Danfoss VACON 100 industrial User manual

installation manual
integrated profinet io
ac drives
vacon®100 x
vacon®100 flow
vacon®100 industrial

vacon • 1
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
Table of contents
Document: DPD01031C
Version release date: 21.11.2016
1. Safety................................................................................................................3
1.1 Danger.................................................................................................................................3
1.2 Warnings .............................................................................................................................4
1.3 Earthing and earth fault protection ....................................................................................5
2. PROFINET IO - general info...............................................................................6
2.1 PROFINET IO protocol.........................................................................................................6
2.2 Connections and wiring ......................................................................................................6
2.3 ACD (Address Conflict Detection) in Ethernet networks....................................................6
3. PROFINET IO installation ..................................................................................8
3.1 Installation in VACON® 100................................................................................................8
3.2 Installation in VACON® 100 X...........................................................................................11
3.2.1 Prepare for use through Ethernet........................................................................11
4. Fieldbus parameterization .............................................................................12
4.1 Fieldbus control and basic reference selection...............................................................12
4.1.1 Torque control parametrization ...........................................................................12
4.2 PROFINET IO parameters and monitoring values............................................................13
4.2.1 Name of Station ....................................................................................................14
4.2.2 Communication timeout.......................................................................................14
4.3 Ethernet common settings ...............................................................................................14
4.3.1 IP Address mode...................................................................................................15
4.3.2 Active IP address, subnet mask and default gateway .........................................15
4.3.3 MAC address.........................................................................................................15
5. PROFINET IO protocol .....................................................................................16
5.1 PROFIdrive 4.1 profile .......................................................................................................16
5.2 PROFIdrive 4.1 state machine ..........................................................................................16
5.3 PROFINET IO process communication .............................................................................17
5.3.1 Telegram types .....................................................................................................17
5.3.2 Telegram building blocks.....................................................................................20
5.3.3 Quick setup ...........................................................................................................24
5.4 PROFIdrive IO parameters................................................................................................25
5.4.1 Parameters of the PROFIdrive .............................................................................25
5.4.2 Vendor-specific PROFIdrive parameters .............................................................27
5.4.3 PROFIdrive signal numbers .................................................................................28
5.4.4 User specific record data .....................................................................................30
5.4.5 Base Mode Parameter Access Model ..................................................................31
5.4.6 Parameter responses...........................................................................................35
5.4.7 Drive parameter access using application ID ......................................................39
5.4.8 Parameter channel examples..............................................................................39
5.5 PROFINET IO communications and connection timeout..................................................46
6. Fault tracing ...................................................................................................47
6.1 Other fault conditions .......................................................................................................48
7. APPENDIX 1 - PROCESS DATA ........................................................................49
8. APPENDIX 2 - CONTROL AND STATUS WORD .................................................50
8.1 Control Word bit description ......................................................................................50
8.2 Status Word Descriptions ...........................................................................................52
9. APPENDIX 3 - EXAMPLE WITH SIEMENS PLC .................................................53
9.1 Siemens STEP 7 ................................................................................................................53

vacon • 2
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
9.2 Siemens TIA Portal ...........................................................................................................62
10. APPENDIX 4 - EXAMPLE WITH SIEMENS SIMATIC PDM ..................................69
11. APPENDIX 5 - LWIP LICENCE..........................................................................76

Safety vacon • 3
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 1
1. SAFETY
This manual contains clearly marked cautions and warnings that are intended for your personal
safety and to avoid any unintentional damage to the product or connected appliances.
Read the information included in cautions and warnings carefully.
The cautions and warnings are marked as follows:
1.1 Danger
Table 1. Warning signs
= DANGER! Dangerous voltage
= WARNING or CAUTION
= Caution! Hot surface
The components of the power unit are live when the drive is connected to mains
potential. Coming into contact with this voltage is extremely dangerous and may
cause death or severe injury.
The motor terminals U, V, W and the brake resistor terminals are live when the
AC drive is connected to mains, even if the motor is not running.
After disconnecting the AC drive from the mains, wait until the indicators on the
keypad go out (if no keypad is attached, see the indicators on the cover). Wait 5
more minutes before doing any work on the connections of the drive. Do not open
the cover before this time has expired. After expiration of this time, use a
measuring equipment to absolutely ensure that no
voltage is present. Always
ensure absence of voltage before starting any electrical work!
The control I/O-terminals are isolated from the mains potential. However, the
relay outputs and other I/O-terminals may have a dangerous control voltage
present even when the AC drive is disconnected from mains.
Before connecting the AC drive to mains make sure that the front and cable
covers of the drive are closed.
During a ramp stop (see the Application Manual), the motor is still generating
voltage to the drive. Therefore, do not touch the components of the AC drive
before the motor has completely stopped. Wait until the indicators on the keypad
go out (if no keypad is attached, see the indicators on the cover). Wait additional 5
minutes before starting any work on the drive.
9000.emf
13006.emf
9001.emf
9000.emf
9000.emf
9000.emf
9000.emf
9000.emf
9000.emf

