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Safety MCA 123 POWERLINK Operating Instructions
Safety
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.
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.
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.
Warning against Unintended Start
1.
2.
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.
MG92C102 - VLT ® is a registered Danfoss trademark
Safety MCA 123 POWERLINK Operating Instructions
3.
A motor that has been stopped, can start if faults occur in the electronics of the frequency converter, or if a temporary overload, or a fault in the supply mains, or the motor connection ceases.
WARNING
ELECTRICAL HAZARD
Touching the electrical parts may be fatal - even after the equipment has been disconnected from mains.
MG92C102 - VLT ® is a registered Danfoss trademark
Contents MCA 123 POWERLINK Operating Instructions
Contents
1 Introduction
1.1.1 About this Manual
1.1.2 Assumptions
1.1.3 Hardware
1.1.4 Background Knowledge
1.1.5 Available Literature
1.1.6 Abbreviations
2 How to Install
2.1 Installation
2.1.1 How to Install Option in Frequency Converter
2.1.2 Network
2.1.3 POWERLINK Cables
2.1.4 LED Behaviour
2.1.5 Topology
2.1.6 EMC Precautions
3 How to Configure
3.1.1 IP Settings
3.1.2 Ethernet Link Parameters
3.2 Configure the Frequency Converter
3.2.1 VLT Parameters
3.3 Configure the POWERLINK Network
4 Configure the Master
4.1 Importing the XDD File
4.2 Setting Up the Master
5 How to Control the Frequency Converter
5.1 PDO Communication
5.2 Process Data
5.2.1 Process Control Data
5.2.2 Process Status Data
5.2.3 Reference Handling
5.2.4 Process Control Operation
5.2.5 Influence of the Digital Input Terminals upon FC Control Mode
5.3 Control Profile
5.4 Danfoss FC Control Profile
5.5 DS 402 Control Profile
5.5.1 Control Word According to DSP 402 Profile
(Parameter 8-10=DSP 402 profile)
MG92C102 - VLT ® is a registered Danfoss trademark
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1
Contents MCA 123 POWERLINK Operating Instructions
6 Communication Profile Area
6.1 Description - Communication Profile Area
6.2 1000-1FFF Communication Object Area
6.3 2000-5FFF Danfoss Specific Object Area
6.4 6000-Device profile Object Area
7 Parameters
7.1 Parameter Group 8-** Communication and Option
7.2 Parameter Group 12-** Ethernet
7.3 POWERLINK - Specific Parameter List
8 Application Examples
8.1 Example: Process Data with PDO 23
8.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value
9 Troubleshooting
9.1.1 LED Status
9.1.2 No Communication with the Frequency Converter
9.1.3 Warning 34 Appears even though Communication is Established
9.1.4 Frequency Converter Does Not Respond to Control Signals
9.1.5 Alarm and Warning Words
Index
5.5.2 Status Word According to DS 402 Profile
5.5.3 DSP 402 State Transitions
5.5.4 Status Word According to DS 402 Profile
42
42
44
33
33
37
40
24
24
24
30
30
20
22
23
45
45
46
47
47
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Introduction MCA 123 POWERLINK Operating Instructions
1 Introduction
1.1.1 About this Manual
First time users can obtain the most essential information for quick installation and set-up in these chapters:
1 Introduction
2 How to Install
3 How to Configure
For more detailed information, including the full range of set-up options and diagnosis tools, refer to the chapters:
4 Configure the Master
5 How to Control the Frequency Converter
7 Parameters
8 Application Examples
9 Troubleshooting
Terminology
In this manual the term Ethernet is used to describe the physical layer of the network and does not relate to the application protocol.
1.1.2 Assumptions
These operating instructions are under the conditions that the Danfoss POWERLINK option is used with a Danfoss
VLT ® AutomationDrive 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.
1.1.3 Hardware
This manual relates to the POWERLINK option MCA 123, type no. 130B5546 (uncoated) and 130B5646 (conformal coated).
1.1.4 Background Knowledge
The Danfoss POWERLINK Option Card is designed to communicate with any system complying with the
POWERLINK 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.
1.1.5 Available Literature
Available Literature for FC 301/FC 302
The VLT ® AutomationDrive Operating Instructions provide the necessary information for getting the frequency converter up and running.
The VLT
®
AutomationDrive Design Guide entails all technical information about the frequency converter design and applications including encoder, resolver, and relay options.
-
-
The VLT ® AutomationDrive Profibus Operating
Instructions provide the information required for controlling, monitoring, and programming the frequency converter via a Profibus fieldbus.
The VLT ® AutomationDrive DeviceNet Operating
Instructions 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 provide information for installation and use of the software on a PC.
-
-
-
The VLT ® AutomationDrive IP21/Type 1 Instruction provides information for installing the IP21/Type
1 option.
The VLT ® AutomationDrive 24 V DC Backup
Instruction provides information for installing the
24 V DC Backup option.
The VLT ® AutomationDrive CanOpen Operating
Instructions .
The VLT ® AutomationDrive Modbus TCP Operating
Instructions .
-
The MCA 121 EtherNet/IP Operating Instructions .
The MCA 120 PROFINET Operation Instructions .
-
The
The
MCA 124 EtherCAT Operation Instructions .
MCA 123 Modbus TCP Operation Instructions
Danfoss technical literature is also available online at http://www.danfoss.com/BusinessAreas/DrivesSolutions/
.
1 1
MG92C102 - VLT ® is a registered Danfoss trademark 3
Introduction MCA 123 POWERLINK Operating Instructions
1.1.6 Abbreviations
1 1
MSB
MRV
N/A
PC
PCD
PLC
PNU
REF
SDO
SoC
SoA
STW
EMC
I/O
IP
PDO
LCP
LED
LSB
MAV
MN
Abbreviation
API
ASnd
CC
CTW
DCP
DHCP
Definition
Actual Packet Interval
AsynchronousSend
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)
Managing Node
Most Significant Bit
Main Reference Value
Not applicable
Personal Computer
Process Control Data
Programmable Logic Controller
Parameter Number
Reference (=MRV)
Service Data Object
Start Of Cycle Frame
Start Of Asynchronous
Status Word
Table 1.1 Overview of Abbreviations
4 MG92C102 - VLT ® is a registered Danfoss trademark
How to Install
2 How to Install
MCA 123 POWERLINK Operating Instructions
2.1 Installation
2.1.1 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 Series.
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 2.2 Strain Relief for A1 and A2 Enclosures
EtherNet Port1
MCA
121
MS
MS1
MS2
SW.ver.
EtherNet Port2
Option A
Illustration 2.1 Fieldbus Option Adaption Frame
Instructions
1.
Remove LCP panel from the FC Series.
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 knock-out on the fieldbus option adaptor frame.
Push the fieldbus option adaptor frame for the FC
Series 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 123 POWERLINK option, set
8-01 Control Site to: [2] Control word only or [0] Digital and ctrl. word .
8-02 Control Word Source to: [3] Option A
2.1.2 Network
It is important that the media chosen for Ethernet data transmission meets the required properties. Usually CAT 5e and six 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 network devices.
MG92C102 - VLT ® is a registered Danfoss trademark 5
2 2
How to Install MCA 123 POWERLINK Operating Instructions
2 2
2.1.3 POWERLINK Cables
Cable type
Cable Type
Specification
Ethernet standard Standard Ethernet (in accordance with IEEE
802.3), 100Base-TX (Fast Ethernet)
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 2.1 Specification of POWERLINK Cables
2.1.4 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 POWERLINK option:
LED label
Status/Error
Link/Collision
Port 1
Link/Collision
Port 2
Table 2.2 LEDs
Description
Module Status, reflects the activity on the
POWERLINK slave.
Link/Collision Port 1, reflects the activity on the
POWERLINK port 1.
Link/Collision Port 2, reflects the activity on the
POWERLINK port 2.
Powerlink Port 1 Powerlink Port2
Status/error
Link/Collision Port 1
Link/Collision Port 2
Port 1 Port 2
S/E LED
Option A
130B1489
L/C LED P1
MCA123
POWERLINK
L/C LED P2
MAC 00-1B-08-00-00-00
Address
SW. ver. TM. ver.
8 7 6 5 4 3 2 1
ON
OFF
Illustration 2.3 Overview of the Option
6 MG92C102 - VLT ® is a registered Danfoss trademark
How to Install
S/E LED
Power OFF or state
NMT_GS
NMT_GS_INITIALISATION
NMT_CS_NOT_ACTIVE
NMT_MS_NOT_ACTIVE
Device Operational
Flickering
NMT_CS_BASIC_ETHERNET
Blinking
NMT_CS_Stopped
Single flash
NMT_CS_PRE_OPERATIONAL_1
NMT_MS_PRE_OPERATIONAL_1
Double flash
NMT_CS_PRE_OPERATIONAL_2
NMT_MS_PRE_OPERATIONAL_2
Triple flash
NMT_CS_READY_TO_OPERATE
NMT_MS_READY_TO_OPERATE
Table 2.3 Behaviour of S/E Leds
L/C LED
Power OFF or NO Link
Link
Table 2.4 Behaviour of L/C LEDs
MCA 123 POWERLINK Operating Instructions
LED
Green:
Green:
Green:
Green:
Green:
Green:
Green:
Green:
Green:
2 2
MG92C102 - VLT ® is a registered Danfoss trademark 7
How to Install MCA 123 POWERLINK Operating Instructions
2.1.5 Topology
2 2
The POWERLINK module features a built-in POWERLINK slave controller and a two port HUB. This module enables the possibility for connecting several POWERLINK options in a line topology. If more than eight frequency converters are connected in line, it will require special attention towards the timing in the network.
