Danfoss VLT Decentral Drive FCD 302 Operating instructions

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MAKING MODERN LIVING POSSIBLE

Operating Instructions

MCA 123 POWERLINK

vlt-drives.danfoss.com

Safety Operating Instructions

Safety

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 firness 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.

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.

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.

Safety MCA 123 POWERLINK

The motor can be brought to a stop with bus commands while the frequency converter is connected to mains. These stop functions do NOT provide protection against unintended starts.

While parameters are being changed, there is a risk that motor starts.

Electronic faults in the frequency converter and cease of

•

temporary overload

•

faults in supply mains, or

•

fault in the motor connection can cause an unintended start.

WARNING

ELECTRICAL HAZARD

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

MG92C202

Contents Operating Instructions

MG92C202

1 Introduction

1.1 General Information

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 Configure the Parameters

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

5.2.5 Influence of the Digital Input Terminals upon FC Control Mode

5.3 Control Profile

5.4 DS 402 Control Profile

5.4.1 Control Word According to DSP 402 Profile

(Parameter 8-10=DSP 402 profile)

Contents MCA 123 POWERLINK

5.4.2 Status Word According to DS 402 Profile

5.4.3 DSP 402 State Transitions

5.5 Danfoss FC Control Profile

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 LED Status

9.2 Communication Problems

9.2.1 No Communication with the Frequency Converter

9.2.2 Endless Power-down - Power-up Cycle

9.3 Warnings and Alarms

9.3.1 Alarm and Warning Words

Index

MG92C202

Introduction Operating Instructions

1 Introduction

1.1 General Information

1.1.1 About this Manual

Chapters

chapter 1 Introduction

chapter 2 How to Install

chapter 3 How to Configure

contain essential information for quick installation and setup.

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

chapter 4 Configure the Master

chapter 5 How to Control the Frequency Converter

chapter 7 Parameters

chapter 8 Application Examples

chapter 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 or FCD 302 frequency converter. The installed controller must support the interfaces described in this manual. 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, ordering number 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

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

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 Back-up

Instruction

provides information for installing the

24 V DC Back-up 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 Operating Instructions

The

MCA 124 EtherCAT Operating Instructions

The

MCA 122 Modbus TCP Operating Instructions

Danfoss technical literature is also available online at

www.danfoss.com/BusinessAreas/DrivesSolutions/

1 1

Introduction MCA 123 POWERLINK

1 1

1.1.6 Abbreviations

MSB

MRV

N/A

PCD

PLC

PNU

REF

SDO

SoC

SoA

STW

EMC

I/O

PDO

LCP

LED

LSB

MAV

Abbreviation

API

ASnd

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

MG92C202

How to Install Operating Instructions

2 How to Install

2.1 Installation

2.1.1 How to Install Option in Frequency

Converter

Before installing the option, make sure that the installed firmware revision supports the POWERLINK option.

Following minimum versions of the frequency converter firmware are required:

POWERLINK option firmware version

1.01

1.12

Frequency converter minimum firmware version

FC 301 6.72

FC 302 6.72

FC 301 6.81

FC 302 6.81

FCD 302 6.81

Table 2.1 Minimum Firmware Versions

Items required for installing the fieldbus option in the frequency converter

•

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)

EtherNet Port1

MCA

121

MS1

MS2

SW.ver.

EtherNet Port2

Option A

MAC-00-1B-08-00-00-22

Illustration 2.1 Fieldbus Option Adaption Frame

MG92C202

Illustration 2.2 Strain Relief for A1 and A2 Enclosures

Instructions

Remove LCP panel from the FC Series.

Remove the frame located beneath and discard it.

Push the option into place. The Ethernet connectors must be facing upwards.

Remove knock-out on the fieldbus option adaptor frame.

Push the fieldbus option adaptor frame for the FC

Series into place.

Replace the LCP and attach cable.

NOTICE

Do not strip and earth the Ethernet cable via the strain relief-plate! The earthing of screened Ethernet cable is done through the RJ-45 connector on the option.

NOTICE

After installing the MCA 123 POWERLINK option, set

parameter 8-01 Control Site

to:

[2] Control word only

[0]

Digital and ctrl. word

parameter 8-02 Control Word Source

to:

[3] Option A

2.1.2 Network

It is important that the media selected for Ethernet data transmission meets the required properties. Usually CAT 5e and six cables are recommended for industrial applications.

Both types are available as unscreened twisted pair and screened twisted pair. Generally, screened cables are recommended for use in industrial environments and with frequency converters.

A maximum cable-length of 100 m is allowed between network devices.

2 2

How to Install MCA 123 POWERLINK

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

Crosstalk damping

23.2 dB (at 100 MHz and 100 m each)

24 dB (at 100 MHz and 100 m each)

Return loss 10 dB (100 m each)

Surge impedance 100

Table 2.2 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 2.3 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.

S/E LED

Illustration 2.4 S/E LED Status - Power OFF or State

A B

Illustration 2.5 S/E LED Status - Green (A)/Red (B) Flash

Illustration 2.6 S/E LED Status - Flickering Green

Illustration 2.7 S/E LED Status - Solid Green

Illustration 2.8 S/E LED Status - Blinking Red

Illustration 2.9 S/E LED Status - Single Green Flash

A B

Illustration 2.10 S/E LED Status - Red (B)/Green (A) Flash

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

OFF

Illustration 2.11 S/E LED Status - Double Green Flash

Illustration 2.12 S/E LED Status - Tripple Green Flash

Illustration 2.3 Overview of the Option

Item #

POWERLINK port 1

POWERLINK port 2

Status/error

Link/collision port 1

Link/collision port 2

Node ID dip switches

Description

Table 2.4 Legend to

Illustration 2.3

Illustration 2.13 S/E LED Status - Yellow Flash

MG92C202

How to Install Operating Instructions

LED flash pattern

Power OFF or State

Flickering

Green

Powerlink option state

NMT_GS,

NMT_GS_INITIALISATION

NMT_CS_NOT_ACTIVE,

Basic Ethernet mode

Description

No power supplied to drive or

Initialising

POWERLINK interface is in basic

Ethernet mode

Solid green

Blinking greed

Single green flash

Red/green flash

Double green flash

NMT_CS_Stopped

POWERLINK interface is on operational state

PLC has stopped the Network

NMT_CS_PRE_OPERATIONAL_1 POWERLINK interface is in Preoperation mode state 1

NMT_CS_PRE_OPERATIONAL_1 Communication to

PLC lost

NMT_CS_PRE_OPERATIONAL_2 POWERLINK interface is in Preoperation mode state 2

Tripple green flash

NMT_CS_READY_TO_OPERATE POWERLINK

Yellow flash Wink command interface is

Node Identification activated from

MCT10

Table 2.5 S/E LED Pattern

L/C LED

Illustration 2.14 L/C LED Status - Power OFF or No Link

Illustration 2.16 L/C LED Status - Power-up Green (A)/Red (B)

Illustration 2.17 L/C LED Status - Collision Red (B)/Green (A)

Illustration 2.18 L/C LED Status - Yellow Flash

LED flash pattern

Power OFF or no link

Link

Powerlink option state

Power up

Collision

Various states

Yellow flash Wink command

Description

NMT_GS,

NMT_GS_INITIALISATION

NMT_CS_NOT_ACTIVE

No power supplied to drive or Initialising

NMT_GS_INITIALISATION Only shown once at power up

Link established

Node Identification activated from MCT 10

Set-up Software

Table 2.6 L/C LED Pattern

2 2

Illustration 2.15 L/C LED Status - Link

2.1.5 Topology

The POWERLINK module features a built-in POWERLINK controlled node 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 requires special attention towards the timing in the network.

It is important in a POWERLINK system, that the connection is done correctly.

2 2

How to Install MCA 123 POWERLINK

Illustration 2.19 Line Topology

Take care that following design rules are followed

Do not connect any non-POWERLINK device (e.g.

a PC) to any free port as to avoid malfunction of the complete POWERLINK network.

In a line topology, power all frequency converters either by mains or by a 24 V DC option card, for the built-in POWERLINK slave controller to work.

To achieve interference-free operation of the

Ethernet, observe the following EMC precautions.

The correct handling of the motor cable screen is vital for the overall performance of the system. If the rules are not followed, it leads 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 recommended. Especially where cables run in parallel, over long distances, or if frequency converters with a bigger power size are installed.

More information can be found in the norm IEC

61000-5-2:1997.

When crossing of cables is unavoidable, the

Ethernet cable must cross motor and brake resistor cables at an angle of 90

Always observe relevant national and local regulations, for example regarding protective earth connection.

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.

NOTICE

The correct handling of the motor cable screen 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.

MG92C202

How to Install Operating Instructions

min. 200 mm

90 ° crossing

Ethernet Cable

Illustration 2.20 Correct Crossing of Ethernet Cable

2 2

How to Configure MCA 123 POWERLINK

3 How to Configure

3 3

3.1 Configure the Parameters

3.1.1 IP Settings

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

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

parameter 12-00 IP Address Assignment

is fixed to the option "From node ID". The IP address follows the setting in

parameter 12-60 Node ID

, so that the IP address is

192.168.100.xxx, where xxx is the node ID. For

parameter 12-02 Subnet Mask

, the IP addres is fixed to

255.255.255.0 and cannot be changed.

