Danfoss VLT PROFIBUS DP MCA 101 Operating instructions

MAKING MODERN LIVING POSSIBLE
Programming Guide
VLT®PROFIBUS DP MCA 101
VLT®Frequency Converter Series FC 102 • FC 103 • FC 202
FC 301/302 • FCD 302 • FCP 106 • FCM 106
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 5
2 Safety 6
2.1 Safety Symbols 6
2.2 Qualied Personnel 6
2.3 Safety Precautions 6
3 Conguration 8
3.1 Congure the PROFIBUS Network 8
3.2 Congure the Master 9
3.2.1 GSD File 9
3.3 Congure the Frequency Converter 11
3.3.1 Frequency Converter Parameters 11
3.3.2 LEDs 12
4 Control 13
4.1 PPO Types 13
4.2 Process Data 15
4.2.1 Process Control Data 15
4.2.2 Process Status Data 15
4.2.3 Reference Handling 15
4.2.4 Process Control Operation 16
4.2.5 Inuence of the Digital Input Terminals on FC Control Mode 16
4.3 Control Prole 16
4.4 PROFIdrive Control Prole 17
4.4.1 Control Word According to PROFIdrive Prole (CTW) 17
4.4.2 Status Word According to PROFIdrive Prole (STW) 18
4.4.3 PROFIdrive State Transition Diagram 20
4.5 Danfoss FC Control Prole 21
4.5.1 Control Word According to FC Prole (CTW) 21
4.5.2 Status Word According to FC Prole (STW) 22
4.6 Synchronize and Freeze 23
4.6.1 Sync/Unsync 23
4.6.2 Freeze/Unfreeze 24
Contents Programming Guide
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5 Parameter Access 25
5.1 Parameter Access in General 25
5.2 DP-V1 Parameter Access 25
5.3 PCV Parameter Access 31
5.4 PROFIBUS DP Parameter and Data Type 33
6 Parameters 36
6.1 8-** PROFIBUS Parameters 36
6.2 9-** and 16-** PROFIBUS Parameters 39
6.3 PROFIBUS-specic Parameter List 46
7 Application Examples 48
7.1 Example 1: Process Data with PPO Type 6 48
7.2 Example 2: Control Word Telegram using PPO Type 49
7.3 Example 3: Status Word Telegram using PPO Type 50
7.4 Example 4: PLC Programming 51
8 Troubleshooting 53
8.1 Diagnosis 53
8.2 No Response to Control Signals 53
8.3 Warnings and Alarms 56
8.4 Fault Messages via DP Diagnosis 58
8.5 Extended Diagnosis 59
Index 60
Contents VLT®PROFIBUS DP MCA 101
2 Danfoss A/S © 01/2016 All rights reserved. MG37G202

1 Introduction
1.1 Purpose of the Manual
The VLT
®
PROFIBUS DP MCA 101 Programming Guide
provides information about:
•Conguring the system.
•Controlling the frequency converter.
•Parameter access.
•Programming.
•Troubleshooting.
•Typical application examples.
The programming guide is intended for use by qualied
personnel familiar with the VLT®frequency converter, with
PROFIBUS technology, and with the PC or PLC 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
®
Operating Instructions provide the
necessary information for getting the frequency
converter up and running.
•The VLT
®
Design Guide provides detailed
information about capabilities and functionality
to design motor control systems.
•The VLT
®
Programming Guide provides greater
detail on working with parameters and many
application examples.
•The VLT
®
PROFIBUS DP MCA 101 Installation Guide
provides information about installing the
PROFIBUS and troubleshooting.
•The VLT
®
PROFIBUS DP MCA 101 Programming
Guide provides information about conguring the
system, controlling the frequency converter,
parameter access, programming, troubleshooting,
and 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
MG37G2xx •Information about VLT®DriveMotor
FCP 106/FCM 106 added.
•New feature for fast PCD communi-
cation for MCO 305.
