Danfoss VLT Midi Drive FC 280 Operating instructions

Programming Guide
CANopen®
VLT®Midi Drive FC 280
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 11
3.3 Congure the Frequency Converter 14
4 Control 15
4.1 PDO Communication 15
4.1.1 PDO Conguration 16
4.1.2 PDO Transmission Modes 17
4.1.3 PDO Triggering Modes 17
4.1.4 Inhibit Time 17
4.1.5 Event Timer 17
4.2 Control Prole 17
4.3 DSP 402 Control Prole 17
4.3.1 Objects in DSP 402 Prole 17
4.4 Danfoss FC Control Prole 22
4.4.1 Objects in FC Prole 22
4.4.2 Control Word according to FC Prole (Object 2690h) 22
4.4.3 Status Word according to FC Prole (Object 2643h) 24
5 Parameter Access 26
5.1 Danfoss Specic Objects (2000h-5FFFh) 26
6 Parameters 27
6.1 Parameter List 31
7 Object Directory 33
7.1 Communication Prole Area (1000h-1FFFh) 33
Contents Programming Guide
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7.1.1 Communication Object Overview 33
7.1.2 1000h Device Type 33
7.1.3 1001h Error Register 33
7.1.4 1005h COB-ID Sync Message Object 34
7.1.5 1008h Manufacturer Device Name 34
7.1.6 100Ah Manufacturer Software Version 34
7.1.7 100Ch Guard Time 34
7.1.8 100Dh Life Time Factor 34
7.1.9 1010h Store Parameters 34
7.1.10 1011h Restore Default Parameters 34
7.1.11 1014h COB ID Emergency Object 34
7.1.12 1017h Producer Heartbeat Time 35
7.1.13 1018h Identity Object 35
7.1.14 1020h Verify Conguration 35
8 Troubleshooting 36
8.1 Warnings and Alarms 36
8.2 Troubleshooting 39
Index 42
Contents CANopen®
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1 Introduction
1.1 Purpose of the Manual
The VLT
®
CANopen
®
Programming Guide provides
information about conguring the system, controlling the
frequency converter, accessing parameters, programming,
and 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.
CANopen®is a registered trademark for CAN IN
AUTOMATION international users and manufacturers group
e. V.
VLT®is a registered trademark.
1.2 Additional Resources
Additional documentation available for the product:
•VLT
®
Midi Drive FC 280 Operating Guide provides
the necessary information for getting the
frequency converter up and running.
•VLT
®
Midi Drive FC 280 Design Guide provides
detailed information about capabilities and
functionality to design motor control systems.
•VLT
®
Midi Drive FC 280 Programming Guide
provides greater detail on working with
parameters and many application examples.
•VLT
®
CANopen Programming Guide provides
information about conguring the system,
controlling the frequency converter, accessing
parameters, programming, troubleshooting, and
some typical application examples.
•VLT
®
Midi Drive FC 280 Control Cassettes Instal-
lation Instruction describes how to install a control
cassette.
Supplementary publications and manuals are available
from Danfoss. See vlt-drives.danfoss.com/Support/Technical-
Documentation/.
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
MG07E1xx New manual 1.1 or later
Table 1.1 Document and Software Version
1.4 Product Overview
This programming guide relates to the CANopen interface.
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 intercon-
nection (OSI) model and is based on CAN technology for
media access control and physical signaling.
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. Nodes can be removed or
inserted without powering down the network.
Each node on the network has its own unique node ID to
distinguish it on the network. The access control is based
on the carrier sense multiple access/collision avoidance
(CSMA/CA) 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. This
allows to avoid collisions on the network.
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.
Trunk line
Drop lines 1
RT=Termination resistors
RTRT
1 1 1
1
130BE886.10
Illustration 1.1 Topology
Introduction Programming Guide
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1.5 Approvals and Certications
More approvals and certications are available. For more
information, contact a local Danfoss 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 datasheet
EMC Electromagnetic compatibility
EMCY Emergency message
I/O Input/output
LCP Local control panel
LED Light emitting diode
LOP Local operation pad
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 synchronization 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.
Italicized text indicates:
•Cross-reference.
•Link.
•Parameter name.
•Footnote.
•Parameter group.
•Parameter option.
•Alarms/warnings.
Introduction CANopen®
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2 Safety
2.1 Safety Symbols
The following symbols are used in this guide:
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
authorized to install, commission, and maintain equipment,
systems, and circuits in accordance with pertinent laws and
regulations. Also, the qualied personnel must be familiar
with the instructions and safety measures described in this
manual.
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:
•Press [O/Reset] on the LCP before
programming parameters.
•Disconnect the frequency converter from the
mains.
•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,
which can remain charged even when the frequency
converter is not powered. High voltage can be present
even when the warning LED indicator lights are o.