The POWERLINK option offers two ways of node ID assignment via parameter or DIP switch.

3.1.2 Ethernet Link Parameters

Parameter group

12-1* Ethernet Link Parameters

holds

Ethernet Link information:

Parameter 12-10 Link Status

Parameter 12-11 Link Duration

Parameter 12-12 Auto Negotiation

Parameter 12-13 Link Speed

Parameter 12-14 Link Duplex

Each port has unique Ethernet link parameters.

Parameter 12-10 Link Status

displays Link or No Link according to the status of the present port.

Parameter 12-11 Link Duration

displays the duration of the link on the present port. If the link is broken, the counter is reset.

Parameter 12-12 Auto Negotiation

is a feature that enables two connected Ethernet devices to select common transmission parameters, such as speed and duplex mode.

In POWERLINK, this feature is fixed to OFF and cannot be changed.

Pay particular attention to the following parameters when configuring the frequency converter with a fieldbus interface.

•

Parameter 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. It then sets

parameter 8-02 Control Word Source

to [

Option A

Adding, changing, or removing an option from an already commissioned frequency converter does not change

parameter 8-02 Control Word Source

However, it causes a trip mode, and the frequency converter displays an error.

•

Parameter 8-10 Control Word Profile

. Select between the Danfoss FC Profile and the DS 402 profile. The change of

parameter 8-10 Control

Word Profile

is active at the next power-up.

•

Parameter 8-50 Coasting Select

parameter 8-56 Preset Reference Select

. Selection of how to gate fieldbus control commands with digital input command of the control card.

NOTICE

When

parameter 8-01 Control Site

is set to

[2] Control word only

, Bus-control overrules the settings in

parameter 8-50 Coasting Select

parameter 8-56 Preset

Reference Select

•

Parameter 8-03 Control Word Timeout Time

parameter 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

Parameter 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 cannot be changed.

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

Parameter 12-14 Link Duplex

- displays the duplex mode for each port.

•

Hardware switches (from version 1.12)

•

parameter 12-60 Node ID

Setting the NODE Address using the Hardware Switches

Using the hardware switches, it is possible to select an address range 0–239 (factory setting 1) according to

Table 3.1

MG92C202

How to Configure Operating Instructions

Switch

Address value

E.g. address 5

E.g. address 35

E.g. address 82

E.g. address 157

128

OFF

+64

OFF

+32

OFF

+16

OFF

Table 3.1

NOTICE

The switches are only read during power-up. Changes are active after the next power up, and can be read in

parameter 12-60 Node ID

. Note the location and sequence of the hardware switches as illustrated in

Illustration 2.3

OFF

Setting the NODE Address via

parameter 12-60 Node ID

Setting the address via

parameter 12-60 Node ID

, is only possible if the hardware switches are set to 0 or 255 (factory

setting). The address change becomes active at the next power-up. The node address has direct influence on the IP address in

parameter 12-01 IP Address

. If the hardware switch is set to an illegal number, the frequency converter immediately issues

Warning 34 in the display, and

parameter 12-69 Ethernet PowerLink Status

is set to 0 (zero).

3 3

Configure the Master MCA 123 POWERLINK

4 Configure the Master

4 4

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 set-up data for a slave. Download the

XDD file for the FC Series frequency converters at

www.danfoss.com/BusinessAreas/DrivesSolutions/

parameter 15-61 Option

SW Version

1.02

File

1.12

FC 301: 0x0200008D_FC301_01.xdd

FC 302: 0x0200008D_FC302_01.xdd

FC 301: 0x0200008D_FC301_08.xdd

FC 302: 0x0200008D_FC302_08.xdd

FCD 302: FCD 302:

0x0200008D_FCD302_08.xdd

Table 4.1 POWERLINK SW Version XDD File

The following steps show how to add a device to the

Automation Studio Tool. For tools from other vendors, consult their relevant manuals.

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.

Right click and select [Open POWERLINK].

Illustration 4.1 Automation Studio

Select the XDD file and the Automation studio, imports it to its library. To save the new info, select the [Save All] menu or the multiple floppy disc icon.

Illustration 4.3 Open POWERLINK

Right click the network icon, and select [Insert].

Illustration 4.4 Physical View

MG92C202

Configure the Master

Select [Danfoss FC 302].

Operating Instructions

Illustration 4.5 Select Controller Module

Danfoss FC Series is inserted in the POWERLINK master system.

Configure the I/O configuration, right click the

Danfoss Icon and select [Open I/O Configuration].

Illustration 4.7 Select Parameters

NOTICE

Make sure that maximum ten channels are selected in each direction; or the PLC enters into an endless restart of the network.

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. Select the I/O

Mappings by right-clicking the [Danfoss FC 302] icon and selecting [Open I/O Mapping].

4 4

Illustration 4.6 I/O Configuration

Illustration 4.8 Mapping the I/Os ot the PLC Variables

By default the POWERLINK option does not have any process data assigned to its I/O mapping.

Assign the process data by selecting the channels

(FC Parameter) as read or write. Selecting the [+] sign in front of the channel menu expands the list 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

Now, the mapping can be done directly to previous defined variables.

Configure the Master MCA 123 POWERLINK

4 4

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 inserts the Danfoss FC 302 into the B&R system, and the frequency converter can now be controlled and supervised via the POWERLINK.

MG92C202

How to Control the Frequenc...

Operating Instructions

5 How to Control the Frequency Converter

5.1 PDO Communication

The frequency converter 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

parameter 8-10 Control Word Profile

. The change is active at the next power-up. Configure the PDO communication, 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 configured freely.

Select the signals for transmission from the master to the frequency converter via the PLCs configuration tool. The

PLC sets

Parameter 12-21 Process Data Config Write

parameter 12-22EN-22 Process Data Config Read

and

parameter 12-23 Process Data Config Write Size

, which can

be used to control that 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.

Option

[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

PCD

......

PCD write

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

chapter 5.3 Control Profile

. PCD 1 contains a 16-bit speed setpoint in percentage format. See

chapter 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

PCD

Table 5.2 Process Status Data

......

PCD read

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

chapter 5.2.3 Reference Handling

5 5

How to Control the Frequenc...

MCA 123 POWERLINK

5 5

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

VLT

AutomationDrive Design Guide

Illustration 5.2 Reference Handling

The reference, or speed setpoint (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

parameter 3-00 Reference

Range

the reference and MAV are scaled accordingly:

Illustration 5.3 Scaling of MAV and Reference

NOTICE

parameter 3-00 Reference Range

is set to

[0] Min - Max

, a negative reference is handled as 0%.

The speed limit settings depend on

parameter 0-02 Motor

Speed Unit

and can be set to RPM or Hz. If

parameter 0-02 Motor Speed Unit

is set to RPM,

parameter 4-11 Motor Speed Low Limit [RPM]

and

parameter 4-13 Motor Speed High Limit [RPM]

limit the actual frequency converter output. If

parameter 0-02 Motor

Speed Unit

is set to Hz,

parameter 4-12 Motor Speed Low

Limit [Hz]

and

parameter 4-14 Motor Speed High Limit [Hz]

limit the actual frequency converter output.

parameter 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%

-25%

-50%

-75%

-100%

Integer in hex

4000

3000

2000

1000

F000

E000

D000

C000

Integer in decimal

16.384

12.288

8.192

4.096

-4.096

-8.192

-12.288

-16.384

Table 5.3 Reference and MAV Formats

NOTICE

Negative numbers are formed as a complement of two.

NOTICE

The data type for MRV and MAV is 16-bit standardise value, which can express a range from -200% to +200%

(8001 to 7FFF).

Parameter 1-00 Configuration Mode

set to

[0] Speed open loop

Parameter 3-00 Reference Range

set to

[0] Min - Max

Parameter 3-02 Minimum Reference

set to 100 RPM.

Parameter 3-03 Maximum Reference

set to 3000 RPM.

25%

50%

75%

100%

Table 5.4

MRV/MAV

0 hex

1000 hex

2000 hex

3000 hex

4000 hex

Actual speed

100 RPM

825 RPM

1550 RPM

2275 RPM

3000 RPM

5.2.4 Process Control Operation

In process control operation

parameter 1-00 Configuration

Mode

is set to

[3] Process

The reference range in

parameter 3-00 Reference Range

is always

[0] Min-Max.

- MRV represents the process setpoint.

- MAV expresses the actual process feedback (range

200%).

MG92C202

How to Control the Frequenc...

Operating Instructions

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

parameter 8-50 Coasting Select

parameter 8-56 Preset

Reference Select

NOTICE

The

parameter 8-01 Control Site

overrules the settings in

parameter 8-50 Coasting Select

parameter 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

parameter 8-50 Coasting Select

to either

[1] Bus

, or to

[2]

Logic AND

. Then set

parameter 8-01 Control Site

[0]

Digital and ctrl.word

[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

parameter 8-10 Control Word

Profile

. The choice of profile affects the control and status word only. The change of

parameter 8-10 Control Word

Profile

is activated at the next power-up.

