
Stop/Anti-clockwise
Start/Clockwise
Stop/Anti-clockwise
Start/Clockwise
Table 10.9 [1] Serial communication
If [2] Logic AND is selected, both signals must be activated to perform the function.
0
1
Terminal Bit 02/03/04
0 0
1
1
0
1
Table 10.10 [2] Logic AND
Function
Stop/Anti-clockwise
Stop/Anti-clockwise
Stop/Anti-clockwise
Start/Clockwise
If [3] Logic OR is selected, activation of one signal activates the function.
0
1
Terminal Bit 02/03/04
0 0
1
1
0
1
Table 10.11 [3] Logic OR
Function
Stop/Anti-clockwise
Start/Clockwise
Start/Clockwise
Start/Clockwise
The effect of control mode upon the function of 8-55 Set-
up Select and 8-56 Preset Reference Select:
If [0] Digital input is selected, the terminals control the setup and preset reference functions.
1
1
1
1
1
1
1
0
0
1
0
0
0
0
0
0
Terminal
Msb Lsb
0
0
1
1
0
0
1
1
0
1
1
1
0
1
0
0
Table 10.12 [0] Digital input
0
1
1
1
0
0
1
1
1
0
0
0
1
1
0
0
Bit 00/01, 13/14 Function
Msb Lsb Preset ref., Set-up no.
0
1
1
1
0
1
0
1
1
1
2
2
0
1
0
2
2
3
1
0
1
1
0
1
0
4
4
4
3
4
3
3
10 10
MG92A202 - VLT ® is a registered Danfoss trademark 45
Troubleshooting MCA 124 EtherCAT Operating Instruction
10 10
If [1] Serial communication is selected, commands are activated only when given via serial communication.
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
Terminal
Msb Lsb
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
1
1
0
0
1
1
0
0
Bit 00/01, 13/14 Function
Msb Lsb Preset ref., Set-up no.
0
1
1
2
0
1
0
1
0
1
0
1
0
1
0
1
0
1
3
4
1
2
3
4
1
2
3
4
1
2
3
4
Table 10.13 [1] Serial communication
If [2] Logic AND is selected, both signals must be activated to perform the function.
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
Terminal
Msb Lsb
0
0
1
1
0
0
0
0
1
1
1
1
0
0
1
1
Table 10.14 [2] Logic AND
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
0
Bit 00/01, 13/14 Function
Msb Lsb Preset ref., Set-up no.
0
1
1
1
0
1
0
1
1
1
1
2
0
1
0
1
1
1
1
2
0
1
0
1
0
1
1
2
3
3
3
4
If [3] Logic OR is selected, activation of one signal activates the function.
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
Terminal
Msb Lsb
0
0
1
1
0
0
0
0
1
1
1
1
0
0
1
Table 10.15 [3] Logic OR
0
0
1
1
1
0
0
1
1
0
0
1
1
0
0
Bit 00/01, 13/14 Function
Msb Lsb Preset ref., Set-up no.
0
1
1
2
0
1
0
1
3
4
2
2
0
1
0
1
3
4
4
4
0
1
0
1
0
4
4
3
4
4
10.1.5 Alarm and Warning Words
Alarm word, Warning word, and EtherCAT warning word are shown in the display in Hex format. If there is more than one warning or alarm, a sum of all warnings or alarms is shown. Alarm word, warning word, and EtherCAT warning word can also be displayed using the serial bus in
16-90 Alarm Word, 16-92 Warning Word, and 12-59 EtherCAT
46 MG92A202 - VLT ® is a registered Danfoss trademark
Troubleshooting MCA 124 EtherCAT Operating Instruction
Bit (Hex)
00000001
00000002
00000004
00000008
00000010
00000020
00000040
00000080
00000100
Unit diagnose bit
48
49
50
51
52
53
54
55
40
41
42
39
24
25
26
35
36
37
38
47
32
33
34
43
44
45
46
27
28
29
30
31
Alarm word (16-90 Alarm
Word)
00000200
00000400
00000800
00001000
00002000
00004000
00008000
00010000
00020000
00040000
00080000
00100000
00200000
00400000
00800000
01000000
02000000
04000000
08000000
10000000
20000000
40000000
80000000
Table 10.16 FC 301/FC 302
Brake check
Power card over temperature
Earth fault
Control card over temperature
Control word timeout
Over current
Torque limit
Motor thermistor over temp.
