Danfoss FC 300 User manual

FC 300 CANopen
MG.33.J3.02 – VLT
®
is a registered Danfoss trademark 1
Contents
Safety Note ................................................................................................................. 3
Introduction 4
About this Manual......................................................................................................... 4
Technical Overview ....................................................................................................... 4
Assumptions................................................................................................................ 5
Hardware .................................................................................................................... 5
Background Knowledge.................................................................................................. 5
FC 300-related Literature ............................................................................................... 5
CiA Conformance .......................................................................................................... 5
Abbreviations............................................................................................................... 6
How to Install 7
The CANopen option...................................................................................................... 7
LED Behaviour ............................................................................................................. 8
Module Status (MS), red.......................................................................................... 8
Network Status (NS), green ..................................................................................... 8
Hardware switches........................................................................................................ 8
Cabling ....................................................................................................................... 9
Cable Specifications................................................................................................ 9
Connection of the Cable Screen ................................................................................ 9
Earth Connection ................................................................................................... 9
CANopen Connector................................................................................................ 9
CANopen Termination ............................................................................................10
EMC Precautions..........................................................................................................11
How to Install Option in Frequency Converter....................................................................12
How to Configure the System 13
Object Model...............................................................................................................13
Communication in CANopen...........................................................................................14
COB-Identifiers (ID) 14
Controlling the Network ................................................................................................15
Network Management (NMT) 15
Error control ...............................................................................................................16
Emergency object (EMCY) 16
Bus Error counters 17
SDO Communication ....................................................................................................18
Saving OD entries 18
Restoring OD entries 18
Setting up CANopen master...........................................................................................19
EDS file 19
Configuring the CANopen master 19
Configuring the FC 300 .................................................................................................21
VLT Parameters 21
How to Control the FC300 22
PDO Communication.....................................................................................................22
PDO Mapping Syntax .............................................................................................23
PDO Transmission Modes........................................................................................24
PDO Triggering Modes............................................................................................24
Inhibit Time .........................................................................................................24
Event Timer .........................................................................................................24
Control Profile .............................................................................................................25
DSP 402 State Machine 25
DSP 402 state transitions .......................................................................................26
DSP 402 Control Profile.................................................................................................27
Danfoss FC control profile..............................................................................................30
Reference Handling ......................................................................................................34
How to Access FC 300 Parameters 35
Danfoss Specific Objects (2000h-5FFFh)...........................................................................35

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Parameters 36
Parameter List.............................................................................................................41
Conversion index 42
Object Directory 43
Communication Profile Area (1000h-1FFFh) ......................................................................43
Communication object overview 43
Troubleshooting 47
Troubleshooting...........................................................................................................47
SDO Abort Codes 48
EMCY error code 49
Alarm Word and Warning Word ......................................................................................50
Index ........................................................................................................................54
Copyright, Limitation of Liability and Revision Rights
This publication contains information proprietary to Danfoss A/S. By accepting and using this
manual the user agrees that the information contained herein will be used solely for operating
equipment from Danfoss A/S or equipment from other vendors provided that such equipment is
intended for communication with Danfoss equipment over a Ethernet serial communication link.
This publication is protected under the Copyright laws of Denmark and most other countries.
Danfoss A/S does not warrant that a software program produced according to the guidelines
provided in this manual will function properly in every physical, hardware or software
environment.
Although Danfoss A/S has tested and reviewed the documentation within this manual, Danfoss
A/S makes no warranty or representation, either express or implied, with respect to this
documentation, including its quality, performance, or fitness for a particular purpose.
In no event shall Danfoss A/S 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 A/S 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 A/S reserves the right to revise this publication at any time and to make changes in its
contents without prior notice or any obligation to notify previous users of such revisions or
changes.