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 AC mains and remote DC-link
supplies, including battery back-ups, UPS, and
DC-link connections to other frequency
converters.
•Disconnect or lock PM motor.
•Wait for the capacitors to discharge fully. The
minimum waiting time is specied in Table 2.1.
•Before performing any service or repair work,
use an appropriate voltage measuring device to
make sure that the capacitors are fully
discharged.
Safety Programming Guide
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Voltage [V] Power range
[kW (hp)]
Minimum waiting time
(minutes)
200–240 0.37–3.7 (0.5–5) 4
380–480 0.37–7.5 (0.5–10) 4
11–22 (15–30) 15
Table 2.1 Discharge Time
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.
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 guide.
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 CANopen®
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3Conguration
3.1 Congure the CANopen Network
3.1.1 Object Model
CAN-bus
Communication
unit
Application unit
Processing unit
Object
directory
130BA929.10
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 organized 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 Standardized device prole area
A000h–FFFFh Reserved
Table 3.1 Contents of the OD
For a complete overview of the objects supported in the
OD, refer to chapter 7 Object Directory.
3.1.2 Communication in CANopen
In CANopen protocol, the communication is done via
service data objects (SDOs), process data objects (PDOs),
and network management (NMT).
PDOs are real-time process data with high priority. PDOs
are only available if the node is in operational state.
SDOs are non-time-critical data and are used to congure
the frequency converter. SDOs are only available if the
node is in both operational and pre-operational state.
NMT functions monitor the network stability and include
synchronization, detection of faults, and emergency
message transmission.
COB identiers (ID)
Each communication object has a unique identity (COB-ID)
containing 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
(node guarding)
1110 1793 (701h)–1919
(77Fh)
1016h, 1017h
(100Eh)
Table 3.2 Communication Object
Transmit and receive is always seen from the point of view
of a node:
•RX: Nodes receiving data (controller to node).
•TX: Nodes transmitting data (node to controller).
Example:
•COB-ID 383 stands for PDO3 transmit from node
address 3.
•COB-ID 185 stands for PDO1 transmit from node
address 5.
•COB-ID 604 stands for 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 value 700h+node ID, and goes from
initialization to pre-operational state.
In the pre-operational state, SDO communication is
possible, but not PDO communication.
The node must receive a start network command from an
NMT master to enter the operational state.
In operational state, both SDO and PDO communications
are possible.
The NMT state of the node is shown with the green
indicator light:
•Blinking: Pre-operational.
•On: Operational.
•Single ash: Stopped.
A node reset, or communication reset command from the
NMT master puts the node to the initialization state. When
the initialization is nished, the node enters pre-
operational state automatically.
NOTICE
It may take several seconds to reset a frequency
converter with the NMT node reset command. The reset
time depends on the power size of the frequency
converter. Greater power size may require a longer reset
time.
Illustration 3.3 Controlling the Network
3.1.4 Error Control
CANopen has 2 types of error control: Node guarding and
heartbeat.
In node guarding, the NMT master sends a remote frame
(RTR) signal cyclically with the following COB-ID: 700h
+node ID.
The node replies with its actual status.
The frequency converter monitors the reception of the RTR
frames, and the presence of the NMT master.
Conguration CANopen®
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Congure the monitoring of the NMT master via the
following OD:
•100C: Guard time in [ms].
•100D: Life time factor.
If the time equal to (guard time) x (life time factor) has
expired, the action selected in parameter 8-04 Control Word
Timeout Function is executed.
The frequency converter can also be congured as
heartbeat producer via object 1017h (producer heartbeat
time). The frequency converter continuously transmits
heartbeats that can be monitored by, for example, an NMT
master.
NOTICE
The CANopen control card does not support the
heartbeat consumer function.
Emergency object (EMCY)
The emergency object communicates error states, and it is
sent automatically if an alarm in the frequency converter
occurs. If the alarm ceases, another emergency telegram is
sent out with the content 0, indicating the end of the
alarm state.
Congure the behavior of the EMCY object via
parameter 8-07 Diagnosis Trigger.
OD 1014h contains the COB-ID of the node’s EMCY
message, the COB-ID value is set 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 code1)
(OD: 1003 [1])
OD:
1001h Vendor-specic information
Table 3.3 EMCY Consists of 8 Bytes with the Full Data
1) For more information on EMCY codes, refer to chapter 8 Trouble-
shooting.
Bit 0 1, alarm word 1 has an active alarm
(parameter 16-90 Alarm Word).
Bit 1 1, alarm word 2 has an active alarm
(parameter 16-91 Alarm Word 2).
Bit 2 1, alarm word 3 has an active alarm
(parameter 16-97 Alarm Word 3).
Bit 3 1, warning word 1 has an active warning
(parameter 16-92 Warning Word).