It is important in a POWERLINK system, that the connection is done correctly. POWERLINK is based on HUB technology, which means that connecting a none
POWERLINK device (for example, personal computer) leads to malfunction of the system.
NOTE
Do not connect any non-POWERLINK device to any free port as this causes malfunction of the complete
POWERLINK network.
Illustration 2.4 Line Topology
Take care that following design rules are followed
1.
Do not connect any non POWERLINK device (for example PC) to any free port as this will cause malfunction of the complete POWERLINK network.
2.
In a line topology all frequency converters must be powered, either by mains or by a 24 V DC option cards, for the built-in POWERLINK slave controller to work.
3.
To achieve interference-free operation of the
Ethernet, observe the following EMC precautions.
The correct handling of the motor cable shield is vital for the overall performance of the system. If the rules are not followed it will lead to loss of the control and malfunction of the system. 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 minimum distance of 200 mm (8 inches) is sufficient, but maintaining the greatest possible distance between the cables is
8 MG92C102 - VLT ® is a registered Danfoss trademark
How to Install MCA 123 POWERLINK Operating Instructions recommended, especially where cables run in parallel, over long distances, or if drives with a bigger power size is installed. More information can be found in the norm IEC 61000-5-2:1997.
4.
When crossing of cables is unavoidable, the
Ethernet cable must cross motor and brake resistor cables at an angle of 90 ° .
5.
Always observe relevant national and local regulations, for example regarding protective earth connection.
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 POWERLINK slave controller to work.
2.1.6 EMC Precautions
To achieve interference-free operation of the Ethernet, observe the following EMC precautions. Additional EMC information is available in the VLT ® AutomationDrive Design
Guide.
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 malfunction 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. When crossing is unavoidable, the Ethernet cable must cross motor and brake resistor cables at an angle of 90 ° .
min. 200 mm
90 ° crossing
Ethernet Cable
Illustration 2.5 Correct Crossing of Ethernet Cable
2 2
MG92C102 - VLT ® is a registered Danfoss trademark 9
How to Configure MCA 123 POWERLINK Operating Instructions
3 How to Configure
3 3
3.1.1 IP Settings
All IP-related parameters are located in parameter group
12-0* IP Settings : The parameters are all set to POWERLINK standard values, so no setting is needed. In POWERLINK, the 12-00 IP Address Assignment is fixed to the selection
"From node ID". The IP address does follow the setting in
12-60 Node ID , so that the IP address is 192.168.100.xxx, where xxx is the node ID. For 12-02 Subnet Mask , this will be fixed to 255.255.255.0 and can not be changed.
The POWERLINK option offers two ways of IP address assignment via parameter or DIP switch.
3.1.2 Ethernet Link Parameters
Parameter group 12-1* Ethernet Link Parameters holds
Ethernet Link information:
12-10 Link Status
12-11 Link Duration
12-12 Auto Negotiation
12-13 Link Speed
12-14 Link Duplex
Each port has unique Ethernet Link Parameters.
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 POWERLINK this feature is fixed to OFF and can not be changed.
12-13 Link Speed - displays the link speed for each port. If no link is present, “None” is displayed. In POWERLINK this feature is fixed to 100 MBaud and can not be changed.
12-14 Link Duplex - displays the duplex mode for each port.
In POWERLINK, the Link Duplex is fixed to half Duplex, and cannot be changed.
3.2 Configure the Frequency Converter
3.2.1 VLT Parameters
Pay particular attention to the following parameters when configuring the frequency converter with a fieldbus 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 fieldbus interface is disabled.
• After an initial power up, the frequency converter automatically detects whether a fieldbus option is installed in slot A, and sets 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. The change of 8-10 Control Word Profile will first be active at the next powerup.
• 8-50 Coasting Select to 8-56 Preset Reference Select .
Selection of how to gate fieldbus 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.
3.3 Configure the POWERLINK Network
All POWERLINK stations that are connected to the same bus network must have a unique Node ID. The Node ID of the frequency converter can be selected via:
• Hardware switches (from version 2.00)
• 12-60 Node ID
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Configure the Master
4 Configure the Master
MCA 123 POWERLINK Operating Instructions
4.1 Importing the XDD File
To configure a POWERLINK Master, the configuration tool needs an XDD file for each type of slave on the network.
The XDD file is a text file containing the necessary communications setup data for a slave. Download the XDD file for the FC Series frequency converters at http:// www.danfoss.com/BusinessAreas/DrivesSolutions/.
15-61 Option SW Version File
1.x
FC 301: 0x0200008D_FC301_01.xdd
FC 302: 0x0200008D_FC302_01.xdd
Table 4.1 POWERLINK SW Version XDD File
The following steps show how to add a new device to the
Automation Studio Tool. For tools from other vendors, consult their relevant manuals.
1.
In the Automation Studio, select the menu [Tools] and [Import Fieldbus Device].
Illustration 4.2 Selecting the XDD File
4.2 Setting Up the Master
Select the POWERLINK I/O master to open the POWERLINK interface in the Automation Studio Master.
1.
Right click and select [Open POWERLINK].
4 4
Illustration 4.1 Automation Studio
2.
Select the XDD file and the Automation studio, imports it to its library. Use the [Save All] menu or the multiple floppy disc icon to save the new info.
Illustration 4.3 Open POWERLINK
2.
Right click the network icon, and select [Insert].
Illustration 4.4 Physical View
MG92C102 - VLT ® is a registered Danfoss trademark 11
Configure the Master
3.
Select [Danfoss FC 302].
MCA 123 POWERLINK Operating Instructions
4 4
Illustration 4.5 Select Controller Module
Danfoss FC Series is inserted in the POWERLINK master system.
4.
Configure the I/O configuration, right click on the
Danfoss Icon and select [Open I/O Configuration].
Illustration 4.7 Select Parameters
NOTE
Make sure that maximum ten channels are selected in each direction; or the PLC enters into an endless restart of the network.
6.
The POWERLINK configuration does now contain the Danfoss FC Series frequency converter as its slave and communicates with the four words. The final step is to map the I/Os to PLC variables, which is done in the I/O mapping. This is selected via a right click on the [Danfoss FC 302] icon and select [Open I/O Mapping].
12
Illustration 4.8 Mapping the I/Os ot the PLC Variables
Illustration 4.6 I/O Configuration
5.
By default the POWERLINK option does not have any process data assigned to its I/O mapping.
This is done by selecting the channels (FC
Parameter) as read or write. By selection the [+] sign in front of the channel menu, the list is expanded and the parameters can be selected. In this example following has been selected:
• Object 2690 fieldbus control word 1
• Object 2692 fieldbus reference 1
• Object 2643 status word
• Object 2645 main actual value
The mapping can now be done directly to previous defined variables.
MG92C102 - VLT ® is a registered Danfoss trademark
Configure the Master MCA 123 POWERLINK Operating Instructions
Illustration 4.9 Previous Defined Variables
Variables can also be directly declared, via selecting the
Channel Name for each signal and enter the attributes directly.
Illustration 4.10 Variables Directly Declared
This does insert the Danfoss FC 302 into the B&R system, and the frequency converter can now be controlled and supervised via the POWERLINK.
4 4
MG92C102 - VLT ® is a registered Danfoss trademark 13
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
5 How to Control the Frequency Converter
5 5
5.1 PDO Communication
The VLT ® AutomationDrive uses the following profiles:
• Frequency converter profiles
• CANopen DS 402 profile
For each of the two profiles there is a set of SDO objects that is only accessible if the profile is activated in
8-10 Control Word Profile . The change will first be active at the next power up. The PDO communication has to be configured, where a subset of SDOs can be mapped into
PDOs for cyclic communication.
PDO communication is reserved for high speed cyclic access to parameters for control and status of the frequency converter. The PLC sends out process control data, and the frequency converter responds with a PDO containing process status data. In the Danfoss POWERLINK interface both PDOs can be freely be configured.
Select the signals for transmission from the master to the frequency converter via the PLCs configuration tool.
12-21 Process Data Config Write , 12-22 Process Data Config
Read and 12-23 Process Data Config Write Size will be set from the PLC and can be used to control if the configuration has been sent correctly from the PLC.
The POWERLINK option has only one PDO available: PDO
23. The PDO 23 is flexible in size and is adjustable 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 PLC)
PDO 23
PCD 0
STW
PCD 1
MAV
Illustration 5.1 Standard Telegram
PCD 9 read
5.2 Process Data
Use the process data part of the PDO for controlling and monitoring the frequency converter via the POWERLINK.
5.2.1 Process Control Data
The example in Table 5.1
shows control and reference sent from the PLC to the frequency converter, and status word and main actual value sent from the frequency converter to the PLC.
Master to slave
0 1
CTW MRV
2
PCD
......
......
PCD write
9
PCD
Table 5.1 Process Control Data (PCD)
PCD 0 contains a 16-bit control word where each bit controls a specific function of the frequency converter, see
5.3 Control Profile . PCD 1 contains a 16-bit speed set point in percentage format. See 5.2.3 Reference Handling .
The content of PCD 2 to PCD 9 is read only.
5.2.2 Process Status Data
Process data sent from the frequency converter contain information about the current state of the frequency converter.
Slave to master
0 1
STW MAV
2
PCD
Table 5.2 Process Status Data
......
......