5.20
Table 1.1 Document and Software Version
1.4 Product Overview
1.4.1 Features of PROFIBUS DP-V1
•2 dierent state machines can be selected:
PROFIdrive prole or Danfoss FC prole.
•Communication using PROFIBUS DP-V1, master
class 1, and master class 2.
•Backward compatibility: New protocol extensions
retain all the functions of the previous versions.
•Intelligent base for future technologies such as
OPC, FDT/DTM, PROFINET.
•Bus timeout reaction.
•PLC/CPU stop reaction.
•8 PPO types available.
•Numerous relevant process data (PCD) types
available.
•Automatic detection of baud rate and PPO type.
•Extended diagnosis available.
•Alarms and warnings available as text messages
within the PLC.
•Conguration via MCT 10 Set-up Software.
•Equally long bus cycle time congurable in PLC
system.
•Improved network eciency, since the cyclic
parameter channel is no longer required.
•Short bus cycle times compared to industrial
Ethernet.
•Backwards compatibility with DP.
Introduction Programming Guide
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1.4.2 Technical Overview
PROFIBUS
PROFIBUS is an international standard for eldbus
communication in automation technology (IEC 61158 and
IEC 61784). The member companies of the PROFIBUS
International User Community support the standard.
For information about PROFIBUS and downloads for
PROFIBUS DP and the PROFIdrive prole, refer to
www.Probus.com.
PROFIBUS DP-V1
The PROFIBUS DP protocol enables communication
between PROFIBUS masters and slaves.
Congure communication via MCT 10 Set-up Software.
Cyclic/acyclic communication
•PLC communicates with telegrams of constant
length.
•Fits time-critical requirements.
•Cyclic transmission via PPO types.
•Extended diagnosis.
130BA078.11
PLC
Illustration 1.1 PROFIBUS DP-V0
Features of a master class 1 connection:
•Cyclic data exchange (DP-V0).
•Acyclic read/write on parameters.
•Extended diagnosis.
The acyclic connection is xed and cannot be changed
during operation.
Features of a master class 2 connection:
•Initiate/abort acyclic connection.
•Acyclic read/write on parameters.
The acyclic connection can be established (initiated) or
removed (aborted) dynamically even when a master class 1
is active on the network. Use the DP-V1 acyclic connection
for general parameter access as an alternative to the PCV
parameter channel.
130BA079.11
PLC
Master class 1
PC tool
Master class 2
Illustration 1.2 PROFIBUS DP-V1
The PROFIBUS DP extension DP-V1 allows acyclic as well as
cyclic data communication. This feature can be used by a
DP master class 1, for example PLC, as well as a DP master
class 2, for example PC tool.
1.5 Approvals and Certications
More approvals and certications are available. For more
information, contact a local Danfoss partner.
Introduction VLT®PROFIBUS DP MCA 101
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1.6 Symbols, Abbreviations, and
Conventions
CAN Controller area network
CTW Control word
DP Distributed periphery
DTM
DU Data unit
EEPROM Electrical erasable programmable read-only memory
EMC Electromagnetic compatibility
FDT Field device tool
HMI
IND Sub index
LCD Liquid crystal display
LCP Local control panel
LED Light emitting diode
MAV Main actual value
MC1 Master class 1
MC2 Master class 2
MRV Main reference value
OPC
PC Personal computer
PCD Process data
PCA Parameter characteristics
PCV Parameter characteristics value
PDU Protocol data unit
PLC Programmable logic control
PNU Parameter number
PPO Parameter-process data
PVA Parameter value
RC Request/response characteristics
SAP Service access point
SMP Spontaneous message
STW Status word
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.
•Footnote.
•Parameter name.
•Parameter group name.
•Parameter option.
* indicates a default setting in a parameter.
Introduction Programming Guide
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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
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
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:
•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 power
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 duration of waiting time is specied
in the chapter Safety in the operating
instructions supplied with the frequency
converter.
•Before performing any service or repair work,
use an appropriate voltage measuring device to
make sure that the capacitors are fully
discharged.