Object 6060 Modes of operation can also control the desired control profile which can be 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

parameter 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 to the specification. Make sure that the profile selected is also the profile used in the PLC.

5.4 DS 402 Control Profile

5.4.1 Control Word According to DSP 402

Profile

(Parameter 8-10=DSP 402 profile)

Master-follower

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

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

Jog 1 OFF

Reserved

Setup select (LSB)

Setup select (MSB)

Jog 1 ON

Forward Reversing

Table 5.5 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

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How to Control the Frequenc...

MCA 123 POWERLINK

5 5

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

parameter 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 selecting among the four menu set-ups in accordance with

Table 5.6

Set-up

Table 5.6 Set-up Selection Table

Bit 14

Bit 15, Forward/reversing

Bit 15="0" - no reversing.

Bit 15="1" - reversing.

NOTICE

In factory setting reversing is set to [digital] in

parameter 8-54 Reversing Select

Bit 13

5.4.2 Status Word According to DS 402

Profile

Follower-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

Bit

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

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

Reserved

Table 5.7 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".

MG92C202

How to Control the Frequenc...

Operating Instructions

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

parameter 3-13 Reference Site

Bit 09="1" - it is possible to control the frequency converter via the serial port.

Bit 10, setpoint not reached/Set point reached

Bit 10="0" - the actual motor speed is different from the speed reference set. This situation can occur while the speed is ramped up/down during start/stop.

Bit 10="1" - the present motor speed equals the speed reference set.

Bit 11, Speed limit not active/speed limit active

Bit 11="0" - the output frequency is out of the range set in parameters 4-11/4-12

Motor Speed low Limit RPM/Hz

or parameters 4-13/4-14

Motor Speed high Limit RPM/Hz

Bit 11="1" - the output frequency is within the mentioned range.

Bit 12, DSP 402 reserved

Bit 13, DSP 402 reserved

Bit 14, Running/Not running

Bit 14="0" - the motor is not running.

Bit 14="1" - the frequency converter has a valid start signal or that the output frequency is greater than 0 Hz.

Bit 15, Danfoss reserved

8-10 Control Profile

Option:

[0]

[7]

FC profile

CANOpen DSP 402

Function:

FC Profile

is the default control profile for the frequency converter, whereas

CANOpen DSP 402

is the CiA standardized control profile, featuring the special DSP 402 transition state machine.

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How to Control the Frequenc...

MCA 123 POWERLINK

5 5

Illustration 5.6 DSP 402 State Machine

MG92C202

How to Control the Frequenc...

Operating Instructions

5.4.3 DSP 402 State Transitions

Transition State

Start condition

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

⇒

Ready to Switch On

Operation Enabled

⇒

Switched On

⇒

Ready to Switch On

⇒

Switch On Disable

Operation Enable

⇒

Ready to Switch On

Operation Enable

⇒

Switch On Disable

Control word

0000

Status word

0000

0200

0000, 0001 0240

0006

0007

000F

0007

0231

0233

0237

0233

0006 0231

0001, 0000 0240

0006 0231

0001, 0000 0240

Action

Motor ramps to 0 RPM with programmed ramp down parameter.

If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.

Switched On

⇒

Switched On Disable

Operation Enabled

⇒

Quick Stop Active

Operation Enabled

⇒

Quick Stop Active

⇒

Switch On Disabled

0001, 0000 0240

0002

0003

0207

0217

0001, 0000 0240

All states

⇒

Fault Reaction Active

⇒

Fault

⇒

Switch On Disabled

Quick Stop Active

⇒

Operation Enable (not supported)

Table 5.8 DSP 402 State Transitions

5.5 Danfoss FC Control Profile

5.5.1 Control Word according to FC Profile

(CTW) xxxx xxxx

0000

To select Danfoss FC protocol in the control word,

parameter 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).

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.

If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.

Bit

Bit value=0

Reference value

DC brake

Coasting

Quick stop

Hold output frequency

Ramp stop

No function

Ramp 1

Data invalid

No function

Parameter set-up

No function

Table 5.9 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

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How to Control the Frequenc...

MCA 123 POWERLINK

5 5

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

parameter 3-10 Preset Reference

according to

Table 5.10

NOTICE

parameter 8-56 Preset Reference Select

a selection is made to define how Bit 00/01 gates with the corresponding function on the digital inputs.

Bit 01 Bit 00 Programmed ref. value

Parameter

[0]

Parameter 3-10 Preset

Reference

[1]

Parameter 3-10 Preset

Reference

[2]

Parameter 3-10 Preset

Reference

[3]

Parameter 3-10 Preset

Reference

Table 5.10 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

parameter 2-01 DC Brake Current

and

parameter 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.

NOTICE

parameter 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

parameter 3-81 Quick Stop Ramp Time

Bit 04=“1” - the frequency converter ramps the motor speed down to stop via

parameter 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 (

parameter 5-10 Terminal 18 Digital

Input

parameter 5-15 Terminal 33 Digital Input

) programmed to

Speed up

and

Speed down

Bit 05=“1” - use ramp.

NOTICE

Freeze output

is active, stop the frequency converter with

•

Bit 03 Coasting stop

•

Bit 02 DC braking

•

Digital input (

parameter 5-10 Terminal 18 Digital

Input

parameter 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.

NOTICE

parameter 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" -

parameter 3-19 Jog Speed [RPM]

determines the output frequency.

Bit 09, Selection of ramp 1/2

Bit 09="0" - ramp 1 is active (

parameter 3-40 Ramp 1 Type

parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start

Bit 09="1" - ramp 2 (

parameter 3-50 Ramp 2 Type

parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start

) is active.

Bit 10, Data not valid/Data valid

Is used to tell the frequency converter whether it should use or ignore the control word.

Bit 10="0" - the control word is ignored.

Bit 10="1" - the control word is used. This function is relevant, because the control word is always contained in the telegram, regardless of which type of telegram is used.

Thus, it is possible to turn off the control word, if 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

parameter 5-40 Function Relay

Bit 12, Relay 04

Bit 12="0" - relay 04 has not been activated.

MG92C202

How to Control the Frequenc...

Operating Instructions

Bit 12="1" - relay 04 has been activated, provided

Control word bit 12

has been chosen in

parameter 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 5.11

The function is only possible when

[9] Multi-Set-up

is selected in

parameter 0-10 Active Set-up

Set-up

Bit 14

Bit 13

Table 5.11 Selection of Set-up

NOTICE

parameter 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.

5.5.2 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

chapter 8 Application Examples

for an example of a status word telegram using PPO type 3.

Bit Bit=0

00 Control not ready

01 Frequency converter not ready

Coasting

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 5.12 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 24 V external 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.

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How to Control the Frequenc...

MCA 123 POWERLINK

5 5

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

parameter 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

parameter 4-11 Motor Speed Low Limit [RPM]

parameter 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, auto start

Bit 12="0" - there is no temporary over temperature on the frequency converter.

Bit 12="1" - the frequency converter has stopped because of over temperature, but the unit has not tripped and resumes operation once the over temperature stops.

Bit 13, Voltage OK/limit exceeded

Bit 13="0" - there are no voltage warnings.

Bit 13="1" - the DC voltage in the frequency converters intermediate circuit is too low or too high.

Bit 14, Torque OK/limit exceeded

Bit 14="0" - the motor current is lower than the torque limit selected in

parameter 4-16 Torque Limit Motor Mode

parameter 4-17 Torque Limit Generator Mode

Bit 14="1" - the torque limits in

parameter 4-16 Torque Limit

Motor Mode

and

parameter 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%.

MG92C202

Communication Profile Area Operating Instructions

6 Communication Profile Area

6.1 Description - Communication Profile Area

This chapter describes the general layout of the supported POWERLINK communication area. The process data objects are defined in this area.

