Danfoss MCA 124 VLT Automation Drive Instruction manual
Danfoss MCA 124 is an EtherCAT option card designed for use with Danfoss FC 301/FC 302 frequency converters. It enables real-time communication via the EtherCAT protocol, supporting a large network size and flexible topologies (line, tree, or star). The MCA 124 uses PDOs for process data control and SDOs for parameter access, offering precise control and monitoring capabilities. This option facilitates integration into various industrial automation systems.
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MAKING MODERN LIVING POSSIBLE Operating Instructions MCA 124 EtherCAT vlt-drives.danfoss.com Contents Operating Instructions Contents 1 Safety 3 1.1 Safety 3 1.2 EtherCAT® 4 2 Introduction 5 2.1.1 About this Manual 5 2.1.2 Assumptions 5 2.1.3 Hardware 5 2.1.4 Background Knowledge 5 2.1.5 Available Literature 5 3 How to Install 7 3.1.1 How to Install Option in Frequency Converter 7 3.1.2 Network 7 3.1.3 EtherCAT Cables 8 3.1.4 LED Behaviour 8 3.1.5 Topology 8 3.1.6 EMC Precautions 9 4 How to Configure 11 4.1.1 IP Settings 11 4.2 Configure the Frequency Converter 4.2.1 VLT Parameters 4.3 Configure the EtherCAT Network 4.3.1.1 Setting the EtherCAT Station Alias using the Hardware Switches 5 Configure the Master 11 11 12 13 5.1 Import 13 5.1.1 Importing the XML File 5.2 Setting Up MG92A302 11 13 13 5.2.1 Setting up the Master 13 6 How to Control the Frequency Converter 15 6.1 PDO Communication 15 6.2 Process Data 15 6.2.1 Process Control Data 15 6.2.2 Process Status Data 15 6.2.3 Reference Handling 15 6.2.5 Influence of the Digital Input Terminals upon FC Control Mode 16 6.3 Control Profile 17 6.4 DS 402 Control Profile 17 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) 17 6.4.3 DSP 402 State Transitions 21 6.5 Danfoss FC Control Profile 7 Communication Profile Area 25 7.2 1000-1FFF Communication Object Area 25 7.3 2000-5FFF Danfoss Specific Object Area 28 7.4 6000-Device profile Object Area 28 8 Parameters 32 8.1 Parameter Group 0-** Operation/Display 32 8.2 Parameter Group 8-** Communication and Option 32 8.3 Parameter Group 12-** Ethernet 35 8.3.5 12-5* EtherCAT 8.4 EtherCAT-specific Parameter List 9 Application Examples 37 39 42 9.1 Example: Process Data with PDO 23 42 9.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value 44 10 Troubleshooting 46 10.1.1 LED Status 46 10.1.2 No Communication with the Frequency Converter 46 10.1.3 Alarm and Warning Words 49 11 Warnings and Alarms 11.1 Status Messages 11.1.2 Alarm and Warning List Index 2 21 52 52 52 56 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Safety Operating Instructions 1 1 1 Safety 1.1 Safety 1. 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. 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. 2. The off-command on the serial bus does not disconnect the equipment from mains and should not be used as a safety switch. 3. 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. 4. The earth leakage currents are higher than 3.5 mA. 5. 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. 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. MG92A302 Danfoss A/S © 05/2015 All rights reserved. 3 Safety 1 1 MCA 124 EtherCAT 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 4 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Introduction Operating Instructions 2 Introduction 2.1.1 About this Manual 2 2 beyond the scope of this manual, and not the responsibility of Danfoss. First time users can obtain the most essential information for quick installation and set-up in these chapters: chapter 2 Introduction chapter 3 How to Install For information regarding commissioning tools, or communication to a non-Danfoss node, consult the appropriate manuals. 2.1.5 Available Literature chapter 4 How to Configure For more detailed information, including the full range of set-up options and diagnosis tools, refer to the chapters: chapter 5 Configure the Master 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. 2.1.3 Hardware - The VLT AutomationDrive Modbus TCP Operating Instructions. This manual relates to the EtherCAT option MCA 124, type no. 130B5546 (uncoated) and 130B5646 (conformal coated). - The MCA 121/FCD 302 EtherNet/IP Operating Instructions. - The MCA 120 PROFINET Operation Instruction. chapter 6 How to Control the Frequency Converter chapter 8 Parameters chapter 9 Application Examples chapter 10 Troubleshooting 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. Danfoss technical literature is also available online at http:// www.danfoss.com/BusinessAreas/DrivesSolutions/ 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 MG92A302 Danfoss A/S © 05/2015 All rights reserved. 5 2 2 Introduction Abbreviation MCA 124 EtherCAT Definition API Actual Packet Interval CC Control Card CTW Control Word DCP Discovery and Configuration Protocol DHCP Dynamic Host Configuration Protocol EMC Electromagnetic Compatibility I/O Input/Output IP Internet Protocol LCP Local Control Panel LED Light Emitting Diode LSB Least Significant Bit MAV Main Actual Value (actual output) MSB Most Significant Bit MRV Main Reference Value N/A Not applicable PC Personal Computer PCD Process Control Data PLC Programmable Logic Controller PNU Parameter Number REF Reference (=MRV) STW Status Word Table 2.1 Abbreviations 6 Danfoss A/S © 05/2015 All rights reserved. MG92A302 How to Install Operating Instructions 3 How to Install 3.1.1 How to Install Option in Frequency Converter 3 3 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) 130BT797.11 • Illustration 3.2 Instructions: 1. Remove LCP panel from the FC 300. 2. Remove the frame located beneath and discard it. 3. Push the option into place. The Ethernet connectors must be facing upwards. 4. Remove both knock-outs on the fieldbus option adaptor frame. 5. 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. Illustration 3.1 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. MG92A302 Danfoss A/S © 05/2015 All rights reserved. 7 3 3 How to Install MCA 124 EtherCAT 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) Power OFF or State INIT Cable Type S/FTP (Screened Foiled Twisted Pair, ISO(IEC 11801 or EN 50173), CAT 5e Initialisation/Bootstrap Damping 23.2 dB (at 100 MHz and 100 m each) PRE-OP State Crosstalk damping 24 dB (at 100 MHz and 100 m each) Return loss 10 dB (100 m each) SAFE-OP State Surge impedance 100 Ω OP State Table 3.1 Specification of EtherCAT Cables ERR-Init State Process Data Watchdog timeout 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: Red LED Label Description Table 3.3 Indication of Status LED Status Module Status, reflects the activity on the EtherCAT slave Power OFF or NO Link Link/Act In Link/status In, reflects the activity on the IN port Link Link/Act Out Link/status In, reflects the activity on the OUT port Link Active Table 3.2 Green 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. Illustration 3.3 Overview of the Option 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. 8 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Operating Instructions 130BC178.10 How to Install 3 3 Illustration 3.4 Line Topology NOTICE 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. 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°. 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. MG92A302 Danfoss A/S © 05/2015 All rights reserved. 9 MCA 124 EtherCAT 130BA908.11 How to Install 3 3 min. 200 mm Ethernet Cable 90 ° crossing Illustration 3.5 Correct Crossing of Ethernet Cable 10 Danfoss A/S © 05/2015 All rights reserved. MG92A302 How to Configure Operating Instructions 4 How to Configure 4.1.1 IP Settings 4.2 Configure the Frequency Converter 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: • • • • • 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. Parameter 12-10 Link Status Parameter 12-11 Link Duration Parameter 12-12 Auto Negotiation Parameter 12-13 Link Speed Parameter 12-14 Link Duplex Each port has unique Ethernet Link Parameters. Parameter 12-10 Link Status and parameter 12-11 Link Duration displays information on the link status, per port. Parameter 12-10 Link Status displays Link or No Link according to the status of the present port. Parameter 12-11 Link Duration displays the duration of the link on the present port. If the link is 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 parameter 12-13 Link Speed and parameter 12-12 Auto Negotiation. Parameter 12-13 Link Speed - 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. MG92A302 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 Danfoss A/S © 05/2015 All rights reserved. 11 4 4 MCA 124 EtherCAT 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 Table 4.1: Switch 8 7 6 5 4 3 2 Address value +128 +64 +32 16 +8 +4 +2 1 +1 Address 5 OFF OFF OFF OFF OFF ON OFF ON Address 35 OFF OFF ON OFF OFF OFF ON ON Address 82 OFF ON OFF ON OFF OFF ON OFF Address 147 ON OFF OFF ON OFF OFF ON ON 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 Illustration 4.1. 