Safety VLT®PROFIBUS DP MCA 101
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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 Programming Guide
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3Conguration
3.1 Congure the PROFIBUS Network
Ensure that all PROFIBUS stations connected to the same
bus network have a unique station address.
Select the PROFIBUS address of the frequency converter
via:
•Hardware switches.
•Parameter 9-18 Node Address.
•The PROFIBUS command SSA (set station
address).
3.1.1 Setting the PROFIBUS Address using
the DIP Switches
To set the PROFIBUS address using the DIP switches:
1. Switch o the supply.
2. Select an address in the range 0–125. Factory
setting is 127.
3. For location of the DIP switches, refer to
Illustration 3.1 and Illustration 3.2.
4. Set the switches according to the address, see
Table 3.1.
Switch 8 7 6 5 4 3 2 1
Address
value
Not
used
+64 +32 +16 +8 +4 +2 +1
5 Not
used
OFF OFF OFF OFF ON OFF ON
35 Not
used
OFF ON OFF OFF OFF ON ON
82 Not
used
ON OFF ON OFF OFF ON OFF
Table 3.1 Examples: Setting the PROFIBUS Address using the
DIP Switches
NOTICE
Switch o the supply before changing the DIP switches.
130BD878.10
ON
1 2
SW. ver. XX.XX
MS
NS
ON
OFF
Code No. 130B1100
Termination SN
SW
Address
ON
OFF
S600
S300
LD202 LD200
LD201 LD203
ON ON
8 7 6 5 4 3 2 1
PROFIBUS Option A
1
2
1 Termination switch
2 DIP switches
Illustration 3.1 Location and Sequence of the DIP Switches
The DIP switches in the FCD 302 are placed below the
inverter part, see Illustration 3.2.
130BB708.10
12
4
3
5
Illustration 3.2 FCD 302 Dip Switches
Setting the PROFIBUS address via parameter 9-18 Node
Address
1. Switch o the supply.
2. Set the DIP switch to 126 or 127 (factory switch
setting).
3. Set the address via parameter 9-18 Node Address
or the PROFIBUS SSA-command.
4. The address change comes into eect at the next
power-up.
Conguration VLT®PROFIBUS DP MCA 101
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Setting the PROFIBUS address with set station address
command
1. Switch o the supply.
2. Set the DIP switch to 126 or 127 (factory switch
setting).
3. Set the address via the set station address
command. Use the set station address command
to lock the programmed address and to change
the address. To unlock the address setting,
change parameter 9-18 Node Address or the
address switch, followed by a power cycle. A new
address is eective immediately after applying
the set station address command.
3.2 Congure the Master
3.2.1 GSD File
To congure a PROFIBUS master, the conguration tool
needs a GSD le for each type of slave on the network.
The GSD le is a PROFIBUS DP standard text le containing
the necessary communications set-up data for a slave.
Download the GSD le for the relevant frequency
converter series vlt-drives.danfoss.com/products/engineering-
software/software-download/eldbus/.
PROFIBUS SW version
(parameter 15-61 Option SW
Version)
GSD le
1.x da01040A.GSD
2.x da02040A.GSD
FCD 302 da01040B.GSD
Table 3.2 GSD File
The following example shows the procedure of conguring
a PROFIBUS master for FC 301/FC 302, but the procedure is
also valid for other frequency converter series.
1. Import the GSD le in the conguration tool.
2. Import the GSD le to the Simatic Manager
software tool. Import a GSD le once only for
each frequency converter series, following the
initial installation of the software tool. See
Illustration 3.3.
3. Use the browser for the GSD le, install all les,
and import both a GSD le and a bitmap for the
device into the hardware catalog. See
Illustration 3.4 and Illustration 3.5.
130BC915.10
Illustration 3.3 Install GSD File
130BC913.11
Illustration 3.4 Import a GSD File and a Bitmap
Illustration 3.5 Add a GSD File
Conguration Programming Guide
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33

4. Import and access the FC 301/FC 302 GSD le via
the path in the hardware catalog, see
Illustration 3.6.
