Danfoss VLT Midi Drive FC 280 Operating instructions
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MAKING MODERN LIVING POSSIBLE
Operating Instructions
MCA 124 EtherCAT
vlt-drives.danfoss.com
Contents Operating Instructions
Contents
MG92A302
1.1 Safety
1.2 EtherCAT
3.1.1 How to Install Option in Frequency Converter
4.2 Configure the Frequency Converter
4.3 Configure the EtherCAT Network
4.3.1.1 Setting the EtherCAT Station Alias using the Hardware Switches
5.1 Import
5.2 Setting Up
6 How to Control the Frequency Converter
6.1 PDO Communication
6.2 Process Data
6.2.5 Influence of the Digital Input Terminals upon FC Control Mode
6.3 Control Profile
6.4 DS 402 Control Profile
Danfoss A/S © 05/2015 All rights reserved.
1
Contents MCA 124 EtherCAT
6.4.1 Control Word According to DSP 402 Profile
(Parameter 8-10=DSP 402 profile)
6.4.3 DSP 402 State Transitions
6.5 Danfoss FC Control Profile
7.2 1000-1FFF Communication Object Area
7.3 2000-5FFF Danfoss Specific Object Area
7.4 6000-Device profile Object Area
8.1 Parameter Group 0-** Operation/Display
8.2 Parameter Group 8-** Communication and Option
8.3 Parameter Group 12-** Ethernet
8.4 EtherCAT-specific Parameter List
9.1 Example: Process Data with PDO 23
9.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value
10.1.2 No Communication with the Frequency Converter
10.1.3 Alarm and Warning Words
11.1 Status Messages
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MG92A302
Safety Operating Instructions
1 Safety
1.1 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.
1.
2.
3.
4.
5.
The frequency converter must be disconnected from mains before carrying out repair work.
Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.
The off-command on the serial bus does not disconnect the equipment from mains and should not be used as a safety switch.
Correct protective earthing or grounding of the equipment must be established. The user must be protected against supply voltage, and the motor must be protected against overload in accordance with applicable national and local regulations.
The earth leakage currents are higher than 3.5
mA.
Do not remove the plugs for the motor and mains supply while the frequency converter is connected to mains. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.
1 1
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Safety MCA 124 EtherCAT
1 1
1.
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.
2.
While parameters are being changed, there is a risk that motor starts.
3.
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.
1.2 EtherCAT
®
EtherCAT is a Ethernet based realtime communication, which allows a master to communicate to slave in a interval down to 30 microseconds. The size of the network is almost unlimited since up to 65535 devices can be connected. These factors do make EtherCAT to one of the fastest Ethernet based protocols in the marked.
The topology in EtherCAT can be made as line, tree or as star. This gives the user the flexibility to route the cabling in the most optimal way.
On the application level EtherCAT applies CANopen as the application layer. This incorporates the usages of PDO
(Process data Objects) for control of the devices and SDO
(Service Data Objects) for acyclic access to parameters of the devices.
More information on EtherCAT can be found on the
EtherCAT technology groups homepage: www.ethercat.org
.
Illustration 1.1 EtherCAT ® is Registered Trademark and
Patented Technology, Licensed by Beckhoff Automation Gmbh,
Germany
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MG92A302
Introduction Operating Instructions
2 Introduction
2.1.1 About this Manual
First time users can obtain the most essential information for quick installation and set-up in these chapters:
For more detailed information, including the full range of set-up options and diagnosis tools, refer to the chapters:
chapter 5 Configure the Master
chapter 6 How to Control the Frequency
chapter 9 Application Examples
Terminology:
In this manual several terms for Ethernet are used.
EtherCAT , is the term used to describe the
EtherCAT protocol.
Ethernet , is a common term used to describe the physical layer of the network and does not relate to the application protocol.
2.1.2 Assumptions
These operating instructions are under the conditions that the Danfoss EtherCAT option is used with a Danfoss FC
301/FC 302 frequency converter. The installed controller must support the interfaces described in this document.
Strictly observe all the requirements stipulated in the controller and the frequency converter, along with all limitations herein.
2.1.3 Hardware
This manual relates to the EtherCAT option MCA 124, type no. 130B5546 (uncoated) and 130B5646 (conformal coated).
2.1.4 Background Knowledge
The Danfoss EtherCAT Option Card is designed to communicate with any system complying with the
EtherCAT standard. Familiarity with this technology is assumed. Issues regarding hardware or software produced by other manufacturers, including commissioning tools, are beyond the scope of this manual, and not the responsibility of Danfoss.
For information regarding commissioning tools, or communication to a non-Danfoss node, consult the appropriate manuals.
2.1.5 Available Literature
Available Literature for FC 301/FC 302
The VLT AutomationDrive Operating Instructions , provide the necessary information for getting the frequency converter up and running.
The VLT AutomationDrive Design Guide , entails all technical information about the frequency converter design and applications including encoder, resolver, and relay options.
-
-
The VLT AutomationDrive Profibus Operating
Instructions , provide the information required for controlling, monitoring, and programming the frequency converter via a Profibus fieldbus.
The VLT AutomationDrive DeviceNet Operating
Instructions , provide the information required for controlling, monitoring, and programming the frequency converter via a DeviceNet fieldbus.
-
-
The VLT AutomationDrive MCT 10 Set-up Software
Operating Instructions , provide information for installation and use of the software on a PC.
The VLT AutomationDrive IP21/Type 1 Instruction , provides information for installing the IP21/Type 1 option.
-
The VLT AutomationDrive 24 V DC Backup
Instruction , provides information for installing the
24 V DC Backup option.
The VLT AutomationDrive CanOpen Operating
Instructions .
-
The VLT AutomationDrive Modbus TCP Operating
Instructions .
The MCA 121/FCD 302 EtherNet/IP Operating
Instructions .
The MCA 120 PROFINET Operation Instruction .
Danfoss technical literature is also available online at http:// www.danfoss.com/BusinessAreas/DrivesSolutions/
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Introduction MCA 124 EtherCAT
2 2
N/A
PC
PCD
PLC
PNU
REF
STW
I/O
IP
LCP
LED
LSB
MAV
MSB
MRV
Abbreviation Definition
API Actual Packet Interval
CC
CTW
Control Card
Control Word
DCP
DHCP
EMC
Discovery and Configuration Protocol
Dynamic Host Configuration Protocol
Electromagnetic Compatibility
Input/Output
Internet Protocol
Local Control Panel
Light Emitting Diode
Least Significant Bit
Main Actual Value (actual output)
Most Significant Bit
Main Reference Value
Not applicable
Personal Computer
Process Control Data
Programmable Logic Controller
Parameter Number
Reference (=MRV)
Status Word
Table 2.1 Abbreviations
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MG92A302
How to Install Operating Instructions
3 How to Install
3.1.1 How to Install Option in Frequency
Converter
Items required for installing a fieldbus option in the frequency converter:
•
The fieldbus option
•
Fieldbus option adaptor frame for the FC 300.
This frame is deeper than the standard frame to allow space for the fieldbus option beneath
•
Strain relief (only for A1 and A2 enclosures)
Illustration 3.1
MG92A302
Illustration 3.2
Instructions:
1.
Remove LCP panel from the FC 300.
2.
3.
Remove the frame located beneath and discard it.
Push the option into place. The Ethernet connectors must be facing upwards.
4.
5.
Remove both knock-outs on the fieldbus option adaptor frame.
Push the fieldbus option adaptor frame for the FC
300 into place.
6.
Replace the LCP and attach cable.
NOTICE
Do not strip and ground the Ethernet cable via the strain relief-plate! The grounding of screened Ethernet cable is done through the RJ-45 connector on the option.
NOTICE
After installing the MCA 124 EtherCAT option, set parameter 8-01 Control Site and parameter 8-02 Control
Word Source as follows: parameter 8-01 Control Site : [2] Control word only or [0]
Digital and ctrl. word parameter 8-02 Control Word Source : [3] Option A
3.1.2 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.
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3 3
How to Install MCA 124 EtherCAT
3 3
A maximum cable-length of 100 m is allowed between network devices.
3.1.3 EtherCAT Cables
Cable Type Specification
Ethernet standard Standard Ethernet (in accordance with IEEE
802.3), 100Base-TX (FastEthernet)
Cable Type 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 Ω
Table 3.1 Specification of EtherCAT Cables
3.1.4 LED Behaviour
The option has 3 bicolored LEDs that allow a fast and detailed diagnosis. The three LEDs are each linked to its unique part of the EtherCAT option:
LED Label
Status
Link/Act In
Link/Act Out
Description
Module Status, reflects the activity on the
EtherCAT slave
Link/status In, reflects the activity on the IN port
Link/status In, reflects the activity on the OUT port
Table 3.2
Illustration 3.3 Overview of the Option
Power OFF or State INIT
Initialisation/Bootstrap
PRE-OP State
SAFE-OP State
OP State
ERR-Init State
Process Data Watchdog timeout
Green
Red
Table 3.3 Indication of Status LED
Power OFF or NO Link
Link
Link Active
Green
Red
Table 3.4 Link/Act LED
3.1.5 Topology
The EtherCAT module features a built-in EtherCAT slave controller, thus having two Ethernet RJ-45 connectors. This module enables the possibility for connecting several
EtherCAT options in a line topology.
It is important in a EtherCAT system, that the connection is done correctly. EtherCAT options has to be connected so that a OUT port always connects to a IN port on the next slave in the network. If this is not fulfilled the EtherCAT will go into error mode.
NOTICE
Do not connect any non-EtherCAT device to the last port as this causes malfunction of the complete EtherCAT network.
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MG92A302
How to Install Operating Instructions
Illustration 3.4 Line Topology
NOTICE
In a line topology all frequency converters must be powered, either by mains or by their 24 V DC option cards, for the built-in EtherCAT slave controller to work.
Mounting frequency converters of different power-sizes in a line topology can result in unwanted power-off behavior, while using control word timeout
( parameter 8-02 Control Word Source to
parameter 8-06 Reset Control Word Timeout
. Mount the frequency converters with the longest discharge time first in the line topology.
3.1.6 EMC Precautions
To achieve interference-free operation of the Ethernet, observe the following EMC precautions. Additional EMC information is available in the VLT AutomationDrive Design
Guide.
NOTICE
The correct handling of the shield of the motor cable is vital for the overall performance of the system. If the rules are not followed it can lead to loss of the control and malfunction of the system.
NOTICE
Always observe relevant national and local regulations, for example regarding protective earth connection.
The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise between the cables. When crossing is unavoidable, the Ethernet cable must cross motor and brake resistor cables at an angle of 90 ° .
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3 3
How to Install MCA 124 EtherCAT
3 3 min. 200 mm
90 ° crossing
Ethernet Cable
Illustration 3.5 Correct Crossing of Ethernet Cable
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MG92A302
How to Configure Operating Instructions
4 How to Configure
4.1.1 IP Settings
All IP-related parameters are located in parameter group
12-0* IP Settings : The parameters are all set to EtherCAT standard values, so no setting is needed.
The EtherCAT option offers several ways of IP address assignment.