130BD078.10 4 4 How to Configure IN STATUS Link/Act IN Link/Act OUT SW. ver. 2.02 TM. ver. 3.10 MCA124 EtherCAT OUT Option A 130B55 46 MAC00-1B-0 8-00-00- 00 8 7 6 5 4 3 2 1 Device ID ON OFF Station alias DIP switches Illustration 4.1 12 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Configure the Master Operating Instructions 5 Configure the Master 130BC191.11 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 File 1.x, 2.x and 3.x Danfoss_FC_series_ECAT_019.XML 5 5 Table 5.1 Illustration 5.1 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. 3. Select Danfoss Power Electronics in the I/O Catalogue of the Insert EtherCAT Device window. 4. Select VLT FC Series. 5. Select FC-300 VLT AutomationDrive. 130BC192.11 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. 5.2 Setting Up 5.2.1 Setting up the Master Illustration 5.2 Inserting the Danfoss EtherCAT slave to the TwinCAT Master 1. Right click and select EtherCAT I/O master. 2. Select Append Box... MG92A302 Danfoss FC-300 is inserted into the EtherCAT master system. Danfoss A/S © 05/2015 All rights reserved. 13 MCA 124 EtherCAT 130BC196.11 130BC193.11 Configure the Master 5 5 Illustration 5.5 Illustration 5.3 Select the variable. 2. Click the Linked to... button in the right window. 130BC195.12 1. 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. 130BC197.11 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 Illustration 5.6 After a successfully integrating the frequency converter to the TwinCAT system, the frequency converter is now ready for operation. Illustration 5.4 In the following example, the status word is linked to the variable STW. 14 Danfoss A/S © 05/2015 All rights reserved. MG92A302 How to Control the Frequenc... Operating Instructions 6 How to Control the Frequency Converter 6.1 PDO Communication 6.2.1 Process Control Data 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. The example in Table 6.1 shows control and reference sent from the PLC to the frequency converter, and status word and Main Actual Value sent from the frequency converter to the PLC. 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. PDO 23 PCD 0 PCD 1 PCD 9 CTW REF write PCD 0 PCD 1 PCD 9 STW MAV read Transmit PDOs (Drive PDO 23 Drive) 2 ...... 9 CTW PCD ...... PCD MRV 6 6 PCD write 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 chapter 6.3 Control Profile. PCD 1 contains a 16-bit speed setpoint in percentage format. See chapter 6.2.3 Reference Handling. 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 2 ...... 9 STW PCD ...... PCD MAV PCD read Table 6.2 Process Status Data 130BC177.10 Receive PDOs (PLC Master to slave 0 1 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). PLC) 6.2.3 Reference Handling The reference handling in FC 301/FC 302 is an advanced mechanism that sums up references from different sources. Illustration 6.1 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. MG92A302 Danfoss A/S © 05/2015 All rights reserved. 15 6 6 How to Control the Frequenc... MCA 124 EtherCAT Illustration 6.2 MRV/MAV Integer in hex Integer in decimal 100% 4000 16.384 75% 3000 12.288 50% 2000 8.192 25% 1000 4.096 0% 0 0 -25% F000 -4.096 -50% E000 -8.192 -75% D000 -12.288 -100% C000 -16.384 Table 6.3 Reference and MAV Formats 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: 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. MRV/MAV Illustration 6.3 Actual Speed 0% 0 hex 100 RPM 25% 1000 hex 825 RPM 50% 2000 hex 1550 RPM 75% 3000 hex 2275 RPM 100% 4000 hex 3000 RPM Table 6.4 NOTICE If parameter 3-00 Reference Range is set to [0] Min - Max, a negative reference is handled as 0%. 6.2.4 Process Control Operation 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. 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%). The reference and the MAV have the format which appears from Table 6.3. 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. 16 Danfoss A/S © 05/2015 All rights reserved. MG92A302 How to Control the Frequenc... Operating Instructions 6.4 DS 402 Control Profile 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. 6.4.1 Control Word According to DSP 402 Profile (Parameter 8-10=DSP 402 profile) 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. 130BA274.11 NOTICE Master-follower CTW Bit no.: Speed ref. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Illustration 6.4 Control Word Profile 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. Bit Bit value=0 Bit value=1 00 Switch off Switch on 01 Disable voltage Enable voltage 02 Quick stop Run More detailed information and examples of logical relationship options are provided in chapter 10 Troubleshooting. 03 Disable operation Enable operation 04 Disable ramp Enable ramp 05 Freeze Run enable 6.3 Control Profile 06 Ramp stop Start 07 No function Reset 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. 08 Reserved 09 Reserved 10 Reserved 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. 11 Jog 1 OFF 12 Jog 1 ON Reserved 13 Setup select (LSB) 14 Setup select (MSB) 15 6 6 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 MG92A302 Danfoss A/S © 05/2015 All rights reserved. 17 6 6 MCA 124 EtherCAT 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. 6.4.2 Status Word According to DS 402 Profile Follower-master STW Bit no.: Illustration 6.5 Bit value=0 Bit value=1 00 Bit Not ready to switch ON Ready to switch ON 01 Switched OFF Switched ON 02 Operation disabled Operation enabled 03 No malfunction Malfunction 04 Voltage disabled Voltage enabled 05 Quick stop Run 06 Switch on disable Switch on enable 07 No warning Warning Reserved 09 Remote disabled Remote enabled 10 Set point not reached Set point reached 11 Speed limit not active Speed limit active 12 Reserved 13 14 Bit 12 Danfoss reserved. Output freq. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 08 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". 130BA273.11 How to Control the Frequenc... 15 Reserved Not running Running Reserved Table 6.7 Bits 13/14, Selection of Setup Bits 13 and 14 are used for selecting among the four menu set-ups in accordance with Table 6.6: Set-up Bit 14 Bit 13 0 0 1 0 1 2 1 0 3 1 1 4 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”. Table 6.6 Set-up Selection Table Bit 02, Operation disable/Operation enable Bit 00="0" - state less than “Operation enable”. Bit 00="1" - state at least = “Operation enable”. 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 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". 18 Danfoss A/S © 05/2015 All rights reserved. MG92A302 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 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 06, Start enable/Start disable Bit 06="0" - state is not “Switch on disable”. Bit 06="1" - state = “Switch on enable”. Bit 12, DSP 402 reserved Bit 07, No warning/Warning Bit 07="0" - no warning situation. Bit 07="1" - a warning has occurred. Bit 13, DSP 402 reserved 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. MG92A302 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: Function: [0] * FC profile [7] CANOpen DSP 402 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. Danfoss A/S © 05/2015 All rights reserved. 19 6 6 How to Control the Frequenc... MCA 124 EtherCAT 6 6 Illustration 6.6 DSP 402 State Machine 20 Danfoss A/S © 05/2015 All rights reserved. MG92A302 How to Control the Frequenc... Operating Instructions 6.4.3 DSP 402 State Transitions Transition State Control word Status word Action - Start condition 0000 0000 - 0 Start-up⇒Not ready to switch on 0000 0200 - 1 Switch On Disabled⇒Switch On Disabled 0000, 0001 0240 - 2 Not Ready to Switch On⇒Switched On 0006 0231 - 3 Ready to Switch On⇒Switched On 0007 0233 - 4 Switched On⇒Ready to Switch On 000F 0237 - 5 Operation Enabled⇒Switched On 0007 0233 Motor ramps to 0 RPM with programmed ramp down parameter. 6 Switched On⇒Ready to Switch On 0006 0231 - 7 Ready to Switch On⇒Switch On Disable 0001, 0000 0240 - 8 Operation Enable⇒Ready to Switch On 0006 0231 If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate. 9 Operation Enable⇒Switch On Disable 0001, 0000 0240 If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate. 10 Switched On⇒Switched On Disable 0001, 0000 0240 If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate. 11 Operation Enabled⇒Quick Stop Active 0002 0207 Motor ramps to 0 RPM with programmed quick ramp parameter. 11 Operation Enabled⇒Quick Stop Active 0003 0217 Motor ramps to 0 RPM with programmed quick ramp parameter. 12 Quick Stop Active⇒Switch On Disabled 0001, 0000 0240 If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate. 13 All states⇒Fault Reaction Active xxxx 023F - 14 Fault Reaction Active⇒Fault xxxx 023F - 15 Fault⇒Switch On Disabled 0000 0240 - 16 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) 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). Bit Bit value=0 Bit value=1 00 Reference value external selection lsb 01 Reference value external selection msb 02 DC brake Ramp 03 Coasting No coasting 04 Quick stop Ramp 05 Hold output frequency Use ramp 06 Ramp stop Start 07 No function Reset 08 No function Jog 09 Ramp 1 Ramp 2 10 Data invalid Data valid 11 No function Relay 01 active 12 No function Relay 04 active 13 Parameter set-up selection lsb 14 Parameter set-up selection msb 15 No function Reverse Table 6.9 Bit Values for FC Control Word MG92A302 Danfoss A/S © 05/2015 All rights reserved. 