130BA564.11
Illustration 3.6 Import and Access the GSD File
5. Open a project, set up the hardware, and add a
PROFIBUS master system.
6. Select FC 300, then drag and drop it onto the
PROFIBUS in the hardware diagram.
7. A window for the address of the FC 300 appears.
Select the address from the scroll-down list.
Ensure that the address setting matches the
previous address setting in parameter 9-18 Node
Address. See Illustration 3.7.
130BC912.11
Illustration 3.7 Select the Address
8. Set up the peripheral input and output data. Data
set up in the peripheral area is transmitted
cyclically via PPO types. Drag and drop a PPO
type 6 word consistent to the rst slot, see
Illustration 3.8. See the PPO types in
chapter 4 Control for more information.
130BC911.11
Illustration 3.8 Drag and Drop PPO Type 6 Word Consistent to
the First Slot
The conguration tool automatically assigns addresses in
the peripheral address area. In this example, the input and
output areas have the following congurations:
PPO type 6
PCD word
number
1 2 3 4
Input
address
256–257 258–259 260–261 262–263
Set-up STW MAV Parameter 9-
16 PCD Read
Congu-
ration.2
Parameter 9-
16 PCD
Read Cong-
uration.3
Table 3.3 PCD Read (Frequency Converter to PLC)
PCD word
number
1 2 3 4
Output
address
256–257 258–259 260–261 262–263
Set-up CTW MRV Parameter 9-
15 PCD Write
Congu-
ration.2
Parameter 9-
15 PCD
Write
Congu-
ration.3
Table 3.4 PCD Write (PLC to Frequency Converter)
Conguration VLT®PROFIBUS DP MCA 101
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Alternative: For PROFIBUS SW version 2.x and higher, auto-
conguration of process data is supported. This feature
makes it possible to congure the process data
(parameter 9-15 PCD Write Conguration and
parameter 9-16 PCD Read Conguration) from the PLC/
master. To use auto-conguration, make sure to enable the
feature under DP slave properties. See Illustration 3.9.
130BT322.11
Illustration 3.9 Enable Feature under DP Slave Properties
NOTICE
DP-V1 diagnosis is supported for PROFIBUS SW version
2.x and higher. The default setting of the VLT®PROFIBUS
DP MCA 101 is DP-V1 diagnosis. If DP-V0 diagnosis is
required, change the setting under DP slave properties.
Illustration 3.10 DP-V1 Diagnosis
Download the conguration le to the PLC. The PROFIBUS
system is able to go online, and it starts to exchange data
when the PLC is set to run mode.
3.3 Congure the Frequency Converter
3.3.1 Frequency Converter Parameters
The following parameters are important when conguring
the frequency converter with a PROFIBUS interface:
•Parameter 0-40 [Hand on] Key on LCP. Pressing
[Hand on] disables control of the frequency
converter via PROFIBUS.
•Parameter 8-02 Control Word Source. After an
initial power-up, the frequency converter
automatically detects whether a eldbus option is
installed in slot A. The frequency converter then
sets parameter 8-02 Control Word Source to [3]
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. Instead, the
frequency converter enters trip mode and shows
an error.
•Parameter 8-10 Control Word Prole. Select
between the Danfoss FC Prole and the
PROFIdrive prole.
•Parameter 8-50 Coasting Select to
parameter 8-56 Preset Reference Select. Select how
to gate PROFIBUS control commands with digital
input command of the control card.
•Parameter 8-03 Control Word Timeout Time to
parameter 8-05 End-of-Timeout Function. Set the
reaction in the event of a bus timeout via these
parameters.
•Parameter 9-18 Node Address.
•Parameter 8-07 Diagnosis Trigger.
NOTICE
The setting in parameter 8-01 Control Site overrides the
settings in parameter 8-50 Coasting Select to
parameter 8-56 Preset Reference Select, and they all act on
bus control.