Motor ETR over temperature
Inverter overloaded
DC link under voltage
DC link over voltage
Short circuit
Inrush fault
Mains phase loss
AMA not OK
Live zero error
Internal fault
Brake overload
Motor phase U is missing
Motor phase V is missing
Motor phase W is missing
Fieldbus comm. fault
24 V supply fault
Mains failure
1.8 V supply fault
Brake resistor short circuit
Brake chopper fault
Option change
Drive initialisation
Safe stop
Mechanical brake low
Alarm no.
28
29
14
65
18
13
12
11
10
47
36
48
25
30
31
32
34
50
2
38
26
7
16
33
4
9
8
27
67
80
68
63
00000200
00000400
00000800
00001000
00002000
00004000
00008000
00010000
00020000
00040000
00080000
00100000
00200000
00400000
00800000
01000000
02000000
04000000
08000000
10000000
20000000
40000000
80000000
105
106
103
88
89
90
99
100
101
102
111
96
97
98
107
108
109
110
91
92
93
94
95
Bit (Hex) Unit diagnose bit
00000001
00000002
00000004
00000008
00000010
00000020
00000040
00000080
00000100
112
113
114
115
116
117
118
119
104
Warning word
(16-92 Warning Word)
Brake check
Power card over temperature
Earth fault
Control card
Control word timeout
Over current
Torque limit
Motor thermistor over temp.
Motor ETR over temperature
Inverter overloaded
DC link under voltage
DC link over voltage
DC link voltage low
DC link voltage high
Mains phase loss
No motor
Live zero error
10 V low
Brake overload
Brake resistor short circuit
Brake chopper fault
Speed limit
Fieldbus comm. fault
24 V supply fault
Mains failure
Current limit
Low temperature
Voltage limit
Encoder loss
Output frequency limit
Unused
Warning word 2 (ext. stat.
word)
Table 10.17 FC 301/FC 302
Alarm no.
28
29
10
14
65
18
13
12
11
47
36
59
66
25
27
49
34
1
26
3
2
5
4
7
6
64
61
62
-
-
9
8
10 10
MG92A202 - VLT ® is a registered Danfoss trademark 47
Troubleshooting MCA 124 EtherCAT Operating Instruction
10 10
Bit (Hex)
00000001
00000002
00000004
00000008
00000010
00000020
00000040
00000080
00000100
00000200
00000400
00000800
00001000
00002000
00004000
00008000
Unit diagnose bit
160
161
162
163
164
165
166
167
152
153
154
155
156
157
158
159
PROFIBUS warning word (9-53 Profibus
Warning Word)
Connection with DP-master is not ok
Unused
FDL (Fieldbus Data link Layer) is not ok
Clear data command received
Actual value is not updated
Baudrate search
PROFIBUS ASIC is not transmitting
Initialising of PROFIBUS is not ok
Drive is tripped
Internal CAN error
Wrong configuration data from PLC
Wrong ID sent by PLC
Internal error occurred
Not configured
Timeout active
Warning 34 active
Table 10.18 FC 301/FC 302
Bit (Hex) Comm. option STW (16-84 Comm. Option STW)
00000001 parameterization ok
00000002 configuration ok
00000004 clearmode active
00000008 baudrate search
00000010 waiting for parameterization
00000020 waiting for configuration
00000040 in data exchange
00000080 not used
00000100 not used
00000200 not used
00000400 not used
00000800 MCL2/1 connected
00001000 MCL2/2 connected
00002000 MCL2/3 connected
00004000 data transport active
00008000 not used
Table 10.19 FC 301/FC 302
NOTE
16-84 Comm. Option STW is not part of extended diagnosis.
10.1.6 Warning and Alarm Messages
There is a clear distinction between alarms and warnings.
When there is an alarm, the frequency converter enters a fault condition. After the cause for the alarm has been cleared, the master will have to acknowledge the alarm message before the frequency converter can start operating again. A warning, on the other hand, may come when a warning condition appears, then disappear when conditions return to normal, without interfering with the process.
Warnings
A single bit within a warning word represents warnings within the frequency converter. Bit status [0] FALSE means no warning, while bit status [1] TRUE means warning. Any bit change in the warning word is notified by a change of bit 7 in the status word.