1
vacon • 4 Safety
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
1.2 Warnings
The AC drive is meant for fixed installations only.
Do not perform any measurements when the AC drive is connected to the mains.
The earth leakage current of the AC drives exceeds 3.5mA AC. According to
standard EN61800-5-1, a reinforced protective ground connection must be
ensured. See Chapter 1.3.
If the AC drive is used as a part of a machine, the machine manufacturer is
responsible for providing the machine with a supply disconnecting device (EN
60204-1).
Only spare parts delivered by VACON®can be used.
At power-up, power break or fault reset the motor will start immediately if the
start signal is active, unless the pulse control for
Start/Stop logic has been selected .
Furthermore, the I/O functionalities (including start inputs) may change if
parameters, applications or software are changed. Disconnect, therefore, the
motor if an unexpected start can cause danger.
The motor starts automatically after automatic fault reset if the auto restart
function is activated. See the Application Manual for more detailed information.
Prior to measurements on the motor or the motor cable, disconnect the motor
cable from the AC drive.
Do not touch the components on the circuit boards. Static voltage discharge may
damage the components.
Check that the EMC level of the AC drive corresponds to the requirements of your
supply network.
13006.emf
13006.emf
13006.emf
13006.emf
13006.emf
13006.emf
13006.emf
13006.emf
13006.emf
13006.emf

Safety vacon • 5
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 1
1.3 Earthing and earth fault protection
The AC drive must always be earthed with an earthing conductor connected to the earthing terminal
marked with .
The earth leakage current of the drive exceeds 3.5mA AC. According to EN61800-5-1, one or more
of the following conditions for the associated protective circuit must be satisfied:
a) The protective conductor must have a cross-sectional area of at least 10 mm2 Cu or 16
mm2 Al, through its total run.
b) Where the protective conductor has a cross-sectional area of less than 10 mm2 Cu or 16
mm2 Al, a second protective conductor of at least the same cross-sectional area must be
provided up to a point where the protective conductor has a cross-sectional area not less
than 10 mm2 Cu or 16 mm2 Al.
c) Automatic disconnection of the supply in case of loss of continuity of the protective
conductor.
The cross-sectional area of every protective earthing conductor which does not form part of the
supply cable or cable enclosure must, in any case, be not less than:
-2.5mm
2if mechanical protection is provided or
-4mm
2if mechanical protection is not provided.
The earth fault protection inside the AC drive protects only the drive itself against earth faults in the
motor or the motor cable. It is not intended for personal safety.
Due to the high capacitive currents present in the AC drive, fault current protective switches may
not function properly.
CAUTION!
Do not perform any voltage withstand tests on any part of the AC drive. There is
a certain procedure according to which the tests must be performed. Ignoring
this procedure can cause damage to the product.
NOTE! You can download the English and French product manuals with applicable safety,
warning and caution information from
http://drives.danfoss.com/knowledge-center/technical-documentation/.
REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit
contenant l’ensemble des informations de sécurité, avertissements et mises en garde
applicables sur le site http://drives.danfoss.com/knowledge-center/technical-documentation/
.
13006.emf
13006.emf