21 6 6 How to Control the Frequenc... MCA 124 EtherCAT Explanation of the control bits Bits 00/01 Reference value Bits 00 and 01 are used to choose between the four reference values, which are pre-programmed in parameter 3-10 Preset Reference according to Table 6.10. 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 Parameter 0 0 1 [0] Parameter 3-10 Preset Reference 0 1 2 [1] Parameter 3-10 Preset Reference 1 0 3 [2] Parameter 3-10 Preset Reference 1 1 4 [3] Parameter 3-10 Preset Reference 6 6 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. 22 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. Danfoss A/S © 05/2015 All rights reserved. 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 Table 6.11: The function is only possible when [9] Multi-Set-up is selected in parameter 0-10 Active Set-up. Set-up Bit 14 Bit 13 1 0 0 2 0 1 3 1 0 4 1 1 Table 6.11 Selection of Set-up NOTICE 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. 6 6 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 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 15 Reverse Bit 15="0" - no reversing. Bit 15="1" - reversing. 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. 6.5.2 Status Word according to FC Profile (STW) Bit 05, Not used Bit 05 is not used in the status word. The status word is used to inform the master (for example, a PC) of the operation mode of the slave (frequency converter). 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. Refer to for an example of a status word telegram using PPO type 3. Bit 07, No warning/warning Bit 07="0" - there are no warnings. Bit 07="1" - a warning has occurred. Bit Bit=0 Bit=1 00 Control not ready Control ready 01 Frequency converter not Frequency converter ready ready 02 Coasting Enable 03 No error Trip 04 No error Error (no trip) 05 Reserved - 06 No error Triplock 07 No warning Warning 08 Speed reference Speed=reference 09 Local operation Bus control 10 Out of frequency limit Frequency limit ok 11 No operation In operation 12 Frequency converter OK Stopped, autostart 13 Voltage OK Voltage exceeded 14 Torque OK Torque exceeded 15 Timer OK Timer exceeded 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. Table 6.12 Definition of Status Bits MG92A302 Danfoss A/S © 05/2015 All rights reserved. 23 6 6 How to Control the Frequenc... MCA 124 EtherCAT 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 Index (hex) Object (Symbolic Name) Name Type Read/Write 1000 VAR Device type UNSIGNED32 ro 1001 VAR Error register UNSIGNED8 ro 1002 VAR Manufacturer status register UNSIGNED32 ro 1003 ARRAY Pre-defined error field UNSIGNED32 ro 1008 VAR Manufacturer device name VISIBLE_STRING constant 1009 VAR Manufacturer hardware version VISIBLE_STRING constant 100A VAR Manufacturer software version VISIBLE_STRING constant 1010 ARRAY Store parameters UNSIGNED32 rw 1011 ARRAY Restore default parameters UNSIGNED32 rw 1018 RECORD Identity object Identity (23h) ro 1100 VAR EtherCAT address UNSIGNED16 ro 1110 ARRAY Virtual MAC address UNSIGNED8 ro 1111 ARRAY Virtual IP address info UNSIGNED8 rw 1616 ARRAY Receive PDO parameter UNSIGNED32 rw 1A16 ARRAY Transmit PDO parameter UNSIGNED32 rw 1C00 RECORD Sync manager type UNSIGNED8 ro 1C12 RECORD RxPDO assign UNSIGNED16 rw 1C13 RECORD TxPDO assign UNSIGNED16 rw Vendor specific area See chapter 7.3.1 2000h-5FFFh Danfoss Specific Object Area 2000-5FFF 6040 VAR Control word UNSIGNED16 6041 VAR Status word UNSIGNED16 ro 6042 VAR Vl_target_velocity SIGNED16 rw 6043 VAR Vl_velocity_demand SIGNED16 ro 6044 VAR Vl_actual_value SIGNED16 ro 6046 ARRAY Vl_velocity_min_max_amount UNSIGNED32 ro 6048 RECORD Vl_velocity_acceleration See description ro 6049 RECORD Vl_velocity_acceleration See description ro 604C ARRAY Vl dimension factor UNSIGNED32 rw 6060 VAR Modes of operation UNSIGNED8 rw 6061 VAR Modes of operation display UNSIGNED8 ro 6502 VAR Supported frequency converter mode UNSIGNED32 ro 6504 VAR Frequency converter manufacture ro VISIBLE_STRING 7 7 rw 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. MG92A302 Danfoss A/S © 05/2015 All rights reserved. 25 7 7 Communication Profile Area MCA 124 EtherCAT Additional Information Device Profile Number Bit0 1, Alarmword 1 has an active Alarm (parameter 16-90 Alarm Word) Bits Bit1 1, Alarmword 2 has an active Alarm (parameter 16-91 Alarm Word 2) 1 (frequency converters, DS402) 402 Bit2 0, Reserved 1 (frequency converters, Danfoss) Bit3 1, Warningword 1 has an active Warning (P 16-92) Bit4 1, Warningword 2 has an active Warning (P 16-93) Mode Bits Type Bits 31.. 23.. 24 0 0 16 15.. 0 -1 Bit5-15 0, Reserved Table 7.2 1000h Device Type Table 7.6 Device type will show 0x10192 when DS402 profile is selected in frequency converter, and 0 in case of FC profile. The least significant word reflects the following possible errors: 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. Code (hex) Meaning 0 No fault 1000 General fault 2130 Short circuit 2213 Overcurr. during startup Bit Meaning 2240 Short to earth 0 Generic error 2310 Continuous overcurrent 2311 Current inside the device, no. 1 3100 Mains voltage 3130 Phase failure 3210 Overvoltage inside the device 3220 undervoltage inside the device 3300 Output voltage 4210 Exceed device temperature 4310 Excess frequency converter temperature 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: Value Meaning 5110 Low voltage power supply 1 Init 5112 +24 V power supply 2 Pre-operational 5210 Measurement circuit 3 Boot 6100 Internal software fault 4 Safe-operational 7110 Brake chopper 5 Operational 8100 Communication 8302 Torque limiting Table 7.4 1002h Manufacturer Status Register Table 7.7 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 Meaning 1003h 0 Number of stored errors 1003h 1 Current error 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. Table 7.5 1003h Predefined Error Field 7.2.8 100Ah Manufacturer Software Version The current error consist of two 16 bit word, where the most significant word holds the information if a warning or alarm is set. 26 7.2.6 1008h Manufacturer Device Name This object contains the Danfoss software version as displayed in parameter 15-49 SW ID Control Card. Danfoss A/S © 05/2015 All rights reserved. MG92A302 Communication Profile Area Operating Instructions 7.2.9 1010h Store Parameters The manufacturer-specific product code (sub-index 2h) identifies a specific device version. 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. The manufacturer-specific revision number (sub-index 3h) consists of a major revision number and a minor revision number. Index, sub-index Meaning Index, Sub-Index Meaning 1018h 0 Number of entries 1010h 0 Number sub-index supported 1018h 1 Vendor ID 1010h 1 Save option parameters 1018h 2 Product code 1010h 2 Save communication option parameters 1018h 3 1010h 3 Reserved Revision number (major revision number and minor revision number) 1010h 4 Save edit setup 1018h 4 Serial number 1010h 5 Save frequency converter parameters/all setups Table 7.10 1018h Identity Object 7.2.12 1100h EtherCAT Address Table 7.8 1010h Store Parameters 7 7 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. This object contains the EtherCAT address of the device assigned by the master. 7.2.10 1011h Restore Default Parameters This object contains the virtual MAC address for the EoE communication. To restore factory default settings: 1. 2. 3. 7.2.13 1110h Virtual MAC Address Index, Sub-Index Meaning Write the value “load” to sub-index 1. 1110h 0 Number sub-index supported Initiate the next power cycle manually. 1110h 1 Byte 0 of MAC address (LSB) 1110h 2 Byte 1 of MAC address 1110h 3 Byte 2 of MAC address 1110h 4 Byte 3 of MAC address 1110h 5 Byte 4 of MAC address 1110h 6 Byte 5 of MAC address (MSB) The default value is restored. Index, sub-index Meaning 1011h 0 Number of sub-index supported 1011h 1 Restore all default parameters and restart 1011h 2 Restore communication related parameters Table 7.9 1011h Restore Default Parameters Table 7.11 1110h Virtual MAC Address 7.2.14 1111h Virtual IP Address Info 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 the virtual IP Info objects about IP addresses, gateways, DNS etc. Index, Sub-Index Meaning Data Type 1111h 0 Number sub-index supported UNSIGNED8 1111h 1 IP Address UNSIGNED32 1111h 2 Subnet Mask UNSIGNED32 1111h 3 Default Gateway UNSIGNED32 1111h 4 DNS Server UNSIGNED32 This object contains general information about the device. 1111h 5 DNS Name STRING The vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer. Table 7.12 1111h Virtual IP Address Info MG92A302 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. 