Alarms
Following an alarm message, the frequency converter enters fault condition. When the fault has been removed and the controller has acknowledged the alarm message by setting bit 7 in the control word, the frequency converter resumes operation. A single bit within an alarm word represents alarms within the frequency converter. Bit status [0] FALSE means no fault, while bit status [1] TRUE means fault.
48 MG92A202 - VLT ® is a registered Danfoss trademark
Warnings and Alarms MCA 124 EtherCAT Operating Instruction
11 Warnings and Alarms
11.1 Status Messages
11.1.1 Warnings/Alarm Messages
The LEDs on the LCP signals a warning or an alarm. A code in the display is also shown.
A warning remains active until its cause is no longer present. Under certain circumstances, operation of the motor can still be continued. Warning messages are not necessarily critical.
An alarm makes the frequency converter trip. Alarms must be reset to restart operation once their cause has been rectified.
Three ways of resetting alarms:
• By pressing [Reset]
• Via a digital input with the “Reset” function
• Via serial communication/optional fieldbus
NOTE
After a manual reset pressing [Reset], the [Auto On] key must be pressed to restart the motor.
13
14
15
9
10
11
12
7
8
5
6
3
4
1
2
16
17
If an alarm cannot be reset, the reason could be that its cause has not been rectified, or the alarm is trip-locked
11.1.2 Alarm List
No.
Description Warning Alarm/Trip
10 Volts low
Live zero error
No motor
Mains phase loss
DC link voltage high
DC link voltage low
DC over-voltage
DC under voltage
Inverter overloaded
Motor ETR over temperature
Motor thermistor over temperature
Torque limit
Over Current
Earth Fault
Hardware mismatch
Short Circuit
Control word time-out
X
(X)
(X)
X
X
X
X
X
X
X
X
(X)
(X)
(X)
(X)
(X)
(X)
(X)
X
X
X
X
X
X
X
(X)
X
(X)
Alarms that are trip-locked offer additional protection, meaning that the mains supply must be switched off before the alarm can be reset. After being switched back on, the frequency converter is no longer blocked and can be reset as described, once the cause has been rectified.
Alarms that are not trip-locked can also be reset using the automatic reset function in 14-20 Reset Mode (Warning: automatic wake-up is possible!)
If a warning or alarm ismarked against a code in Table 11.1,
this means that either a warning occurs before an alarm, or that it is possible to specify whether it is a warning or an alarm that is displayed for a given fault.
This is possible, for instance, in 1-90 Motor Thermal
Protection. After an alarm or trip, the motor carries on coasting, and the alarm and warning flash. Once the problem has been rectified, only the alarm continues flashing until the frequency converter is reset.
Alarm/Trip Lock
(X)
Parameter
Reference
6-01 Live Zero Timeout Function
1-80 Function at Stop
14-12 Function at Mains Imbalance
X
X
X
X
1-90 Motor Thermal Protection
1-90 Motor Thermal Protection
11 11
MG92A202 - VLT ® is a registered Danfoss trademark 49
Warnings and Alarms MCA 124 EtherCAT Operating Instruction
11 11
62
63
64
69
70
71
65
66
67
68
72
57
58
59
61
53
54
55
56
50
51
52
46
47
48
49
42
42
No.