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
5.2.3 Reference Handling ).
14 MG92C102 - VLT ® is a registered Danfoss trademark
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
5.2.3 Reference Handling
The reference handling in FC Series is an advanced mechanism that sums up references from different sources.
For more information on reference handling, refer to the
FC Series Design Guide .
Illustration 5.2 Reference Handling
The reference, or speed set point (MRV, sent via
POWERLINK), 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 5.3 Scaling of MAV and Reference
Speed High Limit [Hz] limit the actual frequency converter output.
4-19 Max Output Frequency limits the maximum output and can also influence the maximum speed of the motor.
For reference and MAV formats, see Table 5.3
.
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 5.3 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 5.4
MRV/MAV
0 hex
1000 hex
2000 hex
3000 hex
4000 hex
5.2.4 Process Control Operation
Actual speed
100 RPM
825 RPM
1550 RPM
2275 RPM
3000 RPM
NOTE
If 3-00 Reference Range is set to [0] Min - Max , a negative reference is handled as 0%.
The speed limit settings are depending on 0-02 Motor
Speed Unit and can be set to RPM or Hz. If 0-02 Motor
Speed Unit is set to RPM: The speed limit parameters
4-11 Motor Speed Low Limit [RPM] and 4-13 Motor Speed
High Limit [RPM] limit the actual frequency converter output. If 0-02 Motor Speed Unit set to Hz: The speed limit parameters 4-12 Motor Speed Low Limit [Hz] and 4-14 Motor
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%).
5 5
MG92C102 - VLT ® is a registered Danfoss trademark 15
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
5 5
5.2.5 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 POWERLINK, 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 .
5.3 Control Profile
The frequency converter can be controlled according to the DS 402 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.
The change of 8-10 Control Word Profile will first be activated at the next power up.
The desired control profile can also be controlled by object
6060 Modes of operation and readout by object 6061
Modes of operation display. Value -1 indicates frequency converter profile. Value 2 indicates DS 402 Velocity mode.
If the frequency converter is run in DS 402 profile, the DS
402 profile must be selected (for example, by 8-10 Control
Word Profile or object 6060). The four process data Control
Word, Reference, Status Word and Main Actual Value will the information in according the specification. Make sure that the profile selected is also the profile used in the PLC.
5.4 Danfoss FC Control Profile
5.4.1 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 [0] frequency converter profile . The control word is used to send commands from a master (PLC or PC) to a slave (frequency converter).
11
12
13
14
15
07
08
09
10
03
04
05
06
Bit
00
01
02
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
Table 5.5 Bit Values for FC Control Word
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
Explanation of the control bits
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 5.6
.
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
1
1
0
0
Bit 00
0
1
0
1
Programmed ref. value
1
2
3
4
[0]
[1]
[2]
[3]
Parameter
3-10 Preset Reference
3-10 Preset Reference
3-10 Preset Reference
3-10 Preset Reference
Table 5.6 Programmed Reference Values for Bits
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.
16 MG92C102 - VLT ® is a registered Danfoss trademark
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
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".
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 Sramp 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 it is not wished 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 setups according to Table 5.7
:
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 5.7 Selection of Set-up
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.
5 5
MG92C102 - VLT ® is a registered Danfoss trademark 17
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
5 5
5.4.2 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 8 Application Examples for an example of a status word telegram using PPO type 3.
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 5.8 Definition of Status Bits
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 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.
18 MG92C102 - VLT ® is a registered Danfoss trademark
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
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%.
5.5 DS 402 Control Profile
5.5.1 Control Word According to DSP 402
Profile
(Parameter 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 5.4 Control Word Profile
Bit
00
05
06
07
01
02
03
04
12
13
14
15
08
09
10
11
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
Forward
Reserved
Setup select (LSB)
Setup select (MSB)
Jog 1 ON
Reversing
Table 5.9 Definition of Control Bits
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.
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 5.10
:
5 5
MG92C102 - VLT ® is a registered Danfoss trademark 19
How to Control the Frequenc...
5 5
Set-up
0
0
1
1
Table 5.10 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
8-54 Reversing Select .
Bit 13
1
2
3
4
5.5.2 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 5.5 Status Word Profile
12
13
14
15
08
09
10
11
04
05
06
07
00
01
02
03
Bit Bit value=0 Bit value=1
Not ready to switch ON
Switched OFF
Operation disabled
No malfunction
Voltage disabled
Quick stop
Switch on disable
No warning
Not running
Remote disabled
Set point not reached
Speed limit not active
Reserved
Reserved
Reserved
Reserved
Ready to switch ON
Switched ON
Operation enabled
Malfunction
Voltage enabled
Run
Switch on enable
Warning
Running
Remote enabled
Set point reached
Speed limit active
Table 5.11 Definition of Status Bits
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”.
MCA 123 POWERLINK Operating Instructions
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.
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.
20 MG92C102 - VLT ® is a registered Danfoss trademark
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
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.
5 5
Illustration 5.6 DSP 402 State Machine
MG92C102 - VLT ® is a registered Danfoss trademark 21
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
5 5
5.5.3 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 ⇒
⇒
Switched On Disable
Operation Enabled
Operation Enabled
Quick Stop Active
Switch On Disable
⇒
⇒
⇒
Quick Stop Active
Quick Stop Active
Switch On Disabled
13
14
15
16
All states ⇒ Fault Reaction Active
Fault Reaction Active ⇒ Fault
Fault ⇒ Switch On Disabled
Quick Stop Active ⇒ Operation Enable (not supported)
Table 5.12 DSP 402 State Transitions
-
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.
22 MG92C102 - VLT ® is a registered Danfoss trademark
How to Control the Frequenc...
MCA 123 POWERLINK Operating Instructions
5.5.4 Status Word According to DS 402
Profile
Slave-master
STW
Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 5.7 Status Word Profile
Output freq.
11
12
13
14
15
07
08
09
10
03
04
05
06
00
Bit
01
02
Bit value=0
Not ready to switch ON
Switched OFF
Operation disabled
No malfunction
Voltage disabled
Quick stop
Switch on disable
No warning
Not running
Remote disabled
Set point not reached
Speed limit not active
Reserved
Reserved
Reserved
Reserved
Bit value=1
Ready to switch ON
Switched ON
Operation enabled
Malfunction
Voltage enabled
Run
Switch on enable
Warning
Running
Remote enabled
Set point reached
Speed limit active
Table 5.13 Definition of Status Bits
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.
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
5 5
MG92C102 - VLT ® is a registered Danfoss trademark 23
Communication Profile Area MCA 123 POWERLINK Operating Instructions
6 Communication Profile Area
6 6 which is supported. The process data objects are defined in this area.
6.1 Description - Communication Profile
Area
6.1 Description - Communication Profile Area describes the general layout of the POWERLINK communication area
6.2 1000-1FFF Communication Object Area
1C14
1E40
1E4A
1F82
1F83
1F8C
1F93
1F98
1F99
1F9A
1F9E
1400
1600
1800
1A00
1C0A
1C0B
1C0F
0x1E4A
1018
1020
1030
1031
1300
Index (hex) Object (symbolic name) Name
1000 VAR Device type
1001
1006
1008
1009
100A
1010
1011
0x1C14
0x1E40
VAR
VAR
VAR
VAR
VAR
ARRAY
ARRAY
VAR
RECORD
Error register
Communication cycle period
Manufacturer device name
Manufacturer hardware version
Manufacturer software version
Store parameters
Restore default parameters
DLL_CNLossOfSocTolerance_U32
NWL_IpAddrTable_1_REC
VAR
VAR
VAR
RECORD
VAR
VAR
VAR
VAR
RECORD
ARRAY
ARRAY
ARRAY
RECORD
RECORD
RECORD
RECORD
RECORD
RECORD
RECORD
RECORD
VAR
Type
UNSIGNED32
UNSIGNED8
UNSIGNED32
VISIBLE_STRING
VISIBLE_STRING
VISIBLE_STRING
UNSIGNED32
UNSIGNED32
UNSIGNED32
NWL_IpAddrTable_TYPE
RECORD NWL_IpGroup_REC
Identity object
CFM_VerifyConfiguration_REC
NMT_InterfaceGroup_0h_REC
NMT_InterfaceGroup_1h_REC
SDO_SequLayerTimeout_U32
PDO_RxCommParam_16h_REC
PDO_RxMappParam_00h_AU64
PDO_TxCommParam_16h_REC
PDO_TxMappParam_00h_AU64
DLL_CNCollision_REC
DLL_CNLossSoC_REC
DLL_CNCRCError_REC
NWL_IpGroup_TYPE
Identity (23h)
CFM_VerifyConfiguration_TYPE
NMT_InterfaceGroup_0h_TYPE
NMT_InterfaceGroup_0h_TYPE
UNSIGNED32
UNSIGNED8
UNSIGNED64
UNSIGNED8
UNSIGNED64
UNSIGNED32
UNSIGNED32
UNSIGNED32
NMT_FeatureFlags_U32
NMT_EPLVersion_U8
NMT_CurrNMTState_U8
NMT_EPLNodeID_REC
NMT_CycleTiming_REC
UNSIGNED32
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED32
NMT_CNBasicEthernetTimeout_U32 UNSIGNED32
NMT_HostName_VSTR VISIBLE_STRING32
NMT_ResetCmd_U8 UNSIGNED8 ro ro ro ro ro rw rw rw rw rw rw ro rw ro rw ro ro rw ro/rw ro ro
Read/write ro ro ro rw rw ro rw ro rw ro/rw
24 MG92C102 - VLT ® is a registered Danfoss trademark
Communication Profile Area MCA 123 POWERLINK Operating Instructions
Index (hex) Object (symbolic name) Name
2000-5FFF Vendor specific area
6048
6049
6060
6061
6502
6504
603F
6040
6041
6042
6043
6044
6046
VAR
VAR
VAR
VAR
VAR
VAR
ARRAY
RECORD
RECORD
VAR
VAR
VAR
VAR
Error Code
Control word
Status word vl_target_velocity vl_velocity_demand vl_velocity_actual_value vl_velocity_min_max_amount vl_velocity_acceleration vl_velocity_deceleration
Modes of operation
Modes of operation display
Supported drive mode
Drive manufacture
Table 6.1 Communication Object Overview
6.2.1 1000h Device Type
Type
See 6.3 2000-5FFF Danfoss Specific Object Area
Read/write
UNSIGNED16
UNSIGNED16
UNSIGNED16
SIGNED16
SIGNED16
SIGNED16
UNSIGNED32
See description
See description
SIGNED8
SIGNED8
UNSIGNED32
VISIBLE_STRING ro ro rw ro ro ro rw ro ro ro ro rw ro
6.2.3 1006h Communication Cycle Period
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.