27 7 7 Communication Profile Area MCA 124 EtherCAT 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 Sync-Manager Type Channel 1: Mailbox Write 1C00h 2 Sync-Manager Type Channel 2: Mailbox Read 1C00h 3 Sync-Manager Type Channel 3: Process Data Write (Outputs) 1C00h 4 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 Meaning 1C00h 0 Number of entries 1C00h 1 RxPDO configurable 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. Table 7.16 shows a few indexes and their mapping. Index Parameter 2001h parameter 0-01 Language 2002h parameter 0-02 Motor Speed Unit 2003h parameter 0-03 Regional Settings .. 2078h parameter 1-20 Motor Power [kW] 2079h parameter 1-22 Motor Voltage .. 24B1h parameter 12-01 IP Address 24B2h parameter 12-02 Subnet Mask Table 7.14 1C12h RxPDO Assignment Table 7.16 2000h-5FFFh Vendor Specific Object Area 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 Meaning 1C00h 0 Number of entries 1C00h 1 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 28 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. Table 7.17 shows the support of indexes, depending on setting of parameter 8-10 Control Word Profile (Index 6060h) Danfoss A/S © 05/2015 All rights reserved. MG92A302 Communication Profile Area Index Name Operating Instructions parameter 8-10 Control Word parameter 8-10 Control Word parameter 8-10 Control Word Profile=FC Profile Profile=MCO Profile=DS 402 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 √ √ √ Table 7.17 6000h-9FFFh Standardised Device Profile Area 7.4.2 6040h Control Word This object contains the control word in accordance with DS 402. The control word consists of 16 bit, these 16 bit are used for controlling the frequency converter (for example, start, stop, reset). The control word is described in chapter 6.4 DS 402 Control Profile. parameter 3-03 Maximum Reference. The readout values in parameter 3-02 Minimum Reference and parameter 3-03 Maximum Reference will be truncated. 7.4.8 6048h vl_velocity_acceleration 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 Index, sub-index Meaning 1048h 0 Number of sub-index supported 1048h 1 Delta speed 1048h 2 Delta time 7.4.3 6041h Status Word The vl_target_velocity is the required velocity of the system. The velocity is in RPM. 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 MG92A302 Danfoss A/S © 05/2015 All rights reserved. 29 7 7 7 7 Communication Profile Area MCA 124 EtherCAT Index, sub-index Meaning 1049h 0 Number of sub-index supported 1049h 1 Delta speed 1049h 2 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 Meaning 104Ch 0 Number of sub-index supported 104Ch 1 Numerator 104Ch 2 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. 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 Table 7.23: Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 EMCY code Object Vendor specific information 1001h See Reser- Reser- Reser- ReserTable 7 ved ved ved ved .27 Index, 6060h value Meaning -2 MCO profile (only possible if MCO305 is mounted) -1 FC Profile 2 DS 402 profile Table 7.23 Communication Object Overview This index does readout the name of the drive manufacturer. Data is coded as a string. Table 7.21 6060h Modes of Operation Index, sub-index Meaning 7.4.12 6061h Modes of Operation Display 6504Ch 0 Manufacturer “DANFOSS DRIVES” 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. Table 7.24 6504h Drive Manufacturer (read only) Index, 6061h value Meaning -1 Default display operation Table 7.22 6061h Modes of Operation Display 30 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Communication Profile Area Operating Instructions Code (hex) Meaning 0 No fault 1000 General fault 2130 Short Circuit 2213 Overcurr. during startup 2240 Short to earth 2310 Continuous overcurrent 2311 Current inside the device, No. 1 3100 Mains voltage 3130 Phase failure 3210 Overvoltage inside the device 3220 Undervoltage inside the device 3300 Output voltage 4210 Exceed device temperature 4310 Excess frequency converter temperature 5110 Low voltage power supply 5112 +24 V Power supply 5210 Measurement circuit 6100 Internal software fault 7110 Brake chopper 8100 Communication 8302 Torque limiting 7 7 Table 7.25 Byte 0 and 1 0 No errors 1 Error active Table 7.26 Byte 2 Bit0 1, Alarmword 1 has an active Alarm (parameter 16-90 Alarm Word) Bit1 1, Alarmword 2 has an active Alarm (parameter 16-91 Alarm Word 2) Bit2 0, Reserved Bit3 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 MG92A302 Danfoss A/S © 05/2015 All rights reserved. 31 Parameters MCA 124 EtherCAT 8 Parameters 8.1 Parameter Group 0-** Operation/Display 0-37 Display Text 1 8-04 Control Word Timeout Function Range: Function: 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. 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. [0 0] Option: • • • • • 8 8 To change the set-up after a timeout, configure as follows: Parameter 0-21 Display Line 1.2 Small. Parameter 0-23 Display Line 2 Large. Set parameter 0-10 Active Setup to [9] Multi set-up. 2. Select the relevant link in parameter 0-12 This Set-up Linked to. Parameter 0-24 Display Line 3 Large. Parameter 0-37 Display Text 1. 8.2 Parameter Group 8-** Communication and Option [0] Off Resumes control via fieldbus (fieldbus or standard), using the most recent control word. [1] Freeze output Freezes output frequency until communication resumes. [2] Stop Stops with auto restart when communication resumes. [3] Jogging 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 Stops the motor, then resets the frequency converter to restart: • Via the fieldbus. 8-01 Control Site Function: The setting in this parameter overrides the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select. [0] Digital and ctrl.word Use both digital input and control word. [1] Digital only Use digital inputs only. [2] Controlword only Use control word only. 8-03 Control Word Timeout Time Range: Function: 1.0 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. [ 0.1 18000.0 s] 1. Parameter 0-22 Display Line 1.3 Small. Changing parameter 12-08 Host Name changes parameter 0-37 Display Text 1 - but not vice versa. Option: Function: NOTICE To show the text permanently, select [37] Display Text 1 in 1 of the following parameters: • Parameter 0-20 Display Line 1.1 Small. • • Via [Reset]. Via a digital input. [7] Select setup 1 Changes the set-up after a control word timeout. If communication resumes after a timeout, parameter 8-05 End-of-Timeout Function either resumes the set-up used before the timeout, or retains the set-up endorsed by the timeout function. [8] Select setup 2 See [7] Select set-up 1. [9] Select setup 3 See [7] Select set-up 1. [10] Select setup 4 See [7] Select set-up 1. [26] Trip 32 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Parameters Operating Instructions 8-05 End-of-Timeout Function Option: - [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. Function: Select the action after receiving a valid control word following a timeout. This parameter is active only when parameter 8-04 Control Timeout Function is set to: • [7] Set-up 1. • • • [0] Hold setup [1] Resume set-up [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. 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: 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: [0] Motor Data Std-Filt. Normal fieldbus readouts. [1] Motor Data LP-Filter Filtered fieldbus readouts of the following parameters: • Parameter 16-10 Power [kW]. [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 8 8 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. 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. 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: Option: Function: 8-10 Control Word Profile Function: [0] Disable [0] * FC Profile [1] Trigger on alarms [7] CANopen DSP 402 [2] Trigger alarm/warn. 8-13 Configurable Status Word STW NOTICE Array [16] The following is only valid for Profibus and EtherCAT. Option: Function: This parameter enables configuration of bits 12–15 in the status word. [0] MG92A302 No function Danfoss A/S © 05/2015 All rights reserved. 33 8 8 Parameters MCA 124 EtherCAT 8-13 Configurable Status Word STW 8-50 Coasting Select Array [16] Option: Function: [0] Digital input A digital input triggers the coasting function. [1] Bus A serial communication port or the fieldbus triggers the coasting function. Option: Function: [1] Profile Default The function corresponds to the profile default selected in parameter 8-10 Control Profile. [2] Alarm 68 Only Only set if alarm 68, Safe Torque Off occurs. [2] Logic AND The fieldbus/serial communication port and a digital input trigger the coasting function. [3] Trip excl Alarm 68 Set if a trip occurs, except if alarm 68, Safe Torque Off executes the trip. [3] Logic OR The fieldbus/serial communication port or a digital input triggers the coasting function. [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). 8-51 Quick Stop Select Select the trigger for the quick stop function. Option: 8-14 Configurable Control Word CTW [0] Digital input [1] Bus Function: [2] Logic AND This parameter is not valid in software versions before 4.93. [3] Logic OR Array [15] Option: [0] None The frequency converter ignores the information in this bit. [1] Profile default The functionality of the bit is depending on the selection parameter 8-10 Control Word Profile. [2] CTW Valid, active low If set to 1, the frequency converter ignores the remaining bits of the control word. [3] Safe Option Reset 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 [4] PID error inverse [5] PID reset I part [6] PID enable 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 Activate a start command via a digital input. 