Parameter group 12-1* Ethernet Link Parameters :
•
•
Parameter 12-11 Link Duration
•
Parameter 12-12 Auto Negotiation
•
•
Parameter 12-14 Link Duplex
Each port has unique Ethernet Link Parameters.
and parameter 12-11 Link
Duration displays information on the link status, per port.
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 lost, the counter is reset.
Parameter 12-12 Auto Negotiation
is a feature that enables 2 connected Ethernet devices to select common transmission parameters, such as speed and duplex mode. In this process, the connected devices first share their capabilities and then select the fastest transmission mode they both support.
Incapability between the connected devices could lead to decreased communication performance.
To prevent this, Auto Negotiation can be disabled.
If
parameter 12-12 Auto Negotiation
is set to OFF, link speed and duplex mode can be configured manually in
and
- displays/sets the link speed for each port. If no link is present, “None” is displayed.
Parameter 12-14 Link Duplex - displays/sets the duplex mode for each port.
4.2 Configure the Frequency Converter
4.2.1 VLT Parameters
Pay particular attention to the following parameters when configuring the frequency converter with an EtherCAT interface.
•
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
EtherCAT interface is disabled.
•
After an initial power up, the frequency converter automatically detects whether a fieldbus option is installed in slot A, and set 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 . Choose between the Danfoss FC Profile and the DS 402 profile.
•
Parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select . Selection of how to gate EtherCAT control commands with digital input command of the control card.
NOTICE
When parameter 8-01 Control Site is set to [2] Control word only , the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select are overruled, and all act on Bus-control.
•
Parameter 8-03 Control Word Timeout Time
to parameter 8-05 End-of-Timeout Function . The reaction in the event of a bus time-out is set via these parameters.
4.3 Configure the EtherCAT Network
All EtherCAT stations that are connected to the same bus network must have a unique station alias number. The station alias of the frequency converter can be selected via:
•
Hardware switches
•
parameter 12-50 Configured Station Alias
•
The TwinCAT under the EtherCAT ⇒ advance setting ⇒ ESC ⇒ E2PROM ⇒ Configured station alias setting
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How to Configure MCA 124 EtherCAT
4 4
If parameter 12-50 Configured Station Alias, can only be
set if all address switches are set to ON or OFF.
4.3.1.1 Setting the EtherCAT Station Alias using the Hardware Switches
Using the hardware switches it is possible to select an address range from 1 to 254 according to
:
Switch
Address value
Address 5
Address 35
Address 82
Address 147
8
+128
OFF
OFF
OFF
ON
7
+64
OFF
OFF
ON
OFF
Table 4.1 Address Range
NOTICE
Switch off the power supply before changing the hardware switches. The address change will come into effect at the next power-up, and can be read in
parameter 12-50 Configured Station Alias. Note the
location and sequence of the hardware switches as illustrated in
.
6
+32
OFF
ON
OFF
OFF
5
16
OFF
OFF
ON
ON
4
+8
OFF
OFF
OFF
OFF
3
+4
ON
OFF
OFF
OFF
2
+2
OFF
ON
ON
ON
1
+1
ON
ON
OFF
ON
IN
STATUS
Link/Act IN
Link/Act OUT
SW. ver. 2.02
TM. ver. 3.10
MCA124
EtherCAT
OUT
Option A
130B55 46
MAC 00-1B-0 8-00-00- 00
Device
ID
8 7 6 5 4 3 2 1
ON
OFF
Station alias DIP switches
Illustration 4.1
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MG92A302
Configure the Master Operating Instructions
5 Configure the Master
5.1 Import
5.1.1 Importing the XML File
To configure an EtherCAT Master, the configuration tool needs an XML file for each type of slave on the network.
The XML file is a text file containing the necessary communications set-up data for a slave. Download the
XML file for the FC 300 at http://www.danfoss.com/BusinessAreas/DrivesSolutions/EtherCAT/EtherCAT+files.htm
.
Option version
1.x, 2.x and 3.x
Table 5.1
File
Danfoss_FC_series_ECAT_019.XML
The steps outlined in
chapter 5.2.1 Setting up the Master
shows how to add a new device to the TwinCAT Tool. For tools from other vendors, consult their relevant manuals.
Copy the XML file from the Danfoss Web page to the location: C:\TwinCAT\Io\EtherCAT , and restart the TwinCAT
System Manager. This will update the Device Description library of TwinCAT. If an older version of the XML file is installed, this has to be erased. If the older versions are not erased it can lead to wrong identification of the Drive on the EtherCAT network. The XML file contains three entrys,
FC 300, FC 301 and FC 302. The FC 300 is the the entry for older EtherCAT drive version 1.02, Where the EtherCAT version 2.xx are handled via the entries FC 301 and FC 302.
5.2 Setting Up
5.2.1 Setting up the Master
Inserting the Danfoss EtherCAT slave to the TwinCAT
Master
1.
Right click and select EtherCAT I/O master.
2.
Select Append Box...
Illustration 5.1
3.
4.
5.
Select Danfoss Power Electronics in the I/O
Catalogue of the Insert EtherCAT Device window.
Select VLT FC Series .
Select FC-300 VLT AutomationDrive .
Illustration 5.2
Danfoss FC-300 is inserted into the EtherCAT master system.
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Configure the Master MCA 124 EtherCAT
5 5
Illustration 5.3
Illustration 5.5
To function properly, each of the four process data must be linked to variables inside the PLC. In this example, two transmit variables and two receive variables have been inserted in the PLC memory. To see a list of matching data
1.
2.
Select the variable.
Click the Linked to...
button in the right window.
The status word is now linked to the variable STW in the
PLC. Remaining variables must be mapped equally to the variables in the PLC.
Illustration 5.4
In the following example, the status word is linked to the variable STW.
Illustration 5.6
After a successfully integrating the frequency converter to the TwinCAT system, the frequency converter is now ready for operation.
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MG92A302
How to Control the Frequenc...
Operating Instructions
6 How to Control the Frequency Converter
6.1 PDO Communication
The DS402 profile for frequency converters specifies a number of communication objects (SDOs). SDOs are suitable for data exchange between a process controller, for example a PLC, and frequency converters. Some SDOs are defined for cyclic data transfer, so that process data
(PCD) can be transferred from the controller to the slave and vice versa. PDOs are used for cyclic data, a subset of the SDOs are PDO mappable.
PDO 23 is pure process data objects for applications requiring no cyclic parameter access. The PLC sends out process control data, and the frequency converter then responds with a transmit PDO containing process status data. In the Danfoss EtherCAT interface all PDOs are free selectable. The first two words of the process data area
(PCD 0 and PCD1) are set to a default value at factory, but can be changed.
Select the signals for transmission from the master to the frequency converter in parameter 12-21 Process Data Config
Write (request from master to the frequency converter).
Select the signals for transmission from the frequency converter to the master in parameter (response: FC ⇒ master).
The EtherCAT option has only one PDO available - PDO 23.
The PDO 23 is flexible in size, so that it can be adjusted to fit all needs (max. 10 PCDs). The selection is made in the master configuration, and is then automatically downloaded to the frequency converter during the transition from Init to Pre-Op. No manual setting of PPO types in the frequency converter is required.
Selection [1] Standard telegram 1 is equivalent to PDO 23.
Receive PDOs (PLC Drive)
PDO 23
PCD 0
CTW
PCD 1
REF
Transmit PDOs (Drive
PDO 23
PCD 0
STW
Illustration 6.1
PLC)
PCD 1
MAV
PCD 9 write
PCD 9 read
6.2.1 Process Control Data
The example in
shows control and reference sent from the PLC to the frequency converter, and status word and Main Actual Value sent from the frequency converter to the PLC.
Master to slave
0 1
CTW MRV
2
PCD
......
......
PCD write
9
PCD
Table 6.1 Process Control Data (PCD)
PCD 0 contains a 16-bit control word where each bit controls a specific function of the frequency converter, see
. PCD 1 contains a 16-bit speed setpoint in percentage format. See
The content of PCD 2 to PCD 9 is read only.
6.2.2 Process Status Data
Process data sent from the frequency converter contain information about the current state of the frequency converter.
Slave to master
0 1
STW MAV
2
PCD
Table 6.2 Process Status Data
......
......
PCD read
9
PCD
PCD 0 contains a 16-bit status word where each bit contains information regarding a possible state of the frequency converter.
PCD 1 contains per default the value of the current speed of the frequency converter in percentage format (see
chapter 6.2.3 Reference Handling
).
6.2.3 Reference Handling
The reference handling in FC 301/FC 302 is an advanced mechanism that sums up references from different sources.
For more information on reference handling, refer to the
FC 301/FC 302 Design Guide .
6.2 Process Data
Use the process data part of the PDO for controlling and monitoring the frequency converter via the EtherCAT.
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6 6
How to Control the Frequenc...
MCA 124 EtherCAT
6 6
Illustration 6.2
The reference, or speed set point (MRV, sent via EtherCAT), is always transmitted to the frequency converter in percentage format as integers represented in hexadecimal
(0-4000 hex).
Depending on the setting of parameter 3-00 Reference
Range the reference and MAV are scaled accordingly:
Illustration 6.3
NOTICE
If parameter 3-00 Reference Range is set to [0] Min - Max , a negative reference is handled as 0%.
The speed limit parameters in parameter 4-11 Motor Speed
Low Limit [RPM] to parameter 4-14 Motor Speed High Limit
[Hz] limits the actual frequency converter output.
parameter 4-19 Max Output Frequency sets the final speed limit.
The reference and the MAV have the format which appears from
.
MRV/MAV
100%
75%
50%
25%
0%
-25%
-50%
-75%
-100%
Integer in hex
4000
3000
2000
1000
0
F000
E000
D000
C000
Integer in decimal
16.384
12.288
8.192
4.096
0
-4.096
-8.192
-12.288
-16.384
Table 6.3 Reference and MAV Formats
NOTICE
Negative numbers are formed as a complement of two.
NOTICE
The data type for MRV and MAV is 16-bit standardised 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.
0%
25%
50%
75%
100%
Table 6.4
MRV/MAV
0 hex
1000 hex
2000 hex
3000 hex
4000 hex
6.2.4 Process Control Operation
Actual Speed
100 RPM
825 RPM
1550 RPM
2275 RPM
3000 RPM
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%).
6.2.5 Influence of the Digital Input
Terminals upon FC Control Mode
The influence of the digital input terminals upon control of the frequency converter can be programmed in parameter 8-50 Coasting Select to parameter 8-56 Preset
Reference Select .
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MG92A302
How to Control the Frequenc...
Operating Instructions
NOTICE
Note the parameter 8-01 Control Site overrules the settings in parameter 8-50 Coasting Select to 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 EtherCAT, set parameter 8-50 Coasting Select to either [1] Bus , or to [2]
Logic AND . Then set parameter 8-01 Control Site to [0]
Digital and ctrl.word
or [2] control word only .
More detailed information and examples of logical relationship options are provided in
.
6.3 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 desired control profile can also be controlled by object
6060 Modes of operation and readout by object 6061
Modes of operation display. Value -1 indicates frequency converter profile. Value 2 indicates DS 402 Velocity mode.
The XDD file has default process data mapping. If 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 the specification. Make sure that the profile selected is also the profile used in the PLC.
