Danfoss FC 300 User manual

FC 300 CANopen
MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark 1
Contents
Safety note ......................................................................................................................4
Introduction .................................................................................................................... 5
About this Manual .............................................................................................................5
Technical Overview ...........................................................................................................5
Assumptions ....................................................................................................................6
Hardware.........................................................................................................................6
Background Knowledge......................................................................................................6
FC 300-related Literature ...................................................................................................6
Abbreviations ...................................................................................................................6
How to Install 9
Cabling............................................................................................................................9
Cable Lengths.................................................................................................... 9
Cable Specifications....................................................................................................9
EMC Precautions ...................................................................................................... 10
Connection of the Cable Screen.................................................................................. 11
Earth Connection ..................................................................................................... 11
CANopen Connection ................................................................................................ 12
CANopen Termination ............................................................................................... 12
Installation of Option in Drive ........................................................................................... 13
How to Configure the System 14
Set the CANopen Address................................................................................................. 14
Set the CANopen Address via Parameter 10-02 Drive Node ID:....................................... 14
Set the CANopen Baud Rate ............................................................................................. 14
Set the CANopen Baud Rate via Parameter 10-01 Baudrate select:.................................. 14
Configure the Network ..................................................................................................... 15
Network Management NMT ........................................................................................... 15
1005h, 1006h, 1007h Synchronization Object (SYNC) ................................................... 15
1017h Producer Heartbeat Time ................................................................................ 15
1014h, 1015h Emergency object (EMCY) .................................................................... 16
Configure the FC 300....................................................................................................... 17
VLT Parameters ....................................................................................................... 17
LEDs.......................................................................................................................... 17
How to Control the FC300 18
Device Profile ................................................................................................................. 18
Communication in CANopen.............................................................................................. 18
Communication Profile Area (1000h-1FFFh) ........................................................................ 20
Communication object overview .................................................................................... 20
1000h Device type....................................................................................................... 21
1001h Error register .................................................................................................... 21
1002h Manufacturer status register................................................................................ 21
1003h Predefined error field.......................................................................................... 21
1005h COB-ID Sync Message object............................................................................... 22
1008h Manufacturer Device Name.................................................................................. 22
1009h Manufacturer Hardware Version ........................................................................... 22
100Ah Manufacturer Software Version ............................................................................ 22
100Ch Guard time ....................................................................................................... 22
100Dh Life time factor.................................................................................................. 22
1010h Store parameters............................................................................................... 22
1011h Restore default parameters ................................................................................. 23
1014h COB ID emergency object ................................................................................... 23
1018h Identity object................................................................................................... 23
DSP 402 Control Profile.................................................................................................... 24
Control Word according to DSP 402 profile. (Par. 8-10 = DSP 402 profile) ........................... 24
Status Word according to DSP 402 profile. (Par. 8-10 = DSP 402 profile) ............................ 25
Standardised Device Profile Area ....................................................................................... 27
Danfoss FC control profile................................................................................................. 28
Bus Speed Reference Value........................................................................................... 31

FC 300 CANopen
2MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark
Process Data Objects (PDO) ............................................................................................. 32
Structure of PDO COB-ID entry...................................................................................... 32
PDO Usage ................................................................................................................. 32
PDO Transmission Modes .......................................................................................... 33
PDO Triggering Modes .............................................................................................. 33
PDO Services .............................................................................................................. 33
Receive PDO ............................................................................................................... 34
1st receive PDO (M): Control Word .............................................................................. 34
6th receive PDO: Target Velocity ................................................................................. 35
21st receive PDO: PCD 0 and PCD 1 ........................................................................... 35
22nd receive PDO: PCD 2, PCD 3, PCD 4, PCD 5 ........................................................... 35
Transmit PDO ............................................................................................................. 36
1st transmit PDO ...................................................................................................... 36
6th transmit PDO ...................................................................................................... 36
21st transmit PDO..................................................................................................... 37
22nd transmit PDO................................................................................................... 37
Danfoss Specific Objects (2000h-5FFFh)............................................................................. 38
How to Access FC 300 Parameters 39
Service Data Objects (SDO).............................................................................................. 39
Initiate download......................................................................................................... 40
Download segment ...................................................................................................... 41
Initiate upload ............................................................................................................ 41
Upload segment .......................................................................................................... 42
Example: Initiate Upload (read data)............................................................................. 43
SDO Abort Code .......................................................................................................... 44
Parameters 45
Parameter List ................................................................................................................ 50
Data Types Supported by FC 300 ...................................................................................... 51
Object and Data Types Supported by FC 300 ................................................................... 51
Conversion index......................................................................................................... 51
Application Examples Error! Bookmark not defined.
Example: SDO Communication.................................................Error! Bookmark not defined.
Example: PDO Communication.................................................Error! Bookmark not defined.
Troubleshooting 52
Troubleshooting.............................................................................................................. 52
LED Status ................................................................................................................. 52
Module Status (MS) LED, red ..................................................................................... 53
Network Status (NS) LED, green ................................................................................ 53
Other states ............................................................................................................ 53
No Communication with the Drive .................................................................................. 54
Drive Will Not Respond to Control Signals ....................................................................... 55
Alarm Word and Warning Word...................................................................................... 59
Alarm / Warning Limits................................................................................................. 60
Index ............................................................................................................................ 61
Copyright, Limitation of Liability and Revision Rights