This object defines the communication cycle time interval in μs. This object is reset to its default value by object
1011h. This object is set from the MN.
6.2.4 1008h Manufacturer Device Name
This object contains the device name as defined in
15-40 FC Type .
Additional information
Mode bits Type bits
Device profile number
Bits
0 31..
24 23..
0
16
1 (frequency converters)
15..
0=FC Profile
402=DS 402
Table 6.2 1000h Device Type
Index
1008h
Meaning for example, FC 302
Table 6.4 1008h Manufacturer Device Name
6.2.2 1001h Error Register
This object is the error register of the device. Only bit 0 and bit 5 is supported. The two bits is active (high) if a alarm is active in alarm word 1 or alarm word 2.
6.2.5 1009h Manufacturer Hardware
Version
This object contains the hardware version for the
POWERLINK interface.
Bit Meaning
0 Generic error
1 Current
2 Voltage
3 Temperature
4 Communications error (overrun, error state)
5 Device profile specific
6 Reserved (always zero)
7 Manufacturer specific
Table 6.3 1001h Error Register
6.2.6 100Ah Manufacturer Software Version
This object contains the Danfoss software version as displayed in 15-49 SW ID Control Card .
6.2.7 1010h Store Parameters
In the standard configuration, the contents of parameters written via fieldbus are stored in volatile memory. 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. Writing to one of the indexes will set 12-28 Store Data Values .
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Communication Profile Area MCA 123 POWERLINK Operating Instructions
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Index, sub-index Meaning
1010h 0 Number sub-index supported
1010h 1
1010h 2
1010h 3
Save option parameters
Save communication option parameters
Reserved
Table 6.5 1010h Store Parameters
Writing the value “save” (0x65766173) to sub-index 1, stores all frequency converter parameters of all set-ups into non-volatile memory, all other values are rejected.
6.2.8 1011h Restore Default Parameters
To restore factory default settings:
1.
2.
Write the value “load” to sub-index 1.
Initiate the next power cycle manually.
The default value is restored.
Index, sub-index Meaning
1011h 0 Number of sub-index supported
1011h 1 Restore all default parameters and restart
Table 6.6 1011h Restore Default Parameters
Writing the value “load” (0x64616F6C) restores all frequency converter parameters of all set-ups to factory values, except the communications parameters. All other values are rejected, and abort code 0x08000020 is returned. The frequency converter has to be power cycled before the changes get active and the motor must be in the state coast or stopped.
6.2.9 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 6.7 1018h Identity Object
6.2.10 1020h CFM_VerifyConfiguration_REC
This object contains the devices local configuration date and time. The object values are set by managing node or configuration tool.
Index, sub-index Meaning
1020h 0 Number of entries
1020h 1
1020h 2
ConfDate_U32, Days since January 1, 1984
ConfTime_U32, milliseconds after midnight
1020h 3
1020h 4
ConfId_U32, assigned by the configuration tool
VerifyConfInvalid_BOOL, Value False indicates that configuration was not modified since last storage of ConfId_U32
Table 6.8 1020h CFM_VerifyConfiguration_REC
6.2.11 1030h NMT_InterfaceGroup_0h_REC
This object is used to configure and retrieve parameters of the network interfaces (physical or virtual) via SDO.
Index, sub-index
1030h 0
1030h 1
1030h 2
1030h 3
1030h 4
1030h 5
1030h 6
1030h 7
1030h 8
1030h 9
Meaning
Number of entries
InterfaceIndex_U16
InterfaceDescription_VSTR t
InterfaceType_U8
InterfaceMtu_U16
InterfacePhysAddress_OSTR
InterfaceName_VSTR
InterfaceOperStatus_U8
InterfaceAdminState_U8
Valid_BOOL
Table 6.9 1030h NMT_InterfaceGroup_0h_REC
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Communication Profile Area MCA 123 POWERLINK Operating Instructions
6.2.12 1031h NMT_InterfaceGroup_1h_REC
This object is used to configure and retrieve parameters of the network interfaces (physical or virtual) via SDO.
Index, sub-index
1031h 0
1031h 1
1031h 2
1031h 3
1031h 4
1031h 5
1031h 6
1031h 7
1031h 8
1031h 9
Meaning
Number of entries
InterfaceIndex_U16
InterfaceDescription_VSTR t
InterfaceType_U8
InterfaceMtu_U16
InterfacePhysAddress_OSTR
InterfaceName_VSTR
InterfaceOperStatus_U8
InterfaceAdminState_U8
Valid_BOOL
Table 6.10 1031h NMT_InterfaceGroup_1h_REC
6.2.13 1300h SDO_SequLayerTimeout_U32
This object provides a timeout value in [ms] for the connection abort recognition of the SDO sequence Layer.
Default value is 30000. This object is linked to 12-62 SDO
Timeout .
6.2.14 1400h
PDO_RxCommParam_16h_REC
This object describes attributes of PDO Communication for
RPDO. Object indices describe the Node ID and PDO
Mapping Version. Mapping Version must be set by configuration tool depending on PDO mapping.
High Nibble
Main version
Low Nibble
Sub version
Table 6.11 Mapping Version Structure
PDOs differing main version will be rejected. PDOs differing sub version is accepted. Mapping version 0 indicates that no mapping version is available.
Index, sub-index
1400h 0
1400h 1
1400h 2
Meaning
Number of sub-index supported
NodeID_U8
MappingVersion_U8
Table 6.12 1400h PDO_RxCommParam_16h_REC
6.2.15 1600h PDO_RxCommParam_00h
_AU64
This objects indices describe mapping of object contained in RPDO payload to object dictionary entries.
Index, sub-index Meaning
1600h 0 Number of sub-index supported
1600h 1
1600h 2
12-21 Process Data Config Write
12-21 Process Data Config Write
, [0] Index
, [1] Index
1600h 3
1600h 4
1600h 5
1600h 6
12-21 Process Data Config Write
12-21 Process Data Config Write
12-21 Process Data Config Write
12-21 Process Data Config Write
, [2] Index
, [3] Index
, [4] Index
, [5] Index
1600h 7
1600h 8
1600h 9
12-21 Process Data Config Write , [6] Index
12-21 Process Data Config Write , [7] Index
12-21 Process Data Config Write , [8] Index
1600h 10 12-21 Process Data Config Write , [9] Index
Table 6.13 1600h PDO_RxCommParam_00h _AU64
For every PDO channel up to ten objects can be mapped.
The offset related to the start address of the PDO payload and the length of data is provided for every mapped object.
Octet offset Name
0-1
2
3
4-5
6-7
Index reserved
Offset
Description
Index of the object to be mapped
Sub-index Sub-index of the object to be mapped
Offset related to start of PDO payload
(Bit count)
Length Length of the mapped object (Bit count)
Table 6.14 Description of Octet Offset
Bits
MSB
63 .. 48 47 .. 32 31 .. 24 23 .. 16
Name Length Offset
Encoding UNSIGNED16 UNSIGNED16 -
Reserved Sub-index
UNSIGNED8
LSB
Bits
Name
15 .. 0
Index
Encoding UNSIGNED16
Table 6.15 Internal Mapping of PDO Mapping Entry
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Communication Profile Area MCA 123 POWERLINK Operating Instructions
6 6
6.2.16 1800h
PDO_TxCommParam_16h_REC
This object describes attributes of PDO Communication for
RPDO. Object indices describe the Node ID and PDO
Mapping Version. Mapping Version must be set by configuration tool depending on PDO mapping. Access is read/ write. Mapping version 0 indicates that no mapping version is available.
Index, sub-index
1400h 0
1400h 1
1400h 2
Meaning
Number of sub-index supported
NodeID_U8
MappingVersion_U8
Table 6.16 1800h PDO_TxCommParam_16h_REC
6.2.17 1A00h
PDO_TxMappParam_00h_AU64
This objects indices describe mapping of object contained in RPDO payload to object dictionary entries.
Index, sub-index Meaning
1A00h0 Number of sub-index supported
1A00h1
1A00h2
12-22 Process Data Config Read, [0] Index
12-22 Process Data Config Read, [1] Index
1A00h3
1A00h4
1A00h5
1A00h6
12-22 Process Data Config Read, [2] Index
12-22 Process Data Config Read, [3] Index
12-22 Process Data Config Read, [4] Index
12-22 Process Data Config Read, [5] Index
1A00h7
1A00h8
1A00h9
1A00h10
12-22 Process Data Config Read, [6] Index
12-22 Process Data Config Read, [7] Index
12-22 Process Data Config Read, [8] Index
12-22 Process Data Config Read, [9] Index
Table 6.17 1A00h PDO_TxMappParam_00h_AU64
For every PDO channel up to ten objects is be mapped.