6.2 1000-1FFF Communication Object Area

1E4A

1F81

1F82

1F83

1F8C

1F93

1F98

1F99

1F9A

1F9B

1F9E

1800

1A00

1C0A

1C0B

1C0F

1C14

1E40

1018

1020

1030

1031

1300

1400

1600

1010

1011

0x1C14

0x1E40

0x1E4A

Index [hex] Object (symbolic name) Name

1000 VAR Device type

1001

1006

VAR

Error register

Communication cycle period

1008

1009

100A

VAR

Manufacturer device name

Manufacturer hardware version

Manufacturer software version

ARRAY

VAR

RECORD

Store parameters

Restore default parameters

DLL_CNLossOfSocTolerance_U32

NWL_IpAddrTable_1_REC

RECORD NWL_IpGroup_REC

Type

UNSIGNED32

UNSIGNED8

UNSIGNED32

VISIBLE_STRING

UNSIGNED32

NWL_IpAddrTable_TYPE

NWL_IpGroup_TYPE

RECORD

VAR

RECORD

ARRAY

RECORD

VAR

RECORD

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

DLL_CNLossOfSocTolerance_U32

NWL_IPAddrTable_1_REC

Identity (23h)

CFM_VerifyConfiguration_TYPE

NMT_InterfaceGroup_0h_TYPE

UNSIGNED32

UNSIGNED8

UNSIGNED64

UNSIGNED8

UNSIGNED64

UNSIGNED32

NWL_IpAddrTable_TYPE

VAR

RECORD

VAR

RECORD

VAR

RECORD NWL_IpGroup_REC

NMT_NodeAssignment_AU32

NMT_FeatureFlags_U32

NMT_EPLVersion_U8

NWL_IpGroup_TYPE

UNSIGNED32

UNSIGNED8

NMT_CurrNMTState_U8

NMT_EPLNodeID_REC

UNSIGNED8

NMT_CycleTiming_REC UNSIGNED32

NMT_CNBasicEthernetTimeout_U32 UNSIGNED32

NMT_HostName_VSTR

NMT_MultiplCycleAssign_AU8

NMT_ResetCmd_U8

VISIBLE_STRING32

UNSIGNED8

UNSIGNED8 ro rw rw rw rw rw ro/rw rw ro rw ro ro ro ro rw rw rw ro/rw ro/rw ro ro ro

Read/write

ro ro rw rw rw rw ro ro ro rw ro/rw ro ro

6 6

Communication Profile Area MCA 123 POWERLINK

6 6

Index [hex] Object (symbolic name) Name

2000-5FFF Vendor specific area

603F

6040

6041

6042

6043

6044

6046

6048

6049

6060

6061

6502

6504

VAR

ARRAY

RECORD

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

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.

Type

See

chapter 6.3 2000-5FFF Danfoss Specific Object

Area

UNSIGNED16

SIGNED16

UNSIGNED32

See description

SIGNED8

UNSIGNED32

VISIBLE_STRING

Read/write

ro ro ro ro ro rw ro rw ro rw ro ro ro

6.2.3 1006h Communication Cycle Period

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

parameter 15-40 FC Type

Additional information

Mode bits Type bits

31..

24 23..

Device profile number

Bits

15..

0 16

1 (frequency converters) 0=FC Profile

402=DS 402

Table 6.2 1000h Device Type

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 are active (high) if an alarm is active in alarm word 1 or alarm word 2.

Bit Meaning

0 Generic error

Current

Voltage

Temperature

Communications error (overrun, error state)

Device profile specific

Reserved (always zero)

Manufacturer specific

Table 6.3 1001h Error Register

Index

1008h

Meaning

for example, FC 302

Table 6.4 1008h Manufacturer Device Name

6.2.5 1009h Manufacturer Hardware

Version

This object contains the hardware version for the

POWERLINK interface.

6.2.6 100Ah Manufacturer Software Version

This object contains the Danfoss software version as displayed in

parameter 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

parameter 12-28 Store Data Values

MG92C202

Communication Profile Area Operating Instructions

Index, sub-index

1010h 0

1010h 1

1010h 2

1010h 3

Meaning

Number sub-index supported

Save option parameters

All

Not supported

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:

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 Vendor ID

1018h 2

1018h 3

1018h 4

Product code

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, subindex

1020h 0

1020h 1

1020h 2

1020h 3

1020h 4

Meaning

Number of entries

ConfDate_U32, Days since January 1, 1984

ConfTime_U32, milliseconds after midnight

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

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.

6 6

Communication Profile Area MCA 123 POWERLINK

6 6

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

parameter 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, subindex

1600h 0

1600h 1

1600h 2

1600h 3

1600h 4

1600h 5

1600h 6

1600h 7

1600h 8

1600h 9

1600h 10

Meaning

Number of sub-index supported parameter 12-21 Process Data Config Write, [0]

Index parameter 12-21 Process Data Config Write, [1]

Index parameter 12-21 Process Data Config Write, [2]

Index parameter 12-21 Process Data Config Write, [3]

Index parameter 12-21 Process Data Config Write, [4]

Index parameter 12-21 Process Data Config Write, [5]

Index parameter 12-21 Process Data Config Write, [6]

Index parameter 12-21 Process Data Config Write, [7]

Index parameter 12-21 Process Data Config Write, [8]

Index parameter 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

0-1

4-5

Name Description

Index Index of the object to be mapped

Sub-index Sub-index of the object to be mapped reserved

Offset Offset related to start of PDO payload (Bit count)

Length Length of the mapped object (Bit count) 6-7

Table 6.14 Description of Octet Offset

Bits

MSB

63 .. 48

Name Length Offset

Encoding UNSIGNED16 UNSIGNED16 -

Reserved Sub-index

UNSIGNED8

LSB

15 .. 0

47 .. 32 31 .. 24 23 .. 16

Name Index

Encoding UNSIGNED16

Table 6.15 Internal Mapping of PDO Mapping Entry

MG92C202

Communication Profile Area Operating Instructions

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, subindex

1A00h0

1A00h1

Meaning

Number of sub-index supported

parameter 12-22EN-22 Process Data Config Read, [0]

Index

1A00h2

1A00h3

1A00h4

1A00h5

parameter 12-22EN-22 Process Data Config Read, [1]

Index

parameter 12-22EN-22 Process Data Config Read, [2]

Index

parameter 12-22EN-22 Process Data Config Read, [3]

Index

parameter 12-22EN-22 Process Data Config Read, [4]

Index

1A00h6

1A00h7

1A00h8

1A00h9

parameter 12-22EN-22 Process Data Config Read, [5]

Index

parameter 12-22EN-22 Process Data Config Read, [6]

Index

parameter 12-22EN-22 Process Data Config Read, [7]

Index

parameter 12-22EN-22 Process Data Config Read, [8]

Index

1A00h10

parameter 12-22EN-22 Process Data Config Read, [9]

Index

Table 6.17 1A00h PDO_TxMappParam_00h_AU64

Map up to ten objects for every PDO channel.

The offset related to the start address of the PDO payload and the length of data is provided for every mapped object.

Octet offset

0-1

4-5

Name Description

6-7

Index Index of the object to be mapped

Sub-index Sub-index of the object to be mapped

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

Bits

MSB

63 .. 48

Name Length Offset

Encoding UNSIGNED16 UNSIGNED16 -

Reserved Sub-index

UNSIGNED8

LSB

15 .. 0

47 .. 32 31 .. 24 23 .. 16

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

parameter 12-68 Cumulative Counters parameter 12-68 Cumulative Counters

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

1C0Bh 2

1C0Bh 3

CumulativeCnt_U32, [2]

parameter 12-68 Cumulative Counters

ThresholdCnt_U32, [2]

parameter 12-67 Threshold Counters

Threshold_U32, [2]

parameter 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

6 6

Communication Profile Area MCA 123 POWERLINK

6 6

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

1C0Fh 2

1C0Fh 3

CumulativeCnt_U32, [5]

parameter 12-68 Cumulative Counters

ThresholdCnt_U32, [5]

parameter 12-67 Threshold Counters

Threshold_U32, [5]

parameter 12-66 Threshold

Table 6.22 1C0Fh DLL_CNCRCError_REC

6.2.21 1F82 NMT_FeatureFlags_U32

Feature flags indicate communication profile specific properties of the frequency converter.

Bit

Name

Isochronous

SDO by UDP/IP

SDO by ASnd

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

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

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 the POWERLINK NodeID.

Index, sub-index Meaning

1F93h 0 Number of entries

1F93h 1 NodeID_U8, [5]

Counters parameter 12-68 Cumulative

1F93h 2 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

PResActPayloadLimit_U16

Set by MN during configuration

ASndMaxLatency_U32 Latency, fixed to 10 (nS)

MultiplCycleCnt_U8 Set by MN during configuration

AsyncMTU_U16 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.

MG92C202

Communication Profile Area Operating Instructions

Index, subindex

1F99

Meaning Remark

NMT_CNBasicEthernet-

Timeout_U32

Time in microseconds before switching to basic Ethernet mode. Default 5000000 (5 s)

Mapped to

parameter 12-63 Basic Ethernet

Timeout

Table 6.28 Basic Ethernet Timeout

6.2.27 1F9Ah NMT_HostName_VSTR _U32

Index, subindex

1F9A

Meaning Meaning

NMT_HostName_VSTR Mapped to

parameter 12-08 Host Name

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

parameter 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

parameter 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

parameter 0-01 Language parameter 0-02 Motor Speed Unit parameter 0-03 Regional Settings parameter 1-20 Motor Power [kW] parameter 1-22 Motor Voltage parameter 12-01 IP Address

parameter 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

parameter 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

parameter 8-10 Control Word Profile

Table 6.32

shows the support of indexes, depending on setting of

parameter 8-10 Control Word Profile

(Index 6060h)

6 6

Communication Profile Area MCA 123 POWERLINK

6 6

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

parameter 8-10 Control

Word Profile

=FC Profile

√

Table 6.32 6000h-9FFFh Standardised Device Profile Area

6.4.2 603Fh Error Code

parameter 8-10 Control

Word Profile=

MCO

√

6.4.6 6043h vl_velocity_demand

parameter 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

(

parameter 16-90 Alarm Word

). Bit 1=1, Alarmword 2 has an active Alarm (Future ext.

parameter 16-91 Alarm Word 2

). Bit

2=0, Reserved. Bit 3=1, Warningword 1 has an active

Warning (

parameter 16-92 Warning Word

). Bit 4=1,

Warningword 2 has an active Warning (Future ext.

parameter 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

chapter 5.4 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

parameter 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

parameter 3-02 Minimum Reference

and

parameter 3-03 Maximum Reference

. The readout values in

parameter 3-02 Minimum Reference

and

parameter 3-03 Maximum Reference

will be truncated.