Conguration Programming Guide
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33

3.3.2 LEDs
The 2 bicolor LEDs in the VLT®PROFIBUS DP MCA 101
indicate the status of PROFIBUS communication.
The LED marked NS (FCD 302: NS2) indicates the network
status, that is, the cyclic communication to the PROFIBUS
master. When this light is a constant green, data exchange
between the master and the frequency converter is active.
The LED marked MS (FCD 302: BUS MS) indicates the
module status, that is, acyclic DP-V1 communication from
either a PROFIBUS master class 1 (PLC) or a master class 2
(MCT 10 Set-up Software, FDT tool). When this light is a
constant green, DP-V1 communication from master classes
1 and 2 is active.
For details of the full range of communications status
indicated by the LEDs, refer to chapter 8 Troubleshooting.
A
130BC259.10
Illustration 3.11 FCD 302 LED Panel
Conguration VLT®PROFIBUS DP MCA 101
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4 Control
4.1 PPO Types
The PROFIBUS prole for frequency converters species a
number of communication objects (parameter process data
objects, PPO). The PROFIBUS prole for frequency
converters is suitable for data exchange between a process
controller (for example PLC) and a frequency converter. All
PPOs are dened for cyclic data transfer (DP-V0) for
transferring process data (PCD) and parameters (PCA) from
the master to the slave, and conversely.
Pure process data objects
PPO types 3, 4, 6, 7, and 8 are pure process data objects
for applications requiring no cyclic parameter access. The
PLC sends out process control data, and the frequency
converter then responds with a PPO of the same length,
containing process status data.
Illustration 4.1 shows the available PPO types:
•PCD 1: The rst 2 bytes of the process data area
(PCD 1) comprise a xed part present in all PPO
types.
•PCD 2: The next 2 bytes are xed for PCD write
entries (see parameter 9-15 PCD Write Congu-
ration [1]), but congurable for PCD read entries
(see parameter 9-16 PCD Read Conguration [1]).
•PCD 3–10: In the remaining bytes, the process
data can be parameterized with process signals,
see parameter 9-23 Parameters for Signals.
The setting in parameter 9-15 PCD Write Conguration
determines the signals for transmission (request) from the
master to the frequency converter.
The setting in parameter 9-16 PCD Read Conguration
determines the signals for transmission (response) from the
frequency converter to the master.
Parameter channel and process data
PPO types 1, 2, and 5 consist of a parameter channel and
process data. Use the parameter channel for reading
and/or updating of parameters (successively). Alternatively,
for better utilization of I/O and PLC capacity, access
parameters via DP-V1. To access via DP-V1, select a pure
process data object (PPO type 3, 4, 6, 7, or 8).
Select the PPO type in the master conguration. The
selection is automatically recorded in the frequency
converter. No manual setting of PPO types in the
frequency converter is required. Read the current PPO type
in parameter 9-22 Telegram Selection. The setting [1]
Standard telegram 1 is equivalent to PPO type 3.
In addition, all PPO types can be set up as word-consistent
or module-consistent. The process data area can be word-
or module-consistent, whereas the parameter channel
must always be module-consistent.
•Word-consistent data is transmitted as individual,
independent words between the PLC and the
frequency converter.
•Module-consistent data is transmitted as sets of
interrelated words transferred simultaneously
between the PLC and the frequency converter.
Control Programming Guide
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44

CTW/STWREF/MAV PCD 2
Read/
Write
PCD 3
Read/
Write
Standard telegram
1
PCD 4
Read/
Write
PCD 5
Read/
Write
PPO 4
PPO 6
PPO 7
PPO 8
Danfoss telegram
(The old PPO type 3)
PCV
CTW/STW REF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
PCD 4
Read/
Write
PCD 5
Read/
Write
CTW/STWREF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
PCD 4
Read/
Write
PCD 5
Read/
Write
PCD 6
Read/
Write
PCD 7
Read/
Write
PCD 8
Read/
Write
PCD 9
Read/
Write
CTW/STW REF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
PCD 4
Read/
Write
PCD 5
Read/
Write
PCD 6
Read/
Write
PCD 7
Read/
Write
CTW/STW REF/MAV
CTW/STW REF/MAV
PPO 3
CTW/STW REF/MAV
PCD 2
Read/
Write
PCD 3
Read/
Write
PPO 2PCV
CTW/STWREF/MAV
PPO 1PCV
130BD911.10
Illustration 4.1 Available PPO Types
Control VLT®PROFIBUS DP MCA 101
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4.2 Process Data
Use the process data part of the PPO to control and
monitor the frequency converter via the PROFIBUS.