0⇒1 transition, and resets the safety option as set in parameter 42-24 Restart Behaviour. [1] Bus Activate a start command via the serial communication port or fieldbus option. 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. [2] Logic AND Activate a start command via the fieldbus/serial communication port, and also via 1 of the digital inputs. 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. [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 A digital input triggers the start function. [1] Bus 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. 8-50 Coasting Select Option: Function: Function: Select the trigger for the coasting function. 34 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Parameters Operating Instructions 8-54 Reversing Select 12-01 IP Address Option: Function: Range: Function: Select the trigger for the reversing function. 0* 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). [0] Digital input A digital input triggers the reversing function. [1] Bus 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. [0 2147483647 ] 12-02 Subnet Mask Range: Function: 0* 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. [0 4244635647 ] 8-55 Set-up Select Option: Function: Select the trigger for the set-up selection. [0] Digital input A digital input triggers the set-up selection. [1] Bus 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. 100 RPM* [ 0 - par. 4-13 RPM] Range: Function: 0* 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. [0 2147483647 ] 12-04 DHCP Server 8-90 Bus Jog 1 Speed Range: 12-03 Default Gateway Function: Range: Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option. 0* Function: [0 - 2147483647 ] Read-only. Show the IP address of the found DHCP or BOOTP server. 12-05 Lease Expires 8-91 Bus Jog 2 Speed Range: 200 RPM* [ 0 - par. 4-13 RPM] Range: Size related* Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option. 12-06 Name Servers 0* 8.3.1 12-0* IP Settings 12-00 IP Address Assignment 12-07 Domain Name Function: Range: Selects the IP Address assignment method. 0 Function: [0 - 2147483647 ] Domain name of the attached network. Can be automatically assigned when using DHCP network. MANUAL IP-address can be set in parameter 12-01 IP Address IP Address. [1] DHCP IP-address is assigned via DHCP server. [2] BOOTP IP-address is assigned via BOOTP server. Range: DCP Assigned via the DCP protocol. 0* MG92A302 Function: [0 - 2147483647 ] IP addresses of domain name servers. Can be automatically assigned when using DHCP. [0] [10] DCP [ 0 - 0 ] Read-only. Show the lease time left for the current DHCP-assigned IP address. Range: 8.3 Parameter Group 12-** Ethernet Option: Function: Function: 12-08 Host Name Function: [0 - 2147483647 ] Logical (given) name of option. Danfoss A/S © 05/2015 All rights reserved. 35 8 8 8 8 Parameters MCA 124 EtherCAT NOTICE 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. 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 12-09 Physical Address Range: 0* Option: Function: [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. 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 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. In POWERLINK, this parameter is locked to 100 Mbs. 12-10 Link Status Option: Option: 12-14 Link Duplex Function: Function: NOTICE Read-only. Show the link status of the Ethernet ports. In POWERLINK, this parameter is locked to half duplex. [0] No Link [1] Link 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. 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. [0] Half Duplex [1] Full Duplex 8.3.4 12-2* Process Data 12-12 Auto Negotiation Option: Function: Configures Auto Negotiation of Ethernet link parameters, for each port: ON or OFF. [0] Off [1] On 36 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). Danfoss A/S © 05/2015 All rights reserved. MG92A302 Link Speed and Link Duplex can be configured in parameter 12-13 Link Speed and parameter 12-14 Link Duplex. Parameters Operating Instructions 12-21 Process Data Config Write 12-50 Configured Station Alias Range: Range: Function: [[0 - 9] PCD read 0 - 9] • parameter 12-22EN-22 Process Data Config Read • parameter 12-23 Process Data Config Write Size • parameter 12-24 Process Data Config Read Size 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. Configuration of readable process data. In POWERLINK, this parameter is read-only. The same applies for: 12-51 Configured Station Address Range: 12-22 Process Data Config Read Range: 0* Function: [[0 - 9] PCD read 0 - 9] Configuration of readable process data. 16 * [0 - 65535 ] This parameter shows the configured station address. The parameter can only be set by the master at power up. 12-59 EtherCAT Status 12-23 Process Data Config Write Size Range: Function: Function: [8 - 32 ] Sets the number of bits being sent from the frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least significant bit of the signal is transferred from the frequency converter. Range: Function: 0 This parameter contains status information on the EtherCAT interface. Each of the 32 bits are linked to a status information of the EtherCAT interface. * [0 4294967295 ] 12-24 Process Data Config Read Size Range: 16 * Function: [8 - 32 ] Sets the number of bits being sent to the frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least significant bit of the signal is transferred to the frequency converter. The preceding bits are set to zero. • Bit 0-7 contains info from ESC register 0x0130 (AL Status) • • Bit 8-15 is reserved for future use • Bit Bit 16-27 contains info from ESC register 0x0110 and 0x0111 (DL status) Bit 28-31 is reserved for future use 1 Meaning 0 0 Init State EtherCAT Statemachine state 1 Pre-OP EtherCAT Statemachine state 2 Safe-OP EtherCAT Statemachine state 3 Operation EtherCAT al Statemachine state 12-28 Store Data Values Option: Function: [0] Off [1] Store all setups [2] Store all setups 12-29 Store Always Option: Function: Activates function that always stores received parameter data in non-volatile memory (EEPROM). [0] * Off 4 Reserved [1] 5 Reserved 6 Reserved 7 Reserved 8 Reserved On 8.3.5 12-5* EtherCAT 12-50 Configured Station Alias 9 Reserved 10 Reserved Range: Function: 11 Reserved 0* This parameter shows the configured EtherCAT station alias for the frequency converter. 12 Reserved [0 65535 ] MG92A302 Danfoss A/S © 05/2015 All rights reserved. 37 8 8 Parameters MCA 124 EtherCAT 12-59 EtherCAT Status Range: 12-82 SMTP Service Function: Bit 0 1 Meaning 13 Reserved 14 Reserved 15 16 EEPROM not loaded, PDI not operation al EEPROM loaded correctly, PDI operation al Option: Function: [0] Disabled Disable the SMTP (e-mail) service on the option. [1] Enabled Enable the SMTP (e-mail) service on the option. Reserved 12-89 Transparent Socket Channel Port PDI Operational Range: Size related* Function: [0 0. ] 17 Watchdog Watchdog PDI Watchdog expired reloaded Status 8 8 18 Deactivate Activated d for all for all ports ports Enhanced link detection 19 8.3.7 12-9* Advanced Ethernet Settings Reserved 12-90 Cable Diagnostic 20 No link Link detected Physical link on Port 0 Option: 21 No link Link detected Physical link on Port 1 22 Reserved 23 Reserved 24 Open Closed 26 Open Closed Function: NOTICE The cable diagnostics function is only issued on ports where there is no link (see parameter 12-10 Link Status, Link Status). Loop port 0 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. 25 No stable Communi- Communicommuni- cation cation on port cation establishe 0 d Loop port 1 27 No stable Communi- Communicommuni- cation cation on port cation establishe 1 d 28 Reserved 29 Reserved 30 Reserved 31 Reserved Table 8.1 Bit Interpretation 8.3.6 12-8* Other Ethernet Services [0] Disabled Disable the cable diagnostic function. [1] Enabled Option: Function: [0] Disabled Disable the built-in FTP server. [1] Enabled Enable the built-in FTP server. 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* 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 [0 65535 ] 12-80 FTP Server accuracy of ±2 m (6.56 ft). The value 0 means that no errors are detected. 12-81 HTTP Server Option: Function: [0] Disabled Disable the built-in HTTP (web) server. [1] Enabled Enable the built-in HTTP (web) server. 