FC 300 CANopen
MG.33.J3.02 – VLT
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is a registered Danfoss trademark 3
Safety Note
The voltage of the frequency converter is dangerous whenever connected to mains.
Incorrect installation of the motor, frequency converter or fieldbus may cause damage to the
equipment, serious personal injury or death. Consequently, the instructions in this manual,
as well as national and local rules and safety regulations, must be complied with.
Safety Regulations
1. The frequency converter must be disconnected from mains if repair work is to be carried out.
Check that the mains supply has been disconnected and that the necessary time has passed
before removing motor and mains plugs.
2. The [OFF] key on the control panel of the frequency converter does not disconnect the
equipment from mains and is thus not to be used as a safety switch.
3. Correct protective earthing 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. Protection against motor overload is not included in the factory setting. If this function is
desired, set par. 1-90 to data value ETR trip or data value ETR warning .
Note: The function is initialised at 1.16 x rated motor current and rated motor frequency. For the
North American market: The ETR functions provide class 20 motor overload protection in
accordance with NEC.
6. 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.
7. Please note that the frequency converter has more voltage inputs than L1, L2 and L3, when
load sharing (linking of DC intermediate circuit) and external 24 V DC have been installed. Check
that all voltage inputs have been disconnected and that the necessary time has passed before
commencing repair work.
Warning against Unintended Start
1. The motor can be brought to a stop by means of digital commands, bus commands, references
or a local stop, while the frequency converter is connected to mains.
If personal safety considerations make it necessary to ensure that no unintended start occurs,
these stop functions are not sufficient.
2. While parameters are being changed, the motor may start. Consequently, the stop key
[STOP/RESET] must always be activated; following which data can be modified.
3. A motor that has been stopped may start if faults occur in the electronics of the frequency
converter, or if a temporary overload or a fault in the supply mains or the motor connection
ceases.
Warning:
Touching the electrical parts may be fatal - even after the equipment has been
disconnected from mains.
Also make sure that other voltage inputs have been disconnected, such as external 24 V DC, load
sharing (linkage of DC intermediate circuit), as well as the motor connection for kinetic back up.
Refer to FC 300 Operating Instructions (MG.33.Ax.yy) for further safety guidelines.

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Introduction
About this Manual
First time users can obtain the most essential information for quick installation and set-up in these
chapters:
Introduction
How to Install
How to Configure the System
Application Examples
For more detailed information including the full range of set-up options and diagnosis tools please
refer to the chapters:
How to Control the FC 300
How to Access FC 300 Parameters
Parameters
Troubleshooting
Technical Overview
CANopen is a low-level network that standardizes communications between industrial devices
(sensors, limit switches, motor controls) and high-level devices (controllers). CANopen follows the
Open Systems Interconnection (OSI) model and is based on CAN technology for Media Access Control
and Physical Signalling.
CANopen is designed on the basis of three standards: DS102 CAN Physical Layer for Industrial
Applications , DS 301 CANopen Communication Profile for Industrial Systems and DSP 402 Device
Profile Drives and Motion Control.
CANopen systems can be configured to operate in a master-slave or a distributed control architecture
using peer-to-peer communication. Up to 127 nodes in a multi-drop network topology are supported,
and communication options can be powered directly from the bus, using the same cable for
communication.
Nodes can be removed or inserted without powering down the network.

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Each node on the network has its own unique Communication OBject IDentifier (COB-ID) to
distinguish it on the network. The access control is based on the CSMA/CA (Carrier Sense Multiple
Access / Collision Avoidance) principle, meaning that all nodes may have access to the network at the
same time. If two nodes attempt to get control of the network bus simultaneously, the CAN protocol
resolves the issue by arbitration. In this way collisions on the network are avoided.
CANopen defines device profiles for devices belonging to specific classes. For other devices, a custom
class must be defined in order to make it CANopen compatible. This further enhances the interchange-
ability and interoperability of the network.
Assumptions
These operating instructions assume that you are using a Danfoss FC 300 frequency converter with
CANopen. It is also assumed that as master you are using a PLC or PC equipped with a serial
communication card supporting all the CANopen communication services required by your application.
Furthermore, it is assumed that all requirements stipulated in the CANopen standard as well as those set up
in the AC Drive Profile and those pertaining to the VLT frequency converter are strictly observed as well as
all limitations therein fully respected
Hardware
These operating instructions relate to the CANopen option MCA 105 type no. 130B1103 uncoated and
130B1205 coated
Background Knowledge
The Danfoss CANopen option is designed to communicate with any master abiding by the CANopen
standard. It is therefore assumed that you have full knowledge of the PC or PLC you intend to use as a
master in your system. Any questions pertaining to hardware or software produced by any other
manufacturer is beyond the scope of these operating instructions and is of no concern to Danfoss. If you
have questions about how to set up master - master communication or communication to a non-Danfoss
slave, please consult the appropriate documentation.
FC 300-related Literature
The following literature is available for the FC 300 series.
Title Literature no.
FC 300 Operating Instructions MG.33.AX.YY
FC 300 Design Guide MG.33.BX.YY
Please also refer to:
http://www.danfoss.com/BusinessAreas/DrivesSolutions/
-for additional information
.
CiA Conformance
The CANopen option is designed to conformance against:
-
CAN in Automation: “Application Layer and Communication Profile”
CiA Draft Standard 301; Version 4.02 13.2.2002
-
CAN in Automation: “CANopen Device Profile for Drives and Motion Control”
CiA Draft standard Proposal 402; Revision 1.1 from 08.10.1998