Bit 4 1, warning word 2 has an active warning
(parameter 16-93 Warning Word 2).
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 occurs or with
8 if the transmitting node is in error-active state, and
decremented with 1 if a reception is successful.
In normal operation, the node is in error-active state.
If TEC or REC exceeds the value 127, the node enters error-
passive state.
In error-passive state, the error ag is transmitted
recessively. This means that an error-passive node, as a
receiver, cannot block communication for other nodes.
A node in the error-passive state has a lower-prioritized
access to the bus.
If TEC exceeds 255 (248+8), the node enters the bus-o
state.
In bus-o state, the Err indicator light turns solid red, and
the frequency converter issues warning 34, Fieldbus
communication fault.
Power cycle the frequency converter to cancel 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 service data objects (SDO).
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-IDs for SDO Communication
COB-ID CS OD index Subindex 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 a standard conguration, all parameters and OD entries
are stored in volatile (RAM) memory only. To store current
network conguration in non-volatile memory, use OD
with index 1010h.
To save parameters, write the value 65766173 (save) to the
following subindex in OD: 1010h.
OD index Subindex Description
1010h
0 Number of entries.
1 Save all communication parameters and
frequency converter parameters.
2 Save all communication parameters.
3 Reserved.
4 Save all frequency converter parameters
(all set-ups).
Table 3.9 Saving OD Entries
Restoring OD entries
To restore factory defaults, use OD index 1011h.
To restore default parameters, write the value 64616F6C
(load) to the following subindex in OD: 1011h.
OD index Subindex Description
1011h
0 Number of entries.
1 Restore all communication parameters and
frequency converter parameters1).
2 Restore all communication parameters.
3 Reserved.
4 Restore all frequency converter parameters
(all set-ups).
Table 3.10 Restoring OD Entries
1) Requires power cycle.
NOTICE
Frequency converter shows alarm 80, Drive initialized
after the restore.
Conguration CANopen®
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3.2 Congure the Master
3.2.1 EDS File
Electronic datasheet (EDS) les simplify the setting of most of the CANopen congurable parameters.
The EDS le contains:
•All supported communication-specic objects (OD range 1000h–1FFFh).
•A selected number of frequency converter parameters (OD range 2000h–5FFFh).
•DSP 402 prole objects (OD range 6000h–6FFFh).
Danfoss provides a generic English EDS le covering all voltage and power sizes for o-line conguration.
Download the EDS le from drives.danfoss.com/services/software-downloads/.
NOTICE
An EDS le does not contain all parameters, but a selected number of parameters with generic minimum, maximum,
and default values.
3.2.2 Conguring the CANopen Master
The example in this section shows how to set up the CANopen conguration on a Moeller XC-CPU201 PLC.
Illustration 3.5 Enter Baud Rate and Node-ID on the CanMaster (CANopen Scanner)
Conguration Programming Guide
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130BA936.10
Illustration 3.6 Right-click CanMaster and Append a CANopen Node from EDS File Library
Illustration 3.7 Congure the CAN Parameters on the Node (Node-ID, Node-guarding, Heartbeat, and so on)
Conguration CANopen®
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Illustration 3.8 Congure Receive and Transmit PDO-mapping
Illustration 3.9 PLC Memory Mapping
Conguration Programming Guide
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3.3 Congure the Frequency Converter
3.3.1 Frequency Converter Parameters
The following parameters are most important when
conguring the frequency converter with a CANopen
interface. Refer to chapter 6 Parameters for more details
about each parameter.
Parameter 0-40 [Hand on] Key on LCP
Pressing the [Hand On] key (when the key is enabled) on
the LCP disables the control of the frequency converter via
the CANopen interface.
Parameter 8-02 Control Word Source
After initial power-up, the frequency converter automat-
ically sets parameter 8-02 Control Source to [3] Option A,
which means that the control word comes from the
CANopen port.
Parameter 8-10 Control Word Prole
Select between the frequency converter prole and the
DSP 402 prole for CANopen. Refer to chapter 4 Control.
Parameter 8-01 Control Site, parameter 8-50 Coasting
Select – parameter 8-56 Preset Reference Select
Select how CANopen control commands gate with digital
input commands of the control card.
Set parameter 8-01 Control Site to: [2] Control word only or
[0] Digital and ctrl. word. For more information, refer to
chapter 4 Control.
NOTICE
When parameter 8-01 Control Site is set to [2] Control
word only, the settings in parameter 8-50 Coasting Select
– parameter 8-56 Preset Reference Select are overruled.
Parameter 8-03 Control Word Timeout Time,
parameter 8-04 Control Timeout Function
Enter the timeout time and select the timeout function.
The reaction in the event of a bus timeout is set in these
parameters:
•Parameter 10-01 Baud Rate Select.