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

chapter 5.4 DS 402 Control Profile

6.4.5 6042h vl_target_velocity

The vl_target_velocity is the required velocity of the system. The velocity is in RPM.

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

6.4.9 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

parameter 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

parameter 1-25 Motor Nominal Speed

MG92C202

Communication Profile Area Operating Instructions

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

parameter 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

parameter 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

parameter 8-10 Control Word Profile

. If this value is changed while in operation, the option enters the “Error

PREOP” state.

Index, 6060h value

-2

Meaning

-1

MCO profile (only possible if MCO305 is mounted)

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

-2

Meaning

-1

MCO profile (only possible if MCO305 is mounted)

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)

6 6

Parameters MCA 123 POWERLINK

7 Parameters

7 7

7.1 Parameter Group 8-** Communication and Option

8-01 Control Site

Option: Function:

The setting in this parameter overrides the settings in

parameter 8-50 Coasting Select

parameter 8-56 Preset Reference Select

[0] Digital and ctrl.word

[1] Digital only

[2] Controlword only

Control by using both digital input and control word.

Control by using digital inputs only.

Control by using control word only.

8-02 Control Word Source

Option: Function:

NOTICE

This parameter cannot be adjusted while the motor runs.

[0] None

[1] FC RS485

[2] FC USB

[3] Option A

[4] Option B

[5] Option C0

[6] Option C1

[30] External Can

Select the source of the control word: 1 of 2 serial interfaces or 4 installed options. During initial power-up, the frequency converter automatically sets this parameter to

[3] Option

, if it detects a valid fieldbus option installed in slot A. When the option is removed, the frequency converter detects a configuration change, sets

parameter 8-02 Control Word

Source

to default setting RS485, and trips. If an option is installed after initial power-up, the setting of

parameter 8-02 Control Word

Source

does not change, but the frequency converter trips and shows:

Alarm 67, Option

Changed

When retrofitting a bus option into a frequency converter that did not have a bus option installed earlier, change the control to bus-based. This change is required for safety reasons to avoid an unintended change.

8-03 Control Word Timeout Time

Range:

1 s

[ 0.1 -

18000 s]

Function:

Enter the maximum time expected to pass between the reception of 2 consecutive telegrams. If this time is exceeded, it indicates that the telegram communication has stopped.

The function selected in

parameter 8-04 Control

Word Timeout Function

is then carried out. A valid control word triggers the timeout counter.

8-04 Control Word Timeout Function

Select the timeout function. The timeout function activates when the control word fails to be updated within the time period specified in

parameter 8-03 Control Word Timeout Time

Option:

[0] Off

Function:

Resumes control via fieldbus (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:

[7] Select setup

•

Via the fieldbus.

•

Via [Reset].

•

Via a digital input.

Changes the set-up after reestablishment of communication following a control word timeout. If communication resumes after a timeout,

parameter 8-05 End-of-Timeout

Function

defines whether to resume the setup used before the timeout, or to retain the set-up endorsed by the timeout function.

NOTICE

To change the set-up after a timeout, configure as follows:

Set

parameter 0-10 Active Set-up

[9]

Multi set-up

and select the relevant link in

parameter 0-12 This Set-up

Linked to

[8] Select setup

See

[7] Select set-up 1

MG92C202

Parameters Operating Instructions

8-04 Control Word Timeout Function

Select the timeout function. The timeout function activates when the control word fails to be updated within the time period specified in

parameter 8-03 Control Word Timeout Time

Option:

[9] Select setup

[10] Select setup

[26] Trip

Function:

See

[7] Select set-up 1

See

[7] Select set-up 1

8-05 End-of-Timeout Function

Option: Function:

Select the action after receiving a valid control word following a timeout. This parameter is active only when

parameter 8-04 Control Timeout

Function

is set to:

•

[7] Set-up 1

•

[8] Set-up 2

•

[9] Set-up 3

•

[10] Set-up 4

[0] Hold setup

Retains the set-up selected in

parameter 8-04 Control Timeout Function

and displays a warning until

parameter 8-06 Reset

Control Timeout

toggles. Then the frequency converter resumes its original set-up.

[1] Resume set-up

Resumes the set-up active before the timeout.

8-06 Reset Control Word Timeout

This parameter is active only when

[0] Hold set-up

has been selected in

parameter 8-05 End-of-Timeout Function

Option: Function:

[0] Do not reset Retains the set-up specified in

parameter 8-04 Control Word Timeout Function

following a control word timeout.

[1] Do reset Returns the frequency converter to the original set-up following a control word timeout. The frequency converter performs the reset and then immediately reverts to the

[0] Do not reset

setting.

8-07 Diagnosis Trigger

[0]

[1]

[2]

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.

Option: Function:

Disable

Trigger on alarms

Trigger alarm/warn.

NOTICE

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

parameter 16-90 Alarm Word

parameter 9-53 Profibus Warning Word

[2] Trigger alarms/warn.

: Send extended diagnosis/ emergency data if one or more alarms or warnings appear in alarm

parameter 16-90 Alarm

Word

parameter 9-53 Profibus Warning Word

, or warning

parameter 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]

Function:

Normal fieldbus readouts.

[1]

Motor Data

Std-Filt.

Motor Data LP-

Filter

Filtered fieldbus readouts of the following parameters:

Parameter 16-10 Power [kW]

Parameter 16-11 Power [hp]

Parameter 16-12 Motor Voltage

Parameter 16-14 Motor current

Parameter 16-16 Torque [Nm]

Parameter 16-17 Speed [RPM]

Parameter 16-22 Torque [%]

Parameter 16-25 Torque [Nm] High

7 7

Parameters MCA 123 POWERLINK

7 7

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:

[0]

[7]

FC Profile

CANopen DSP 402

Function:

8-13 Configurable Status Word STW

Option: Function:

This parameter enables configuration of bits

12–15 in the status word.

[0] No function

[1]

Profile Default Function corresponds to the profile default selected in

parameter 8-10 Control Profile

[2] Alarm 68

Only

Only set in case of an Alarm 68.

[3] Trip excl.

Alarm 68

Set in case of a trip, except if Alarm 68 executes the trip.

[10] T18 DI status. The bit indicates the status of terminal 18.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

[11] T19 DI status. The bit indicates the status of terminal 19.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

[12] T27 DI status. The bit indicates the status of terminal 27.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

[13] T29 DI status. The bit indicates the status of terminal 29.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

[14] T32 DI status. The bit indicates the status of terminal 32.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

[15] T33 DI status. The bit indicates the status of terminal 33.

0 indicates that the terminal is low.

1 indicates that the terminal is high.

[16] T37 DI status The bit indicates the status of terminal 37.

0 indicates terminal 37 is low (Safe Torque stop).

1 indicates terminal 37 is high (normal).

[21] Thermal warning

The thermal warning turns on when the temperature exceeds the limit in the motor, the frequency converter, the brake resistor, or the thermistor.

[30] Brake fault

(IGBT)

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.

8-13 Configurable Status Word STW

Option: Function:

[40] Out of ref.

range

[60] Comparator 0 See parameter group

13-1* Comparators

. If comparator 0 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[61] Comparator 1 See parameter group

13-1* Comparators

. If comparator 1 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[62] Comparator 2 See parameter group

13-1* Comparators

. If comparator 2 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[63] Comparator 3 See parameter group

13-1* Comparators

. If comparator 3 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[64] Comparator 4 See parameter group

13-1* Comparators

. If comparator 4 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[65] Comparator 5 See parameter group

13-1* Comparators

. If comparator 5 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[70] Logic Rule 0 See parameter group

13-4* Logic Rules

. If logic rule 0 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[71] Logic Rule 1 See parameter group

13-4* Logic Rules

. If logic rule 1 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[72] Logic Rule 2 See parameter group

13-4* Logic Rules

. If logic rule 2 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[73] Logic Rule 3 See parameter group

13-4* Logic Rules

. If logic rule 3 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[74] Logic Rule 4 See parameter group

13-4* Logic Rules

. If logic rule 4 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[75] Logic Rule 5 See parameter group

13-4* Logic Rules

. If logic rule 5 is evaluated as TRUE, the output goes high. Otherwise, it is low.

[80] SL Digital

Output A

[81] SL Digital

Output B

[82] SL Digital

Output C

See

parameter 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

parameter 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

parameter 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

MG92C202

Parameters Operating Instructions

8-13 Configurable Status Word STW

Option: Function:

[83] SL Digital

Output D

[84] SL Digital

Output E

[85] SL Digital

Output F logic action

[34] Set digital out C low

is executed.

See

parameter 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

parameter 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

parameter 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:

This parameter is not valid in software versions below 4.93.

[0] None

[1] Profile default

[2] CTW

Valid, active low

[3] Safe

Option

Reset

The information in this bit is ignored by the frequency converter.

