Danfoss VLT CANopen MCA 105 Operating instructions

MAKING MODERN LIVING POSSIBLE
Programming Guide
VLT®CANopen MCA 105
VLT®AutomationDrive FC 301/302
vlt-drives.danfoss.com

Contents
1 Introduction 3
1.1 Purpose of the Manual 3
1.2 Additional Resources 3
1.3 Document and Software Version 3
1.4 Product Overview 3
1.5 Approvals and Certications 4
1.6 Symbols, Abbreviations, and Conventions 4
2 Safety 5
2.1 Safety Symbols 5
2.2 Qualied Personnel 5
2.3 Safety Precautions 5
3 Conguration 7
3.1 Congure the CANopen Network 7
3.2 Congure the Master 10
3.3 Congure the Frequency Converter 13
4 Control 14
4.1 PDO Communication 14
4.1.1 PDO Conguration 15
4.1.2 PDO Mapping Syntax 17
4.1.3 PDO Transmission Modes 17
4.1.4 PDO Triggering Modes 17
4.1.5 Inhibit Time 17
4.1.6 Event Timer 17
4.2 Control Prole 18
4.3 DSP 402 Control Prole 20
4.4 Danfoss FC control prole 22
4.4.1 Control Word according to FC Prole
(parameter 8-10 = FC prole) 22
4.4.2 Status Word according to FC Prole
(parameter 8-10 = FC prole) 23
4.5 Reference Handling 25
5 Parameter Access 26
5.1 Danfoss Specic Objects (2000h-5FFFh) 26
6 Parameters 27
6.1 Parameter List 35
7 Object Directory 37
Contents Programming Guide
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7.1 Communication Prole Area (1000h-1FFFh) 37
7.1.1 Communication Object Overview 37
7.1.2 1000h Device Type 38
7.1.3 1001h Error Register 38
7.1.4 1002h Manufacturer Status Register 38
7.1.5 1003h Predened Error Field 38
7.1.6 1005h COB-ID Sync Message Object 38
7.1.7 1008h Manufacturer Device Name 38
7.1.8 1009h Manufacturer Hardware Version 38
7.1.9 100Ah Manufacturer Software Version 39
7.1.10 100Ch Guard Time 39
7.1.11 100Dh Life Time Factor 39
7.1.12 1010h Store Parameters 39
7.1.13 1011h Restore Default Parameters 39
7.1.14 1014h COB ID Emergency Object 39
7.1.15 1017h Producer Heartbeat Time 39
7.1.16 1018h Identity Object 39
8 Troubleshooting 40
8.1 Warnings and Alarms 40
8.2 Troubleshooting 43
Index 46
Contents VLT®CANopen MCA 105
2 Danfoss A/S © 06/2015 All rights reserved. MG92G102

1 Introduction
1.1 Purpose of the Manual
The VLT
®
CANopen MCA 105 Programming Guide provides
information about conguring the system, controlling the
frequency converter, parameter access, programming, as
well as troubleshooting.
The programming guide is intended for use by qualied
personnel who are familiar with the VLT®frequency
converter, with CANopen technology, and with the PC or
PLC that is used as a master in the system.
Read the instructions before programming and follow the
procedures in this manual.
VLT®is a registered trademark.
1.2 Additional Resources
Resources available for the frequency converters and
optional equipment:
•The VLT
®
AutomationDrive FC 301/FC 302
Operating Instructions provide the necessary
information for getting the frequency converter
up and running.
•The VLT
®
AutomationDrive FC 301/FC 302 Design
Guide provides detailed information about
capabilities and functionality to design motor
control systems.
•The VLT
®
AutomationDrive FC 301/FC 302
Programming Guide provides greater detail on
working with parameters and many application
examples.
•The VLT
®
CANopen MCA 105 Installation Guide
provides information about installing the
CANopen and troubleshooting.
•The VLT
®
CANopen MCA 105 Programming Guide
provides information about conguring the
system, controlling the frequency converter,
parameter access, programming, troubleshooting,
as well as some typical application examples.