FC 300 CANopen
MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark 3
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 CANopen 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
4MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark
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 [STOP/RESET] 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.
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 Motor Thermal Protection 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.
Please refer to FC 300 Operating Instructions (MG.33.A1.02) for further safety guidelines.

FC 300 CANopen
MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark 5
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.
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 interchangeability and
interoperability of the network.

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Topology
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 type nos. 130B1103
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
FC 300 Profibus Operating Instructions MG.33.CX.YY
FC 300 CANopen Operating Instructions MG.33.DX.YY
FC 300 CANopen Operating Instructions MG.33.JX.YY
FC 300 MCT 10 Software Dialogue MG.33.EX.YY
Profibus DP V1 Design Guide MG.90.EX.YY
Please also refer to http://www.danfoss.com/drives for frequently asked questions and additional
information.
Abbreviations

FC 300 CANopen
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ACK ACKnowledge
BOC Bus Off Counter
BOOL BOOLean expression
CAN Controller Area Network
CSMA/CA Carrier Sense Multiple Access/Collision Avoidance
CTW Control Word
EDS Electronic Data Sheet
EMC Electromagnetic Compatibility
ETR Electronic Thermal Relay
FIFO First In First Out
HF High Frequency
HPFB High Performance Field Bus
I/O Input/Output
ISO International Standards Organization
LCD Liquid Crystal Display
LCP Local Control Panel
LED Light Emitting Diode
LSB Least Significant Bit
MAV Main Actual Value
MRV Main Reference Value
MSB Most Significant Bit
N/A Not Applicable
OSI Open Systems Interconnection
PC Personal Computer
PCD Process Data
PIW Peripheral Input Word
PLC Programmable Logic Control
PNU Parameter Number
PPO Parameter-Process Data Object
QW Peripheral Output Word
SINT Signed Integer
STW Status Word
VSD Variable Speed Drive
UDINT Unsigned Double Integer
UNIT Unsigned Integer
USINT Unsigned Short Integer
From Requirement Specification:
CiA CAN in Automation
CMS CAN Message Specification (same as FMS for Profibus or PMS for Interbus)
COB Communication OBject
COB-ID Communication OBject Identifier; a unit of transportation in a CAN network. Data
must be sent across a CAN network inside a COB
DeviceNet DeviceNet is a high level protocol, like CANopen, based on CAN; it is made by Allen
Bradley
EDS Electronic Data Sheet (file of parameter descriptions for the bus)
NMT Network Management
OD Object Directory
PCP Peripherals Communication Protocol
PDO Process Data Object
RPDO Receive Process Data Object
pv Profile velocity mode
RPM Revolutions per minutes; unit for the speed of a revolving motor
RTR Transmission request frame
SDO Service Data Object
SYNC Object for synchronization of process data
TPDO Transmit Process Data Object
tq Profile torque mode
vi velocity mode

FC 300 CANopen
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FC 300 CANopen
MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark 9
How to Install
Cabling
Cable Lengths
Cable Specifications
Bus cabelBus length in
meters
Resistance
mΩ/m Cross section mm²
Termination resistor
ΩBaudrate Kbit/s
0-40
40-300
300-600
600-1000
70
<60
<40
<26
0.25-0.34
0.34-0.6
0.5-0.6
0.75-0.8
124
150-300
150-300
150-300
1000 (up to 30m)
>500 (up to 100m)
>100 (up to 500m)
>50 (up to 1000m)
Cable Specifications
The cable used should be according to the pecifications.
Be aware that the “Flat Cable” is an unscreened cable type, and is not suited for use with frequency
converters.

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EMC Precautions
The following EMC precautions are recommended in order to achieve interference-free operation of the
CANopen network. Additional EMC information is available in the FC 300 series Operating Instructions and
FC 300 Design Guide.
NB!:
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 it is generally recommended to keep the greatest possible distance between the cables,
especially where cables run in parallel over long distances. If the CANopen cable has to cross a motor and
brake resistor cable they must cross each other at an angle of 90 degrees.