2
vacon • 6 PROFINET IO - general info
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
2. PROFINET IO - GENERAL INFO
PROFINET IO defines the communication with decentrally connected peripheral devices.
It defines the entire data exchange between IO-controllers (devices with "master functionality") and
the IO-devices (devices with "slave functionality"), as well as parameter setting and diagnosis.
PROFINET IO is designed for the fast data exchange between Ethernet-based field devices and
follows the provider-consumer model.
2.1 PROFINET IO protocol
Table 2.
Connections and
communications
Interface 100BaseTX, IEEE 802.3 compatible
Data transfer method Ethernet half/full -duplex
Data transfer speed 10/100 MBit/s, autosensing
Protocol PROFINET IO
Connector Shielded RJ45 connector
Cable type CAT5e STP
Default IP Selectable: Fixed or DHCP
Table 3. Abbreviations and their explanations
Abbreviation Explanation
STW1 Steuerwort 1 (German for control word 1)
ZSW1 Zustandwort 1 (German for status word 1)
PDO Process data out
PDI Process data in
PNU Parameter number
NSOLL Sollwert (German for reference value)
NIST Istwert (German for actual value)
2.2 Connections and wiring
The VACON®100 supports 10/100Mb speeds in both Full- and Half-duplex modes. However, real-
time process control requires the Full-duplex mode and the 100-megabit speed. Drives must be
connected to the Ethernet network with a Shielded Twisted Pair (STP) CAT-5e cable (or better). Use
only industrial standard components in the network and avoid complex structures to minimize the
length of response time and the amount of incorrect dispatches.
2.3 ACD (Address Conflict Detection) in Ethernet networks.
The VACON®100 implements ACD algorithm (IETF RFC 5227).
The ACD algorithm tries to actively detect if the IP address configured to this device is been used by
another device in the same network. To accomplish this, ACD sends four ARP request packets when
the device's Ethernet interface goes up or when its IP address changes. ACD prevents the use of the
Ethernet interface until the ARP probing finishes. This delays the startup of fieldbus protocols about
one second.

PROFINET IO - general info vacon • 7
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 2
During the delay or after it, the ACD passively checks incoming ARP messages for use of the de-
vice's IP address. If another device with the same IP address is detected, the ACD will try to defend
its IP address with a single ARP message. If the other device with the same IP address also supports
ACD, it should stop using the address. If not, the ACD will close the Ethernet connection and indicate
the situation with an Alarm. This is done according the "DefendWithPolicyB".
Acknowledging of the Alarm is not possible if the problem is active. ACD opens Ethernet connection
if the other device with the same IP address disappears from the network. Alarm can be acknowl-
edged after this. Other policies are not supported. If the fieldbus protocol has been active, a fieldbus
fault may be activated (depends on the fieldbus and drive application configuration).
If IP settings are set via Profinet IO DCP messages, then ACD will be disabled until drive is restarted.
This is done because some PLCs expect to be able to connect to drive immediately after setting IP
settings. ACD causes a few second delay before that is possible. After connecting failure, the PLC
usually waits twenty seconds or more before trying again. This then means that getting successful
connection takes more than twenty seconds and will cause unnecessary delay for process control.

3
vacon • 8 PROFINET IO installation
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
3. PROFINET IO INSTALLATION
3.1 Installation in VACON®100
Figure 1.
1Open the cover of the AC drive.
The relay outputs and other I/O-terminals may have a dangerous control voltage
present even when the AC drive is disconnected from mains.
2Locate the components that you will need on the AC drive to connect and run the
Ethernet cables.
Be sure not to plug the Ethernet cable to the terminal under the keypad! This can
harm your personal computer.
3Connect the Ethernet cable to its terminal and run the cable through the conduit
as shown in Figure 2.
9000.emf
M4x55
9174.emf
13006.emf

PROFINET IO installation vacon • 9
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 3
Figure 2.
4
Protection class IP21: Cut free the opening on the AC drive cover for the
Ethernet cable.
Protection class IP54: Cut the rubber grommets open to slide the cables
through. If the grommets fold in while you are inserting the cable, draw the cable
back a bit to straighten the grommets up. Do not cut the grommet openings
wider than what is necessary for the cables you are using.
NOTE! To meet the requirements of the enclosure class IP54, the connection
between the grommet and the cable must be tight. Therefore, lead the first bit of
the cable out of the grommet straight before letting it bend. If this is not
possible,
the tightness of the connection must be ensured with insulation tape or a
cable
tie .
Ethernet
cable
9316.emf

3
vacon • 10 PROFINET IO installation
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
Figure 3. Leading the cables. Left: IP21, right: IP54.
Figure 4.
5Put the coverof the AC drive back.
NOTE! When you are planning the cable runs, remember to keep the distance
between the Ethernet cable and the motor cable at a minimum of 30 cm.
9068.emf
9056.emf
Ethernet
cable