The functionality of the bit is depending on the selection in parameter

8-10 Control Word Profile

If set to 1, the frequency converter ignores the remaining bits of the Control Word.

This function is only available in bits 12-15 of the control word, if a a safe option is mounted in the frequency converter. The reset is executed on a 0-

>1 transition, and reset the safe option as set in parameter 42-24.

[4] PID error inverse

[5] PID reset

I part

[6] PID enable

When enabled, it inverts the resulting error from the process PID controller. Available only if

parameter 1-00 Configuration Mode

is set to

[6]

Surface Winder

[7] Extended PID Speed OL

[8]

Extended PID Speed CL

When enabled, resets the I-part of the process PID controller. Equivalent to

parameter 7-40 Process PID

I-part Reset

. Available only if

parameter 1-00 Configuration Mode

is set to

[6]

Surface Winder

[7] Extended PID Speed OL

[8]

Extended PID Speed CL

When enabled, enables the extended process PID controller. Equivalent to

parameter 7-50 Process PID

Extended PID

. Available only if

8-14 Configurable Control Word CTW

Option: Function:

parameter 1-00 Configuration Mode

is set to

[6]

Surface Winder

[7] Extended PID Speed OL

[8]

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.

Activates start command via the serial communication port or fieldbus option.

[2] Logic AND Activates start command via the fieldbus/serial communication port, and 1 extra digital input.

[3] Logic OR Activates start command via the fieldbus/serial communication port, or via 1 of the digital inputs.

[0]

[1]

[2]

[3]

8-51 Quick Stop Select

Select control of the quick stop function via the terminals (digital input) and/or via the bus.

Option: Function:

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.

NOTICE

When

parameter 1-10 Motor Construction

is set to

[1] PM non-salient SPM

, only selection

[0] Digital input

is available.

[0] Digital input

Activates start command via a digital input.

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 a start command via a digital input.

Activates a start command via the serial communication port or fieldbus option.

7 7

Parameters MCA 123 POWERLINK

7 7

8-53 Start Select

Option:

[2] Logic

AND

Function:

Activates a start command via the fieldbus/serial communication port, and additionally via 1 of the digital inputs.

[3] Logic OR Activates a start command via the fieldbus/serial communication port, or via 1 of the digital inputs.

8-54 Reversing Select

Option:

[0] Digital input

Function:

Select control of the frequency converter reverse function via the terminals (digital input) and/or via the fieldbus.

[1] Bus Activates the reverse command via the serial communication port, or fieldbus option.

[2] Logic AND Activates the reverse command via the fieldbus/ serial communication port, and additionally via 1 of the digital inputs.

[3] Logic OR Activates the reverse command via the fieldbus/ serial communication port, or via 1 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.

[2] Logic

AND

Activates the set-up selection via the serial communication port, or fieldbus option.

Activates the set-up selection via the fieldbus/ serial communication port, and via 1 of the digital inputs.

[3] Logic OR Activates the set-up selection via the fieldbus/ serial communication port, or via 1 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

[1] DHCP

[2] BOOTP

[10] DCP

[20] From node

IP-address can be set in

parameter 12-01 IP

Address

IP Address.

IP-address is assigned via DHCP server.

IP-address is assigned via BOOTP server.

DCP Assigned via the DCP protocol.

Address is set from

parameter 12-60 Node ID

only.

12-01 IP Address

Range:

[0 -

2147483647 ]

Function:

Configure the IP address of the option.

Read-only if

parameter 12-00 IP Address

Assignment

set to DHCP or BOOTP. In

POWERLINK, the IP address follows the

parameter 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 -

4244635647 ]

Configure the IP subnet mask of the option. Read-only if

parameter 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 -

2147483647 ]

Configure the IP default gateway of the option. Read-only if

parameter 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 - 2147483647 ]

Function:

Logical (given) name of option.

NOTICE

The display of the frequency converter only shows the first 19 characters, but the remaining characters are stored in the frequency converter. If hardware switches are different from all ON or all OFF, the switches have priority.

MG92C202

Parameters Operating Instructions

12-09 Physical Address

Range: Function:

[0 - 0 ] Read-only. Displays the physical (MAC) address of the option.

7.2.2 12-1* Ethernet Link Parameters

7.2.3 12-1* Ethernet Link Parameters

Applies for the whole parameter group.

Index [0] is used for port 1, and Index [1] is used for port

2. For EtherCAT, index [0] is for the in-port and index [1] is for the 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

parameter 12-13 Link Speed

and

parameter 12-14 Link

Duplex

[1] On

NOTICE

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

parameter 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

NOTICE

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

parameter 12-12 Auto Negotiation

is set to: [ON], this parameter is read-only.

[0] Half Duplex

[1] Full Duplex

NOTICE

In POWERLINK this parameter is locked to half duplex.

7.2.4 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. The same applies for:

•

parameter 12-22EN-22 Process Data Config Read

•

parameter 12-23 Process Data Config Write Size

•

parameter 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:

[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:

[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

7 7

Parameters MCA 123 POWERLINK

7 7

12-24 Process Data Config Read Size

Range: Function:

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

Function:

12-29 Store Always

Option: Function:

Activates function that always stores received parameter data in non-volatile memory (EEPROM).

[0]

Off

[1] On

7.2.5 12-6* Ethernet PowerLink

12-60 Node ID

Range:

[1 -

239 ]

Function:

Enter the Node ID in this parameter or alternatively in the hardware switch. In order to adjust the Node

ID in

parameter 12-60 Node ID

, the hardware switch

must be set to 0 or 255 (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:

parameter 12-62 SDO Timeout

is the

SDO Timeout in milliseconds. Value of this parameter is read during communication initialization into

Object 1300h

12-63 Basic Ethernet Timeout

Range: Function:

5000.000

[0 -

2000000.000

ms]

Parameter 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:

[0 -

2000000000 ]

Function:

Parameter 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

parameter 12-67 Threshold Counters

12-67 Threshold Counters

Range:

[0 -

4294967295 ]

Function:

Parameter 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 - 2147483647 ] Loss off SoC Cumulative. This parameter reflects the value in object 1C0Bh, subindex 1.

12-69 Ethernet PowerLink Status

Range:

[0 - 4294967295 ]

Function:

7.2.6 12-8* Other Ethernet Services

12-80 FTP Server

Option: Function:

[0] Disabled Disables the built-in FTP server.

12-81 HTTP Server

Option:

[0] Disabled

12-82 SMTP Service

Option:

[0] Disabled

Function:

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.

MG92C202

Parameters Operating Instructions

7.2.7 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

parameter 12-93 Cable Error

Length

. The parameter resumes to the default

setting of disable after the diagnostics have finished.

[0] Disabled

[1] Enabled

NOTICE

The cable diagnostics function is only issued on ports where there is no link (see

parameter 12-10 Link Status

Link Status

)

12-91 Auto Cross Over

Option:

[0] Disabled

Function:

Disables the auto cross-over function.

[1] Enabled Enables the auto cross-over function.

12-93 Cable Error Length

Range:

[0 -

65535 ]

Function:

If cable diagnostics is enabled in

parameter 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.

7.3 POWERLINK - Specific Parameter List

Parameter

Parameter 8-01 Control Site

Parameter 8-02 Control Word Source

Default value

[0] Dig. & ctrl. word

[0] FC RS485

Parameter 8-03 Control Word Timeout

Time

Parameter 8-04 Control Word Timeout

Function

[0] Off

Parameter 8-05 End-of-Timeout Function [0] Hold set-up

Parameter 8-06 Reset Control Word

Timeout

Parameter 8-07 Diagnosis Trigger

Parameter 8-10 Control Word Profile

[0] Do not reset

[0] Disable

[0] FC profile

Parameter 8-13 Configurable Status

Word STW

Parameter 8-50 Coasting Select

Parameter 8-51 Quick Stop Select

[3] *Logic OR

Range

[0-2]

[0-4]

0.1-18000

[0-10]

[0-1]

[0-3]

[0-x]

[0-3]

12-96 Port Config

Enables/disables port-mirroring function. For troubleshooting with a network analyser tool.

Option:

[0] Normal

Function:

No port-mirroring

[1] Mirror Port 1 to 2

[2] Mirror Port 2 to 1

All network traffic on port 1 is mirrored to port 2.

All network traffic on port 2 is mirrored to port 1.