Description
22
23
38
39
40
32
33
34
36
28
29
30
31
24
25
26
27
Hoist Mech. Brake
Internal Fan Fault
External Fan Fault
Brake resistor short-circuited
Brake resistor power limit
Brake chopper short-circuited
Brake check
Heatsink temp
Motor phase U missing
Motor phase V missing
Motor phase W missing
Inrush Fault
Fieldbus communication fault
Mains failure
Internal Fault
Heatsink sensor
Overload of Digital Output Terminal 27
Warning Alarm/Trip
X
(X)
X
(X)
(X)
(X)
X
X
(X)
X
X
X
(X)
(X)
(X)
(X)
X
(X)
X
(X)
X
X
X
X
X
41 Overload of Digital Output Terminal 29 (X)
Overload of Digital Output On X30/6
Overload of Digital Output On X30/7
Pwr. card supply
24 V supply low
1.8 V supply low
Speed limit
AMA calibration failed
AMA check U nom
and I nom
AMA low I nom
AMA motor too big
AMA motor too small
AMA parameter out of range
AMA interrupted by user
AMA time-out
AMA internal fault
Current limit
Tracking Error
Output Frequency at Maximum Limit
Mechanical Brake Low
Voltage Limit
Control Board Over-temperature
Heat sink Temperature Low
Option Configuration has Changed
Safe Stop
Pwr. Card Temp
Illegal FC configuration
PTC 1 Safe Stop
Dangerous Failure
X
X
X
(X)
X
X
X
X
(X)
X
(X)
(X)
X
X
X
X
X
X
X
X
X
X
X
X
X
(X)
(X)
X
X
(X) 1)
X
X 1)
Alarm/Trip Lock
X
X
X 1)
X
X
X
X
(X)
(X)
(X)
X
X
X
X
Parameter
Reference
14-53 Fan Monitor
2-13 Brake Power Monitoring
2-15 Brake Check
4-58 Missing Motor Phase Function
4-58 Missing Motor Phase Function
4-58 Missing Motor Phase Function
5-00 Digital I/O Mode,
5-01 Terminal 27 Mode
5-00 Digital I/O Mode,
5-02 Terminal 29 Mode
5-32 Term X30/6 Digi Out (MCB
101)
5-33 Term X30/7 Digi Out (MCB
101)
4-30 Motor Feedback Loss
Function
2-20 Release Brake Current
5-19 Terminal 37 Safe Stop
5-19 Terminal 37 Safe Stop
5-19 Terminal 37 Safe Stop
50 MG92A202 - VLT ® is a registered Danfoss trademark
Warnings and Alarms MCA 124 EtherCAT Operating Instruction
No.
73
77
Description
Safe Stop Auto Restart
Reduced power mode
Warning
X
Alarm/Trip Alarm/Trip Lock Parameter
Reference
14-59 Actual Number of Inverter
Units
79
80
81
82
85
90
91
100-
199
Illegal PS config
Drive Initialized to Default Value
CSIV corrupt
CSIV parameter error
Profibus/Profisafe Error
Encoder Loss
Analogue input 54 wrong settings
See Operating Instructions for MCO 305
MG33KYXX
243 Brake IGBT
244 Heatsink temp
245 Heatsink sensor
246 Pwr.card supply
247 Pwr.card temp
248 Illegal PS config
250 New spare part
251 New Type Code
(X)
X
X
Table 11.1 Alarm/Warning Code List
(X) Dependent on parameter
1) Cannot be Auto reset via 14-20 Reset Mode
A trip is the action when an alarm has appeared. The trip coasts the motor and can be reset by pressing [Reset] or by making a reset by a [1] digital input (Parameter group
5-1* ). The event that caused an alarm cannot damage the frequency converter or cause dangerous conditions. A trip lock is an action when an alarm occurs, that can damage the frequency converter or connected parts. A Trip Lock situation can only be reset by a power cycling.
X
X
(X)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Warning
Alarm
Trip locked
Table 11.2 LED indication
17-61 Feedback Signal Monitoring
S202
14-23 Typecode Setting yellow flashing red yellow and red 11 11
MG92A202 - VLT ® is a registered Danfoss trademark 51
Warnings and Alarms MCA 124 EtherCAT Operating Instruction
11 11
23
24
25
26
19
20
21
22
15
16
17
18
11
12
13
14
8
9
10
27
28
29
30
00000100
00000200
00000400
00000800
00001000
00002000
00004000
00008000
00010000
00020000
00040000
00080000
00100000
00200000
00400000
00800000
01000000
02000000
04000000
08000000
10000000
20000000
40000000
Bit
0
1
2
3
4
5
6
7
31
Hex
00000001
00000002
00000004
00000008
00000010
00000020
00000040
00000080
80000000
Dec Alarm Word Alarm Word 2 Warning Word Warning
Word 2
Extended
Status Word
Ramping 1
2
4
8
16
Brake Check
Pwr. Card Temp ServiceTrip,
(reserved)
Earth Fault
ServiceTrip,
Read/Write
ServiceTrip,
Typecode/
Sparepart
Ctrl.Card Temp
Ctrl. Word TO
ServiceTrip,
(reserved)
ServiceTrip,
(reserved)
Over Current
Torque Limit
Motor Th Over
Brake Check
Pwr. Card Temp
Earth Fault
Ctrl.Card Temp
Ctrl. Word TO
AMA Running
Start CW/CCW
Slow Down
Catch Up
32
64
128
Over Current
Torque Limit
Motor Th Over
256
512
1024
524288
1048576
2097152
4194304
8388608
16777216
33554432
67108864
2048
4096
8192
16384
32768
65536
131072
262144
Motor ETR Over
Inverter Overld.