PROFINET IO installation vacon • 11
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 3
3.2 Installation in VACON®100 X
The AC drive can be connected to fieldbus either through RS485 or Ethernet. The connection for
Ethernet is left to the control terminals.
Figure 5.
3.2.1 Prepare for use through Ethernet
For more detailed information, see the user’s manual of the fieldbus you are using.
1Connect the Ethernet cable (see specification in ) to its terminal and run the cable
through the conduit plate.
2Remount the powerhead.
NOTE: When planning the cable runs, remember to keep the distance between
the Ethernet cable and the motor cable at a minimum of 30 cm.
Ethernet
connection
11752_uk

4
vacon • 12 Fieldbus parameterization
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4. FIELDBUS PARAMETERIZATION
The following chapter describes briefly how to parameterise the AC drive in order for the motor to
be controllable via fieldbus. These instructions are written for basic applications. For more infor-
mation, consult the application-specific manual.
In order for the AC drive to accept commands from the fieldbus network, the control place of the AC
drive has to be set to fieldbus. The default value of the parameter "Control Place" is usually I/O.
Note that if the control unit firmware is updated, the default settings are restored. In addition, some
applications may have the remote speed reference selection set by default to other than fieldbus.
In these cases, the speed reference selection must be set to fieldbus, in order for the speed refer-
ence to be controlled via fieldbus.
NOTE! The motor control mode should be selected to support the used process and profile.
The navigation path to the fieldbus parameters may differ from application to application. The ex-
emplary paths below apply to the VACON®100 AC drive.
Basic information on how to use the control keypad you will find in the VACON®100 INDUSTRIAL
Application Manual.
4.1 Fieldbus control and basic reference selection
The following tables list some of the parameters related to fieldbus control in case of VACON®ap-
plications for the VACON®100 Family AC drives. See the application specific manuals for more de-
tailed information.
Parameters can be read and written by using the drive panel, PC Tool or fieldbus protocol. See
chapter 5.4.8 for reading and writing application parameters over PROFINET IO. Notice that some
of connections parameters for fieldbus may need to be set (depending on your configuration) via
panel or PC tool, before you can connect over fieldbus and write application parameters.
4.1.1 Torque control parametrization
Some extra parametrisation has to be made in order to control the frequency control with torque
control. The following instructions are for the VACON®100, see the application specific manual for
more detailed information.
• Motor control mode (ID 600) should be configured to "Torque control" (2).
To configure the drive to use correct torque reference, select the parameter "Torque Reference Se-
lection" to ProcessDataIn1 (9). This can be done with: PC-tool or panel in panel tree: P 3.3.2.1, ID 64.
Table 4. Parametrization for Vacon®100 (standard application)
Parameter name ID Value Default Panel Tree
Control mode 600
0 = Frequency
1 = Speed
2 = Torque
0 P 3.1.2.1
Remote control place 172 1 = Fieldbus CTRL 0 P 3.2.1
Local / remote 211 0 = Remote 0 P 3.2.2
Fieldbus ref. sel. 122 3 = Fieldbus 0 P 3.3.1.10

Fieldbus parameterization vacon • 13
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 4
4.2 PROFINET IO parameters and monitoring values
The integrated PROFINET IO protocol in the VACON®100 drive must be selected when ordering the
drive. If the drive is not equipped with the integrated PROFINET IO protocol, the PROFINET IO
menus do not appear, and the protocol cannot be used.
Settings for PROFINET IO can be found under "I/O and Hardware / Ethernet / PROFINET IO". PRO-
FINET IO has two menus, one for parameters and one for monitoring. If the protocol is disabled, the
monitoring menu is not shown on the panel.
Table 5. PROFINET parameters
Code Parameter Min Max Unit Default ID Description
P5.9.5.1.1 Protocol in use 0 = Dis-
abled
1 =
Enabled -0 = Dis- abled 2434
0 = Not in use
1 = PROFINET enabled.
The parameter is locked
for editing when the
drive is in RUN state.
P5.9.5.1.2 Communication
time-out 0 65535 s 10 2435
0 = The time-out is
defined by Master.
(= Watchdog time).
P5.9.5.1.3 Name Of Station 0 240 chars Drive spe-
cific 2597 Visible only in VACON®
Live. See Chapter 4.2.1.
Table 6. PROFINET monitoring values
Code Parameter Min Max Unit Default ID Description
P5.9.5.2.1 Name of station - - - - 2436
A value used to uniquely
identify the device on the
network.
This monitoring value is
normally not visible but
appears when a
PROFINET IO connection
is established.
P5.9.5.2.2 Fieldbus protocol
status 1 3 - - 2437
1 = Initializing (only
before first connection)
2 = Stopped
3 = Operational
4 = Faulted
P5.9.5.2.3 Communication
status 0 999 - 0 2438
0-99 Number of
messages with errors.
0-999 Number of
messages without
communication errors.
P5.9.5.2.4 Setpoint telegram 1 4 - 1 2439
Telegram used in the
setpoint direction.
1 = Vendor-specific 1
2 = Vendor-specific 2
3 = Vendor-specific 3
4 = Vendor-specific 4
P5.9.5.2.5 Actual value
telegram 1 4 - 1 2440
Telegram used in the
actual value direction.
1 = Vendor-specific 1
2 = Vendor-specific 2
3 = Vendor-specific 3
4 = Vendor-specific 4