[10]

[11]

[254]

[255]

Port 1 disabled

Port 2 disabled

Mirror Int. Port to 1

Mirror Int. Port to 2

-1

Conversion index Data type

Uint8

Uint32

Uint8

7 7

Parameters MCA 123 POWERLINK

7 7

Parameter

Parameter 8-52 DC Brake Select

Parameter 8-53 Start Select

Parameter 8-54 Reversing Select

Parameter 8-55 Set-up Select

Default value

[3] *Logic OR

Parameter 8-56 Preset Reference Select [3] *Logic OR

Parameter 8-90 Bus Jog 1 Speed 100 rpm

Parameter 8-91 Bus Jog 2 Speed 200 rpm

parameter 12-00 IP Address Assignment [20] *From node ID

parameter 12-01 IP Address

parameter 12-02 Subnet Mask

192.168.100.xxx

255.255.255.0

0.0.0.0

parameter 12-03 Default Gateway parameter 12-08 Host Name

Parameter 12-09 Physical Address

Parameter 12-10 Link Status

Parameter 12-11 Link Duration

Parameter 12-12 Auto Negotiation

Parameter 12-13 Link Speed

Parameter 12-14 Link Duplex

00:1B:08:00:00:00

[0] No Link

00:00:00:00

[1] On

[2] 100 Mbps

[0] Halfl Duplex parameter 12-20 Control Instance parameter 12-21 Process Data Config

Write

parameter 12-22EN-22 Process Data

Config Read parameter 12-23 Process Data Config

Write Size

Application Dependent

parameter 12-24 Process Data Config

Read Size

0 parameter 12-28 Store Data Values parameter 12-29 Store Always

parameter 12-60 Node ID

parameter 12-62 SDO Timeout

[0] Off

[1]

30000

parameter 12-63 Basic Ethernet Timeout

[5000000]

parameter 12-66 Threshold parameter 12-67 Threshold Counters parameter 12-68 Cumulative Counters

Parameter 12-80 FTP Server

Parameter 12-81 HTTP Server

Parameter 12-82 SMTP Service

[15]

[0]

[0] Disable

Parameter 12-89 Transparent Socket

Channel Port

Parameter 12-90 Cable Diagnostic

Parameter 12-91 Auto Cross Over

Parameter 12-93 Cable Error Length

Parameter 12-98 Interface Counters

Parameter 12-99 Media Counters

Parameter 16-84 Comm. Option STW

Parameter 16-90 Alarm Word

Parameter 16-92 Warning Word

[0] Disable

[0] Enable

0-4294967295

[0-240]

[0-65535]

[0-4294967296]

[0–1]

[0-1]

0-200

0-65535

0-FFFF

Table 7.1 Specific Parameters

Refer to the relevant Operating Instructions for a comprehensive parameter list.

Range

[0-3]

[0-1]

[0-2]

[0-1]

[0-3]

[0-3] -

parameter 4-13 Motor

Speed High Limit [RPM]

parameter 4-13 Motor

Speed High Limit [RPM]

0-255

Conversion index

1-32

Data type

Uint8

Uint16

Unsigned 8

Unsigned 32

String

Visible string 17

Unsigned 8

Time diff. w/date

Unsigned 8

Unsigned 8[

Unsigned 8

Unsigned 16

Unsigned 32

Unsigned 8

Unsigned 16

Uint32

MG92C202

Parameters Operating Instructions

7 7

Application Examples MCA 123 POWERLINK

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 to

[0] FC profile

Parameter 8-10 Control Word Profile

. The PDO contains up to ten objects, which can be programmed to monitor process signals.

From controller

From frequency converter

CTW

STW

Byte # 1

Table 8.1 Example of FC Profile

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.

MRV

MAV

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.

PCD

PCD[2]

PCD

PCD[3]

Recieve PDO’s (PLC

PCD 0

CTW

PCD 1

REF

→

Drive)

Transmit PDO’s (Drive

→

PLC )

PCD 0

STW

PCD 1

MAV

PCD 2

Torque [Nm]

PCD 3

Digital Inputs

Relay

04-05

Sensor

Reversing

Ext. Device

230 VAC

Illustration 8.1 Application Example

MG92C202

Application Examples Operating Instructions

Program the frequency converter as shown in

Table 8.2

Parameter

Parameter 4-10 Motor Speed Direction

Parameter 5-10 Terminal 18 Digital Input

Parameter 5-11 Terminal 19 Digital Input

Parameter 5-40 Function Relay

Parameter 8-03 Control Word Timeout Time

Parameter 8-04 Control Word Timeout Function

Parameter 8-10 Control Word Profile

Parameter 8-50 Coasting Select

Parameter 8-51 Quick Stop Select

Parameter 8-52 DC Brake Select

Parameter 8-53 Start Select

Parameter 8-54 Reversing Select

Parameter 8-55 Set-up Select

Parameter 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

[2] Logic AND

[1] Bus

8 8

Application Examples MCA 123 POWERLINK

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.

The control word telegram is sent from the PLC to the frequency converter. Standard Telegram 1 is used in the example to demonstrate the full range of modules. All the values shown are arbitrary, and are provided for demonstration purposes only.

PQW:

Bit no.:

CTW

MRV

04 7C 20 00

256 258

PCD

260

PCD

262

PCD

CTW 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

Table 8.3 Standard Telegram 1 Example

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.

Bit

Function active

Bit value=0

Reference value

DC brake

Coasting

Quick stop

Freeze output

Ramp stop

No function

Ramp 1

Data not valid

No function

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

Bit value

MG92C202

Application Examples Operating Instructions

8 8

Troubleshooting

9 Troubleshooting

9.1 LED Status

MCA 123 POWERLINK

Illustration 9.7 S/E LED Status - Single Green Flash

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

OFF

Illustration 9.1 LED Status

9 9

Item #

POWERLINK port 1

POWERLINK port 2

Status/error

Link/collision port 1

Link/collision port 2

Node ID dip switches

Description

Table 9.1 Legend to

Illustration 9.1

Illustration 9.2 S/E LED Status - Power OFF or State

A B

Illustration 9.8 S/E LED Status - Red (B)/Green (A) Flash

Illustration 9.9 S/E LED Status - Double Green Flash

Illustration 9.10 S/E LED Status - Tripple Green Flash

Illustration 9.3 S/E LED Status - Green (A)/Red (B) Flash

Illustration 9.4 S/E LED Status - Flickering Green

Illustration 9.5 S/E LED Status - Solid Green

Illustration 9.6 S/E LED Status - Blinking Red

Illustration 9.11 S/E LED Status - Yellow Flash

LED flash pattern

Power OFF or init State

Flickering

Green

Solid green

Blinking greed

Single green flash

Red/green flash

Double green flash

Tripple green flash

Powerlink option state

NMT_GS,

NMT_GS_INITIALISATION

NMT_CS_NOT_ACTIVE,

Basic Ethernet mode

NMT_CS_Stopped

Description

No power supplied to drive or

Initialising

POWERLINK interface is in basic

Ethernet mode

POWERLINK interface is on operational state

PLC has stopped the Network

NMT_CS_PRE_OPERATIONAL_1 POWERLINK interface is in Preoperation mode state 1

NMT_CS_PRE_OPERATIONAL_1 Communication to

PLC lost

NMT_CS_PRE_OPERATIONAL_2 POWERLINK interface is in Preoperation mode state 2

NMT_CS_READY_TO_OPERATE POWERLINK interface is

MG92C202

Troubleshooting Operating Instructions

LED flash pattern

Powerlink option state

Yellow flash Wink command

Description

Node Identification activated from

MCT10

Table 9.2 S/E LED Pattern

Illustration 9.12 L/C LED Status - Power OFF or No Link

Illustration 9.13 L/C LED Status - Link

Illustration 9.14 L/C LED Status - Power-up Green (A)/Red (B)

Illustration 9.15 L/C LED Status - Collision Red (B)/Green (A)

Illustration 9.16 L/C LED Status - Yellow Flash

LED flash pattern

Power OFF or no link

Link

Powerlink option state

Power up

Collision

Various states

Yellow flash Wink command

Description

NMT_GS,

NMT_GS_INITIALISATION

NMT_CS_NOT_ACTIVE

No power supplied to drive or Initialising

NMT_GS_INITIALISATION Only shown once at power up

Link established

Node Identification activated from MCT 10

Set-up Software

Table 9.3 L/C LED Pattern

9.2 Communication Problems

9.2.1 No Communication with the

Frequency Converter

If there is no communication with the frequency converter, proceed with the following checks:

Check 1: Is the cabling correct?

Check that the cable is mounted correctly. Check if the corresponding L/C LED shows link activity.

Check 2: Does the hardware configuration match?

Check that

parameter 12-60 Node ID

is configured to the same value in the PLC. For correct function, the Node ID must be set correctly. This parameter can also be set from the DIP switches. If the DIP switches are set, they have priority over the parameter.

Check 3: Is the correct XDD file installed?

Download the correct XDD file from

www.danfoss.com/BusinessAreas/DrivesSolutions/.

Check that the process data matches the active profile in the drive.

Check 4: What is the value of

parameter 12-69 Ethernet

PowerLink Status

Parameter 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.

Description Value=[0] Value=[1]

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

Comment

NMT_GS_INITIL

ASATION

NMT_CS_NOT_

ACTIVE

NMT_CS_BASIC

_ETHERNET

Mapped to

Object 1F8Ch

Mapped to

Object 1F8Ch

Mapped to

Object 1F8Ch

Reserved

NMT_CS_PRE_

OPERATIONAL_

NMT_CS_PRE_

OPERATIONAL_

NMT_CS_OPER

ATIONAL

NMT_CS_STOP

PED

Mapped to

Object 1F8Ch

Mapped to

Object 1F8Ch

Mapped to

Object 1F8Ch

Mapped to

Object 1F8Ch

Value shall be read as 0

9 9

Troubleshooting MCA 123 POWERLINK

9 9

Bit no.