38 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. Danfoss A/S © 05/2015 All rights reserved. MG92A302 Parameters Operating Instructions 8.4 EtherCAT-specific Parameter List Parameter Default value Range Conversion index Data type Parameter 8-01 Control Site [0] Dig. & ctrl. word [0-2] - Uint8 Parameter 8-02 Control Word Source [0] FC RS485 [0-4] - Uint8 Parameter 8-03 Control Word Timeout Time 1 0.1-18000 -1 Uint32 Parameter 8-04 Control Word Timeout Function [0] Off [0-10] - Uint8 Parameter 8-05 End-of-Timeout Function [0] Hold set-up [0-1] - Uint8 Parameter 8-06 Reset Control Word Timeout [0] Do not reset [0-1] - Uint8 Parameter 8-07 Diagnosis Trigger [0] Disable [0-3] - Uint8 Parameter 8-10 Control Word Profile [0] FC profile [0-x] - Uint8 Parameter 8-50 Coasting Select [3] *Logic OR [0-3] - Uint8 Parameter 8-51 Quick Stop Select [3] *Logic OR [0-3] - Uint8 Parameter 8-52 DC Brake Select [3] *Logic OR [0-3] - Uint8 Parameter 8-13 Configurable Status Word STW Parameter 8-53 Start Select [3] *Logic OR [0-3] - Uint8 Parameter 8-54 Reversing Select [3] *Logic OR [0-3] - Uint8 Parameter 8-55 Set-up Select [3] *Logic OR [0-3] - Uint8 Parameter 8-56 Preset Reference Select [3] *Logic OR [0-3] - Uint8 100 rpm 0-parameter 4-13 Motor Speed High Limit [RPM] 67 Uint16 200 rpm 0-parameter 4-13 Motor Speed High Limit [RPM] 67 Uint16 parameter 12-00 IP Address Assignment 0.0.0.0 - - Unsigned 8 parameter 12-01 IP Address 0.0.0.0 - - Unsigned 32 parameter 12-02 Subnet Mask 0.0.0.0 - - Unsigned 32 Parameter 8-90 Bus Jog 1 Speed Parameter 8-91 Bus Jog 2 Speed parameter 12-03 Default Gateway 0.0.0.0 - - Unsigned 32 parameter 12-04 DHCP Server 0.0.0.0 - - Unsigned 32 parameter 12-05 Lease Expires 0 - - Unsigned 32 parameter 12-06 Name Servers 0.0.0.0 - - Unsigned 32 - - String parameter 12-07 Domain Name parameter 12-08 Host Name 8 8 - - String Parameter 12-09 Physical Address 00:1B:08:00:00:00 - - Visible string 17 Parameter 12-10 Link Status [0] No Link [0-1] - Unsigned 8 Parameter 12-11 Link Duration 00:00:00:00 - - Time diff. w/ date Parameter 12-12 Auto Negotiation [1] On [0-1] - Unsigned 8 Parameter 12-13 Link Speed [0] None [0-2] - Unsigned 8 Parameter 12-14 Link Duplex [1] Full Duplex [0-1] - Unsigned 8[ parameter 12-20 Control Instance Application Dependent 0-255 parameter 12-21 Process Data Config Write Application Dependent parameter 12-22EN-22 Process Data Config Read 16 1-32 parameter 12-23 Process Data Config Write Size 16 1-32 parameter 12-24 Process Data Config Read Size 0 0-4294967295 parameter 12-28 Store Data Values parameter 12-29 Store Always MG92A302 [0] Off Danfoss A/S © 05/2015 All rights reserved. 39 8 8 Parameters MCA 124 EtherCAT Parameter Default value Range Conversion index Data type parameter 12-50 Configured Station Alias 0 - - Unsigned 16 parameter 12-51 Configured Station Address 0 - - Unsigned 16 parameter 12-59 EtherCAT Status 0 - - Unsigned 32 Parameter 12-80 FTP Server [0] Disable [0–1] - Unsigned 8 Parameter 12-81 HTTP Server [0] Disable [0–1] - Unsigned 8 Parameter 12-82 SMTP Service [0] Disable [0–1] - Unsigned 8 Parameter 12-89 Transparent Socket Channel Port [0] Disable [0–1] - Unsigned 8 Parameter 12-90 Cable Diagnostic [0] Disable [0-1] - Unsigned 8 Parameter 12-91 Auto Cross Over [0] Enable [0-1] - Unsigned 8 Parameter 12-93 Cable Error Length 0 0-200 0 Unsigned 16 Parameter 12-98 Interface Counters 0 0-65535 - Unsigned 16 Parameter 12-99 Media Counters 0 0-65535 - Unsigned 16 Parameter 16-84 Comm. Option STW 0 0-FFFF 0 V2 Parameter 16-90 Alarm Word 0 0-FFFF 0 Uint32 Parameter 16-92 Warning Word 0 0-FFFF 0 Uint32 Table 8.2 Refer to the relevant Operating Instructions for a comprehensive parameter list. 40 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Parameters Operating Instructions 8 8 MG92A302 Danfoss A/S © 05/2015 All rights reserved. 41 MCA 124 EtherCAT 9 Application Examples 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 to ten objects, which can be programmed to monitor process signals: PCD 0 1 2 3 CTW MRV PCD[2] PCD 04 From controller 7C 20 STW From frequency converter 00 07 20 1 00 00 PCD[2] 00 PCD[3] 00 0F Byte # 00 MAV 2 3 4 3F A6 00 08 5 6 7 8 Table 9.1 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. An external device is also controlled via control word bit 11 and the built-in relay of the frequency converter. Reversing is permitted only when the reversing bit 15 in the control word and the digital input 19 are set to high. For safety reasons, the frequency converter stops the motor if the EtherCAT cable is broken, the master has a system failure, or the PLC is in stop mode. Recieve PDO’s (PLC → Drive) PCD 0 PCD 1 CTW REF Transmit PDO’s (Drive → PLC) PCD 0 PCD 1 PCD 2 PCD 3 STW MAV Torque [Nm] Digital Inputs 12 18 20 13 19 20 + Sensor + 130BC190.11 9 9 Application Examples Reversing - Relay 04-05 Ext. Device 230Vac Illustration 9.1 42 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Application Examples Operating Instructions Program the frequency converter as follows: Parameter Setting Parameter 4-10 Motor Speed Direction [2] Both directions Parameter 5-10 Terminal 18 Digital Input [0] No operation Parameter 5-11 Terminal 19 Digital Input [10] Reversing Parameter 5-40 Function Relay [36/37] Control word bit 11/12 Parameter 8-03 Control Word Timeout Time 1s Parameter 8-04 Control Word Timeout Function [2] Stop Parameter 8-10 Control Word Profile [0] FC Profile Parameter 8-50 Coasting Select [1] Bus Parameter 8-51 Quick Stop Select [1] Bus Parameter 8-52 DC Brake Select [1] Bus Parameter 8-53 Start Select [1] Bus Parameter 8-54 Reversing Select [2] Logic AND Parameter 8-55 Set-up Select [1] Bus Parameter 8-56 Preset Reference Select [1] Bus parameter 12-21 Process Data Config Write [0] Sub index parameter 16-80 Fieldbus CTW 1 [1] Sub index parameter 16-85 FC Port CTW 1 Parameter 12-22 Process Data Config Read [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 parameter 12-23 Process Data Config Write Size [0] Sub index 16 [1] Sub index 16 parameter 12-24 Process Data Config Read Size [0] Sub index 16 [1] Sub index 16 [2] Sub index 16 [3] Sub index 16 9 9 Table 9.2 MG92A302 Danfoss A/S © 05/2015 All rights reserved. 43 Application Examples MCA 124 EtherCAT 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. 0 CTW 04 7C PCD 1 2 MRV PCD 20 00 PQW: 256 CTW 258 MRV 260 Bit no.: 31 0 29 0 27 0 30 0 28 0 0 3 PCD 262 26 1 25 0 24 0 4 23 0 22 1 21 1 7 20 1 19 1 18 1 17 0 16 0 15 0 C 14 0 13 1 12 0 11 0 10 0 2 9 0 8 0 7 0 6 0 0 5 0 0 4 0 3 0 2 0 1 0 0 0 0 Table 9.3 Standard Telegram 1 Example Table 9.3 indicates the bits contained within the control word, and how they are presented as process data in Standard Telegram 1 for this example. Table 9.4 indicates which bit functions, and which corresponding bit values are active for this example. 9 9 Bit Bit value=0 Bit value=1 Bit value 00 Reference value External selection lsb 0 01 Reference value External selection msb 0 02 DC brake Ramp 1 03 Coasting Enable 1 04 Quick stop Ramp 1 05 Freeze output Ramp enable 1 06 Ramp stop Start 1 07 No function Reset 0 08 No function Jog 0 09 Ramp 1 Ramp 2 0 10 Data not valid Valid 1 11 No function Relay 01 active 0 12 No function Relay 02 active 0 13 Parameter set-up Selection lsb 0 14 Parameter set-up Selection msb 0 15 No function Reversing 0 C 7 4 0 Function active Function inactive Table 9.4 Bit Functions 44 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Application Examples Operating Instructions 9 9 MG92A302 Danfoss A/S © 05/2015 All rights reserved. 45 10 10 Troubleshooting MCA 124 EtherCAT 10 Troubleshooting 10.1.1 LED Status 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 Illustration 10.1 LED Status Power OFF or State INIT Initialisation/Bootstrap PRE-OP State SAFE-OP State 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. 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 Operating Instructions 130BT797.11 Troubleshooting Table 10.4 to Table 10.11 show a coast command's effect upon the frequency converter for the full range of parameter 8-50 Coasting Select settings. The effect of control mode upon the function of parameter 8-50 Coasting Select, parameter 8-51 Quick Stop Select, and parameter 8-52 DC Brake Select is as follows: 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 Coast/DC brake/Q-Stop Function 0 1 Coast/DC brake/Q-Stop 1 0 No Coast/DC brake/Q-Stop 1 1 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. Illustration 10.2 Parameter 15-61 Option SW Version XML File 1.x Danfoss_FC_series_ECAT_00 1.XML 1.x or 2.x Danfoss_FC_series_ECAT_00 20.XML Terminal Bits 02/03/04 0 0 Coast/DC brake/Q-Stop Function 0 1 No Coast/DC brake/Q-Stop 1 0 Coast/DC brake/Q-Stop 1 1 No Coast/DC brake/Q-Stop 10 10 Table 10.5 [1] Serial Communication If [2] Logic AND is selected, both signals must be activated to perform the function. 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. Terminal Bits 02/03/04 Function 0 0 Coast/DC brake/Q-Stop 0 1 No Coast/DC brake/Q-Stop 1 0 No Coast/DC brake/Q-Stop 1 1 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 Coast/DC brake/Q-Stop Function 0 1 Coast/DC brake/Q-Stop 1 0 Coast/DC brake/Q-Stop 1 1 No Coast/DC brake/Q-Stop Table 10.7 [3] Logic OR 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. 