4
vacon • 14 Fieldbus parameterization
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
4.2.1 Name of Station
The Profinet IO "Name of Station" parameter can be set via VACON®Live. Other possibility is to set
this name by writing it via Ethernet with the DCP protocol. The name is empty if no name is set, or
if name is set as "temporary" by network device.
4.2.2 Communication timeout
The Communication timeout defines how much time can pass from the last received message from
the Master Device before a fieldbus fault is generated. This value is considered as an additional
timeout which works on top of the timeout mechanism of the PROFINET IO protocol. When a con-
nection loss is noticed, fault activation is started. If communication timeout value is zero, the fault
is activated immediately, otherwise the fault activates after a specified time. If the connection is re-
opened before the specified time has elapsed, no fault is created.
See Chapter 5.5.
4.3 Ethernet common settings
Usually in PROFINET IO network the PLC will set IP settings of the drive automatically when it tries
to connect to it. User only needs to set Profinet IO "Name Of Station" value which will used to identify
the drive in PLC program.
P5.9.5.2.6 Number of process
data 0 8 - 0 2441
The number of additional
process data fields
selected for
communication.
P5.9.5.2.7 Drive control word 0 FFFFFFFF
hhex 0 2442
The latest control word
(vendor-specific format)
received from the drive
application. (Can be used
for debugging purposes.)
P5.9.5.2.8 Drive status word 0 FFFFFFFF
hhex 0 2443
The latest status word
(vendor-specific format)
received from the drive
application. (Can be used
for debugging purposes.)
P5.9.5.2.9 Connection time-
outs 065535d- 0 2444
The number of
connection timeouts that
have occurred in the
PROFINET IO protocol.
P5.9.5.2.10 Parameter access 0 99999d- 0 2445
The number of
parameter accesses
received by the device.
P5.9.5.2.11 Profile control word 0 FFFFFFFF
hhex 0 2595
STW1 sent by master.
Not updated when
vendor specific control
word is used.
P5.9.5.2.12 Profile status word 0 FFFFFFFF
hhex 0 2596
ZSW1 sent to master.
Not updated when
vendor specific control
word is used.
Table 6. PROFINET monitoring values
Code Parameter Min Max Unit Default ID Description