DC under Volt
DC over Volt
Short Circuit
Inrush Fault
Mains ph. Loss
AMA Not OK
Live Zero Error
Internal Fault
Brake Overload
U phase Loss
V phase Loss
W phase Loss
Fieldbus Fault
24 V Supply Low
Mains Failure
1.8 V Supply Low
Brake Resistor
KTY error
Fans error
ECB error
134217728 Brake IGBT
268435456 Option Change
536870912 Drive Initialized
1073741824 Safe Stop (A68) PTC 1 Safe Stop
(A71)
2147483648 Mech. brake low Dangerous
Failure (A72)
Extended Status Word
Motor ETR Over
Inverter Overld.
DC under Volt
DC over Volt
DC Voltage Low
DC Voltage High
Mains ph. Loss
No Motor
Live Zero Error
10V Low
Brake Overload
Brake Resistor
Brake IGBT
Speed Limit
Fieldbus Fault
24V Supply Low
Mains Failure
Current Limit
Low Temp
Voltage Limit
Encoder loss
Output freq. lim.
Safe Stop (W68)
Feedback High
Feedback Low
Output Current
High
Output Current Low
Output Freq High
Output Freq Low
Brake Check OK
Braking Max
Braking
Out of Speed Range
KTY Warn Password Timelock
Fans Warn Password Protection
ECB Warn
OVC Active
AC Brake
PTC 1 Safe
Stop (W71)
Unused
Unused
Unused
Unused
Unused
Unused
Unused
Unused
Unused
Unused
Table 11.3 Description of Alarm Word, Warning Word and Extended Status Word
The alarm words, warning words and extended status words can be read out via serial bus or optional fieldbus for diagnose. See also 16-94 Ext. Status Word.
52 MG92A202 - VLT ® is a registered Danfoss trademark
Index MCA 124 EtherCAT Operating Instruction
Index
A
Abbreviations........................................................................................... 6
Alarm
Messages............................................................................................. 49
Word..................................................................................................... 46
Assumptions............................................................................................. 5
N
Network.................................................................................... 5, 10, 35, 7
No Communication With The Frequency Converter............... 44
O
Overview.................................................................................................... 8
B
Background Knowledge....................................................................... 5
C
Cabling..................................................................................................... 38
Configuration............................................................................. 33, 36, 6
Control
Profile................................................................................................... 16
Word According To FC Profile (CTW)........................................ 21
P
Parameters......................................................................................... 3, 11
PDO Communication.......................................................................... 14
Process
Control Data....................................................................................... 14
Control Operation............................................................................ 15
Data....................................................................................................... 14
Status Data......................................................................................... 14
Profibus....................................................................................................... 5
D
DC Backup................................................................................................. 5
DeviceNet.................................................................................................. 5
R
Reference
Reference............................................................................................... 6
Handling.............................................................................................. 15
S
Safety........................................................................................................... 3
E
EMC Precautions................................................................................... 10
EtherCAT.................................................................................................... 5
Ethernet....................................................................... 10, 11, 35, 36, 37
T
Topology.................................................................................................... 9
F
Frequency Converter Does Not Respond To Control Signals....
44
V
VLT Parameters...................................................................................... 11
H
Hardware............................................................................................... 3, 5
W
Warning Word........................................................................................ 46
Warnings.................................................................................................. 49
I
I/O................................................................................................................. 6
Influence Of The Digital Input Terminals Upon FC Control
Mode...... 16
Installation........................................................................................ 3, 5, 7
IP Settings................................................................................................ 11
IP21/Type 1................................................................................................ 5
L
LED
LED........................................................................................................... 6
Status.................................................................................................... 43
Literature.................................................................................................... 5
MG92A202 - VLT ® is a registered Danfoss trademark 53
www.danfoss.com/drives
130R0273 MG92A202 *MG92A202* Rev. 2012-01-19
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Key Features
- Easy installation and configuration
- Supports EtherCAT protocol
- Two RJ-45 connectors for line topology
- Control and monitor a Danfoss VLT® AutomationDrive
- Built-in EtherCAT slave controller