The offset related to the start address of the PDO payload and the length of data is provided for every mapped object.
Octet offset Name
0-1 Index
2
Description
Index of the object to be mapped
Sub-index Sub-index of the object to be mapped
3
4-5
6-7
Reserved
Offset Offset related to start of PDO payload
(Bit count)
Length Length of the mapped object (Bit count)
Table 6.18 Description of Octet Offset
Table 6.19
shows.
Bits
MSB
63 .. 48 47 .. 32 31 .. 24 23 .. 16
Name Length Offset
Encoding UNSIGNED16 UNSIGNED16 -
Reserved Sub-index
UNSIGNED8
LSB
15 .. 0
Index
UNSIGNED16
Table 6.19 Internal Mapping of PDO Mapping Entry
6.2.18 1C0Ah DLL_CNCollision_REC
This object contains information regarding collisions on the network.
Index, sub-index
1C0Ah 0
1C0Ah 1
1C0Ah 2
1C0Ah 3
Meaning
Number of entries
CumulativeCnt_U32
ThresholdCnt_U32
Threshold_U32
Table 6.20 1C0Ah DLL_CNCollision_REC
6.2.19 1C0Bh DLL_CNLossSoC_REC
This object contains information regarding loss of SoC on the network.
Index, sub-index Meaning
1C0Bh 0 Number of entries
1C0Bh 1 CumulativeCnt_U32, [0] 12-68 Cumulative
Counters
1C0Bh 2
1C0Bh 3
ThresholdCnt_U32, [0] 12-67 Threshold Counters
Threshold_U32, [0] 12-66 Threshold
Table 6.21 1C0Bh DLL_CNLossSoC_REC
6.2.20 1C0Fh DLL_CNCRCError_REC.
This object contains information regarding “CRC Errors” on the network. CumulativeCnt_U32 increases with one each time a CRC error occurs. CumulativeCnt_U32 decrements with one for each cycle without an error. When CumulativeCnt_U32 is equal or larger than ThresholdCnt_U32, the drive issues Warning 34 in the display.
Index, sub-index Meaning
1C0Fh 0 Number of entries
1C0Fh 1 CumulativeCnt_U32, [5] 12-68 Cumulative
Counters
1C0Fh 2
1C0Fh 3
ThresholdCnt_U32, [5] 12-67 Threshold Counters
Threshold_U32, [5] 12-66 Threshold
Table 6.22 1C0Fh DLL_CNCRCError_REC.
28 MG92C102 - VLT ® is a registered Danfoss trademark
Communication Profile Area MCA 123 POWERLINK Operating Instructions
6.2.21 1F82 NMT_FeatureFlags_U32
Feature flags indicate communication profile specific properties of the frequency converter.
1
2
Bit
0
Name
Isochronous
SDO by UDP/IP
SDO by ASnd
7
8
9
10
5
6
3
4
SDO by PDO
NMT Info Services
Extended NMT State Commands
Dynamic PDO Mapping
NMT Service by UDP/IP
Configuration Manager
Multiplexed Access
NodeID setup by SW
11
12
13
14
MN Basic Ethernet Mode
Routing Type 1 Support
Routing Type 2 Support
SDO Read/Write All by Index
15 SDO Read/Write Multiple Parameter by
Index
16..31 Reserved
Table 6.23 Bit Description
6.2.22 1F83h NMT_ EPLVersion_U8
The object holds the POWERLINK communication profile version that is implemented.
Remark
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
Not supported
High nibble
POWERLINK Main Version
Low nibble
POWERLINK Sub Version
Table 6.24 Implemented Communication Profile
6.2.23 1F8C NMT_CurrNMTState_U8
This object holds the node‘s current NMT state.
Binary value
0001 1100
0001 1101
0101 1101
0110 1101
1111 1101
0100 1101
0001 1110
Table 6.25 NMS State
NMT state
NMT_CS_NOT_ACTIVE (Default)
NMT_CS_PRE_OPERATIONAL_1
NMT_CS_PRE_OPERATIONAL_2
NMT_CS_READY_TO_OPERATE
NMT_CS_OPERATIONAL
NMT_CS_STOPPED
NMT_CS_BASIC_ETHERNET
6.2.24 1F93h NMT_EPLNodeID_REC
This object contains drives POWERLINK NodeID.
Index, sub-index Meaning
1F93h 0 Number of entries
1F93h 1
1F93h 2
NodeID_U8, [5] 12-68 Cumulative Counters
NodeIDByHW_BOOL, DIP switch reading
Table 6.26 1F93h NMT_EPLNodeID_REC.
6.2.25 1F98h NMT_CycleTiming_REC
This object contains node-specific timing parameters which influence the POWERLINK cycle timing.
Index, subindex
1F98h 0
1F98h 1
1F98h 2
1F98h 3
1F98h 4
1F98h 5
1F98h 6
1F98h 7
1F98h 8
Meaning
Number of entries
IsochrTxMax-
Payload_U16
Remark
Number of transmit bits,
320=10 signals, 32 bit each
IsochrRxMax-
Payload_U16
Number of receive bits,
320=10 signals, 32 bit each
PResMaxLatency_U32 Latency, fixed to 10 (nS)
PReqActPayloadLimit_U16
Set by MN during configuration
PResActPayloadLimit_U16
ASndMaxLatency_U32 Latency, fixed to 10 (nS)
MultiplCycleCnt_U8 Set by MN during configuration
AsyncMTU_U16
Set by MN during configuration
Configurable in the range of 300 to 1500
Table 6.27 Node-specific Timing Parameters
6.2.26 1F99h
NMT_CNBasicEthernetTimeout_U32
This object specifies the time in µ s for which the option must wait for SoC before switching to basic Ethernet mode.
Index, subindex
1F99
Meaning Remark
NMT_CNBasicEthernet-
Timeout_U32
Time in microseconds before switching to basic
Ethernet mode. Default
5000000 (5 s) Mapped to
12-63 Basic Ethernet Timeout
Table 6.28 Basic Ethernet Timeout
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Communication Profile Area MCA 123 POWERLINK Operating Instructions
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6.2.27 1F9Ah NMT_HostName_VSTR _U32
Index, sub-index Meaning
1F9A
Meaning
NMT_HostName_VSTR Mapped to
Name
12-08 Host
Table 6.29 DNS Host Name
6.2.28 1F9E NMT_ResetCmd_U8
This object is used to reset the frequency converter, communication or configuration.
Hex value
FFh
2Bh
28h
2Ah
29h
NMT service
NMTInvalidService
NMTSwReset
NMTResetNode
NMTResetConfiguration
NMTResetCommunication
Table 6.30 Reset Command
6.3 2000-5FFF Danfoss Specific Object Area
6.3.1 2000h–5FFFh Vendor Specific Object
Area
The area 2000h to 5FFFh holds the indexes for accessing the Danfoss frequency converter 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
0-01 Language . The rest of the POWERLINK index follows the same rule, where the frequency converters parameter number plus 2000h gives the POWERLINK index. For example, reading the running hours in 15-01 Running
Hours , is calculated by 2000h + parameter number in hex number=2000h+5DD=index 25DDh. The XDD file only contains a subset of the frequency converters parameters.
This subset has the indexes that are required for setting up the PDO communication. All parameters can be read or written via SDO communication from the PLC. Table 6.31
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
12-02 Subnet Mask
Table 6.31 2000h-5FFFh Vendor Specific Object Area
6.4 6000-Device profile Object Area
6.4.1 6000h–9FFFh Standardised Device
Profile Area
The area 6000h to 9FFFh holds the indexes specified by the IEC for various device profiles. The Danfoss POWERLINK 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 profile area has up to 13 indexes depending on the selection made in 8-10 Control
Word Profile .
Table 6.32
shows the support of indexes, depending on setting of 8-10 Control Word Profile (Index 6060h)
30 MG92C102 - VLT ® is a registered Danfoss trademark
Communication Profile Area MCA 123 POWERLINK Operating Instructions
Index Name
603Fh Error code
6040h Control word
6041h Status word
6042h Vl_target_velocity
6043h Vl_velocity_demand
6044h Vl_velocity_actual_value
6046h Vl_velocity_min_max_amount
6048h Vl_velocity_acceleration
6049h Vl_velocity_deceleration
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
-
-
-
-
-
-
-
√
-
-
√
√
√
Table 6.32 6000h-9FFFh Standardised Device Profile Area
8-10 Control Word Profile=
MCO
-
-
-
-
-
-
-
√
-
-
√
√
√
6.4.2 603Fh Error Code 6.4.6 6043h vl_velocity_demand
8-10 Control Word Profile=
DS 402
√
√
√
√
√
√
√
√
√
√
√
√
√
Error signaling mechanism is used to signal alarms and events generated on the frequency converter to the MN.
The error code consist of 8 byte of data, where: Byte 0
(zero) is a copy of object 1001h. Byte 1 & 2, not used. Byte
3 contains: Bit 0=1, Alarmword 1 has an active Alarm
( 16-90 Alarm Word ). Bit 1=1, Alarmword 2 has an active
Alarm (Future ext. 16-91 Alarm Word 2 ). Bit 2=0, Reserved.