•Parameter 10-02 Node ID.
Conguration CANopen®
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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.
130BE843.10
CTW
STW
CTW REF
MAV
REF
MAV
STW
CTW
STW
PDO 1 (rx)
PDO 1 (tx)
PDO 2 (rx)
PDO 2 (rx)
PDO 3 (rx)
PDO 3 (rx)
CANopen 2
CANopen 2
CANopen 3
CANopen 3
Illustration 4.1 PDO Types
NOTICE
PDO type 1–3 are freely congurable.
All receive and transmit PDOs can be congured via the OD.
Map the process data:
•Receiving PDOs: OD 1600–1602.
•Transmitting PDOs: OD 1A00–1A02.
Control Programming Guide
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4.1.1 PDO Conguration
Index and name Sub-
index
Description Value subindex 2 Transmission type
1400h 1st receive PDO (RPDO 1)
1401h 2nd receive PDO (RPDO 2)
1402h 3rd receive PDO (RPDO 3)
0 Number of entries 1–240 SYNC
1 COB ID 254–255 COS
2 Transmission type – –
1600h 1st receive PDO mapping (RPDO 1)
1601h 2nd receive PDO mapping (RPDO 2)
1602h 3rd receive PDO mapping (RPDO 3)
0 Number of entries – –
11st mapped object – –
22nd mapped object – –
33rd mapped object – –
44th mapped object – –
55th mapped object – –
66th mapped object – –
77th mapped object – –
88th mapped object – –
1800h 1st transmit PDO (TPDO 1)
1801h 2nd transmit PDO (TPDO 2)
1802h 3rd transmit PDO (TPDO 3)
0 Number of entries 0 SYNC, non-cyclic
1 COB ID 1–240 SYNC
2 Transmission type 254–255 COS
3 Inhibit time – –
4 Reserved – –
5 Event timer – –
1A00h 1st transmit PDO mapping (TPDO 1)
1A01h 2nd transmit PDO mapping (TPDO 2)
1A02h 3rd transmit PDO mapping (TPDO 3)
0 Number of entries – –
11st mapped object – –
22nd mapped object – –
33rd mapped object – –
44th mapped object – –
55th mapped object – –
66th mapped object – –
77th mapped object – –
88th mapped object – –
Table 4.1 Receive PDO Conguration
Control CANopen®
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4.1.2 PDO Transmission Modes
Subindex 2 contains the setting of the transmission mode.
The following PDO transmission modes are supported:
•Synchronous transmission.
•Asynchronous transmission.
4.1.3 PDO Triggering Modes
The CANopen communication prole has 2 message-
triggering modes:
•Event driven.
•Remotely requested.
Event driven
An object-specic event triggers the message transmission.
For synchronous PDOs, this is the expiration of the
specied transmission period, synchronized by the
reception of the SYNC object.
For acyclically transmitted synchronous PDOs and
asynchronous PDOs, application-specic events specied in
the device prole trigger the message transmission.
Remotely requested
A remote device can initiate the transmission of
asynchronous PDOs.
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 4.2 PDO Transmission
4.1.4 Inhibit Time
Subindex 3 contains the inhibit time.
This time denes a minimum interval for PDO transmission.
The value is dened in multiples of 0.1 ms.
Default value is 300 (30 ms).
Minimum value is 0.
Maximum value is 32767 (3.2 s).
Data length is 2 bytes.
4.1.5 Event Timer
Subindex 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 in multiples of 1 ms.
Default value is 0.
Maximum value is 32767 (32 s).
Data length is 2 bytes.
4.2 Control Prole
Select the control word prole in parameter 8-10 Control
Word Prole.
4.3 DSP 402 Control Prole
4.3.1 Objects in DSP 402 Prole
Use the objects dened in DSP 402 prole to control the
frequency converter. The CANopen control cassette
supports the following objects in DSP 402 prole:
•Object 6040h: Control word.
•Object 6041h: Status word.
•Object 6042h: Vl target velocity.
•Object 6042h: Vl target velocity.
•Object 6043h: Vl velocity demand.
•Object 6044h: Vl control eort.
•Object 6046h: Vl velocity minimum/maximum
amount.
•Object 6048h: Vl velocity acceleration.
•Object 6049h: Vl velocity deceleration.
•Object 604Ah: Vl velocity quick stop.
•Object 604Ch: Vl dimension factor.
•Object 6502h: Supported frequency converter
modes.
When parameter 8-10 Control Word Prole is set to [5]
CANopen DSP 402:
•Use object 6040h as control word.
•Use object 6042h as reference.
Control Programming Guide
MG07E102 Danfoss A/S © 02/2016 All rights reserved. 17
44

4.3.2 DSP 402 State Transitions
Illustration 4.2 DSP 402 State Machine
Control CANopen®
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