6.4 DS 402 Control Profile
6.4.1 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 6.4 Control Word Profile
Bit
00
13
14
15
09
10
11
12
05
06
07
08
01
02
03
04
Bit value=0
Switch off
Bit value=1
Switch on
Disable voltage
Quick stop
Disable operation
Disable ramp
Freeze
Ramp stop
No function
Enable voltage
Run
Enable operation
Enable ramp
Run enable
Start
Reset
Reserved
Reserved
Reserved
Jog 1 OFF
Reserved
Setup select (LSB)
Setup select (MSB)
Jog 1 ON
Forward Reversing
Table 6.5 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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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
Set-up
0
0
1
1
Table 6.6 Set-up Selection Table
Bit 14
0
1
0
1
Bit 15, Forward/reversing
Bit 15="0" - no reversing.
Bit 15="1" - reversing.
NOTICE
In factory setting reversing is set to [digital] in
parameter 8-54 Reversing Select
.
Bit 13
1
2
3
4
6.4.2 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 6.5
12
13
14
15
03
04
05
06
00
Bit
01
02
07
08
09
10
11
Table 6.7
Bit value=0
Not ready to switch ON
Switched OFF
Operation disabled
No malfunction
Voltage disabled
Quick stop
Switch on disable
No warning
Reserved
Remote disabled
Set point not reached
Speed limit not active
Bit value=1
Ready to switch ON
Switched ON
Operation enabled
Malfunction
Voltage enabled
Run
Switch on enable
Warning
Remote enabled
Set point reached
Speed limit active
Reserved
Reserved
Not running Running
Reserved
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".
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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, Set point not reached/Set point reached
Bit 10="0" - the actual motor speed is different from the speed reference set. This situation can occur while the speed is ramped up/down during start/stop.
Bit 10="1" - the present motor speed equals the speed reference set.
Bit 11, Speed limit not active/speed limit active
Bit 11="0" - the output frequency is out of the range set in parameters 4-11/4-12 Motor Speed low Limit RPM/Hz or parameters 4-13/4-14 Motor Speed high Limit RPM/Hz .
Bit 11="1" - the output frequency is within the mentioned range.
Bit 12, DSP 402 reserved
Bit 13, DSP 402 reserved
Bit 14, Running/Not running
Bit 14="0" - the motor is not running.
Bit 14="1" - the frequency converter has a valid start signal or that the output frequency is greater than 0 Hz.
Bit 15, Danfoss reserved.
8-10 Control Profile
Option:
[0] *
[7]
FC profile
CANOpen DSP 402
Function:
FC Profile is the default control profile for the frequency converter, whereas CANOpen DSP 402 is the CiA standardized control profile, featuring the special DSP 402 transition state machine.
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How to Control the Frequenc...
MCA 124 EtherCAT
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Illustration 6.6 DSP 402 State Machine
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MG92A302
How to Control the Frequenc...
Operating Instructions
6
7
8
-
2
3
0
1
4
5
6.4.3 DSP 402 State Transitions
Transition State
9
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
Switched On ⇒ Ready to Switch On
Operation Enabled ⇒ Switched On
Switched On ⇒ Ready to Switch On
Ready to Switch On ⇒ Switch On Disable
Operation Enable ⇒ Ready to Switch On
Operation Enable ⇒ Switch On Disable
Control word
0000
Status word
0000
0000 0200
0000, 0001 0240
0006
0007
0231
0233
000F
0007
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.
If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.
10
11
11
12
Switched On ⇒ Switched On Disable
Operation Enabled ⇒ Quick Stop Active
Operation Enabled ⇒ Quick Stop Active
Quick Stop Active ⇒ Switch On Disabled
0001, 0000 0240
0002
0003
0207
0217
0001, 0000 0240
13
14
15
16
All states ⇒ Fault Reaction Active
Fault Reaction Active ⇒ Fault
Fault ⇒ Switch On Disabled
Quick Stop Active ⇒ Operation Enable (not supported)
Table 6.8 DSP 402 State Transitions
6.5 Danfoss FC Control Profile
6.5.1 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
023F
-
0240
-
-
-
-
If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.
Motor ramps to 0 RPM with programmed quick ramp parameter.
Motor ramps to 0 RPM with programmed quick ramp parameter.
If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.
11
12
13
14
15
07
08
09
10
03
04
05
06
Bit
00
01
02
Bit value=0
Reference value
Reference value
DC brake
Coasting
Quick stop
Hold output frequency
Ramp stop
No function
No function
Ramp 1
Data invalid
No function
No function
Parameter set-up
Parameter set-up
No function
Table 6.9 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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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
NOTICE
In 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
1
Parameter
0
0
1
1
0
1
0
1
2
3
4
[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 6.10 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
In 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 to parameter 5-15 Terminal 33 Digital Input ) programmed to Speed up and Speed down .
Bit 05=“1” - use ramp.
NOTICE
If 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 to 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
In 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 to parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start ).
Bit 09="1" - ramp 2 ( parameter 3-50 Ramp 2 Type to 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.
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MG92A302
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
The function is only possible when [9] Multi-Set-up is selected in parameter 0-10 Active Set-up .
Set-up
1
Bit 14
0
Bit 13
0
2
3
0
1
1
0
4 1 1
Table 6.11 Selection of Set-up
NOTICE
In 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.
6.5.2 Status Word according to FC Profile
(STW)
The status word is used to inform the master (for example, a PC) of the operation mode of the slave (frequency converter).
Refer to for an example of a status word telegram using
PPO type 3.
Bit
00
01
Bit=0
Control not ready
Frequency converter not ready
Coasting
No error
No error
Reserved
Bit=1
Control ready
Frequency converter ready
10
11
12
13
06
07
08
09
14
15
02
03
04
05
Table 6.12 Definition of Status Bits
Enable
Trip
-
Error (no trip)
No error
No warning
Speed reference
Local operation
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
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.
Bit 08, Speed reference/speed = reference
Bit 08="0" - the motor is running, but that the present speed is different from the preset speed reference. It could, for example, be the case while the speed is being ramped up/down during start/stop.
Bit 08="1" - the present motor present speed matches the preset speed reference.
Bit 09, Local operation/bus control
Bit 09="0" - [Stop/Reset] is activated on the control unit, or that Local control in 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] or parameter 4-13 Motor Speed High Limit [RPM] .
Bit 10="1" - the output frequency is within the defined limits.
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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 or 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%.
24 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Communication Profile Area Operating Instructions
7 Communication Profile Area
This chapter describes the general layout of the supported POWERLINK communication area. The process data objects are defined in this area.
7.2 1000-1FFF Communication Object Area
7.2.1 1000 - 1FFF Communication Object
Overview
6040
6041
6042
6043
6044
6046
6048
6049
604C
6060
6061
6502
6504
1010
1011
1018
1100
1110
1111
1616
1A16
Index (hex) Object (Symbolic Name) Name
1000 VAR Device type
1001
1002
VAR
VAR
Error register
Manufacturer status register
1003
1008
1009
100A
ARRAY
VAR
VAR
VAR
Pre-defined error field
Manufacturer device name
Manufacturer hardware version
Manufacturer software version
ARRAY
ARRAY
RECORD
VAR
ARRAY
ARRAY
ARRAY
ARRAY
Store parameters
Restore default parameters
Identity object
EtherCAT address
Virtual MAC address
Virtual IP address info
Receive PDO parameter
Transmit PDO parameter
1C00
1C12
RECORD
RECORD
1C13
2000-5FFF
RECORD
Sync manager type
RxPDO assign
TxPDO assign
Vendor specific area
VAR
VAR
VAR
VAR
VAR
ARRAY
RECORD
RECORD
ARRAY
VAR
VAR
VAR
VAR
Type
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
VISIBLE_STRING
VISIBLE_STRING
VISIBLE_STRING
UNSIGNED32
UNSIGNED32
Identity (23h)
UNSIGNED16
UNSIGNED8
UNSIGNED8
UNSIGNED32
UNSIGNED32
Control word
Status word
Vl_target_velocity
Vl_velocity_demand
Vl_actual_value
Vl_velocity_min_max_amount
Vl_velocity_acceleration
Vl_velocity_acceleration
Vl dimension factor
Modes of operation
Modes of operation display
UNSIGNED8
UNSIGNED16
UNSIGNED16
See
chapter 7.3.1 2000h-5FFFh Danfoss Specific
UNSIGNED16
UNSIGNED16
SIGNED16
SIGNED16
SIGNED16
UNSIGNED32
See description
See description
UNSIGNED32
UNSIGNED8
UNSIGNED8
Supported frequency converter mode UNSIGNED32
Frequency converter manufacture VISIBLE_STRING
Table 7.1 Communication Object Overview
7.2.2 1000h Device Type
This object describes the type of device and its functionality. It is composed of a 16-bit field describing the device profile used, and a second 16-bit field providing additional information about optional functionality of the device.
ro rw rw ro rw rw rw rw rw ro ro
Read/Write ro ro ro ro constant constant constant ro ro ro ro rw ro rw ro rw rw ro ro ro
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Communication Profile Area MCA 124 EtherCAT
7 7
Additional Information
Mode Bits Type Bits
31..
0
24 23..
16
Device Profile
Number
Bits
15..
1 (frequency converters, DS402) 402
0
0 1 (frequency converters,
Danfoss)
-1
Table 7.2 1000h Device Type
Device type will show 0x10192 when DS402 profile is selected in frequency converter, and 0 in case of FC profile.
7.2.3 1001h Error Register
This object is the error register of the device. Only bit 0 is supported. The other information of errors is read with object 603Fh.
Bit
0
Meaning
Generic error
Table 7.3 1001h Error Register
7.2.4 1002h Manufacturer Status Register
The contents of this object are manufacturer specific, and inform of the state of the frequency converter:
4
5
2
3
Value
1
Meaning
Init
Pre-operational
Boot
Safe-operational
Operational
Table 7.4 1002h Manufacturer Status Register
7.2.5 1003h Predefined Error Field
Holds the error on the frequency converter. Setting index 0 to 0 erases the field. Disabling the diagnosis trigger (FC p807) disables the display of values in this object (that is, they stay at 0).
Index
1003h 0
1003h 1
Meaning
Number of stored errors
Current error
Table 7.5 1003h Predefined Error Field
The current error consist of two 16 bit word, where the most significant word holds the information if a warning or alarm is set.
Bit0
Bit1
1, Alarmword 1 has an active Alarm
( parameter 16-90 Alarm Word )
1, Alarmword 2 has an active Alarm
( parameter 16-91 Alarm Word 2 )
Bit2
Bit3
0, Reserved
1, Warningword 1 has an active Warning (P 16-92)
Bit4 1, Warningword 2 has an active Warning (P 16-93)
Bit5-15 0, Reserved
Table 7.6
The least significant word reflects the following possible errors:
4210
4310
5110
5112
5210
6100
7110
8100
2240
2310
2311
3100
3130
3210
3220
3300
Code (hex) Meaning
0 No fault
1000
2130
2213
General fault
Short circuit
Overcurr. during startup
8302
Short to earth
Continuous overcurrent
Current inside the device, no. 1
Mains voltage
Phase failure
Overvoltage inside the device undervoltage inside the device
Output voltage
Exceed device temperature
Excess frequency converter temperature
Low voltage power supply
+24 V power supply
Measurement circuit
Internal software fault
Brake chopper
Communication
Torque limiting
Table 7.7
7.2.6 1008h Manufacturer Device Name
This object contains the device name as defined in parameter 15-40 FC Type .