Bit 3=1, Warningword 1 has an active Warning
( 16-92 Warning Word ). Bit 4=1, Warningword 2 has an active Warning (Future ext. 16-93 Warning Word 2 ). Bit
5-7=0, Reserved. Byte 4 and 5, Profile specific. Byte 6 and
7, reserved.
6.4.3 6040h Control Word
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 5.5 DS 402 Control Profile .
6.4.4 6041h Status Word
This object contains the Status word in accordance to DS
402. The status word consists of 16 bit. The 16 bits show the state and status of the frequency converter (for example, running, ramping, on speed). The Status word is described in 5.5 DS 402 Control Profile .
The vl_velocity_demand is the velocity of the system after the ramp controller. The velocity is in RPM.
6.4.7 6044h vl_actual_velocity_value
The vl_actual_velocity_value is the velocity at the motor shaft. The velocity is in RPM, and is obtained from
16-17 Speed [RPM] . The velocity is in RPM.
6.4.8 6046h vl_velocity_min_max_amount
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.
Index, sub-index
1046h 0
1046h 1
1046h 2
Meaning
Number of sub-index supported vl_velocity_min_max_amount vl_velocity_min_amount
Table 6.33 Minimum/Maximum RPM at Motor Shaft
6.4.5 6042h vl_target_velocity
The vl_target_velocity is the required velocity of the system. The velocity is in RPM.
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Communication Profile Area MCA 123 POWERLINK Operating Instructions
6 6
6.4.9 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.
Index, sub-index
1048h 0
1048h 1
1048h 2
Meaning
Number of sub-index supported
Delta speed
Delta time
Table 6.34 6048h vl_velocity_acceleration
6.4.10 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 power down, the delta speed is 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.
Index, sub-index
1049h 0
1049h 1
1049h 2
Meaning
Number of sub-index supported
Delta speed
Delta time
Table 6.35 6049h vl_velocity_deceleration
6.4.11 6060h Modes of Operation
This index is used for selection the Danfoss FC 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 6.36 6060h Modes of Operation
6.4.12 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 Meaning
-2 MCO profile (only possible if MCO305 is mounted)
-1
2
FC Profile
DS 402 profile
Table 6.37 6061h Modes of Operation Display
6.4.13 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.
6.4.14 6504h Frequency Converter
Manufacturer
This index does readout the name of the frequency converter manufacturer. Data is coded as a string.
Index, sub-index
6504Ch 0
Meaning
Manufacturer “DANFOSS DRIVES”
Table 6.38 6504h Drive Manufacturer (read only)
32 MG92C102 - VLT ® is a registered Danfoss trademark
Parameters MCA 123 POWERLINK Operating Instructions
7 Parameters
7.1 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.
Option:
[4]
[5]
[6]
[30]
[0]
[1]
[2]
[3]
8-02 Control Word Source
Select the source of the control word: one of two serial interfaces or four installed options. During initial power-up, the frequency converter automatically sets this parameter to [3] Option A if it detects a valid fieldbus option installed in slot A. If the option is removed, the frequency converter detects a change in the configuration, sets 8-02 Control Word Source back to default setting RS-485, and the frequency converter trips. If an option is installed after initial power-up, the setting of 8-02 Control Word
Source does not change, but the frequency converter trips and displays: Alarm 67 Option Changed .
When retrofitting a bus option into a frequency converter, that did not have a bus option installed to begin with, take an
ACTIVE decision to move the control to Bus based. This is done for safety reasons to avoid an accidental change.
None
FC RS485
FC USB
Option A
Option B
Option C0
Option C1
External Can
Function:
NOTE
This parameter cannot be adjusted while the motor is running.
8-03 Control Word Timeout Time
Range: Function:
1 s * [ 0.1 -
18000 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
8-03 Control Word Timeout Time
Range: Function:
Timeout Function is 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
[Reset], 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
[26] Trip
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
7 7
MG92C102 - VLT ® is a registered Danfoss trademark 33
Parameters MCA 123 POWERLINK Operating Instructions
7 7
8-05 End-of-Timeout Function
Option: 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
8-06 Reset Control Timeout toggles. Then the frequency converter resumes its original set-up.
[1] Resume setup
Resumes the set-up active before the time-out.
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 time-out. 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. In POWERLINK, it enables the Error signaling. The Emergency/Error signaling 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.
Function: Option:
[0]
[1]
[2]
Disable
Trigger on alarms
Trigger alarm/warn.
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 .
Enabling diagnosis can cause increased bus traffic. Not all fieldbus types support Diagnosis functions.
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. This parameter should not be changed while the motor is running, since it can lead to a unknown state of the profile.
Option: Function:
[0] *
[7]
FC Profile
CANopen DSP 402
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
[2] Alarm 68
Only
[3] Trip excl.
Alarm 68
[10] T18 DI status.
[11] T19 DI status.
[12] T27 DI status.
Function corresponds to the profile default selected in 8-10 Control Profile .
Only set in case of an Alarm 68.
Set in case of a trip, except if Alarm 68 executes the trip.
The bit indicates the status of terminal 18.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
The bit indicates the status of terminal 19.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
The bit indicates the status of terminal 27.
“0” indicates that the terminal is low
34 MG92C102 - VLT ® is a registered Danfoss trademark
Parameters MCA 123 POWERLINK Operating Instructions
8-13 Configurable Status Word STW
Option:
[13] T29 DI status.
[14] T32 DI status.
[15] T33 DI status.
[16] T37 DI status
[21] Thermal warning
[30] Brake fault
(IGBT)
Function:
“1” indicates that the terminal is high
The bit indicates the status of terminal 29.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
The bit indicates the status of terminal 32.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
The bit indicates the status of terminal 33.
“0” indicates that the terminal is low
“1” indicates that the terminal is high
The bit indicates the status of terminal 37.
0” indicates T37 is low (safe stop)
“1” indicates T37 is high (normal)
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] Comtor 0
[61] Comtor 1
[62] Comtor 2
[63] Comtor 3
[64] Comtor 4
[65] Comtor 5
[70] Logic Rule
0
[71] Logic Rule
1
[72] Logic Rule
2
See parameter group 13-1* ComparatorsComparators . If Comtor 0 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-1* ComparatorsComparators . If Comtor 1 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-1* ComparatorsComparators . If Comtor 2 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-1* ComparatorsComparators . If Comtor 3 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-1* ComparatorsComparators . If Comtor 4 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-1* ComparatorsComparators . If Comtor 5 is evaluated as TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-4* LC-4# Logic
RulesLogic Rules . If Logic Rule 0 is evaluated as
TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-4* LC-4# Logic
RulesLogic Rules . If Logic Rule 1 is evaluated as
TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-4* LC-4# Logic
RulesLogic Rules . If Logic Rule 2 is evaluated as
8-13 Configurable Status Word STW
Option:
[73] Logic Rule
3
[74] Logic Rule
4
[75] Logic Rule
5
[80] SL Digital
Output A
[81] SL Digital
Output B
[82] SL Digital
Output C
[83] SL Digital
Output D
[84] SL Digital
Output E
[85] SL Digital
Output F
Function:
TRUE, the output goes high. Otherwise, it is low.
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* LC-4# Logic
RulesLogic Rules . If Logic Rule 4 is evaluated as
TRUE, the output goes high. Otherwise, it is low.
See parameter group 13-4* LC-4# Logic
RulesLogic Rules . 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.
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.
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.
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
[3] Safe Option
Reset
7 7
MG92C102 - VLT ® is a registered Danfoss trademark 35
Parameters MCA 123 POWERLINK Operating Instructions
7 7
8-14 Configurable Control Word CTW
Option: Function:
[4] PID error inverse
When enabled, it inverts the resulting error from the process PID controller. Available only if "Configuration Mode" is set to "Surface
Winder", "Extended PID Speed OL" or
"Extended PID Speed CL".
[5] PID reset I part
[6] PID enable
When enabled, resets the I-part of the Process
PID controller. Equivalent to 7-40 Process PID
I-part Reset . Available only if "Configuration
Mode" is set to "Surface Winder", "Extended
PID Speed OL" or "Extended PID Speed CL".
When enabled, enables the extended process
PID controller. Equivalent to 7-50 Process PID
Extended PID . Available only if "Configuration
Mode" is set "Extended PID Speed OL" or
"Extended PID Speed CL".
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.
[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 serial communication port or fieldbus option.
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.
Function: Option:
[0]
[1]
[2]
[3]
Digital input
Bus
Logic AND
Logic OR
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.
[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 serial communication port or fieldbus option.
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
[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 serial communication port or fieldbus option.
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 set-up 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.
36 MG92C102 - VLT ® is a registered Danfoss trademark
Parameters MCA 123 POWERLINK Operating Instructions
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.
7.2 Parameter Group 12-** Ethernet
7.2.1 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] DHCP IP-address is assigned via DHCP server.
[2] BOOTP IP-address is assigned via BOOTP server.
[10] DCP DCP Assigned via the DCP protocol. [20] *From
Node ID address is set from 12-60 Node ID .
12-01 IP Address
Range:
0 * [0 -
2147483647 ]
Function:
Configure the IP address of the option.
Read-only if 12-00 IP Address Assignment set to DHCP or BOOTP. In POWERLINK the IP address follows the 12-60 Node ID last byte and the first part is fixed to
192.168.100 (Node ID).