Supplementary publications and manuals are available
from Danfoss. See vlt-drives.danfoss.com/Support/Technical-
Documentation/ for listings.
1.3 Document and Software Version
This manual is regularly reviewed and updated. All
suggestions for improvement are welcome. Table 1.1 shows
the document version and the corresponding software
version.
Edition Remarks Software version
MG92G1xx – –
Table 1.1 Document and Software Version
1.4 Product Overview
This programming guide relates to the CANopen interface.
Ordering number:
•130B1103 (uncoated)
•130B1205 (coated)
CANopen is a low-level network that standardises
communications between industrial devices (sensors, limit
switches, motor controls) and high-level devices
(controllers). CANopen follows the open systems intercon-
nection (OSI) model and is based on CAN technology for
media access control and physical signalling.
Congure CANopen systems 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. By using the same cable for
communication, the bus can power the communication
options directly. Nodes can be removed or inserted
without powering down the network.
Each node on the network has its own unique communi-
cation object identier (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. When 2 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 denes device proles for devices belonging to
specic classes. For other devices, dene a custom class to
make it CANopen compatible. All of the above enhances
the interchangeability and interoperability of the network.
Introduction Programming Guide
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11

Illustration 1.1 Topology
VLT®CANopen MCA 105 is designed to communicate with
any master abiding by the DeviceNet standard. And it is
intended for use with:
•VLT®AutomationDrive FC 301.
•VLT®AutomationDrive FC 302.
1.5 Approvals and Certications
More approvals and certications are available. For more
information, contact a Danfoss local partner.
1.6 Symbols, Abbreviations, and
Conventions
Abbreviation Denition
CAN Controller area network
CiA CAN in automation
COB Communication object
COB-ID Communication object identier
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 signicant bit
MAV Main actual value (actual output)
MRV Main reference value
MSB Most signicant bit
NMT Network management
N/A Not applicable
OD Object directory
PCD Process data
PDO Process data object
PLC Programmable logic controller
PNU Parameter number
REC Receive error counter
RPDO Receive process data object
RPM Revolutions per minute; 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 synchronisation of process data
TEC Transmit error counter
TPDO Transmit process data object
TX Transmit data
Table 1.2 Symbols and Abbreviations
Conventions
Numbered lists indicate procedures.
Bullet lists indicate other information and description of
illustrations.
Italicised text indicates:
•Cross-reference.
•Link.
•Parameter name.
•Footnote.
•Parameter group.
•Parameter option.
•Alarms/warnings.
Introduction VLT®CANopen MCA 105
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2 Safety
2.1 Safety Symbols
The following symbols are used in this manual:
WARNING
Indicates a potentially hazardous situation that could
result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation that could
result in minor or moderate injury. It can also be used to
alert against unsafe practices.
NOTICE
Indicates important information, including situations that
can result in damage to equipment or property.
2.2 Qualied Personnel
Correct and reliable transport, storage, installation,
operation, and maintenance are required for the trouble-
free and safe operation of the frequency converter. Only
qualied personnel are allowed to install and operate this
equipment.
Qualied personnel are dened as trained sta, who are
authorised to install, commission, and maintain equipment,
systems, and circuits in accordance with pertinent laws and
regulations. Additionally, the qualied personnel must be
familiar with the instructions and safety measures
described in these operating instructions.
2.3 Safety Precautions
WARNING
HIGH VOLTAGE
Frequency converters contain high voltage when
connected to AC mains input, DC supply, or load sharing.
Failure to perform installation, start-up, and maintenance
by qualied personnel can result in death or serious
injury.
•Only qualied personnel must perform instal-
lation, start-up, and maintenance.
WARNING
UNINTENDED START
When the frequency converter is connected to AC mains,
DC supply, or load sharing, the motor may start at any
time. Unintended start during programming, service, or
repair work can result in death, serious injury, or
property damage. The motor can start with an external
switch, a eldbus command, an input reference signal
from the LCP or LOP, via remote operation using MCT 10
Set-up Software, or after a cleared fault condition.