7.2.7 1009h Manufacturer Hardware
Version
This object contains the Danfoss FC hardware version.
7.2.8 100Ah Manufacturer Software Version
This object contains the Danfoss software version as displayed in parameter 15-49 SW ID Control Card .
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MG92A302
Communication Profile Area Operating Instructions
7.2.9 1010h Store Parameters
In the standard configuration, the contents of parameters written via fieldbus are stored in volatile memory, that is, the changed data will be lost after a power cycle. This index permits non-volatile storage of all frequency converter parameters which have been changed.
Index, Sub-Index Meaning
1010h 0 Number sub-index supported
1010h 1
1010h 2
Save option parameters
Save communication option parameters
1010h 3
1010h 4
1010h 5
Reserved
Save edit setup
Save frequency converter parameters/all setups
Table 7.8 1010h Store Parameters
Writing the value “save” (0x65766c173) to sub-index 1 stores all frequency converter parameters of all set-ups into non-volatile memory, all other values are rejected. Subindex 4 does the same for the Edit Set-up. This function is handled via parameter 12-28 Store Data Values .
7.2.10 1011h Restore Default Parameters
To restore factory default settings:
1.
2.
3.
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
1011h 2
Restore all default parameters and restart
Restore communication related parameters
Table 7.9 1011h Restore Default Parameters
Writing the value “load” (0x64616F6C) stores all frequency converter parameters of all set-ups into non-volatile memory, all other values are rejected, and errors code
0x08000020 is returned. The frequency converter has to be power cycled before the changes get active. These objects execute an initialisation command in parameter 14-22 Operation Mode .
7.2.11 1018h Identity Object
This object contains general information about the device.
The vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer.
MG92A302
The manufacturer-specific product code (sub-index 2h) identifies a specific device version.
The manufacturer-specific revision number (sub-index 3h) consists of a major revision number and a minor revision number.
Index, sub-index Meaning
1018h 0 Number of entries
1018h 1
1018h 2
1018h 3
Vendor ID
Product code
1018h 4
Revision number (major revision number and minor revision number)
Serial number
Table 7.10 1018h Identity Object
7.2.12 1100h EtherCAT Address
This object contains the EtherCAT address of the device assigned by the master.
7.2.13 1110h Virtual MAC Address
This object contains the virtual MAC address for the EoE communication.
Index, Sub-Index
1110h 0
1110h 1
1110h 2
1110h 3
1110h 4
1110h 5
1110h 6
Meaning
Number sub-index supported
Byte 0 of MAC address (LSB)
Byte 1 of MAC address
Byte 2 of MAC address
Byte 3 of MAC address
Byte 4 of MAC address
Byte 5 of MAC address (MSB)
Table 7.11 1110h Virtual MAC Address
7.2.14 1111h Virtual IP Address Info
This object contains the virtual IP Info objects about IP addresses, gateways, DNS etc.
Index, Sub-Index Meaning
1111h 0 Number sub-index supported
Data Type
UNSIGNED8
1111h 1
1111h 2
IP Address
Subnet Mask
UNSIGNED32
UNSIGNED32
1111h 3
1111h 4
1111h 5
Default Gateway
DNS Server
DNS Name
UNSIGNED32
UNSIGNED32
STRING
Table 7.12 1111h Virtual IP Address Info
For the DNS Name, the maximum string length is 97 characters, where the DNS Name consist of the host name and the DNS name separated by a “.”
Danfoss A/S © 05/2015 All rights reserved.
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7 7
Communication Profile Area MCA 124 EtherCAT
7 7
7.2.15 1C00h Sync Manager Type
This object contains a list of all configured sync mangers and their types.
Index, Sub-Index Meaning
1C00h 0 Number of entries
1C00h 1
1C00h 2
1C00h 3
Sync-Manager Type Channel 1: Mailbox Write
Sync-Manager Type Channel 2: Mailbox Read
1C00h 4
Sync-Manager Type Channel 3: Process Data
Write (Outputs)
Sync-Manager Type Channel 4: Process Data
Read (Inputs)
Table 7.13 1C00h Sync Manager Type
7.2.16 1C12h RxPDO Assignment
Sync manager 2 is used for process output data. Multiple
RxPDOs can be mapped to this sync manager. Object
1C12h contains the list of all RxPDOs.
Index, Sub-Index
1C00h 0
1C00h 1
Meaning
Number of entries
RxPDO configurable
Table 7.14 1C12h RxPDO Assignment
7.2.17 1C13h TxPDO Assignment
Sync manager 3 is used for process input data. Multiple
RxPDOs can be mapped to this sync manager. Object
1C13h contains the list of all TxPDOs.
Index, Sub-Index
1C00h 0
1C00h 1
Meaning
Number of entries
RxPDO configurable
Table 7.15 1C13h TxPDO Assignment
7.3 2000-5FFF Danfoss Specific Object Area
7.3.1 2000h-5FFFh Danfoss Specific Object
Area
The area 2000h to 5FFFh holds the indexes for accessing the Danfoss FC parameters. All parameters in the frequency converter are linked to indexes in this area. The first index available is index 2001h. This index is linked to the frequency converters parameter 1 (language). The rest of the EtherCAT index follows the same rule, where the frequency converters parameter number plus 2000h gives the EtherCAT index. For example, the reading the running hours in parameter 15-01 Running Hours , is calculated by
2000h + parameter number in hex number = 2000h
+5DD=index 25DDh. The xml file does only contain a subset of the frequency converters parameters. This subset has the indexes that are required for setting up the PDO communication. If a full list is required, the full list can be readout from the frequency converter. This list allows access to all parameters. This generates the correct information regarding option installed in the B and C slot.
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
Table 7.16 2000h-5FFFh Vendor Specific Object Area
7.4 6000-Device profile Object Area
7.4.1 6000h-9FFFh Standardised Device
Profile Area
The area 6000h to 9FFFh holds the indexes specified by the ETG (ETherCAT user Group) for various device profiles.
The Danfoss EtherCAT does support three profiles, FC
Profile, MCO and the DS 402 profile, velocity mode. The profile is selected via 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 .
shows the support of indexes, depending on setting of parameter 8-10 Control Word Profile (Index 6060h)
28 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Communication Profile Area Operating Instructions
Index Name
6040h Control word
6041h Status word
6042h Vl_target_velocity
6043h Vl_velocity_demand
6044h Vl_velocity_effort
6046h Vl_velocity_min_max_amount
6048h Vl_velocity_acceleration
6049h Vl_velocity_deceleration
604Ch Vl dimension factor
6060h Modes of operation
6061h Modes of operation display
6502h Supported frequency converter mode
6504h Frequency converter manufacture parameter 8-10 Control Word
Profile =FC Profile
-
-
-
-
-
-
√
√
√
-
√
-
parameter 8-10 Control Word
Profile =MCO
-
-
-
-
-
-
√
√
√
-
√
-
parameter 8-10 Control Word
Profile =DS 402
√
√
√
√
√
√
√
√
√
√
√
√
√
Table 7.17 6000h-9FFFh Standardised Device Profile Area
7.4.2 6040h Control Word
parameter 3-03 Maximum Reference . The readout values in parameter 3-02 Minimum Reference and parameter 3-03 Maximum Reference will be truncated.
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 6.4 DS 402 Control Profile .
7.4.8 6048h vl_velocity_acceleration
7.4.3 6041h Status Word
This object contains the Status word in accordance to DS
402. The status word consists of 16 bit. The 16 bits show the state and status of the frequency converter (for example, running, ramping, on speed). The Status word is described in
chapter 6.4 DS 402 Control Profile .
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 .
This can give a different readout from the frequency converter, but the slope value is maintained.
7.4.4 6042h vl_target_velocity
The vl_target_velocity is the required velocity of the system. The velocity is in RPM.
Index, sub-index
1048h 0
1048h 1
1048h 2
Meaning
Number of sub-index supported
Delta speed
Delta time
Table 7.18 6048h vl_velocity_acceleration
7.4.5 6043h vl_velocity_demand
The vl_velocity_demand is the velocity of the system after the ramp controller. The velocity is in RPM.
7.4.6 6044h vl_actual_value
The vl_actual_value is the velocity at the motor shaft. The velocity is in RPM, and is obtained from parameter 16-17 Speed [RPM] .
7.4.7 6046h vl_velocity_min_max_amount
7.4.9 6049h vl_velocity_deceleration
The vl_ velocity_deceleration index specifies the slope of the deceleration ramp. It is generated as the quotient of the delta_speed and delta_time. The Delta time is stored in 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.
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
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Communication Profile Area MCA 124 EtherCAT
7 7
Index, sub-index
1049h 0
1049h 1
1049h 2
Meaning
Number of sub-index supported
Delta speed
Delta time
Table 7.19 6049h vl_velocity_deceleration
7.4.10 604Ch vl_dimension_factor
The vl_dimension_factor configures the numerator and denominator of the factor. The vl_dimension_factor serves to include gearing in calculation or serves to scale specific units of the user. It influences the vl_target_velocity, vl_velocity_indexes.
Index, sub-index
104Ch 0
104Ch 1
104Ch 2
Meaning
Number of sub-index supported
Numerator
Denomerator
Table 7.20 604Ch vl_dimension_factor
7.4.11 6060h Modes of Operation
This index is used for selection the 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
2
MCO profile (only possible if MCO305 is mounted)
FC Profile
DS 402 profile
Table 7.21 6060h Modes of Operation
7.4.12 6061h Modes of Operation Display
This index is used to display which mode the frequency converter is in. The mode can be changed via index 6060.
The values are the same as used for index 6060.
Index, 6061h value
-1
Meaning
Default display operation
Table 7.22 6061h Modes of Operation Display
7.4.13 6502h Supported Frequency
Converter Mode
This index informs the user of which operating mode the frequency converter is capable of. Bit 1 is set, indicating that the frequency converter can run DS 402 velocity mode, bit 16 FC profile and 17 indicates MCO profile.
7.4.14 6504h Frequency Converter
Manufacturer
The data is coded as a string.
Emergency Object
This section describes the general layout of the EtherCAT emergency object. The emergency object is used to signal error states in the frequency converters to the master. The frequency converter can be programmed automatically to send the EMCY object if an alarm or warning is activated.
The frequency converter resends the EMCY object if one of the alarms or warnings is removed.
Communication Object Overview
The EMCY object always consists of 8 bytes data, see
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
EMCY code Object
1001h
Vendor specific information
See
Reserved
Reserved
Reserved
Reserved
Table 7.23 Communication Object Overview
This index does readout the name of the drive manufacturer. Data is coded as a string.