12-02 Subnet Mask
Range: Function:
0 * [0 - 4244635647 ] Configure the IP subnet mask of the option. Read-only if 12-00 IP Address
Assignment set to DHCP or BOOTP. In
POWERLINK it is fixed to 255.255.255.0.
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
12-08 Host Name
Range:
0 * [0 -
2147483647 ]
Function:
Logical (given) name of option. The display of the frequency converter only shows the first 19 characters, but the remaining characters are stored in the frequency converter. The frequency converter can accept longer text than 19 characters, but it is recommended to limit the length to 19 characters.
12-09 Physical Address
Range: Function:
0 * [0 - 0 ] Read only. Displays the Physical (MAC) address of the option.
7.2.2 12-1* Ethernet Link Parameters
7 7
12-1* Ethernet Link parameters
Option: Function:
Applies for whole parameter group.
[0] Port 1 Index [0] goes for Port 1. For EtherCAT it goes for In
Port.
[1] Port 2 Index [1] goes for Port 2. For EtherCAT it goes for out
Port.
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:
Size related * [ 0 - 0 ] 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 .
MG92C102 - VLT ® is a registered Danfoss trademark 37
Parameters MCA 123 POWERLINK Operating Instructions
7 7
12-12 Auto Negotiation
Option: Function:
[1] On
NOTE
In POWERLINK this parameter is fixed to OFF setting.
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
NOTE
In POWERLINK this parameter is locked to 100 Mbs.
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
NOTE
In POWERLINK this parameter is locked to half duplex.
7.2.3 12-2* Process Data
12-20 Control Instance
Range: Function:
[None, 20,
21, 23, 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. In POWERLINK: If no connection is active “None” is displayed, else it displays the active PDO (23).
12-21 Process Data Config Write
Range: Function:
[[0 - 9] PCD read 0 - 9] Configuration of readable process data.
In POWERLINK this parameter is read only. Same applies for 12-22 Process Data Config Read , 12-23 Process Data
Config Write Size and 12-24 Process Data Config Read Size .
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.
[0]
[1]
[2]
12-28 Store Data Values
Option:
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
7.2.4 12-6* Ethernet PowerLink
12-60 Node ID
Range: Function:
1 * [1 -
239 ]
Enter the Node ID in this parameter or alternatively in the hardware switch. In order to adjust the Node ID in 12-60 Node ID , the hardware switch must be set to o or 254 (i.e. all switches set to
[ON] or to [OFF]). Otherwise this parameter displays the actual setting of the switch. Setting this parameter will first be active at the next power up cycle.
12-62 SDO Timeout
Range:
30000 ms *
[0 - 2000000000 ms]
Function:
12-62 SDO Timeout is the SDO
Timeout in milliseconds. Value of this parameter is read during
38 MG92C102 - VLT ® is a registered Danfoss trademark
Parameters MCA 123 POWERLINK Operating Instructions
12-62 SDO Timeout
Range: Function: communication initialization into
Object 1300h
12-63 Basic Ethernet Timeout
Range: Function:
5000.000
ms *
[0 -
2100000 ms]
12-63 Basic Ethernet Timeout in microseconds. This parameter is mapped to Object 1F99h. If the
POWERLINK interface does not receive a SoC frame within the specified period of time, the interface shifts to standard Ethernet mode. This feature is first available from version 2.00 of the POWERLINK Interface.
12-66 Threshold
Range: Function:
15 * [0 -
99999 ]
12-66 Threshold holds six threshold values. If one of these thresholds are exceeded, the
POWERLINK Interface exits operational mode.
The parameters are set to optimal settings and should not be changed. The actual value of the counters can be read out via
12-67 Threshold Counters .
12-67 Threshold Counters
Range: Function:
0 * [0 -
65538 ]
12-67 Threshold Counters hold 6 counters. The counter reflects the actual value in the
POWERLINK interface. Counters increases with a count of eight at detection of an error and decreases with a count of one when no errors are detected. The values are read only.
12-68 Cumulative Counters
Range: Function:
0 * [0 - 65535 ] Loss off SoC Cumulative. This parameter reflects the value in object 1C0Bh, subindex 1.
12-69 Ethernet PowerLink Status
Range:
0 * [0 - 4294967295 ]
Function:
7.2.5 12-8* Other Ethernet Services
12-80 FTP Server
Option:
[0] Disabled
Function:
Disables the built-in FTP server.
[1] Enabled Enables the built-in FTP server.
12-81 HTTP Server
Option: Function:
[0] Disabled
[1] Enabled Enables the built-in HTTP (web) server.
12-82 SMTP Service
Option: Function:
[0] Disabled
[1] Enabled Enables the SMTP (e-mail) service on the option.
12-89 Transparent Socket Channel Port
Range:
Size related *
[ 0 -
0. ]
Function:
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.
7.2.6 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 )
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 * [0 -
65535 ]
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 that no errors detected.
7 7
MG92C102 - VLT ® is a registered Danfoss trademark 39
Parameters MCA 123 POWERLINK Operating Instructions
7 7
7.3 POWERLINK - Specific Parameter List
Parameter
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
8-07 Diagnosis Trigger
8-10 Control Word Profile
8-13 Configurable Status Word STW
8-50 Coasting Select
8-51 Quick Stop Select
8-52 DC Brake Select
8-53 Start Select
8-54 Reversing Select
8-55 Set-up Select
8-56 Preset Reference Select
Default value
[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 100 rpm
8-91 Bus Jog 2 Speed
12-00 IP Address Assignment
12-01 IP Address
12-02 Subnet Mask
12-03 Default Gateway
12-08 Host Name
12-09 Physical Address
12-10 Link Status
12-11 Link Duration
12-12 Auto Negotiation
12-13 Link Speed
12-14 Link Duplex
12-20 Control Instance
12-21 Process Data Config Write
12-22 Process Data Config Read
12-23 Process Data Config Write Size
200 rpm
[20] *From node ID
192.168.100.xxx
255.255.255.0
0.0.0.0
12-24 Process Data Config Read Size
12-28 Store Data Values
12-29 Store Always
12-60 Node ID
12-80 FTP Server
12-81 HTTP Server
0
[0] Off
[0]
[0] Disable
[0] Disable
12-82 SMTP Service [0] Disable
12-89 Transparent Socket Channel Port [0] Disable
12-90 Cable Diagnostic
12-91 Auto Cross Over
12-93 Cable Error Length
12-98 Interface Counters
[0] Disable
[0] Enable
0
0
12-99 Media Counters
16-84 Comm. Option STW
16-90 Alarm Word
0
0
0
00:1B:08:00:00:00
[0] No Link
00:00:00:00
[1] On
[0] None
[1] Full Duplex
Application Dependent
Application Dependent
16
16
[0-240]
[0–1]
[0–1]
[0–1]
[0–1]
[0-1]
[0-1]
0-200
0-65535
0-65535
0-FFFF
0-FFFF
Range
[0-2]
[0-4]
0.1-18000
[0-10]
[0-1]
[0-1]
[0-3]
[0-x]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
04-13 Motor Speed
High Limit [RPM]
-
[0-1]
[0-1]
[0-2]
[0-1]
0-255
-
-
-
-
-
-
04-13 Motor Speed
High Limit [RPM]
-
-
-
-
-
-
-
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
String
Visible string 17
Unsigned 8
Time diff. w/date
Unsigned 8
Unsigned 8
Unsigned 8[
1-32
1-32
0-4294967295
-
0
-
-
-
-
-
-
-
0
0
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 16
Unsigned 16
Unsigned 16
V2
Uint32
40 MG92C102 - VLT ® is a registered Danfoss trademark
Parameters
Parameter
16-92 Warning Word
MCA 123 POWERLINK Operating Instructions
Default value
0
Range
0-FFFF
Table 7.1 Specific Parameters
Refer to the relevant Operating Instructions for a comprehensive parameter list.
Conversion index Data type
0 Uint32
7 7
MG92C102 - VLT ® is a registered Danfoss trademark 41
Application Examples MCA 123 POWERLINK Operating Instructions
8 Application Examples
8 8
8.1 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. In the example the frequency converter is set
From controller
From frequency converter
04
0
CTW
STW
7C
07
0F
Byte #
Table 8.1 Example of FC Profile
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 POWERLINK cable is broken, the master has a system failure, or the PLC is in stop mode.
to FC profile in 8-10 Control Word Profile . The PDO contains up to ten objects, which can be programmed to monitor process signals.
PCD
00
2
PCD[2]
PCD[2]
00
3F
5
A6
6
00
00
7
3
PCD
PCD[3]
00
08
8
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
Relay
04-05
12
18
20
+
Sensor
-
+
Reversing
-
Ext. Device
230 VAC
Illustration 8.1 Application Example
42 MG92C102 - VLT ® is a registered Danfoss trademark
Application Examples MCA 123 POWERLINK Operating Instructions
Program the frequency converter as shown in Table 8.2
.
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
8-51 Quick Stop Select
8-52 DC Brake Select
8-53 Start Select
8-54 Reversing Select
8-55 Set-up Select
8-56 Preset Reference Select
Table 8.2 Programming of Frequency Converter
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
8 8
MG92C102 - VLT ® is a registered Danfoss trademark 43
Application Examples MCA 123 POWERLINK Operating Instructions
8 8
8.2 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 8.3 Standard Telegram 1 Example
2
0
0
1
0
0
0
Table 8.3
indicates the bits contained within the control word, and how they are presented as process data in
Standard Telegram 1 for this example.