To prevent unintended motor start:
•Disconnect the frequency converter from the
mains.
•Press [O/Reset] on the LCP before
programming parameters.
•Completely wire and assemble the frequency
converter, motor, and any driven equipment
before connecting the frequency converter to
AC mains, DC supply, or load sharing.
WARNING
DISCHARGE TIME
The frequency converter contains DC-link capacitors that
can remain charged even when the frequency converter
is not powered. Failure to wait the specied time after
power has been removed before performing service or
repair work, can result in death or serious injury.
•Stop the motor.
•Disconnect the AC mains and remote DC-link
supplies, including battery back-ups, UPS, and
DC-link connections to other frequency
converters.
•Disconnect or lock the PM motor.
•Wait for the capacitors to discharge fully before
performing any service or repair work. The
duration of waiting time is specied in the
relevant frequency converter operating
instructions, Chapter 2 Safety.
WARNING
LEAKAGE CURRENT HAZARD
Leakage currents exceed 3.5 mA. Failure to ground the
frequency converter properly can result in death or
serious injury.
•Ensure the correct grounding of the equipment
by a certied electrical installer.
Safety Programming Guide
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WARNING
EQUIPMENT HAZARD
Contact with rotating shafts and electrical equipment
can result in death or serious injury.
•Ensure that only trained and qualied personnel
perform installation, start-up, and maintenance.
•Ensure that electrical work conforms to national
and local electrical codes.
•Follow the procedures in this manual.
CAUTION
INTERNAL FAILURE HAZARD
An internal failure in the frequency converter can result
in serious injury, when the frequency converter is not
properly closed.
•Ensure that all safety covers are in place and
securely fastened before applying power.
Safety VLT®CANopen MCA 105
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3Conguration
3.1 Congure the CANopen Network
3.1.1 Object Model
Illustration 3.1 Functional Principle of CANopen Nodes
All information accessible via the CAN-bus is stored in the
object directory (OD).
The contents of the OD are organised in Table 3.1.
Object directory
index range
Object type
0000h Not used
0001h–025Fh Data types
0260h–0FFFh Reserved
1000h–1FFFh Communication object area
2000h–5FFFh Manufacturer-specic area
6000h–9FFFh Standardised device prole area
A000h–FFFFh Reserved
Table 3.1 Contents of the OD
For a complete overview of the supported objects in the
OD, refer to chapter 7 Object Directory.
3.1.2 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).
PDOs represent real-time process data with high priority.
PDOs are only available if the node is in operational state.
SDOs represent non-time-critical data and are used to
congure the frequency converter. SDOs are only available
if 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-Identiers (ID)
Each communication object has a unique identity (COB-ID)
comprising the function code and the node ID (node
address), see Illustration 3.2.
Illustration 3.2 COB-ID
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Object Function
code
(binary)
Resulting COB-ID Communi-
cation
parameter in
OD
NMT 0000 0 –
SYNC 0001 125 (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)
Table 3.2 Communication Object
Transmit and receive is always seen from the node’s point
of view:
•RX = Nodes receiving data (Controller -> node)
•TX = Nodes 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.
3.1.3 Controlling the Network
In each CANopen node, a state machine controls the
dierent states of the node.
After power-up, the node transmits a boot-up message
with the COB-ID: 700h + Node ID, and goes from initiali-
sation to pre-operational state.
In this state, SDO communication is possible, but not PDO
communication.
The node must have a start network-command from an
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:
•Flashing = Pre-operational.
•Solid on = Operational.
•Single ash = Stopped.
A reset node or reset communication-command from the
NMT-master makes the node jump to initialisation state
and directly on to pre-operational state.
Illustration 3.3 Controlling the Network
3.1.4 Error Control
CANopen oers 2 ways of error-control: Node guarding
and Heartbeat.
In node guarding, the NMT-master sends a remote-frame
(RTR) cyclically: 700 + node ID.
The node replies with its actual status.
The node (frequency converter) monitors the reception of
the RTR-frames, and thereby monitors the presence of the
NMT-master.