Index, sub-index
6504Ch 0
Meaning
Manufacturer “DANFOSS DRIVES”
Table 7.24 6504h Drive Manufacturer (read only)
30 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Communication Profile Area Operating Instructions
5110
5112
5210
6100
7110
8100
8302
2311
3100
3130
3210
3220
3300
4210
4310
Code (hex)
0
1000
2130
2213
2240
2310
Table 7.25 Byte 0 and 1
Meaning
No fault
General fault
Short Circuit
Overcurr. during startup
Short to earth
Continuous overcurrent
Current inside the device, No. 1
Mains voltage
Phase failure
Overvoltage inside the device
Undervoltage inside the device
Output voltage
Exceed device temperature
Excess frequency converter temperature
Low voltage power supply
+24 V Power supply
Measurement circuit
Internal software fault
Brake chopper
Communication
Torque limiting
0
1
No errors
Error active
Table 7.26 Byte 2
Bit0
Bit1
1, Alarmword 1 has an active Alarm
( parameter 16-90 Alarm Word )
1, Alarmword 2 has an active Alarm
( parameter 16-91 Alarm Word 2 )
Bit2
Bit3
0, Reserved
1, Warningword 1 has an active Warning (P 16-92)
Bit4 1, Warningword 2 has an active Warning (P 16-93)
Bit5-15 0, Reserved
Table 7.27 Byte 3
Reserved
Table 7.28 Byte 4 to byte 7
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7 7
Parameters MCA 124 EtherCAT
8 Parameters
8 8
8.1 Parameter Group 0-** Operation/Display
0-37 Display Text 1
Range: Function:
0 * [0 -
0 ]
In this parameter, it is possible to write an individual text string to be shown in the LCP or to be read via serial communication.
To show the text permanently, select [37] Display Text
1 in 1 of the following parameters:
•
Parameter 0-20 Display Line 1.1 Small .
•
Parameter 0-21 Display Line 1.2 Small .
•
Parameter 0-22 Display Line 1.3 Small .
•
Parameter 0-23 Display Line 2 Large .
•
Parameter 0-24 Display Line 3 Large .
•
Parameter 0-37 Display Text 1 .
Changing
changes
- but not vice versa.
8.2 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
to parameter 8-56 Preset Reference Select .
Use both digital input and control word.
[0] Digital and ctrl.word
[1] Digital only
[2] Controlword only
Use digital inputs only.
Use control word only.
8-03 Control Word Timeout Time
Range: Function:
1.0 s * [ 0.1 -
18000.0 s]
Enter the maximum time expected to pass between the reception of 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: Function:
NOTICE
To change the set-up after a timeout, configure as follows:
1.
2.
Set parameter 0-10 Active Setup to [9] Multi set-up .
Select the relevant link in parameter 0-12 This Set-up
Linked to .
[0] Off
[1] Freeze output
[2] Stop
[3] Jogging
Resumes control via fieldbus (fieldbus or standard), using the most recent control word.
Freezes output frequency until communication resumes.
Stops with auto restart when communication resumes.
Runs the motor at jog frequency until communication resumes.
[4] Max. speed Runs the motor at maximum frequency until communication resumes.
[5] Stop and trip
[7] Select setup 1
Stops the motor, then resets the frequency converter to restart:
•
Via the fieldbus.
•
Via [Reset].
•
Via a digital input.
Changes the set-up after a control word timeout. If communication resumes after a timeout,
either resumes the set-up used before the timeout, or retains the set-up endorsed by the timeout function.
[8] Select setup 2
[9] Select setup 3
[10] Select setup 4
[26] Trip
See [7] Select set-up 1 .
See [7] Select set-up 1 .
See [7] Select set-up 1 .
32 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Parameters Operating Instructions
8-05 End-of-Timeout Function
Option: Function:
Select the action after receiving a valid control word following a timeout.
[0] Hold setup
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 .
Retains the set-up selected in parameter 8-04 Control Timeout Function and shows 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 that was 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 Restores 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 or 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: Function:
Normal fieldbus readouts.
[0] Motor Data
Std-Filt.
[1] 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 .
8-10 Control Word Profile
Select the interpretation of the control and status words corresponding to the installed fieldbus. Only the selections valid for the fieldbus installed in slot A are visible in the LCP display. If the parameter is changed while the frequency converter is in operation mode, the frequency converter goes to error state, and the control of the frequency converter is lost. This parameter should not be changed while the motor is running, since it can lead to a unknown state of the profile.
Option: Function:
[0] *
[7]
FC Profile
CANopen DSP 402
8-13 Configurable Status Word STW
Array [16]
Option: Function:
This parameter enables configuration of bits
12–15 in the status word.
[0] No function
8 8
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Parameters MCA 124 EtherCAT
8 8
8-13 Configurable Status Word STW
Array [16]
Option:
[1] Profile
Default
Function:
The function corresponds to the profile default selected in parameter 8-10 Control
Profile .
[2] Alarm 68
Only
[3] Trip excl
Alarm 68
Only set if alarm 68, Safe Torque Off occurs.
Set if a trip occurs, except if alarm 68, Safe
Torque Off executes the trip.
[16] T37 DI status The bit indicates the status of terminal 37.
0 indicates that T37 is low (Safe Torque Off).
1 indicates that T37 is high (normal).
8-14 Configurable Control Word CTW
Array [15]
Option: Function:
This parameter is not valid in software versions before 4.93.
[0] None
[1] Profile default
[2] CTW
Valid, active low
[3] Safe
Option
Reset
The frequency converter ignores the information in this bit.
The functionality of the bit is depending on the selection parameter 8-10 Control Word Profile .
If set to 1, the frequency converter ignores the remaining bits of the control word.
[4] PID error inverse
[5] PID reset
I part
[6] PID enable
This function is only available in bits 12–15 of the control word, if a safety option is mounted in the frequency converter. The reset is executed on a
0 ⇒ 1 transition, and resets the safety option as set in parameter 42-24 Restart Behaviour .
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 , or [8] Extended PID Speed
CL .
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 , or [8] Extended PID Speed
CL .
Enables the extended process PID controller.
Equivalent to parameter 7-50 Process PID Extended
PID . Available only if parameter 1-00 Configuration
Mode is set to [6] Surface Winder , [7] Extended PID
Speed OL , or [8] Extended PID Speed CL .
8-50 Coasting Select
Option: Function:
Select the trigger for the coasting function.
8-50 Coasting Select
Option: Function:
[0] Digital input
[1] Bus
A digital input triggers the coasting function.
A serial communication port or the fieldbus triggers the coasting function.
[2] Logic AND The fieldbus/serial communication port and a digital input trigger the coasting function.
[3] Logic OR The fieldbus/serial communication port or a digital input triggers the coasting function.
8-51 Quick Stop Select
[0]
[1]
[2]
[3]
Select the trigger for the quick stop function.
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
[1] Bus
Activate a start command via a digital input.
[2] Logic
AND
Activate a start command via the serial communication port or fieldbus option.
Activate a start command via the fieldbus/serial communication port, and also via 1 of the digital inputs.
[3] Logic OR Activate a start command via the fieldbus/serial communication port, or via 1 of the digital inputs.
8-53 Start Select
Option: Function:
Select the trigger for the start function.
[0] Digital input
[1] Bus
A digital input triggers the start function.
A serial communication port or the fieldbus triggers the start function.
[2] Logic AND The fieldbus/serial communication port and a digital input trigger the start function.
[3] Logic OR The fieldbus/serial communication port or a digital input triggers the start function.
34 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Parameters Operating Instructions
8-54 Reversing Select
Option: Function:
Select the trigger for the reversing function.
[0] Digital input
[1] Bus
A digital input triggers the reversing function.
A serial communication port or the fieldbus triggers the reversing function.
[2] Logic AND The fieldbus/serial communication port and a digital input trigger the reversing function.
[3] Logic OR The fieldbus/serial communication port or a digital input triggers the reversing function.
8-55 Set-up Select
Option: Function:
Select the trigger for the set-up selection.
[0] Digital input
[1] Bus
A digital input triggers the set-up selection.
A serial communication port or the fieldbus triggers the set-up selection.
[2] Logic AND The fieldbus/serial communication port and a digital input trigger the set-up selection.
[3] Logic OR The fieldbus/serial communication port or a digital input triggers the set-up selection.
8-90 Bus Jog 1 Speed
Range:
100 RPM * [ 0 - par. 4-13
RPM]
Function:
Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option.
8-91 Bus Jog 2 Speed
Range:
200 RPM * [ 0 - par. 4-13
RPM]
Function:
Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option.
8.3 Parameter Group 12-** Ethernet
8.3.1 12-0* IP Settings
12-00 IP Address Assignment
Option: Function:
Selects the IP Address assignment method.
[0] MANUAL IP-address can be set in
IP Address.
[1] DHCP IP-address is assigned via DHCP server.
[2] BOOTP IP-address is assigned via BOOTP server.
[10] DCP DCP Assigned via the DCP protocol.
12-01 IP Address
Range:
0 * [0 -
2147483647 ]
Function:
Configure the IP address of the option.
Read-only, if parameter 12-00 IP Address
Assignment is 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 * [0 -
4244635647 ]
Configure the IP subnet mask of the option. Read-only, if parameter 12-00 IP
Address Assignment is set to DHCP or
BOOTP. In POWERLINK, it is fixed to
255.255.255.0.
12-03 Default Gateway
Range: Function:
0 * [0 -
2147483647 ]
Configure the IP default gateway of the option. Read-only, if parameter 12-00 IP
Address Assignment is set to DHCP or
BOOTP. In a non-routed network, this address is set to the IP address of the IO
Device.
12-04 DHCP Server
Range: Function:
0 * [0 - 2147483647 ] Read-only. Show the IP address of the found DHCP or BOOTP server.
12-05 Lease Expires
Range: Function:
Size related * [ 0 - 0 ] Read-only. Show the lease time left for the current DHCP-assigned IP address.
12-06 Name Servers
Range: Function:
0 * [0 - 2147483647 ] IP addresses of domain name servers.
Can be automatically assigned when using DHCP.
12-07 Domain Name
Range: Function:
0 [0 - 2147483647 ] Domain name of the attached network.
Can be automatically assigned when using
DHCP network.
12-08 Host Name
Range: Function:
0 * [0 - 2147483647 ] Logical (given) name of option.
8 8
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Parameters MCA 124 EtherCAT
8 8
12-08 Host Name
Range: Function:
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.
12-09 Physical Address
Range: Function:
0 * [0 - 0 ] Read-only. Show the physical (MAC) address of the option.
8.3.2 12-1* Ethernet Link Parameters
8.3.3 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. Show the link status of the Ethernet ports.
[0] No Link
[1] Link
12-11 Link Duration
Range: Function:
Size related * [ 0 - 0 ] Read-only. Show 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
and parameter 12-14 Link
Duplex .
[1] On
NOTICE
It is recommended to set parameter 12-12 Auto
Negotiation to [0] Off for the EtherCAT option and for the connected port. This setting ensures that the connected ports are set to an optimized Link Speed with Link
Duplex setting. If only one of the ports in a link is set to
Auto Negotiation ON , the ports can switch to half duplex, which results in poor network performance. Most switches today have Auto negotiation set, but it can then take longer to establish a connection. In
POWERLINK this parameter is locked to OFF position.
12-13 Link Speed
Option: Function:
Force the link speed for each port in 10 Mbps or
100 Mbps. If
parameter 12-12 Auto Negotiation
is set to [1] On , this parameter is read-only and shows the actual link speed. If no link is present,
None is shown.
[0] None
[1] 10 Mbps
[2] 100
Mbps
NOTICE
In POWERLINK, this parameter is locked to 100 Mbs.