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Abbreviations
CAN Controller Area Network
CiA CAN in Automation
COB Communication OBject
COB-ID Communication OBject Identifier
CTW Control Word
EDS Electronic Data Sheet
EMC Electromagnetic Compatibility
EMCY Emergency message
I/O Input/Output
LCP Local Control Panel
LED Light Emitting Diode
LSB Least Significant Bit
MAV Main Actual Value
MRV Main Reference Value
MSB Most Significant Bit
NMT Network Management
N/A Not Applicable
OD Object Directory
PCD Process Data
PDO Process Data Object
PLC Programmable Logic Control
PNU Parameter Number
RPDO Receive Process Data Object
RPM Revolutions per minutes; unit for the speed of a revolving motor
RTR Remote Transmission Request frame
RX Receive data
STW Status Word
SDO Service Data Object
SYNC Object for synchronization of process data
TPDO Transmit Process Data Object
TX Transmit Data

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How to Install
The CANopen option
The MCA105 CANopen option is in a standard A-option form.
It features two LED’s: MS (Module Status) and NS (Network Status) for status information and
troubleshooting.
The hardware switches can be used for setting baudrate and Node ID.

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LED Behaviour
Module Status (MS), red
State LED Description
No Error
 Off No error
Warning limit
reached
█████ Single Flash CAN error counter(s) has reached /
exceeded warning level
Error control
event
██████ Double flash Node guard event has occurred
Sync Error
█████████ Triple flash Sync message has not been received
within configured timeout (object 0x1006)
Bus Off
████████████████████
On Device in Bus Off-state
Network Status (NS), green
State LED Description
Stopped
█████ Single flash Device is in stopped state
Pre-operational
██████████ Blinking Device is in pre-operational state
Operational
████████████████████
On Device is in Operational state
Hardware switches
The hardware switches enables setting of baudrate and Node ID:
-
Switch 8 and 7 is for setting the baudrate for either: 125, 250 or 500 Kbps.
-
Switch 6 to 1 is for setting the node address in the range 1 to 62.
Switch
8 7
Baudrate
On On Par. 10-01
On Off 500 kbps
Off On 250 kbps
Off Off 125 kbps
Switch
6 5 4 3 2 1
Node ID
On On On On On On Par. 10-02
On On On On On Off 62
Off Off Off Off Off On 1
By setting both switch 8 and 7 on, baudrates can be selected via par. 10-01 Baud Rate Select :
10, 20, 50, 100, 125, 250 and 500 kbps.
By setting switches 6 to 1 on, Node ID can be selected via par. 10-02 MAC ID in the range: 1 - 127

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Cabling
Recommended guidelines for cabling in CANopen systems:
Baudrate Max. cable
length Resistance [mΩ/m] Cable cross section
[mm
2
]
Termination
resistor
500 kbps 100 m < 60 0.34 – 0.6
250 kbps 250 m
125 kbps 500 m
100 kbps 700 m < 40 0.5 – 0.6
50 kbps 1000 m
20 kbps 1000 m
10 kbps 1000 m < 26 0.75 – 0.8
120 Ω
Cable Specifications
The cable used should always be according to the specifications.
Be aware that the “Flat Cable” and other unscreened cable-types are not suited for use with frequency
converters.
Connection of the Cable Screen
It is recommended that the cable-screen is connected to ground at both ends of the cable at every CANopen
node.
Low impedance ground connection of the screen is very important, especially at high frequencies.
Achieve this by connecting the surface of the screen to ground, for example by means of a cable clamp or a
conductive cable gland. The frequency converter package includes various clamps and brackets to enable a
proper ground connection of the CANopen cable screen.
Earth Connection
It is important that all stations connected to the CANopen network are connected to the same earth
potential. Each earth connection must have low HF (high frequency) impedance. This can be achieved by
connecting a large surface area of the cabinet to ground, for example by mounting the VLT frequency
converter on a conductive rear plate.
N.B.:
Particularly when there are long distances between the stations in a CANopen network, it may be
necessary to use additional potential equalizing cables, connecting the individual stations to the same
earth potential.
CANopen Connector
The CANopen option is provided with a pluggable connector.
The connector has the following layout:

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NB!: Install wires only when the network is inactive. This will prevent problems such as shorting the
network supply or disrupting communications.
CANopen Termination
It is essential to terminate the bus line properly. A mismatch of impedance may result in reflections on
the line that will corrupt data transmission.
Termination resistors should be installed at each end of the bus line only.
The resistors must be mounted between terminal 2 (CAN_L) and terminal 4 (CAN_H) and should have the
following specification: 120 Ohm, 1 % Metal film, 1/4 Watt
Pin
no. Terminal Colour Name
1 - - Not used
2 CAN_L Blue CAN LOW
3 Drain (bare) Screen
4 CAN_H White CAN HIGH
5 - - Not used

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EMC Precautions
The following EMC precautions are recommended in order to achieve interference-free operation of the
Ethernet network. Additional EMC information is available in the FC 300 series Design Guide.
N.B.:
Relevant national and local regulations, for example regarding protective earth connection,
must be observed.
The CANopen communication cable must be kept away from motor and brake resistor cables to avoid
coupling of high frequency noise from one cable to the other. Normally a distance of 200 mm (8
inches) is sufficient, but maintaining the greatest possible distance between the cables is
recommended, especially where cables run in parallel over long distances. When crossing is
unavoidable, the CANopen cable must cross motor and brake resistor cables at an angle of 90
degrees.
AutomationDrive
VLT
min. 200 mm
90 ° crossing
CANopen cable

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How to Install Option in Frequency Converter
Items required 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)
Instructions:
-
Remove LCP panel from the FC 300
-
Remove the frame located beneath and discard
-
Push the fieldbus option adaptor frame for the FC 300 into place
-
Replace the LCP and attach cable

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How to Configure the System
Object Model
The functional principle of CANopen nodes are illustrated below:
All information accessible via the CAN-bus are stored in the Object Directory (OD).
The contents of the OD are organized in the following way:
Object Directory
Index Range
Object Type
0000h Not used
0001h – 025Fh Data Types
0260h – 0FFFh Reserved
1000h - 1FFFh Communication Object Area
2000h - 5FFFh Manufacturer Specific Area
6000h - 9FFFh Standardised Device Profile Area
A000h - FFFFh Reserved
For a complete overview of the supported objects in the OD, please refer to section: Object Directory.

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Communication in CANopen
Communication with the frequency converter in CANopen is achieved via Service Data Objects
(SDOs), Process Data Objects (PDOs) and Network Management (NMT).
- PDO’s represent real-time process data with high priority. Is only possible if node is in “operational”
state
- SDO’s represent non-time-critical data and are used to configure the frequency converter. Is
possible is node is in both “operational” and “pre-operational” state.
- NMT functions monitor the network stability and include synchronisation, detection of faults and
emergency message transmission.
COB-Identifiers (ID)
Each communication object has a unique identity (COB-ID) comprising the function code and the node
ID (node address):
Object Function Code
(binary) Resulting COB-ID Comm. par. in OD
NMT 0000 0 -
SYNC 0001 128 (1005h)
Time stamp 0010 256 -
EMERGENCY 0001 129 (81h) - 255 (FFh) 1014h
PDO1 (tx) 0011 385 (181h) - 511 (1FFh) 1800h
PDO1 (rx) 0100 513 (201h) - 639 (27Fh) 1400h
PDO2 (tx) 0101 641 (281h) - 767(2FFh) 1801h
PDO2 (rx) 0110 769 (301h) - 895 (37Fh) 1401h
PDO3 (tx) 0111 897 (381h) - 1023 (3FFh) 1802h
PDO3 (rx) 1000 1025 (401h) - 1151 (47Fh) 1402h
PDO4 (tx) 1001 1153 (481h) - 1279 (4FFh) 1803h
PDO4 (rx) 1010 1281 (501h) - 1407 (57Fh) 1403h
SDO (tx) 1011 1409 (581h) - 1535 (5FFh) 1200h - …
SDO (rx) 1100 1537 (601h) - 1663 (67Fh) 1200h - …
NMT error control
(Nodeguarding) 1110 1793 (701h)-1919 (77Fh) 1016h,1017h
(100Eh)
Transmit and receive is always seen from the Node’s point of view:
- RX = Node’s receiving data (Controller -> Node)
- TX = Node’s transmitting data (Node -> Controller)
Example:
COB-ID 383 = PDO3 transmit, from node address 3.
COB-ID 185 = PDO1 transmit, from node address 5.
COB-ID 604 = SDO receive, to node address 4.