Congure the monitoring of the NMT-master via:
•OD: 100C Guard time in [ms].
•OD: 100D Life time factor.
If Guard Time x Life Time Factor has expired, the action
programmed in the parameter 8-04 Control Word Timeout
Function is executed.
Conguration VLT®CANopen MCA 105
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The option can also be congured as heartbeat producer
via:
•OD: 1017 Producer Heartbeat time [ms].
The MCA 105 option continuously transmits heartbeats
(RTRs with the frequency converters actual status) that can
be monitored by, for example, an NMT-master.
NOTICE
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 frequency converter
occurs containing the data described in the following. If
the alarm is removed, another emergency telegram is sent
out with the contents 0, signalling the end of the
frequency converter’s alarm state.
Congure the behaviour of the EMCY object via
parameter 8-07 Diagnosis Trigger.
If parameter 8-07 Diagnosis Trigger is set to [0] Disable, the
EMCY is not sent at all. If it is set to Trigger alarms, it is
sent if an alarm occurs. If it is set to Trigger alarms and
warnings, it is sent if an alarm or a warning occurs.
OD 1014h contains the COB-ID of the node’s EMCY
message. This is xed to 80h + node ID.
The EMCY always consists of 8 bytes with the full data as
described in Table 3.3.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
EMCY code*
(OD: 1003 [1])
OD:
1001h Vendor-specic information
Table 3.3 EMCY Consists of 8 Bytes with the Full Data
*= For more information on EMCY codes, refer to
chapter 8 Troubleshooting.
Bit 0 1, alarm word 1 has an active alarm (parameter 16-90)
Bit 1 1, alarm word 2 has an active alarm (parameter 16-91)
Bit 2 0, Reserved
Bit 3 1, warning word 1 has an active warning (parameter
16-92)
Bit 4 1, warning word 2 has an active warning (parameter
16-93)
Bit 5–7 0, reserved
Table 3.4 Byte 3 Description
Bus error counters
The frequency converter contains 2 CAN-bus error
counters:
•Parameter 10-05 Readout Transmit Error Counter
(TEC).
•Parameter 10-06 Readout Receive Error Counter
(REC).
These counters determine the error-state of the CANopen
node.
Illustration 3.4 Bus Error Counters
TEC is incremented with 8 if a transmit-error occurs and
decremented with 1 if a transmission 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 the node is 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-ag is not transmitted
dominantly but recessively.
This means that an error passive node, as receiver, cannot
block communication from other nodes.
A node in error passive state has a lower prioritised access
to the bus.
If the TEC exceeds 255 (248 + 8), the node enters bus o
state.
In bus o state, the MS LED turns solid red, and a warning
34 is issued.
Power-cycle the frequency converter to leave the bus o
state.
Conguration Programming Guide
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3.1.5 SDO Communication
All CANopen objects and frequency converter parameters
can be accessed via SDOs (service data objects).
For a description of supported SDO abort codes, refer to
chapter 8 Troubleshooting.
COB-ID
Transmit SDO 1409 (581h)–1535 (5FFh) 580h + Node ID
Receive SDO 1537 (601h)–1663 (67Fh) 600h + Node ID
Table 3.5 COB-ID’s for SDO Communication
COB-ID CS OD-Index Sub-ind. Data
600+ID See following text 01 20 00 00 00 00 00
Table 3.6 Structure of a SDO-message (Request)
The CS-eld contains the command and response
speciers. See Table 3.7 and Table 3.8.
Command CS
Write request 4 bytes 23h
Write request 2 bytes 2Bh
Write request 1 byte 2Fh
Read request (any) 40h
Table 3.7 Command
Response CS
Write response (any) 60h
Read response 4 bytes 43h
Read response 2 bytes 4Bh
Read response 1 byte 4Fh
Error response 80h
Table 3.8 Response
Saving OD entries
In standard conguration, all parameters + OD entries are
stored in volatile (RAM) memory only. To store current
network conguration in non-volatile memory, use OD
index 1010h.
To save parameters, write the value 65766173 (save) to the
appropriated sub-index in OD: 1010h.