Fieldbus parameterization vacon • 15
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 4
4.3.1 IP Address mode
The IP mode determines how the drive IP settings are set. If a DHCP server is selected, then the
drive will try to retrieve its IP settings from the DHCP server connected to the local network. If the
drive is unable to retrieve its IP settings, it will set a link-local address as the current IP address
after about one minute (for example 169.x.x.x).
If "Fixed IP" is set as IP mode, the settings from submenu "Fixed IP settings" are used.
In PROFINET network IP settings are usually set by the PLC via DCP protocol during connection
process. When this is happens, IP mode is set to fixed and given settings are stored to "Fixed IP set-
tings".
4.3.2 Active IP address, subnet mask and default gateway
This value cannot be changed. If IP mode is "fixed" then it will display same value as in Fixed IP ad-
dress. If mode is "DHCP", the value is 0.0.0.0 when DHCP is retrieving IP settings or 169.x.x.x if it
could not retrieve an address. Otherwise it shows currently active IP address.
Exception to above is that if IP settings were set from PLC via DCP protocol and PLC set the settings
with flag "temporary", then IP settings are reset during drive startup to "0.0.0.0" and IP mode is still
"Fixed".
4.3.3 MAC address
The MAC address of the control board. MAC address (Media Access Control) is a unique address
given to each network host. It is not editable.
Table 7. Common Ethernet Settings
Panel Tree Parameter Range Default ID Description
P5.9.1.1 IP address
mode
Fixed (1),
DHCP(2) DHCP (2) 2482 IP Mode
P5.9.1.2 Duplicate IP
Detection
Disabled (0),
Enabled (1) enabled 2569
When disabled drive does not
check for or react to address
conflict situation.
P5.9.1.3.1 IP address 1.0.0.0 -
223.255.255.255 192.168.0.10 2529 Fixed IP address
P5.9.1.3.2 Subnet mask 0.0.0.0-
255.255.255.255 255.255.0.0 2530 Fixed Subnet mask
P5.9.1.3.3 Default gate-
way
0.0.0.0-
255.255.255.255 192.168.0.1 2531 Fixed default gateway
P5.9.1.4 Active IP
address - - 2483
Shows current active IP
address. It is same as fixed
value if IP mode is "Fixed".
P5.9.1.5 Active subnet
mask - - 2484
Shows current active subnet
mask. It is same as fixed value
if IP mode is "Fixed".
P5.9.1.6 Active default
gateway - - 2485
Shows current active default
gateway. It is same as fixed
value if IP mode is "Fixed".
P5.9.1.7 MAC address - - 2486 Drive MAC address

5
vacon • 16 PROFINET IO protocol
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
5. PROFINET IO PROTOCOL
PROFINET is the Ethernet-based automation standard of PROFIBUS International for the imple-
mentation of an integrated and consistent automation solution based on Industrial Ethernet. PRO-
FINET supports the integration of simple distributed field devices and time-critical applications in
(switched) Ethernet communication, as well as the integration of component-based distributed au-
tomation systems for vertical and horizontal integration of networks.
The VACON®100 AC drive implements PROFINET IO version 2.3 with conformance class B and the
netload class I, making it suitable for use in larger automation systems.
5.1 PROFIdrive 4.1 profile
To provide interoperability between devices from different manufacturers, a "standard" must be
defined so that:
• The devices behave in the same way.
• They produce and/or consume the same basic set of I/O data.
• They contain the same basic set of configurable attributes.
The formal definition of this information is known as a device profile.
5.2 PROFIdrive 4.1 state machine
STW1 (Control Word) and ZSW1 (Status Word) follow the state machine presented below:
Figure 6. General state diagram
Highest priority transition
..
..
Lowest priority transition
Power ON
S1: Switching On Inhibited
ZSW1 bit 6 = True; 0,1,2 = False
General state diagram
11610_u
k
OFF
AND No Coast Stop
AND No Quick Stop
STW1 bit0=False
AND bit1=True AND bit2=True
Coast Stop
OR Quick Stopb
AND No Quick Stop
STW1 bit1=False
OR bit2=False
Coast Stop
SWT1 bit1=False
Standstill detected
OR
Disble operation
STW1 bit3=False
S2: Ready For Switching On
ZSW1 bit 0 = True; 1,2,6 = False
Ramp stop
Quick stop
ON
STW1 bit0=True
ON
STW1 bit0=True
OFF
STW1 bit0=False
OFF
STW1 bit0=False
Quick stop
STW1 bit2=False
Quick stop
STW1 bit2=False
Standstill detected
OR
Disable operation
STW1 bit3=False
S5: Switching Off
ZSW1 bit0,1 =True
bit 2,6=False
Coast stop
OR Quick stop
STW1 bit1=False
OR bit2=False
Coast stop
STW1 bit1=False
S3: Switched On
ZSW1 bit 0,1 = True; 2,6 = False
S4: Operation
ZSW1 bit 0,1,2”p.e” = True; 6=False
Enable operation
STW1 bit3=True
Disable operation
STW1 bit3=False