12-14 Link Duplex
Option: Function:
NOTICE
In POWERLINK, this parameter is locked to half duplex.
[0] Half Duplex
[1] Full Duplex
Force the duplex for each port to full or half duplex. If parameter 12-12 Auto Negotiation is set to [1] On , this parameter is read-only.
8.3.4 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).
36 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Parameters Operating Instructions
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
•
parameter 12-23 Process Data Config Write
•
parameter 12-24 Process Data Config Read
12-22 Process Data Config Read
Range: Function:
[[0 - 9] PCD read 0 - 9] Configuration of readable process data.
12-23 Process Data Config Write Size
Range: Function:
16 * [8 - 32 ] Sets the number of bits being sent from the frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least significant bit of the signal is transferred from the frequency converter.
12-24 Process Data Config Read Size
Range: Function:
16 * [8 - 32 ] Sets the number of bits being sent to the frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least significant bit of the signal is transferred to the frequency converter. The preceding bits are set to zero.
[0]
[1]
[2]
12-28 Store Data Values
Option:
Off
Store all setups
Store all setups
Function:
12-29 Store Always
Option: Function:
Activates function that always stores received parameter data in non-volatile memory (EEPROM).
[0] * Off
[1] On
8.3.5 12-5* EtherCAT
12-50 Configured Station Alias
Range:
0 * [0 -
65535 ]
Function:
This parameter shows the configured EtherCAT station alias for the frequency converter.
12-50 Configured Station Alias
Range: Function:
Changes are first active after a power cycle.
If the DIP switches all are set to ON or all to OFF, the display setting has priority over the DIP switch. Else the DIP switch settings has priority over the parameter. In this case the parameter will reflect the setting of the DIP switches.
Changes to the DIP switch setting, will first be active after a power up.
12-51 Configured Station Address
Range: Function:
0 * [0 - 65535 ] This parameter shows the configured station address. The parameter can only be set by the master at power up.
*
0
12-59 EtherCAT Status
Range: Function:
[0 -
4294967295 ]
This parameter contains status information on the EtherCAT interface. Each of the 32 bits are linked to a status information of the
EtherCAT interface.
•
Bit 0-7 contains info from ESC register 0x0130 (AL Status)
•
Bit 8-15 is reserved for future use
•
Bit 16-27 contains info from ESC register 0x0110 and 0x0111 (DL status)
•
Bit 28-31 is reserved for future use
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
0 1 Meaning
Init State EtherCAT
Statemachine state
Pre-OP EtherCAT
Statemachine state
Safe-OP EtherCAT
Statemachine state
Operation al
EtherCAT
Statemachine state
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
8 8
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
37
Parameters MCA 124 EtherCAT
8 8
12-59 EtherCAT Status
Range: Function:
Bit
13
0
14
15
16 EEPROM not loaded,
PDI not operation al
17 Watchdog expired
18 Deactivate d for all ports
19
20 No link
21 No link
22
23
24 Open
25 No stable communication
26 Open
27 No stable communication
28
29
30
31
1
Link detected
Closed
Communication establishe d
Closed
Communication establishe d
EEPROM loaded correctly,
PDI operation al
Watchdog reloaded
Activated for all ports
Link detected
Meaning
Reserved
Reserved
Reserved
PDI
Operational
PDI Watchdog
Status
Enhanced link detection
Reserved
Physical link on Port 0
Physical link on Port 1
Reserved
Reserved
Loop port 0
Communication on port
0
Loop port 1
Communication on port
1
Reserved
Reserved
Reserved
Reserved
Table 8.1 Bit Interpretation
8.3.6 12-8* Other Ethernet Services
12-80 FTP Server
Option: Function:
[0] Disabled Disable the built-in FTP server.
[1] Enabled Enable the built-in FTP server.
12-81 HTTP Server
Option: Function:
[0] Disabled Disable the built-in HTTP (web) server.
[1] Enabled Enable the built-in HTTP (web) server.
12-82 SMTP Service
Option: Function:
[0] Disabled Disable the SMTP (e-mail) service on the option.
[1] Enabled Enable the SMTP (e-mail) service on the option.
12-89 Transparent Socket Channel Port
Range: Function:
Size related *
[ 0 -
0. ]
Configure the TCP port number for the transparent socket channel. This configuration enables FC telegrams to be sent transparently on Ethernet via TCP. Default value is 4000, 0 means disabled. The MCT
10 Set-up Software uses this port.
8.3.7 12-9* Advanced Ethernet Settings
12-90 Cable Diagnostic
Option: Function:
NOTICE
The cable diagnostics function is only issued on ports where there is no link (see parameter 12-10 Link Status , Link Status ).
Enable/disable 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 Disable the cable diagnostic function.
[1] Enabled Enable the cable diagnostic function.
12-91 Auto Cross Over
Option: Function:
[0] Disabled Disable the auto-crossover function.
[1] Enabled Enable the auto-crossover function.
12-93 Cable Error Length
Range: Function:
0 * [0 -
65535 ]
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 shown in meters with an accuracy of ± 2 m (6.56 ft). The value 0 means that no errors are detected.
38 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Parameters Operating Instructions
8.4 EtherCAT-specific Parameter List
Parameter Default value
Parameter 8-01 Control Site
Parameter 8-02 Control Word Source
Parameter 8-03 Control Word Timeout
Parameter 8-04 Control Word Timeout
[0] Dig. & ctrl. word
[0] FC RS485
1
[0] Off
Parameter 8-05 End-of-Timeout Function [0] Hold set-up
Parameter 8-06 Reset Control Word
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
Parameter 8-52 DC Brake Select
Parameter 8-53 Start Select
Parameter 8-54 Reversing Select
Parameter 8-55 Set-up Select
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
[3] *Logic OR
Parameter 8-56 Preset Reference Select [3] *Logic OR
Parameter 8-90 Bus Jog 1 Speed
Parameter 12-12 Auto Negotiation
Parameter 12-13 Link Speed
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 parameter 12-24 Process Data Config
parameter 12-28 Store Data Values parameter 12-29 Store Always
100 rpm
Parameter 8-91 Bus Jog 2 Speed 200 rpm
parameter 12-00 IP Address Assignment 0.0.0.0
parameter 12-01 IP Address 0.0.0.0
parameter 12-03 Default Gateway parameter 12-04 DHCP Server
parameter 12-05 Lease Expires parameter 12-06 Name Servers parameter 12-07 Domain Name
parameter 12-08 Host Name
Parameter 12-09 Physical Address
Parameter 12-10 Link Status
0.0.0.0
0.0.0.0
0.0.0.0
0
0.0.0.0
00:1B:08:00:00:00
[0] No Link
00:00:00:00
[1] On
[0] None
[1] Full Duplex
Application Dependent
Application Dependent
16
16
0
[0] Off
Range
[0-2]
[0-4]
0.1-18000
[0-10]
[0-1]
[0-1]
[0-3]
[0-x]
-
-
-
-
-
-
-
-
[0-1]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
[0-3]
0parameter 4-13 Motor
Speed High Limit [RPM]
-
-
0parameter 4-13 Motor
Speed High Limit [RPM]
-
[0-1]
[0-2]
[0-1]
0-255
1-32
1-32
0-4294967295
-
-
-
-
-
-
-
Conversion index
-1
-
-
-
-
-
-
-
-
-
-
-
67
-
-
-
-
-
-
-
-
-
-
-
67
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
Data type
Uint8
Uint8
Uint32
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint8
Uint16
Uint16
Unsigned 8
Unsigned 32
Unsigned 32
Unsigned 32
Unsigned 32
Unsigned 32
Unsigned 32
String
String
Visible string 17
Unsigned 8
Time diff. w/ date
Unsigned 8
Unsigned 8
Unsigned 8[
8 8
39
Parameters MCA 124 EtherCAT
8 8
Parameter Default value Range
parameter 12-50 Configured Station
Alias parameter 12-51 Configured Station
Address parameter 12-59 EtherCAT Status
Parameter 12-80 FTP Server
Parameter 12-81 HTTP Server
Parameter 12-82 SMTP Service
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
0
0
[0] Disable
[0] Disable
[0] Disable
0
0
0
0
0
[0] Disable
[0] Disable
[0] Enable
0
-
-
-
[0–1]
[0–1]
[0–1]
[0–1]
[0-1]
[0-1]
0-200
0-65535
0-65535
0-FFFF
0-FFFF
0-FFFF
Table 8.2
Refer to the relevant Operating Instructions for a comprehensive parameter list.
0
0
-
-
0
-
0
-
-
-
-
-
-
-
-
Conversion index
Data type
Unsigned 16
Unsigned 16
Unsigned 32
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 8
Unsigned 16
Unsigned 16
Unsigned 16
V2
Uint32
Uint32
40 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Parameters Operating Instructions
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
41
8 8
Application Examples MCA 124 EtherCAT
9 Application Examples
9 9
9.1 Example: Process Data with PDO 23
This example shows how to work with PDO 23, which consists of Control Word/Status Word and Reference/Main
Actual Value. In the example the drive is set to FC profile in Parameter 8-10 Control Word Profile . The PDO contains up
From controller
From frequency converter
04
0
CTW
STW
7C
07
0F
Byte #
Table 9.1
1 2 3
The application requires monitoring of the motor torque and digital input, so PCD 2 is set up to read the current motor torque. PCD 3 is set up to monitor the state of an external sensor via the process signal digital input. The sensor is connected to digital input 18.
20
1
MRV
MAV
00
00
20
4
An external device is also controlled via control word bit
11 and the built-in relay of the frequency converter.
Reversing is permitted only when the reversing bit 15 in the control word and the digital input 19 are set to high.
For safety reasons, the frequency converter stops the motor if the EtherCAT cable is broken, the master has a system failure, or the PLC is in stop mode.
to ten objects, which can be programmed to monitor process signals:
PCD
00
2
PCD[2]
PCD[2]
00
3F
5
A6
6
00
00
7
3
PCD
PCD[3]
00
08
8
Recieve PDO’s (PLC → Drive )
PCD 0
CTW
PCD 1
REF
Transmit PDO’s (Drive → PLC )
PCD 0
STW
PCD 1
MAV
PCD 2
Torque [Nm]
PCD 3
Digital Inputs
12
18
20
13
19
20
Relay
04-05
+
Sensor
-
+
Reversing
-
Ext. Device
230Vac
Illustration 9.1
42 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Application Examples
Program the frequency converter as follows:
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 parameter 12-21 Process Data Config Write
Parameter 12-22 Process Data Config Read
Operating Instructions
parameter 12-23 Process Data Config Write Size parameter 12-24 Process Data Config Read Size
Setting
[2] Both directions
[0] No operation
[10] Reversing
[36/37] Control word bit 11/12
1 s
[2] Stop
[0] FC Profile
[1] Bus
[1] Bus
[1] Bus
[1] Bus
[2] Logic AND
[1] Bus
[1] Bus
[0] Sub index parameter 16-80 Fieldbus CTW 1
[1] Sub index parameter 16-85 FC Port CTW 1
[0] Sub index parameter 16-03 Status Word
[1] Sub index parameter 16-05 Main Actual Value [%]
[2] Sub index parameter 16-16 Torque [Nm]
[3] Sub indes parameter 16-60 Digital Input
[0] Sub index 16
[1] Sub index 16
[0] Sub index 16
[1] Sub index 16
[2] Sub index 16
[3] Sub index 16
Table 9.2
9 9
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
43
Application Examples MCA 124 EtherCAT
9 9
9.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value
This example shows how the control word telegram relates to the controller and the frequency converter, using FC Control
Profile.