47 10 10 Troubleshooting MCA 124 EtherCAT The effect of control mode upon the function of parameter 8-53 Start Select and parameter 8-54 Reversing Select: Terminal Bits 00/01, 13/14 Function Msb Lsb Msb Lsb Preset ref. set-up number 0 0 0 0 1 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 Function 0 1 0 0 2 If [0] Digital input is selected, the terminals control the start and reversing functions. Terminal Bits 06/15 0 0 Stop/Counterclockwise 0 1 0 1 2 0 1 Stop/Counterclockwise 0 1 1 0 2 1 0 Start/Clockwise 0 1 1 1 2 1 1 Start/Clockwise 1 0 0 0 3 1 0 0 1 3 1 0 1 0 3 1 0 1 1 3 1 1 0 0 4 1 1 0 1 4 1 1 1 0 4 1 1 1 1 4 Table 10.8 [0] Digital input If [1] Serial communication is selected, commands are activated only when given via serial communication. Terminal Bits 02/03/04 Function 0 0 0 1 Start/Clockwise 1 0 Stop/Counterclockwise 1 1 Start/Clockwise Stop/Counterclockwise Table 10.12 [0] Digital Input If [1] Serial communication is selected, commands are activated only when given via serial communication. Table 10.9 [1] Serial Communication If [2] Logic AND is selected, both signals must be activated to perform the function. Terminal Bits 00/01, 13/14 Function Msb Lsb Msb Lsb Preset ref. set-up number 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 1 0 1 0 1 2 0 1 1 0 3 0 1 1 1 4 1 0 0 0 1 1 0 0 1 2 1 0 1 0 3 Function 1 0 1 1 4 Terminal Bits 02/03/04 Function 0 0 Stop/Counterclockwise 0 1 Stop/Counterclockwise 1 0 Stop/Counterclockwise 1 1 Start/Clockwise Table 10.10 [2] Logic AND If [3] Logic OR is selected, activation of one signal activates the function. Terminal Bits 02/03/04 0 0 Stop/Counterclockwise 1 1 0 0 1 0 1 Start/Clockwise 1 1 0 1 2 1 1 0 3 1 1 1 4 1 0 Start/Clockwise 1 1 1 Start/Clockwise 1 Table 10.13 [1] Serial Communication Table 10.11 [3] Logic OR The effect of control mode upon the function of parameter 8-55 Set-up Select and parameter 8-56 Preset Reference Select: If [2] Logic AND is selected, both signals must be activated to perform the function. If [0] Digital input is selected, the terminals control the setup and preset reference functions. 48 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Troubleshooting Terminal Operating Instructions Bits 00/01, 13/14 Function Bit (Hex) Unit diagnose bit Alarm word (parameter 16-90 Alarm Word) Alarm no. Msb Lsb Msb Lsb Preset ref. set-up number 0 0 0 0 1 00000001 48 Brake check 28 0 0 0 1 1 00000002 49 29 0 0 1 0 1 Power card over temperature 0 0 1 1 1 00000004 50 Earth fault 14 0 1 0 0 1 00000008 51 1 0 1 2 Control card over temperature 65 0 0 1 1 0 1 00000010 52 Control word timeout 18 53 Over current 13 0 1 1 1 2 00000020 1 0 0 0 1 00000040 54 Torque limit 12 00000080 55 Motor thermistor over temp. 11 00000100 40 Motor ETR over temperature 10 9 1 0 0 1 1 1 0 1 0 3 1 0 1 1 3 1 1 0 0 1 1 1 0 1 2 00000200 41 Inverter overloaded 3 00000400 42 DC link under voltage 8 4 00000800 43 DC link over voltage 7 00001000 44 Short circuit 16 00002000 45 Inrush fault 33 00004000 46 Mains phase loss 4 00008000 47 AMA not OK 50 00010000 32 Live zero error 2 00020000 33 Internal fault 38 1 1 1 1 1 1 0 1 Table 10.14 [2] Logic AND If [3] Logic OR is selected, activation of 1 signal activates the function. Terminal Msb Bits 00/01, 13/14 Lsb Msb Lsb Function 00040000 34 Brake overload 26 Preset ref. set-up number 00080000 35 Motor phase U is missing 30 00100000 36 Motor phase V is missing 31 32 0 0 0 0 1 00200000 37 Motor phase W is missing 0 0 0 1 2 00400000 38 Fieldbus comm. fault 34 0 0 1 0 3 00800000 39 24 V supply fault 47 0 0 1 1 4 01000000 24 Mains failure 36 0 1 0 0 2 02000000 25 1.8 V supply fault 48 0 1 0 1 2 04000000 26 Brake resistor short circuit 25 0 1 1 0 4 08000000 27 Brake chopper fault 27 0 1 1 1 4 10000000 28 Option change 67 1 0 0 0 3 20000000 29 Drive initialisation 80 1 0 0 1 4 40000000 30 Safe stop 68 1 0 1 0 3 80000000 31 Mechanical brake low 63 1 0 1 1 4 1 1 0 0 4 1 1 0 1 4 1 1 1 0 4 10 10 Table 10.16 Table 10.15 [3] Logic OR 10.1.3 Alarm and Warning Words Alarm word, Warning word, and EtherCAT warning word are shown in the display in Hex format. If there is more than one warning or alarm, a sum of all warnings or alarms is shown. Alarm word, warning word, and EtherCAT warning word can also be displayed using the serial bus in parameter 16-90 Alarm Word, parameter 16-92 Warning Word, and parameter 12-59 EtherCAT Status. MG92A302 Danfoss A/S © 05/2015 All rights reserved. 49 10 10 Troubleshooting Bit (Hex) Unit diagnose bit 00000001 112 00000002 113 MCA 124 EtherCAT Warning word (parameter 16-92 Warning Word) Alarm no. Bit (Hex) Unit diagnose bit PROFIBUS warning word (parameter 9-53 Profibus Warning Word) Brake check 28 00000001 160 Connection with DP-master is not ok Power card over temperature 29 00000002 161 Unused 00000004 162 FDL (Fieldbus Data link Layer) is not ok Clear data command received 00000004 114 Earth fault 14 00000008 163 00000008 115 Control card 65 00000010 164 Actual value is not updated 00000010 116 Control word timeout 18 00000020 165 Baudrate search 00000020 117 Over current 13 00000040 166 PROFIBUS ASIC is not transmitting 00000040 118 Torque limit 12 00000080 167 Initialising of PROFIBUS is not ok 00000080 119 Motor thermistor over temp. 11 00000100 152 Drive is tripped 00000200 153 Internal CAN error Motor ETR over temperature 10 00000400 154 Wrong configuration data from PLC 00000800 155 Wrong ID sent by PLC 00000100 104 00000200 105 Inverter overloaded 9 00001000 156 Internal error occurred 00000400 106 DC link under voltage 8 00002000 157 Not configured 00000800 107 DC link over voltage 7 00004000 158 Timeout active 00001000 108 DC link voltage low 6 00008000 159 Warning 34 active 00002000 109 DC link voltage high 5 00004000 110 Mains phase loss 4 00008000 111 No motor 3 00010000 96 Live zero error 2 00020000 97 10 V low 1 00040000 98 Brake overload 26 00080000 99 Brake resistor short circuit 25 00100000 100 Brake chopper fault 27 00200000 101 Speed limit 49 00400000 102 Fieldbus comm. fault 34 00800000 103 24 V supply fault 47 01000000 88 Mains failure 36 02000000 89 Current limit 59 04000000 90 Low temperature 66 08000000 91 Voltage limit 64 10000000 92 Encoder loss 61 20000000 93 Output frequency limit 62 40000000 94 Unused - 80000000 95 Warning word 2 (ext. stat. word) - Table 10.18 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 10.17 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 MG92A302 Danfoss A/S © 05/2015 All rights reserved. 51 11 11 Warnings and Alarms MCA 124 EtherCAT 11 Warnings and Alarms 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. 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. 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. 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). An alarm makes the frequency converter trip. Alarms must be reset to restart operation once their cause has been rectified. When a warning or alarm is marked against a code in Table 11.1, this means that either a warning occurs before an alarm, or that it is possible to specify whether it is a warning or an alarm that is shown for a given fault. 3 ways of resetting alarms • By pressing [Reset]. • • Via a digital input with the reset function. Via serial communication/optional fieldbus. NOTICE 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. 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 Table 11.1). 11.1.2 Alarm and Warning List Number Description Warning 1 10 V low X 2 Live zero error (X) 3 No motor (X) 4 Mains phase loss (X) 5 DC link voltage high X 6 DC link voltage low X 52 Alarm/trip Alarm/trip lock Parameter reference Parameter 6-01 Live Zero Timeout Function (X) Parameter 1-80 Function at Stop (X) (X) Parameter 14-12 Function at Mains Imbalance 7 DC overvoltage X X 8 DC undervoltage X X 9 Inverter overloaded X X 10 Motor ETR overtemperature (X) (X) Parameter 1-90 Motor Thermal Protection 11 Motor thermistor overtemperature (X) (X) Parameter 1-90 Motor Thermal Protection 12 Torque limit X X 13 Overcurrent X X X 14 Earth fault X X X 15 Hardware mismatch X X Danfoss A/S © 05/2015 All rights reserved. MG92A302 Warnings and Alarms Operating Instructions Number Description 16 Short circuit 17 Control word time-out 22 Hoist mech. brake Warning (X) Alarm/trip Alarm/trip lock X X Parameter reference Parameter 8-04 Control Word Timeout Function (X) 23 Internal fan fault X 24 External fan fault X 25 Brake resistor short-circuited X 26 Brake resistor power limit (X) (X) 27 Brake chopper short-circuited X X 28 Brake check (X) (X) 29 Heat sink temp X X X 30 Motor phase U missing (X) (X) (X) Parameter 4-58 Missing Motor Phase Function 31 Motor phase V missing (X) (X) (X) Parameter 4-58 Missing Motor Phase Function 32 Motor phase W missing (X) (X) (X) Parameter 4-58 Missing Motor Phase Function 33 Inrush fault X X 34 Fieldbus communication fault X X 36 Mains failure X X 38 Internal fault X X 39 Heat sink sensor X X 40 Overload of digital output terminal 27 (X) Parameter 5-00 Digital I/O Mode, parameter 5-01 Terminal 27 Mode 41 Overload of digital output terminal 29 (X) Parameter 5-00 Digital I/O Mode, parameter 5-02 Terminal 29 Mode 42 Overload of dgital output o X30/6 (X) Parameter 5-32 Term X30/6 Digi Out (MCB 101) 42 Overload of digital output on X30/7 (X) Parameter 5-33 Term X30/7 Digi Out (MCB 101) 46 Pwr. card supply 47 24 V supply low 48 1.8 V supply low Parameter 14-53 Fan Monitor X X Parameter 2-15 Brake Check X X X X X 49 Speed limit 50 AMA calibration failed X 51 AMA check Unom and Inom X X 52 AMA low Inom X 53 AMA motor too big X 54 AMA motor too small X 55 AMA parameter out of range X 56 AMA interrupted by user X 57 AMA time-out X 58 AMA internal fault X 59 Current limit X 61 Tracking error (X) 62 Output frequency at maximum limit X 63 Mechanical brake low 64 Voltage limit 65 Control board overtemperature X 66 Heat sink temperature low X 67 Option configuration has changed MG92A302 Parameter 2-13 Brake Power Monitoring X (X) Parameter 4-30 Motor Feedback Loss Function (X) Parameter 2-20 Release Brake Current X X X X Danfoss A/S © 05/2015 All rights reserved. 