Table 8.4
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 8.4 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
44 MG92C102 - VLT ® is a registered Danfoss trademark
Troubleshooting
9 Troubleshooting
9.1.1 LED Status
MCA 123 POWERLINK Operating Instructions
Powerlink Port 1 Powerlink Port2
Status/error
Link/Collision Port 1
Link/Collision Port 2
Illustration 9.1 LED Status
Power OFF or state
NMT_GS
NMT_GS_INITIALISATION
NMT_CS_NOT_ACTIVE
NMT_MS_NOT_ACTIVE
Device Operational
Flickering
NMT_CS_BASIC_ETHERNET
Blinking
NMT_CS_Stopped
Single flash
NMT_CS_PRE_OPERATIONAL_1
NMT_MS_PRE_OPERATIONAL_1
Double flash
NMT_CS_PRE_OPERATIONAL_2
NMT_MS_PRE_OPERATIONAL_2
Triple flash
NMT_CS_READY_TO_OPERATE
NMT_MS_READY_TO_OPERATE
Table 9.1 S/E LED
Power OFF or NO Link
Link
Table 9.2 L/C LED
Port 1 Port 2
S/E LED
MCA123
POWERLINK
Option A
130B1489
L/C LED P1
L/C LED P2
MAC 00-1B-08-00-00-00
Address
SW. ver. TM. ver.
8 7 6 5 4 3 2 1
ON
OFF
Green:
Green:
Green:
Green:
Green:
Green:
Green:
Green:
Green:
LED
MG92C102 - VLT ® is a registered Danfoss trademark 45
9 9
Troubleshooting MCA 123 POWERLINK Operating Instructions
9.1.2 No Communication with the
Frequency Converter
9 9
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 XDD files L/C LED shows link activity.
Check 2: Does the hardware configuration match?
Check that the 12-60 Node ID in the master matches the value in 12-50 Configured Station Alias
Check 3: Is the correct XDD file installed?
Download the correct XDD file from http://www.danfoss.com/BusinessAreas/DrivesSolutions/.
Check that the process data matches the active profile in the drive.
Check 4: What is the value of 12-69 Ethernet PowerLink
Status ?
The 12-69 Ethernet PowerLink Status contains 32 bits, which each is linked to internal information. The different bits give an overview over possible errors.
Bit no.
0
1
2
3
4
5
6
7
8
Description Value=[
0]
Initialisation
State
Not Active
State
Basic
Ethernet
State
Pre-
Operational 1
State
Pre-
Operational 2
State
Ready to
Operate State
Operational
State
Stopped
State
Reserved
Value=[1] Comment
NMT_GS_INITIL
ASATION
NMT_CS_NOT_
ACTIVE
NMT_CS_BASIC
_ETHERNET
NMT_CS_PRE_
OPERATIONAL_
1
NMT_CS_PRE_
OPERATIONAL_
2
NMT_CS_OPER
ATIONAL
NMT_CS_STOP
PED
Mapped to
Object 1F8Ch
(WHAT79188)
Mapped to
Object 1F8Ch
(WHAT79188)
Mapped to
Object 1F8Ch
(WHAT79188)
Mapped to
Object 1F8Ch
(WHAT79188)
Mapped to
Object 1F8Ch
(WHAT79188)
Mapped to
Object 1F8Ch
(WHAT79188)
Mapped to
Object 1F8Ch
(WHAT79188)
Value shall be read as 0
Value shall be read as 0
Bit no.
9
Description Value=[
0]
Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved
16 Reserved
17 Reserved
18 Reserved
19 Reserved
20 Physical link on Port 1
21 Physical link on Port 2
22 Reserved
23 Reserved
24 W34 source
No Op State
25 W34 source
Alarm
26 W34 source
IP Address
Conflict
Value=[1] Comment
No link present on Port 1
No link present on Port 2
Link present on
Port 1
Link present on
Port 2
Value shall be read as 0
Value shall be read as 0
Mapped to object 1030h subindex 7
Value shall be read as 0
Value shall be read as 0
Mapped to object 178Ch
(WHAT79188)
Mapped to
Alarm Word and Alarm
Word 1
IP address conflict detection in
Basic Ethernet mode
Value shall be read as 0
Value shall be read as 0
Value shall be read as 0
Value shall be read as 0
Value shall be read as 0
Value shall be read as 0
Value shall be read as 0
Value shall be read as 0
Value shall be read as 0
Mapped to object 1030h subindex 7
Value read from
DIP switch
27 W34 source
Invalid Node
ID
28 W34 source
Incorrect
PDO mapping
29 Reserved
Set on incorrect
Tx or Rx PDO mapping
Value shall be read as 0
46 MG92C102 - VLT ® is a registered Danfoss trademark
Troubleshooting MCA 123 POWERLINK Operating Instructions
Bit no.
Description Value=[
30 Reserved
0]
Value=[1]
31 Reserved
Comment
Value shall be read as 0
Value shall be read as 0
Table 9.3 POWERLINK Bits
9.1.3 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. If the frequency converter is not in operational state Warning 34 will appear (60 s after power up or immediately if the frequency converter has been in operational state).
9.1.4 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 .
If 8-01 Control Site is set to digital only, then the frequency converter will not react on commands send via the control word.
Table 9.4
to Table 9.11
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.
0
1
Terminal Bit 02/03/04
0 0
1
1
0
1
Table 9.4 [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
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
Table 9.5 [1] Serial Communication
Function
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
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 9.6 [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 9.7 [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 9.8 [0] Digital input
Function
Stop/Anti-clockwise
Stop/Anti-clockwise
Start/Clockwise
Start/Clockwise
9 9
MG92C102 - VLT ® is a registered Danfoss trademark 47
Troubleshooting MCA 123 POWERLINK Operating Instructions
9 9
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
Table 9.9 [1] Serial Communication
Function
Stop/Anti-clockwise
Start/Clockwise
Stop/Anti-clockwise
Start/Clockwise
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 9.10 [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 9.11 [3] Logic OR
Function
Stop/Anti-clockwise
Start/Clockwise
Start/Clockwise
Start/Clockwise
The effect of control mode upon the function of 8-55 Setup 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
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 9.12 [0] Digital Input
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
2
2
0
1
0
1
3
3
2
2
0
1
0
1
0
1
4
4
3
3
4
4
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
0
0
1
1
1
1
0
0
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
1
1
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 9.13 [1] Serial Communication
If [2] Logic AND is selected, both signals must be activated to perform the function.
48 MG92C102 - VLT ® is a registered Danfoss trademark
Troubleshooting MCA 123 POWERLINK Operating Instructions
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 9.14 [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
0
0
0
0
0
0
0
0
Terminal
Msb Lsb
0
0
1
1
0
0
1
1
0
0
0
0
1
1
1 1
Table 9.15 [3] Logic OR
0
0
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
0
1
0
1
4
4
3
4
3
4
4
4
1 0 4
9.1.5 Alarm and Warning Words
Alarm word, Warning word, and POWERLINK Status 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 POWERLINK
Status word can also be displayed using the serial bus in
16-90 Alarm Word , 16-92 Warning Word , and 12-69 Ethernet
PowerLink Status .
Bit (Hex)
00000001
00000002
00000004
00000008
00000010
00000020
00000040
00000080
00000100
Unit diagnose bit
48
49
50
51
52
53
54
55
40
00000200
00000400
00000800
00001000
00002000
00004000
00008000
00010000
00020000
00040000
00080000
00100000
00200000
00400000
00800000
01000000
02000000
04000000
08000000
10000000
20000000
40000000
80000000
Table 9.16 FC 301/FC 302
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)
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
9 9
MG92C102 - VLT ® is a registered Danfoss trademark 49
Troubleshooting MCA 123 POWERLINK Operating Instructions
9 9
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
Table 9.17 FC 301/FC 302
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)
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
9
8
64
61
62
-
-
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 9.18 FC 301/FC 302
NOTE
16-84 Comm. Option STW is not part of extended diagnosis.
9.1.6 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.
50 MG92C102 - VLT ® is a registered Danfoss trademark
Index MCA 123 POWERLINK Operating Instructions
Index
A
Abbreviations........................................................................................... 4
Alarm Word............................................................................................. 49
Assumptions............................................................................................. 3
P
Parameters......................................................................................... iii, 10
PDO Communication.......................................................................... 14
Process
Control Data....................................................................................... 14
Control Operation............................................................................ 15
Status Data......................................................................................... 14
Profibus....................................................................................................... 3
B
Background Knowledge....................................................................... 3
C
Cabling..................................................................................................... 39
Configuration...................................................................... 33, 34, 38, 4
Control Profile........................................................................................ 16
R
Reference................................................................................................... 4
S
Safety.......................................................................................................... iii
D
DC Backup................................................................................................. 3
DeviecNet.................................................................................................. 3
T
Topology.................................................................................................... 8
V
VLT Parameters...................................................................................... 10
E
EMC Precautions..................................................................................... 9
EtherCAT.................................................................................................... 3
Ethernet........................................................................................ 9, 37, 39
W
Warning Word........................................................................................ 49
H
Hardware.............................................................................................. iii, 3
I
I/O................................................................................................................. 4
Installation....................................................................................... iii, 3, 5
IP Settings................................................................................................ 10
IP21/Type 1................................................................................................ 3
L
LED
LED........................................................................................................... 4
Status.................................................................................................... 45
Literature.................................................................................................... 3
N
Network............................................................................................. 3, 9, 5
No
Communication................................................................................ 46
Respose To Control Signals.......................................................... 47
O
Overview.................................................................................................... 6
MG92C102 - VLT ® is a registered Danfoss trademark 51
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