OD index Subindex Description
1010h
0 Number of entries
1 Save all parameters + OD entries
2 Save all communication parameters + OD
entries
3 Reserved
4 Save edit set-up (Danfoss specic)
Table 3.9 Saving OD Entries
Restoring OD entries
To restore factory defaults, use OD index 1011h.
To restore default parameters the value “64616F6C” (load)
must be written to the appropriated sub-index in OD:
1011h
OD index Subindex Description
1011h
0 Number of entries
1 Restore all parameters + OD entries*
2 Restore all communication parameters +
OD entries and restart
Table 3.10 Restoring OD Entries
* requires power cycle
NOTICE
Frequency converter displays Alarm 80 “Drive initialised”
after restores.
3.2 Congure the Master
3.2.1 EDS File
A large part area of the system conguration is the setting
of application-related parameters. EDS (electronic data
sheet) les simplify the setting up of most of the CANopen
congurable parameters. The EDS le contains all
supported communication-specic objects (OD 1000h
+ 1FFFh) and a selected number of manufacturer-specic
objects (frequency converter parameters) in the OD range
2000h–5FFFh.
Danfoss provides a generic English EDS le covering all
voltage and power sizes for o-line conguration.
Download the EDS le from www.danfoss.com/Busines-
sAreas/DrivesSolutions/Softwaredownload/
DDFieldbus_Setup_Files.htm.
NOTICE
The EDS les do not contain all parameters but a
selected, limited number of parameters with generic
minimum, maximum, and default values.
Conguration VLT®CANopen MCA 105
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3.2.2 Conguring the CANopen Master
The following example shows the details in setting up the CANopen conguration on a Moeller XC-CPU201 PLC.
Illustration 3.5 Setting up the Baud Rate and Node-ID on the CanMaster (CANopen Scanner)
130BA936.10
Illustration 3.6 Appending a CANopen Node, from EDS File Library, by Rght-clicking CanMaster
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Illustration 3.7 Conguring the CAN Parameters like Node-ID, Node-guarding, Heartbeat, and so on, on Node
Illustration 3.8 Conguring Receive and Transmit PDO-mapping. Here PDO 1402 with Parameter 3-12 Catch up/slow Down Value and
Parameter 4-11 Motor Speed Low Limit [RPM]
Conguration VLT®CANopen MCA 105
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Illustration 3.9 PLC Memory Mapping
3.3 Congure the Frequency Converter
3.3.1 Frequency Converter Parameters
Pay particular attention to the following parameters when
conguring an VLT®AutomationDrive FC 300 with a
CANopen interface. Refer to chapter 6 Parameters for more
details about each parameter.
Parameter 0-40 [Hand on] Key on LCP
If the [Hand On] key on the frequency converter is pressed,
control of the frequency converter via the CANopen
interface is disabled.
Parameter 8-02 Control Word Source
After initial power-up, the frequency converter automat-
ically detects whether a eldbus option is installed in slot
A, and sets parameter 8-02 Control Word Source to [Option
A]. If an option is added to, changed in, or removed from
an already commissioned frequency converter, it does not
change parameter 8-02 Control Word Source.
Parameter 8-10 Control Word Prole
Select between the Danfoss FC Prole and the DSP 402
prole for CANopen. Refer to chapter 4 Control.
Parameter 8-01 Control Site and parameter 8-50 Coasting
Select to parameter 8-56 Preset Reference Select
Refer to chapter 4 Control.
Selection of how to gate the CANopen control commands
with digital input command of the control card.
Set Parameter 8-01 Control Site to: [2] Control word onlyor
[0] Digital and ctrl. word.
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 timeout is set via these
parameters:
•Parameter 10-01 Baud Rate Select
Default is 125 kbps.
•Parameter 10-02 MAC ID
Default is 127.
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4 Control
4.1 PDO Communication
The real-time data transfer is performed by process data objects (PDO).
The PDOs correspond to entries in the device object dictionary and provide the interface to the application objects.