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.:
0
CTW
1
MRV
04 7C 20 00
256 258
PCD
260
2
PCD
262
3
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 9.3 Standard Telegram 1 Example
8
0
7
0
6
0
0
5
0
4
0
3
0
2
0
0
1
0
0
0
indicates the bits contained within the control word, and how they are presented as process data in Standard
Telegram 1 for this example.
indicates which bit functions, and which corresponding bit values are active for this example.
Bit
00
01
02
Bit value=0
Reference value
Reference value
DC brake
07
08
09
10
03
04
05
06
11
12
13
14
15
Function active
Coasting
Quick stop
Freeze output
Ramp stop
No function
No function
Ramp 1
Data not valid
No function
No function
Parameter set-up
Parameter set-up
No function
Function inactive
Table 9.4 Bit Functions
Bit value=1
External selection lsb
External selection msb
Ramp
Enable
Ramp
Ramp enable
Start
Reset
Jog
Ramp 2
Valid
Relay 01 active
Relay 02 active
Selection lsb
Selection msb
Reversing
Bit value
0
0
1
0
1
0
0
1
1
1
1
0
0
0
0
0
C
7
4
0
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MG92A302
Application Examples Operating Instructions
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
45
9 9
Troubleshooting
10 Troubleshooting
10.1.1 LED Status
MCA 124 EtherCAT
10.1.2 No Communication with the
Frequency Converter
If there is no communication with the frequency converter, proceed with the following checks:
Check 1: Is the cabling correct?
Check that the cable is mounted correctly. Check if the corresponding Network LED shows link activity. Link/Act
Check 2: Does the hardware configuration match?
Check that the Station Alias in the master matches the value in
parameter 12-50 Configured Station Alias
Check 3: Is the correct XML file installed?
Download the correct XML file from http://www.danfoss.com/BusinessAreas/DrivesSolutions/
EtherCAT/EtherCAT+files.htm.
Check that the process data matches the active profile in the drive.
Check 4: What is the value of parameter 12-59?
The
parameter 12-59 EtherCAT Status
does contain 32 bits, which each is linked to internal information. The different bits will give a good overview over possible errors.
Illustration 10.1 LED Status
10 10
Power OFF or State INIT
Initialisation/Bootstrap
PRE-OP State
SAFE-OP State
OP State
ERR-Init State
Process Data Watchdog timeout
Green
Red
Table 10.1 Indication of Status LED
Power OFF or NO Link
Link
Link Active
Green
Red
Table 10.2 Link/Act LED
46 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Troubleshooting Operating Instructions
Illustration 10.2
Parameter 15-61 Option SW Version
1.x
1.x or 2.x
XML File
Danfoss_FC_series_ECAT_00
1.XML
Danfoss_FC_series_ECAT_00
20.XML
Table 10.3
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 to 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 to parameter 8-56 Preset Reference Select .
If parameter 8-01 Control Site is set to digital only, the frequency converter does not react on commands sent via the control word.
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
to
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 ,
, and parameter 8-52 DC Brake Select is as follows:
If [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
0
1
1
1
0
1
Function
Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
Table 10.4 [0] Digital Input
If [1] Serial communication is selected, commands are activated only when given via serial communication.
Terminal Bits 02/03/04
0 0
0
1
1
1
0
1
Function
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
Table 10.5 [1] Serial Communication
If [2] Logic AND is selected, both signals must be activated to perform the function.
Terminal Bits 02/03/04
0 0
0
1
1
1
0
1
Function
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
Table 10.6 [2] Logic AND
If [3] Logic OR is selected, activation of one signal activates the function.
Terminal Bits 02/03/04
0 0
0
1
1
1
0
1
Function
Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
Coast/DC brake/Q-Stop
No Coast/DC brake/Q-Stop
Table 10.7 [3] Logic OR
10 10
47
Troubleshooting MCA 124 EtherCAT
10 10
The effect of control mode upon the function of parameter 8-53 Start Select and
If [0] Digital input is selected, the terminals control the start and reversing functions.
Terminal
0
0
1
1
Bits 06/15
0
1
0
1
Table 10.8 [0] Digital input
Function
Stop/Counterclockwise
Stop/Counterclockwise
Start/Clockwise
Start/Clockwise
If [1] Serial communication is selected, commands are activated only when given via serial communication.
Terminal
0
0
1
1
Bits 02/03/04
0
1
0
1
Function
Stop/Counterclockwise
Start/Clockwise
Stop/Counterclockwise
Start/Clockwise
Table 10.9 [1] Serial Communication
If [2] Logic AND is selected, both signals must be activated to perform the function.
Terminal
0
0
1
1
Bits 02/03/04
0
1
0
1
Table 10.10 [2] Logic AND
Function
Stop/Counterclockwise
Stop/Counterclockwise
Stop/Counterclockwise
Start/Clockwise
If [3] Logic OR is selected, activation of one signal activates the function.
Terminal
0
0
1
1
Bits 02/03/04
0
1
0
1
Table 10.11 [3] Logic OR
Function
Stop/Counterclockwise
Start/Clockwise
Start/Clockwise
Start/Clockwise
The effect of control mode upon the function of parameter 8-55 Set-up Select and parameter 8-56 Preset
Reference Select :
If [0] Digital input is selected, the terminals control the setup and preset reference functions.
Terminal
Msb Lsb
1
1
1
1
0
1
0
0
1
1
1
0
0
0
0
0
0
1
0
0
1
0
1
1
1
1
1
0
0
0
0
1
Table 10.12 [0] Digital Input
Bits 00/01, 13/14
Msb Lsb
1
0
0
1
1
0
0
1
0
1
1
1
1
0
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
If [1] Serial communication is selected, commands are activated only when given via serial communication.
Function
Preset ref. set-up number
1
1
1
1
2
3
4
3
3
2
3
2
2
4
4
4
Terminal
Msb Lsb
1
1
1
1
1
1
1
0
1
0
0
0
0
0
0
0
1
1
0
1
1
0
0
1
0
1
1
1
0
0
0
0
Table 10.13 [1] Serial Communication
Bits 00/01, 13/14
Msb Lsb
0
1
1
0
1
0
1
1
0
0
0
1
1
1
0
0
1
0
1
0
1
1
0
1
0
0
1
0
0
1
0
1
If [2] Logic AND is selected, both signals must be activated to perform the function.
2
3
4
1
4
2
3
4
1
Function
Preset ref. set-up number
1
2
3
2
3
4
1
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MG92A302
Troubleshooting Operating Instructions
Msb
Terminal
Lsb
1
1
1
1
0
1
0
0
1
1
1
0
0
0
0
0
0
1
0
0
1
0
1
1
1
1
1
0
0
0
0
1
Table 10.14 [2] Logic AND
Bits 00/01, 13/14
Msb Lsb
1
0
0
1
1
0
0
1
0
1
1
1
1
0
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
If [3] Logic OR is selected, activation of 1 signal activates the function.
Function
Preset ref. set-up number
1
1
1
1
1
3
1
1
3
2
1
2
1
2
3
4
Msb
Terminal
Lsb
1
1
1
1
1
1
0
1
0
0
0
0
0
0
0
1
1
0
1
0
0
1
0
1
1
1
0
0
0
0
Table 10.15 [3] Logic OR
Bits 00/01, 13/14
Msb Lsb
0
1
1
0
0
1
1
0
0
0
1
1
1
0
0
1
0
1
0
1
0
1
0
0
1
0
0
1
0
1
10.1.3 Alarm and Warning Words
Function
Preset ref. set-up number
1
2
3
2
4
4
2
4
4
4
4
4
3
4
3
Alarm word, Warning word, and EtherCAT warning word are shown in the display in Hex format. If there is more than one warning or alarm, a sum of all warnings or alarms is shown. Alarm word, warning word, and EtherCAT warning word can also be displayed using the serial bus in parameter 16-90 Alarm Word , parameter 16-92 Warning
Word , and
parameter 12-59 EtherCAT Status .
25
26
27
28
37
38
39
24
29
30
31
45
46
47
32
41
42
43
44
33
34
35
36
00200000
00400000
00800000
01000000
02000000
04000000
08000000
10000000
20000000
40000000
80000000
00000200
00000400
00000800
00001000
00002000
00004000
00008000
00010000
00020000
00040000
00080000
00100000
Table 10.16
Bit (Hex) Unit diagnose bit
00000001 48
00000002 49
00000004
00000008
00000010
00000020
00000040
00000080
00000100
50
51
52
53
54
55
40
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.
28
29
14
65
18
13
12
11
10
48
25
27
67
32
34
47
36
80
68
63
33
4
50
2
7
16
9
8
38
26
30
31
10 10
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
49
Troubleshooting MCA 124 EtherCAT
10 10
00200000
00400000
00800000
01000000
02000000
04000000
08000000
10000000
20000000
40000000
80000000
00000200
00000400
00000800
00001000
00002000
00004000
00008000
00010000
00020000
00040000
00080000
00100000
89
90
91
92
101
102
103
88
93
94
95
109
110
111
96
105
106
107
108
97
98
99
100
Bit (Hex) Unit diagnose bit
00000001 112
00000002 113
00000004
00000008
00000010
00000020
00000040
00000080
00000100
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.
28
29
10
14
65
18
13
12
11
59
66
64
61
49
34
47
36
62
-
-
3
2
5
4
7
6
9
8
1
26
25
27
Table 10.17
Bit (Hex)
00000001
00000002
00000004
00000008
00000010
00000020
00000040
00000080
00000100
00000200
00000400
00000800
00001000
00002000
00004000
00008000
Table 10.18
154
155
156
157
166
167
152
153
158
159
Unit diagnose bit
160
161
162
163
164
165
PROFIBUS warning word
( parameter 9-53 Profibus Warning
Word )
Connection with DP-master is not ok
Unused
FDL (Fieldbus Data link Layer) is not ok
Clear data command received
Actual value is not updated
Baudrate search
PROFIBUS ASIC is not transmitting
Initialising of PROFIBUS is not ok
Drive is tripped
Internal CAN error
Wrong configuration data from PLC
Wrong ID sent by PLC
Internal error occurred
Not configured
Timeout active
Warning 34 active
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 10.19
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.
50 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Troubleshooting Operating Instructions
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.
10 10
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51
Warnings and Alarms MCA 124 EtherCAT
11 Warnings and Alarms
11 11
11.1 Status Messages
11.1.1 Warning and Alarm Messages
The LEDs on the LCP signal a warning or an alarm. A code in the display is also shown.
A warning remains active until its cause is no longer present. Under certain circumstances, operation of the motor can still be continued. Warning messages are not necessarily critical.
An alarm makes the frequency converter trip. Alarms must be reset to restart operation once their cause has been rectified.
3 ways of resetting alarms
•
By pressing [Reset].
•
Via a digital input with the reset function.
•
Via serial communication/optional fieldbus.