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Controlling the Network
Network Management (NMT)
In each CANopen node a state machine controls the different states of the node.
After power-up the Node will transmit at Boot-up message with the COB-ID: 700h + Node ID, and go
from “Initialization” to “Pre-operational” state.
In this state SDO communication is possible, but not PDO communication.
The node must have a “Start Network”– command from a NMT-Master to enter the Operational state.
In Operational state both SDO and PDO communication are possible.
The NMT-state of the node is displayed with the green NS LED:
-
Blinking = Pre-operational
-
Solid on = Operational
-
Single flash = Stopped
A “Reset Node” or “Reset Communication”– command from the NMT-master will make the node jump
to “Initialization”– state, and automatically go to “Pre-operational”– state.

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Error control
CANopen offers two ways of error-control: “Node Guarding” and “Heartbeat”.
In Node Guarding , the NMT-master sends cyclically a Remote-frame (RTR): 700 + node ID.
The node will reply with it’s actual status.
The Node (drive) will monitor the reception of the RTR-frames, and thereby monitor the presence of
the NMT-master.
The monitoring of the NMT-master can be configured via:
-
OD: 100C Guard Time in [ms]
-
OD: 100D Life Time Factor
If the time: Guard Time x Life Time Factor
is expired, the action programmed in par. 8-04 Control
Word Timeout Function is being executed.
The option can also be configured as Heartbeat producer via:
-
OD: 1017 Producer Heartbeat time [ms]
The option will continuous transmit heartbeats (RTR’s with the drives actual status) that can be
monitored by e.g. a NMT-master.
N.B.:
The MCA105 option does not support the heartbeat consumer function.
Emergency object (EMCY)
The emergency object is used to signal error states, and is sent automatically if an alarm in the drive
occurs containing the data described below. If the alarm is removed, another emergency telegram is
sent out with the contents 0, signalling the end of the drive’s alarm state.
The behaviour of the EMCY object can be configured via par. 8-07 Diagnosis Trigger.
If par. 8-07 Diagnosis Trigger is set to “OFF”, then the EMCY will not be sent at all; if it is set to
“trigger alarms”, then it is sent if an alarm occurs; if it is set to “trigger alarms and warnings” then it
is sent if an alarm or a warning occurs.
OD 1014h contains the COB-ID of the node’s EMCY message. This is fixed to 80h + node ID.
The EMCY always consists of 8 bytes with the full data as described below:
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
EMCY code*
(OD: 1003 [1]) OD: 1001h Vendor specific information
*= For more information on EMCY codes, please refer to section: Troubleshooting.
Byte 3 description
Bit0 = 1, Alarm word 1 has an active Alarm (Par. 16-90)
Bit1 = 1, Alarm word 2 has an active Alarm (Par. 16-91)
Bit2 = 0, Reserved
Bit3 = 1, Warning word 1 has an active Warning (Par. 16-92)
Bit4 = 1, Warning word 2 has an active Warning (Par. 16-93)
Bit5-7 = 0, Reserved