Illustration 4.1 PDO Types
NOTICE
Control word (CTW), status word (STW), reference (REF), and Main Actual Value (MAV) are xed in PDO type 1–3. PDO
type 4 is free congurable.
All receive and transmit PDOs can be congured via the OD.
Map process data into receive and transmit PDOs via parameter 10-50 Process Data Cong Write. and parameter 10-51 Process
Data Cong Read. or via OD: 1600–1603 for receive PDOs and OD: 1A00–1A03 for transmit PDOs.
Control VLT®CANopen MCA 105
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4.1.1 PDO Conguration
Index Name Sub
index
Description Value Sub index 2 Transmission type
1400h 1st receive PDO (PDO 1) 0 Number of entries. ⇒1...240 SYNC
1401h 2nd receive PDO (PDO 2) 1 COB ID. ⇒1...240 SYNC
1402h 3rd receive PDO (PDO 3) 2 Transmission type. ⇒254...255 COS
1403h 4th receive PDO (PDO 4) ⇒254...255 COS
1600h 1st receive PDO mapping
(PDO 1)
COB-ID 201h–27Fh
0 Number of entries.
11st mapped object (60400010h control word, xed) (parameter 10-50 Process Data Cong
Write. [0])
1601h
2nd receive PDO mapping
(PDO 2)
COB-ID 301h–37Fh
0 Number of entries
11st mapped object (60400010h control word, xed) (parameter 10-50 Process Data Cong
Write. [0])
22nd mapped object (60420010h target velocity, xed) (parameter 10-50 Process Data Cong
Write. [1])
1602h
3rd receive PDO mapping
(PDO 3)
COB-ID 401h–47Fh
0 Number of entries.
11st mapped object (60400010h control word, xed) (parameter 10-50 Process Data Cong
Write. [0])
22nd mapped object (60420010h target velocity, xed) (parameter 10-50 Process Data Cong
Write. [1])
33rd mapped object (2000h + parameter number) (parameter 10-50 Process Data Cong
Write. [2])
44th mapped object (2000h + parameter number) (parameter 10-50 Process Data Cong
Write. [3])
1603h
4th receive PDO mapping
(PDO 4)
COB-ID 501h–57Fh
0 Number of entries.
15th mapped object (2000h + parameter number) (parameter 10-50 Process Data Cong
Write. [4])
26th mapped object (2000h + parameter number) (parameter 10-50 Process Data Cong
Write. [5])
37th mapped object (2000h + parameter number) (parameter 10-50 Process Data Cong
Write. [6])
48th mapped object (2000h + parameter number) (parameter 10-50 Process Data Cong
Write. [7])
Table 4.1 Receive PDO Conguration
Control Programming Guide
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Index Name Sub
index
Description Value sub index 2 Transmission type
0 Number of entries. ⇒0 SYNC, non-cyclic
1800h 1st transmit PDO (PPO 1) 1COB ID. ⇒0 SYNC, non-cyclic
1801h 2nd transmit PDO (PPO 2) 2Transmission type. ⇒1...240 SYNC
1802h 3rd transmit PDO (PPO 3) 3Inhibit time. ⇒1...240 SYNC
1803h 4th transmit PDO (PPO 4) 4Reserved. ⇒254...255 COS
5 Event timer. ⇒254...255 COS
1A00h 1st transmit PDO mapping
(PDO 1)
COB-ID 181h–1FFh
0 Number of entries.
11st mapped object (60410010h status word, xed) (parameter 10-51 Process Data Cong
Read. [0])
1A01h
2nd transmit PDO mapping
(PDO 2)
COB-ID 281h–2FFh
0 Number of entries.
11st mapped object (60410010h status word, xed) (parameter 10-51 Process Data Cong
Read. [0])
22nd mapped object (60440010h control eort, xed) (parameter 10-51 Process Data Cong
Read. [1])
1A02h
3rd transmit PDO mapping
(PDO 3)