PROFINET IO protocol vacon • 17
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/ 5
5.3 PROFINET IO process communication
The PROFIdrive profile specifies telegrams used for process communication. The VACON®100 AC
drive supports four types of different telegrams with and without extra process data items. These
telegrams contain either PROFIdrive or VACON®specific signals or a combination of both.
The following chapters describe the different types of telegrams and the signals that form them.
5.3.1 Telegram types
The telegrams defined in the chapters below use different combinations of control and reference
values. Control and status word can be either VACON®specific or defined in PROFIDrive standard.
Speed reference and actual values can use different scaling.
Please check details of telegrams before taking them in use.
5.3.1.1 Standard Telegram 1 and variants
Standard Telegram 1 types are used, when a standard VACON®application is used and PROFIdrive
functionality is required. These telegrams (table below) use PROFIdrive-defined control word,
status word, speed setpoint value and speed actual value. When using these telegrams, the process
data fields are communicated as 16-bit values. STW1 will force edge sensitive run control.
Table 8. Standard Telegram 1 and variants
Telegram No. Telegram Abbreviation
1Standard Telegram 1 ST1
102 Standard Telegram 1 + 1 Process Data ST1 + 1 PD
103 Standard Telegram 1 + 2 Process Data ST1 + 2 PD
104 Standard Telegram 1 + 3 Process Data ST1 + 3 PD
100 Standard Telegram 1 + 4 Process Data ST1 + 4 PD
105 Standard Telegram 1 + 5 Process Data ST1 + 5 PD
106 Standard Telegram 1 + 6 Process Data ST1 + 6 PD
107 Standard Telegram 1 + 7 Process Data ST1 + 7 PD
101 Standard Telegram 1 + 8 Process Data ST1 + 8 PD
Table 9. Standard Telegram 1 setpoint and actual data
Bytes Setpoint Actual value
1...2 STW1 5.3.2.1 ZSW1 5.3.2.2
3...4 NSOLL_A 5.3.2.3 NIST_A 5.3.2.4
5...6 PDI1
5.3.2.11
PDO1
5.3.2.11
7...8 PDI2 PDO2
... ... ...
19...20 PDI8 PDO8

5
vacon • 18 PROFINET IO protocol
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
5.3.1.2 VACON®-specific Telegram 1 and its variants
These telegrams (table below) use VACON®defined control word, status word, speed setpoint value
and speed actual value to directly access the AC drive application. When using these telegrams, the
process data fields are communicated as 16-bit values.
5.3.1.3 VACON®-specific Telegram 2 and its variants
These telegrams (table below) use VACON®defined control word, status word, speed setpoint value
and speed actual value to directly access the AC drive application. The difference to vendor telegram
1 types are the added general control and status words.
Table 10. Vendor telegram 1 and variants
Telegram No. Telegram Abbreviation
108 Vendor Telegram 1 Vendor 1
109 Vendor Telegram 1 + 1 Process Data Vendor 1 + 1 PD
110 Vendor Telegram 1 + 2 Process Data Vendor 1 + 2 PD
111 Vendor Telegram 1 + 3 Process Data Vendor 1 + 3 PD
112 Vendor Telegram 1 + 4 Process Data Vendor 1 + 4 PD
113 Vendor Telegram 1 + 5 Process Data Vendor 1 + 5 PD
114 Vendor Telegram 1 + 6 Process Data Vendor 1 + 6 PD
115 Vendor Telegram 1 + 7 Process Data Vendor 1 + 7 PD
116 Vendor Telegram 1 + 8 Process Data Vendor 1 + 8 PD
Table 11. Vendor telegram 1 setpoint and actual data
Bytes Setpoint Actual value
1...2 FB FIXED CW 5.3.2.5 FB FIXED SW 5.3.2.6
3...4 FB SPEED REF 5.3.2.9 FB SPEED ACT 5.3.2.10
5...6 PDI1
5.3.2.11
PDO1
5.3.2.11
7...8 PDI2 PDO2
... ... ....
19...20 PDI8 PDO8
Table 12. Vendor telegram 2 and variants
Telegram No. Telegram Abbreviation
117 Vendor Telegram 2 Vendor 2
118 Vendor Telegram 2 + 1 Process Data Vendor 2 + 1 PD
119 Vendor Telegram 2 + 2 Process Data Vendor 2 + 2 PD
120 Vendor Telegram 2 + 3 Process Data Vendor 2 + 3 PD
121 Vendor Telegram 2 + 4 Process Data Vendor 2 + 4 PD
122 Vendor Telegram 2 + 5 Process Data Vendor 2 + 5 PD
123 Vendor Telegram 2 + 6 Process Data Vendor 2 + 6 PD
124 Vendor Telegram 2 + 7 Process Data Vendor 2 + 7 PD
125 Vendor Telegram 2 + 8 Process Data Vendor 2 + 8 PD