53 11 11 11 11 Warnings and Alarms MCA 124 EtherCAT Number Description Warning Alarm/trip 68 Safe stop (X) (X)1) 69 Pwr. card temp 70 Illegal FC configuration 71 PTC 1 safe stop 72 Dangerous failure 73 Safe stop auto restart 77 Reduced power mode X1) 80 X 81 CSIV corrupt 90 Encoder loss (X) Parameter 5-19 Terminal 37 Safe Stop Parameter 14-59 Actual Number of Inverter Units X X CSIV parameter error Parameter 5-19 Terminal 37 Safe Stop X1) Illegal PS config Profibus/Profisafe error X X X Frequency converter Initialised to default value 85 Parameter reference Parameter 5-19 Terminal 37 Safe Stop X 79 82 Alarm/trip lock X Parameter 17-61 Feedback Signal Monitoring (X) 91 Analogue input 54 wrong settings 100199 X See Operating Instructions for MCO 305 243 Brake IGBT X 244 Heat sink temp X X X 245 Heat sink sensor X X 246 Pwr.card supply X X 247 Pwr.card temp X X 248 Illegal PS config X X 250 New spare part 251 New type code S202 X X X Parameter 14-23 Typecode Setting 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. 54 Warning yellow Alarm flashing red Trip locked yellow and red Table 11.2 LED Indication Danfoss A/S © 05/2015 All rights reserved. MG92A302 Warnings and Alarms Operating Instructions Alarm word Alarm word 2 Warning word Warning word 2 Extended status word Bit Hex Dec 0 00000001 1 Brake check ServiceTrip, Read/Write Brake check Ramping 1 00000002 2 Pwr. card temp ServiceTrip, (reserved) Pwr. card temp AMA running 2 00000004 4 Earth fault ServiceTrip, Typecode/ Sparepart Earth fault Start CW/CCW 3 00000008 8 Ctrl.card temp ServiceTrip, (reserved) Ctrl.card temp Slow down 4 00000010 16 Ctrl. word TO ServiceTrip, (reserved) Ctrl. word TO Catch up 5 00000020 32 Overcurrent Overcurrent Feedback high 6 00000040 64 Torque limit Torque limit Feedback low 7 00000080 128 Motor Th over Motor Th over Output current high 8 00000100 256 Motor ETR over Motor ETR over Output current low 9 00000200 512 Inverter overld. Inverter overld. Output freq high 10 00000400 1024 DC undervolt DC undervolt Output freq low 11 00000800 2048 DC overvolt DC overvolt Brake check OK 12 00001000 4096 Short circuit DC voltage low Braking max 13 00002000 8192 Inrush fault DC voltage high Braking 14 00004000 16384 Mains ph. loss Mains ph. loss Out of speed range 15 00008000 32768 AMA not OK No motor OVC active 16 00010000 65536 Live zero error Live zero error AC brake 17 00020000 131072 Internal fault KTY error 10 V low KTY Warn Password timelock 18 00040000 262144 Brake overload Fans error Brake overload Fans Warn Password protection 19 00080000 524288 U phase loss ECB error Brake resistor ECB Warn 20 00100000 1048576 V phase loss 21 00200000 2097152 W phase loss Speed limit 22 00400000 4194304 Fieldbus fault Fieldbus fault Unused 23 00800000 8388608 24 V supply low 24 V supply low Unused 24 01000000 16777216 Mains failure Mains failure Unused 25 02000000 33554432 1.8 V supply low Current lmit Unused 26 04000000 67108864 Brake resistor Low temp Unused 27 08000000 134217728 Brake IGBT Voltage limit Unused 28 10000000 268435456 Option change Encoder loss Unused 29 20000000 536870912 Drive Initialised Output freq. lim. Unused 30 40000000 1073741824 Safe stop (A68) PTC 1 Safe stop (A71) Safe stop (W68) PTC 1 Safe Unused stop (W71) 31 80000000 2147483648 Mech. brake low Dangerous failure (A72) Extended status word Brake IGBT 11 11 Unused Table 11.3 Description of Alarm Word, Warning Word, and Extended Status Word The alarm words, warning words and extended status words can be read out via serial bus or optional fieldbus for diagnose. See also parameter 16-94 Ext. Status Word. MG92A302 Danfoss A/S © 05/2015 All rights reserved. 55 Index MCA 124 EtherCAT Index O A Overview.................................................................................................... 8 Abbreviation............................................................................................. 6 Alarm......................................................................................................... 52 P Alarm word............................................................................................. 49 Parameter............................................................................................ 4, 11 Assumptions............................................................................................. 5 Parameters.............................................................................................. 11 PDO Communication.......................................................................... 15 B Process Control Data........................................................................... 15 Background Knowledge....................................................................... 5 Process control operation.................................................................. 16 Process Data........................................................................................... 15 C Process Status Data.............................................................................. 15 Cabling..................................................................................................... 38 Profibus....................................................................................................... 5 Configuration............................................................................. 6, 33, 37 Control Profile........................................................................................ 17 R Reference................................................................................................... 6 D Reference Handling............................................................................. 15 DC Backup................................................................................................. 5 DeviceNet.................................................................................................. 5 S Safety........................................................................................................... 3 E EMC Precautions...................................................................................... 9 T EtherCAT..................................................................................................... 5 Topology.................................................................................................... 8 Ethernet................................................................................. 9, 11, 36, 38 H V VLT Parameters...................................................................................... 11 Hardware............................................................................................... 3, 5 W I Warning.................................................................................................... 52 I/O................................................................................................................. 6 Warning word........................................................................................ 49 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 56 Danfoss A/S © 05/2015 All rights reserved. MG92A302 Index MG92A302 Operating Instructions 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. Danfoss A/S Ulsnaes 1 DK-6300 Graasten vlt-drives.danfoss.com 130R0273 MG92A302 *MG92A302* 05/2015 ">

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Key features
- EtherCAT communication
- Real-time control
- Flexible topology
- PDO/SDO support
- Large network capacity
Frequently asked questions
Screened twisted pair cables (CAT 5e or CAT 6) are generally recommended for industrial environments and with frequency converters, as stated in the viewed document.
A maximum cable length of 100 meters is allowed between network devices, according to the viewed document.
The station alias can be set using hardware switches (refer to Table 4.1 in the viewed document) or via parameter 12-50 Configured Station Alias and TwinCAT settings.
The viewed document highlights parameters 0-40 (Hand on), 8-01 (Control Site), 8-02 (Control Word Source), 8-10 (Control Word Profile), and 8-50 to 8-56 (Coasting and Preset Reference Selection).
The viewed document specifies that the XML file can be downloaded from http://www.danfoss.com/BusinessAreas/DrivesSolutions/EtherCAT/EtherCAT+files.htm