Description

14 Reserved

Value=[0] Value=[1]

15 Reserved

16 Reserved

17 Reserved

18 Reserved

19 Reserved

20 Physical link on Port 1

21 Physical link on Port 2

22 Reserved

No link present on Port 1

No link present on Port 2

Link present on Port 1

Link present on Port 2

23 Reserved

24 W34 source

No Op State

25 W34 source

Alarm

26 W34 source

IP Address

Conflict

27 W34 source

Invalid Node

28 W34 source

Incorrect

PDO mapping

29 Reserved

30 Reserved

31 Reserved

Comment

Value shall be read as 0

Mapped to object 178Ch

Mapped to

Alarm Word and Alarm

Word 1

IP address conflict detection in

Basic Ethernet mode

Value read from DIP switch

Set on incorrect Tx or

Rx PDO mapping

Value shall be read as 0

Mapped to object 1030h subindex 7

Value shall be read as 0

Table 9.4 POWERLINK Bits

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).

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

parameter 8-50 Coasting Select

parameter 8-56 Preset

Reference Select

according to the following range of options. Select the FC control mode, digital input and/or serial communication, using

parameter 8-50 Coasting Select

parameter 8-56 Preset Reference Select

parameter 8-01 Control Site

is set to digital only, the frequency converter does not react on commands sent via the control word.

Table 9.5

Table 9.12

show a coast command's effect upon the frequency converter for the full range of

parameter 8-50 Coasting Select

settings.

The effect of control mode upon the function of

parameter 8-50 Coasting Select

parameter 8-51 Quick Stop

Select

, and

parameter 8-52 DC Brake Select

is as follows:

[0] Digital input

is selected, the terminals control the coast and DC brake functions.

NOTICE

Coasting, quick stop, and DC brake functions are active for logic 0.

Terminal Bits 02/03/04

0 0

Table 9.5 [0] Digital Input

Function

Coast/DC brake/Q-Stop

No Coast/DC brake/Q-Stop

[1] Serial communication

is selected, commands are activated only when given via serial communication.

Terminal Bits 02/03/04

0 0

Function

Coast/DC brake/Q-Stop

No Coast/DC brake/Q-Stop

Coast/DC brake/Q-Stop

No Coast/DC brake/Q-Stop

Table 9.6 [1] Serial Communication

[2] Logic AND

is selected, both signals must be activated to perform the function.

MG92C202

Troubleshooting Operating Instructions

Terminal Bits 02/03/04

0 0

0 1

Table 9.7 [2] Logic AND

Function

Coast/DC brake/Q-Stop

No Coast/DC brake/Q-Stop

[3] Logic OR

is selected, activation of one signal activates the function.

Terminal Bits 02/03/04

0 0

0 1

Table 9.8 [3] Logic OR

Function

Coast/DC brake/Q-Stop

No Coast/DC brake/Q-Stop

The effect of control mode upon the function of

parameter 8-53 Start Select

and

parameter 8-54 Reversing

Select

[0] Digital input

is selected, the terminals control the start and reversing functions

Terminal Bits 06/15

0 0

Table 9.9 [0] Digital input

Function

Stop/Counterclockwise

Start/Clockwise

[1] Serial communication

is selected, commands are activated only when given via serial communication.

Terminal Bits 02/03/04

0 0

Function

Stop/Counterclockwise

Start/Clockwise

Stop/Counterclockwise

Start/Clockwise

Table 9.10 [1] Serial Communication

[2] Logic AND

is selected, both signals must be activated to perform the function.

Terminal Bits 02/03/04

0 0

Table 9.11 [2] Logic AND

Function

Stop/Counterclockwise

Start/Clockwise

[3] Logic OR

is selected, activation of one signal activates the function.

Terminal Bits 02/03/04

0 0

Table 9.12 [3] Logic OR

Function

Stop/Counterclockwise

Start/Clockwise

The effect of control mode upon the function of

parameter 8-55 Set-up Select

and

parameter 8-56 Preset

Reference Select

[0] Digital input

is selected, the terminals control the setup and preset reference functions.

Terminal

Msb Lsb

0 0

Table 9.13 [0] Digital Input

Bits 00/01,

13/14

Msb

Lsb

Function

Preset ref. set-up number

[1] Serial communication

is selected, commands are activated only when given via serial communication.

9 9

Troubleshooting MCA 123 POWERLINK

9 9

Terminal

Lsb

Function

Msb

Table 9.14 [1] Serial Communication

Bits 00/01,

13/14

Msb

Lsb

Preset ref. set-up number

[2] Logic AND

is selected, both signals must be activated to perform the function.

Terminal

Msb

Table 9.15 [2] Logic AND

Lsb

Bits 00/01,

13/14

Msb

Lsb

Function

Preset ref. set-up number

[3] Logic OR

is selected, activation of 1 signal activates the function.

Terminal

Msb Lsb

0 0

Table 9.16 [3] Logic OR

Bits 00/01,

13/14

Msb

Lsb

Function

Preset ref. set-up number

9.2.2 Endless Power-down - Power-up Cycle

Check 1: Is the frequency converter set to Controlled Node

= ON in the Automation Studio?

The PLC can force the frequency converter into an endless power-down - power-up cycle. Set the value to

OFF

Is the XDD file correct?

Check that the correct XDD file and firmware of the option are used. See

chapter 4.1 Importing the XDD File

for more information.

9.3 Warnings and Alarms

9.3.1 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

parameter 16-90 Alarm Word

parameter 16-92 Warning Word

, and

parameter 12-69 Ethernet PowerLink Status

MG92C202

Troubleshooting Operating Instructions

Bit (Hex)

00000001

00000002

00000004

00000008

00000010

00000020

00000040

00000080

00000100

Unit diagnose bit

00040000

00080000

00100000

00200000

00400000

00800000

01000000

02000000

04000000

08000000

10000000

20000000

40000000

80000000

00000200

00000400

00000800

00001000

00002000

00004000

00008000

00010000

00020000

Table 9.17 Alarm Word Bits

Alarm word

(parameter 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.

00040000

00080000

00100000

00200000

00400000

00800000

01000000

02000000

04000000

08000000

10000000

20000000

40000000

80000000

00000200

00000400

00000800

00001000

00002000

00004000

00008000

00010000

00020000

102

103

100

101

109

110

111

105

106

107

108

Bit (Hex) Unit diagnose

00000001

00000002

00000004

00000008

00000010

00000020

00000040

00000080

00000100

bit

112

113

114

115

116

117

118

119

104

Warning word

(parameter 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.

Table 9.18 Warning Word Bits

9 9

Troubleshooting MCA 123 POWERLINK

9 9

Bit (Hex) Comm. option STW (

parameter 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 9.19 Status Word Bits

NOTICE

Parameter 16-84 Comm. Option STW

is not part of extended diagnosis.

There is a clear distinction between alarms and warnings.

An alarm make the frequency converter enter 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 condition triggers a warning which disappears when condition returns 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.

MG92C202

Index Operating Instructions

Index

Abbreviations........................................................................................... 4

Alarm word............................................................................................. 52

Assumptions............................................................................................. 3

Background Knowledge....................................................................... 3

Cabling..................................................................................................... 41

Configuration...................................................................... 4, 34, 36, 39

Control Profile........................................................................................ 17

DC Back-up................................................................................................ 3

DeviecNet.................................................................................................. 3

EMC Precautions...................................................................................... 8

EtherCAT..................................................................................................... 3

Ethernet........................................................................................ 8, 39, 40

Hardware.............................................................................................. iii, 3

I/O................................................................................................................. 4

Installation....................................................................................... iii, 3, 5

IP Settings................................................................................................ 10

IP21/Type 1................................................................................................ 3

LED............................................................................................................... 4

LED Status............................................................................................... 48

Literature.................................................................................................... 3

Network............................................................................................. 3, 5, 8

No communication.............................................................................. 49

No response to control signals........................................................ 50

Overview.................................................................................................... 6

Parameter.................................................................................................. iv

Parameters.............................................................................................. 10

PDO Communication.......................................................................... 15

Process Control Data........................................................................... 15

Process control operation.................................................................. 16

Process Status Data.............................................................................. 15

Profibus....................................................................................................... 3

Reference................................................................................................... 4

Safety.......................................................................................................... iii

Topology.................................................................................................... 7

VLT Parameters...................................................................................... 10

Warning word........................................................................................ 52

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Ulsnaes 1

DK-6300 Graasten vlt-drives.danfoss.com

130R0387 MG92C202

*MG92C202*

Rev. 2013-02-11

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MAKING MODERN LIVING POSSIBLE

Operating Instructions

MCA 123 POWERLINK

vlt-drives.danfoss.com

Safety

WARNING

HIGH VOLTAGE

WARNING

ELECTRICAL HAZARD

Contents

1 Introduction

2 How to Install

3 How to Configure

4 Configure the Master

5 How to Control the Frequency Converter

CAUTION

6 Communication Profile Area

7 Parameters

•

•

•

•

•

•

•

8 Application Examples

9 Troubleshooting

Index

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