NOTICE
After a manual reset pressing [Reset], press [Auto On] to restart the motor.
If an alarm cannot be reset, the reason could be that its cause has not been rectified, or the alarm is triplocked (see also
).
11.1.2 Alarm and Warning List
Number
1
2
7
8
5
6
9
10
3
4
Description
10 V low
Live zero error
No motor
Mains phase loss
DC link voltage high
DC link voltage low
DC overvoltage
DC undervoltage
Inverter overloaded
Motor ETR overtemperature
Warning
X
(X)
(X)
(X)
X
X
X
X
X
(X)
Alarm/trip
(X)
(X)
X
X
X
(X)
11
12
13
14
15
Motor thermistor overtemperature
Torque limit
Overcurrent
Earth fault
Hardware mismatch
(X)
X
X
X
(X)
X
X
X
X
Alarms that are trip locked offer additional protection, meaning that the mains supply must be switched off before the alarm can be reset. After being switched back on, the frequency converter is no longer blocked and can be reset as described once the cause has been rectified.
Alarms that are not trip locked can also be reset using the automatic reset function in parameter 14-20 Reset Mode .
(Warning: automatic wake-up is possible).
When a warning or alarm is marked against a code in
, this means that either a warning occurs before
an alarm, or that it is possible to specify whether it is a warning or an alarm that is shown for a given fault.
For instance, this is possible in parameter 1-90 Motor
Thermal Protection . After an alarm or trip, the motor continues coasting, and the alarm and warning flash. Once the problem has been rectified, only the alarm continues flashing until the frequency converter is reset.
Alarm/trip lock
(X)
Parameter reference
Parameter 6-01 Live Zero Timeout
Function
Parameter 1-80 Function at Stop
Parameter 14-12 Function at Mains
Imbalance
X
X
X
Parameter 1-90 Motor Thermal
Protection
Parameter 1-90 Motor Thermal
Protection
52 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Warnings and Alarms Operating Instructions
42
54
55
56
57
58
59
50
51
52
53
46
47
48
49
61
62
63
64
65
66
67
31
32
33
34
36
38
39
40
Number
16
17
22
23
24
25
26
27
28
29
30
41
42
Description
Short circuit
Control word time-out
Hoist mech. brake
Internal fan fault
External fan fault
Brake resistor short-circuited
Brake resistor power limit
Brake chopper short-circuited
Brake check
Heat sink temp
Motor phase U missing
Motor phase V missing
Motor phase W missing
Inrush fault
Fieldbus communication fault
Mains failure
Internal fault
Heat sink sensor
Overload of digital output terminal 27
Overload of digital output terminal 29
Overload of dgital output o X30/6
Warning
(X)
X
X
(X)
(X)
(X)
X
(X)
X
(X)
X
X
X
(X)
(X)
(X)
Overload of digital output on X30/7
Pwr. card supply
24 V supply low
1.8 V supply low
Speed limit
AMA calibration failed
AMA check U nom
and I nom
AMA low I nom
AMA motor too big
AMA motor too small
AMA parameter out of range
AMA interrupted by user
AMA time-out
AMA internal fault
Current limit
Tracking error
Output frequency at maximum limit
Mechanical brake low
Voltage limit
Control board overtemperature
Heat sink temperature low
Option configuration has changed
(X)
X
X
X
X
(X)
X
X
X
X
Alarm/trip
X
(X)
(X)
(X)
(X)
X
(X)
X
(X)
(X)
(X)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Alarm/trip lock
X
Parameter reference
Parameter 8-04 Control Word Timeout
X
(X)
(X)
(X)
X
X
X
X
X
X
X
Parameter 14-53 Fan Monitor
Parameter 2-13 Brake Power
Monitoring
Parameter 2-15 Brake Check
Parameter 4-58 Missing Motor Phase
Function
Parameter 4-58 Missing Motor Phase
Function
Parameter 4-58 Missing Motor Phase
Function
Parameter 5-00 Digital I/O Mode
Parameter 5-00 Digital I/O Mode
(MCB 101)
(MCB 101)
, parameter 5-01 Terminal 27 Mode
, parameter 5-02 Terminal 29 Mode
Parameter 5-32 Term X30/6 Digi Out
Parameter 5-33 Term X30/7 Digi Out
Parameter 4-30 Motor Feedback Loss
Function
Parameter 2-20 Release Brake Current
11 11
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
53
Warnings and Alarms MCA 124 EtherCAT
11 11
81
82
85
90
79
80
91
100-
199
243
244
245
246
247
248
250
251
Number
68
69
70
71
72
73
77
Description
Safe stop
Pwr. card temp
Illegal FC configuration
PTC 1 safe stop
Dangerous failure
Safe stop auto restart
Reduced power mode
Illegal PS config
Frequency converter Initialised to default value
CSIV corrupt
CSIV parameter error
Profibus/Profisafe error
Encoder loss
Analogue input 54 wrong settings
See Operating Instructions for MCO 305
Brake IGBT
Heat sink temp
Heat sink sensor
Pwr.card supply
Pwr.card temp
Illegal PS config
New spare part
New type code
Warning
(X)
X
X
(X)
X
X
Table 11.1 Alarm/Warning Code List
(X) Dependent on parameter
1) Cannot be auto reset via parameter 14-20 Reset Mode
A trip is the action when an alarm has appeared. The trip coasts the motor and can be reset by pressing [Reset] or by making a reset by a [1] digital input ( Parameter group
5-1* Digital I/O Mode ). The event that caused an alarm cannot damage the frequency converter or cause dangerous conditions. A trip lock is an action when an alarm occurs, that can damage the frequency converter or connected parts. A trip lock situation can only be reset by a power cycling.
Alarm/trip
(X) 1)
X
X 1)
X
X
(X)
X
X
X
X
X
X
X
Alarm/trip lock Parameter reference
Parameter 5-19 Terminal 37 Safe Stop
X
X
X 1)
Parameter 5-19 Terminal 37 Safe Stop
Parameter 5-19 Terminal 37 Safe Stop
X
X
X
X
X
X
X
X
X
Warning
Alarm
Trip locked
Table 11.2 LED Indication
Parameter 14-59 Actual Number of
Inverter Units
Parameter 17-61 Feedback Signal
Monitoring
S202
Parameter 14-23 Typecode Setting yellow flashing red yellow and red
54 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Warnings and Alarms Operating Instructions
Bit
0
1
2
3
Hex
00000001
00000002
00000004
00000008
Dec
1
2
4
8
Alarm word
Brake check
Pwr. card temp
Earth fault
Ctrl.card temp
Alarm word 2
ServiceTrip,
Read/Write
ServiceTrip,
(reserved)
ServiceTrip,
Typecode/
Sparepart
ServiceTrip,
(reserved)
ServiceTrip,
(reserved)
Warning word
Brake check
Pwr. card temp
Earth fault
Ctrl.card temp
4 00000010
5 00000020
8
9
6
7
00000040
00000080
00000100
00000200
10 00000400
11 00000800
12 00001000
13 00002000
14 00004000
15 00008000
16 00010000
17 00020000
18 00040000
19 00080000
20 00100000
21 00200000
22 00400000
23 00800000
24 01000000
25 02000000
26 04000000
27 08000000
28 10000000
29 20000000
30 40000000
16 Ctrl. word TO
32
16384
32768
65536
131072
262144
524288
1048576
64
128
256
512
1024
2048
4096
8192
Overcurrent
Torque limit
Motor Th over
Motor ETR over
Inverter overld.
DC undervolt
DC overvolt
Short circuit
Inrush fault
Mains ph. loss
AMA not OK
Live zero error
Internal fault
Brake overload
U phase loss
V phase loss
2097152
4194304
8388608
16777216
W phase loss
Fieldbus fault
24 V supply low
Mains failure
33554432
67108864
1.8 V supply low
Brake resistor
134217728 Brake IGBT
268435456 Option change
536870912 Drive Initialised
1073741824 Safe stop (A68)
KTY error
Fans error
ECB error
Ctrl. word TO
Overcurrent
Torque limit
Motor Th over
Motor ETR over
Inverter overld.
DC undervolt
DC overvolt
DC voltage low
DC voltage high
Mains ph. loss
No motor
Live zero error
10 V low
Brake overload
Brake resistor
Brake IGBT
Speed limit
Fieldbus fault
24 V supply low
Mains failure
Current lmit
Low temp
Voltage limit
Encoder loss
Output freq. lim.
Safe stop (W68)
31 80000000 2147483648 Mech. brake low
PTC 1 Safe stop
(A71)
Dangerous failure (A72)
Extended status word
Table 11.3 Description of Alarm Word, Warning Word, and Extended Status Word
Warning word 2
Extended status word
Ramping
AMA running
Start CW/CCW
Slow down
Catch up
Feedback high
Feedback low
Output current high
Output current low
Output freq high
Output freq low
Brake check OK
Braking max
Braking
Out of speed range
OVC active
AC brake
KTY Warn Password timelock
Fans Warn Password protection
ECB Warn
Unused
Unused
Unused
Unused
Unused
Unused
Unused
Unused
PTC 1 Safe stop (W71)
Unused
Unused
The alarm words, warning words and extended status words can be read out via serial bus or optional fieldbus for diagnose.
See also parameter 16-94 Ext. Status Word .
11 11
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
55
Index MCA 124 EtherCAT
Index
A
Abbreviation............................................................................................. 6
Alarm......................................................................................................... 52
Alarm word............................................................................................. 49
Assumptions............................................................................................. 5
B
Background Knowledge....................................................................... 5
C
Cabling..................................................................................................... 38
Configuration............................................................................. 6, 33, 37
Control Profile........................................................................................ 17
D
DC Backup................................................................................................. 5
DeviceNet.................................................................................................. 5
E
EMC Precautions...................................................................................... 9
EtherCAT..................................................................................................... 5
Ethernet................................................................................. 9, 11, 36, 38
H
Hardware............................................................................................... 3, 5
I
I/O................................................................................................................. 6
Influence of the Digital Input Terminals upon FC Control
Mode...... 16
Installation........................................................................................ 3, 5, 7
IP Settings................................................................................................ 11
IP21/Type 1................................................................................................ 5
L
LED............................................................................................................... 6
LED Status............................................................................................... 46
Literature.................................................................................................... 5
N
Network............................................................................................. 5, 7, 9
No Communication with the Frequency Converter................ 46
No response to control signals........................................................ 47
O
Overview.................................................................................................... 8
P
Parameter............................................................................................ 4, 11
Parameters.............................................................................................. 11
PDO Communication.......................................................................... 15
Process Control Data........................................................................... 15
Process control operation.................................................................. 16
Process Data........................................................................................... 15
Process Status Data.............................................................................. 15
Profibus....................................................................................................... 5
R
Reference................................................................................................... 6
Reference Handling............................................................................. 15
S
Safety........................................................................................................... 3
T
Topology.................................................................................................... 8
V
VLT Parameters...................................................................................... 11
W
Warning.................................................................................................... 52
Warning word........................................................................................ 49
56 Danfoss A/S © 05/2015 All rights reserved.
MG92A302
Index Operating Instructions
MG92A302 Danfoss A/S © 05/2015 All rights reserved.
57
Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed. All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.
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130R0273 MG92A302 *MG92A302* 05/2015

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