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Bus Error counters
The drive contains two CAN-bus error counters:
-
Par. 10-05 Transmit Error Counter (TEC)
-
Par. 10-06 Receive Error Counter (REC)
These counters determine the error-state of the CANopen node.
Error Active
Error Passive Bus Off
TEC <= 127
and
REC <= 127 TEC > 127
or
REC > 127
TEC > 255
Power cycle
TEC is incremented with 8 if a transmit-error occurs and decremented with 1 if a transmitation is
successful.
REC is incremented with 1 if a receive error is detected (8 if the transmitting node is in “Error Active”-
mode) and decremented with 1 if a reception is successful.
In normal operation is the node in “Error Active” – state.
If the TEC or REC exceeds the value: 127, the node enters “Error Passive” –state.
In “Error Passive” - state the Error-Flag is ´not transmitted dominant but recessive.
This means that an “Error Passive” node can as receiver not block communication from other nodes.
A node in “Error Passive” - state will have a lower prioritized access to the bus.
If the TEC exceeds 255 (248 + 8) the node enters “Bus Off” -state.
In “Bus Off” -state the MS LED turns solid red, and a Warning 34 is issued.
The drive must be power-cycled to leave the “Bus Off” -state.

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SDO Communication
All CANopen objects and drive parameters can be accessed via SDO’s (Service Data Objects).
For a description of supported SDO abort codes, please refer to section: Troubleshooting.
COB-ID’s for SDO communication:
COB-ID
Transmit SDO 1409 (581h) - 1535 (5FFh) 580h + Node ID
Receive SDO 1537 (601h) - 1663 (67Fh) 600h + Node ID
The structure of a SDO-message (request) is like this:
COB-ID CS OD- Index Sub-ind. Data
600+ID
See below
01 20 00 00 00 00 00
The “CS-field” contains the command specifier.
Command CS Response CS
Write request 4 bytes 23h Write response (any) 60h
Write request 2 bytes 2Bh Read response 4 bytes 43h
Write request 1 byte 2Fh Read response 2 bytes 4Bh
Read request (any) 40h Read response 1 byte 4Fh
Error response 80h
Saving OD entries
In standard configuration all parameters + OD entries, are stored in volatile (RAM) memory only.
To store current network configuration in non-volatile memory OD index 1010h can be used.
To save parameters the value “ 65766173 ” (save) must be written to the appropriated sub-index in
OD: 1010h
OD
Index Sub- index Description
0 Number of entries
1 Save all parameters + OD entries
2 Save all communication parameters + OD entries
3 Reserved
1010h
4 Save “edit setup” (Danfoss specific)
Restoring OD entries
To restore factory defaults OD index 1011h can be used.
To restore default parameters the value “ 64616F6C ” (load) must be written to the appropriated sub-
index in OD: 1011h
OD
Index Sub- index Description
0 Number of entries
1 Restore all Drive parameters + OD entries to factory default*
1011h 2 Restore communication parameters + OD entries**
* Drive will display Alarm 80 “Drive initialised” after restore.
** Only the following parameters are restored to factory default:
10-01 Baud Rate Select
10-02 Drive Node ID
10-05 Transmit Error Counter
10-06 Receive Error Counter
10-33 Store Always
10-50 CANopen Process Data, Write
10-51 CANopen Process Data, Read

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Setting up CANopen master
EDS file
A large part area of the system configuration is the setting of application related parameters. EDS
(Electronic Data Sheet) files simplify the setting up of most of the CANopen configurable parameters.
The EDS file contains all supported communication specific objects (OD 1000h + 1FFFh) and a
selected number of manufacturer specific objects (drive parameters) in the OD range 2000h - 5FFFh.
Danfoss provides a generic English EDS file covering all voltage and power sizes, for off-line
configuration.
The EDS file can be downloaded from:
http://www.danfoss.com/BusinessAreas/DrivesSolutions/Softwaredownload/DDFieldbus_Setup_Files.htm
N.B.:
The EDS-files does not contain all parameters but a selected, limited number of parameters
with generic min., max. and default values.
Configuring the CANopen master
This example shows the details in setting up the CANopen configuration on a Moeller XC-CPU201 PLC.
Setting up the baudrate and Node-ID on the CanMaster (CANopen scanner):
Appending a CANopen node (sub-element), from EDS-file library, by right clicking on CanMaster:

20 MG.33.J3.02 – VLT
®
is a registered Danfoss trademark
Configuring the CAN parameters like: Node-ID, Node-guarding, Heartbeat etc. on node:
Configuring receive and transmit PDO-mapping. Here PDO 1402 with par. 3-12 and 4-11.