COB-ID 381h–3FFh
0 Number of entries.
11st mapped object (60410010h status word, xed) (parameter 10-51 Process Data Cong
Read. [0])
22nd mapped object (60440010h control eort, xed) (parameter 10-51 Process Data Cong
Read. [1])
33rd mapped object (2000h + parameter number) (parameter 10-51 Process Data Cong
Read. [2])
44th mapped object (2000h + parameter number) (parameter 10-51 Process Data Cong
Read. [3])
1A03h
4th transmit PDO mapping
(PDO 4)
COB-ID 481h–4FFh
0 Number of entries.
15th mapped object (2000h + parameter number) (parameter 10-51 Process Data Cong
Read. [4])
26th mapped object (2000h + parameter number) (parameter 10-51 Process Data Cong
Read. [5])
37th mapped object (2000h + parameter number) (parameter 10-51 Process Data Cong
Read. [6])
48th mapped object (2000h + parameter number) (parameter 10-51 Process Data Cong
Read. [7])
Table 4.2 Transmit PDO Conguration
Control VLT®CANopen MCA 105
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4.1.2 PDO Mapping Syntax
Sub-index 1–4 contains the mapped objects.
Example: Object 6041 status word is xed in PDO 1 and
PDO 2 as the rst transmit-word.
That is, OD 1A00h and 1A01h sub-index 1 holds the value
of 60410010 (6041 = object number, 00 = sub-index, 10 =
length of data = 16 bits)
Example: To map parameter 16-14 Motor current (32-bit
data) in PDO 3, it must be mapped in 2 PDO-words.
Parameter 16-14 Motor current is according to manufacturer
object 264E.
1A02h [3] = 264E0020 (264E = object number, 00 = sub-
index, 20 = length of data = 32 bits)
1A02h [4] = 264E0020 (264E = object number, 00 = sub-
index, 20 = length of data = 32 bits)
4.1.3 PDO Transmission Modes
Sub-index 2 contains the setting of the transmission mode.
The following PDO transmission modes are distinguished:
•Synchronous transmission.
•Asynchronous transmission.
4.1.4 PDO Triggering Modes
The CANopen communication prole distinguishes 2
message triggering modes:
•Event driven.
•Remotely requested.
Event driven
Message transmission is triggered by the occurrence of an
object-specic event.
For synchronous PDOs, this is the expiration of the
specied transmission period, synchronised by the
reception of the SYNC object.
For acyclically transmitted synchronous PDOs and
asynchronous PDO’s, the triggering of a message
transmission is an application-specic event specied in
the device prole.
Remotely requested
The transmission of asynchronous PDO’s may be initiated
on receipt of a remote request initiated by another device.
Transmission
type
PDO transmission
Cyclic Acyclic Synchronous Asynchronous RTR
only
0 x x
1–240 x x
241–251 Reserved
252 Not supported
253
254 x
255 x
Table 4.3 PDO Transmission
4.1.5 Inhibit Time
Sub-index 3 contains the inhibit time.
This time denes a minimum interval for PDO transmission.
The value is dened as multiple of 0.1 ms.
Default value is 300 = 30 ms.
Minimum value is 0.
Maximum value is 32767 = 3.2 s.
Data length = 2 bytes.
4.1.6 Event Timer
Sub-index 5 contains the inhibit time for transmit PDOs.
If an event timer is congured for a TPDO (value not equal
to 0), the elapsed timer causes the transmission of this
TPDO.
The event timer can be congured as multiple of 1 ms.
Default value is 0.
Maximum value is 32767 = 32 s.
Data length = 2 bytes.
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44

4.2 Control Prole
4.2.1 Control Word Prole 8–10
8–10 Control Prole
In parameter 8-10 Control Word Prole, it is possible to select:
Option: Function:
[0] *FC prole
8–10 Control Prole
In parameter 8-10 Control Word Prole, it is possible to select:
Option: Function:
[5] CANopen DSP
[0] FC Prole is the default control prole for VLT frequency
converters, whereas [5] CANopen DSP 402 is the CiA
standardised control prole, featuring the special DSP 402
transition state machine.
4.2.2 DSP 402 State Transitions
Illustration 4.2 DSP 402 State Machine
Control VLT®CANopen MCA 105
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