4.2.1 Process Control Data
Process control data (PCD) is the process data sent from
the PLC to the frequency converter.
Master/slave
1 2 3 ....... 10
CTW MRV PCD ....... PCD
PCD write
Table 4.1 Process Control Data
PCD 1 contains a 16-bit control word, and each bit controls
a specic function of the frequency converter, see
chapter 4.3 Control Prole.
PCD 2 contains a 16-bit speed setpoint in percentage
format. See chapter 4.2.3 Reference Handling.
The settings in parameter 9-15 PCD Write Conguration and
parameter 9-16 PCD Read Conguration dene the content
of PCD 3 to PCD 10.
4.2.2 Process Status Data
Process status data is the process data sent from the
frequency converter and contains information about the
current state.
Slave/master
1 2 3 ...... 10
STW MAV PCD ...... PCD
PCD read
Table 4.2 Process Status Data
PCD 1 contains a 16-bit status word, and each bit contains
information regarding a possible state of the frequency
converter.
PCD 2 contains per default the value of the current speed
of the frequency converter in percentage format (see
chapter 4.2.3 Reference Handling). PCD 2 can be congured
to contain other process signals.
The settings in parameter 9-16 PCD Read Conguration
dene the content of PCD 3 to PCD 10.
4.2.3 Reference Handling
The reference handling is an advanced mechanism that
sums up references from dierent sources, as shown in
Illustration 4.2.
For more information on reference handling, refer to the
design guide of the relevant frequency converter.
Illustration 4.2 Reference
The reference, or speed setpoint, is sent via PROFIBUS and
is always transmitted to the frequency converter in
percentage format as integers shown in hexadecimal (0–
4000 hex).
The reference (MRV) and feedback (MAV) are always scaled
equally. The setting of parameter 3-00 Reference Range
determines the scaling of the reference and feedback
(MAV), see Illustration 4.3.
Illustration 4.3 Reference (MRV) and Feedback (MAV), Scaled
NOTICE
When parameter 3-00 Reference Range is set to [0] Min -
Max, a negative reference is handled as 0%.
The actual output of the frequency converter is limited by
the speed limit parameters Motor Low/High Speed Limit
[RPM/Hz] in parameter 4-11 Motor Speed Low Limit [RPM] to
parameter 4-14 Motor Speed High Limit [Hz].
Control Programming Guide
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The nal speed limit is set in parameter 4-19 Max Output
Frequency.
Table 4.3 lists the reference (MRV) and the feedback (MAV)
formats.
MRV/MAV Integer in hex Integer in decimal
100% 4000 16384
75% 3000 12288
50% 2000 8192
25% 1000 4096
0% 0 0
-25% F000 -4096
-50% E000 -8192
-75% D000 -12288
-100% C000 -16384
Table 4.3 Reference/Feedback (MRV/MAV) Format
NOTICE
Negative numbers are formed as complement of 2.
NOTICE
The data type for MRV and MAV is an N2 16-bit
standardized value, expressing a range from -200% to
+200% (8001 to 7FFF).
Example
The following settings determine the speed, as shown in
Table 4.4:
•Parameter 1-00 Conguration Mode set to [0]
Speed open loop.
•Parameter 3-00 Reference Range set to [0] Min-Max.
•Parameter 3-02 Minimum Reference set to 100
RPM.
•Parameter 3-03 Maximum Reference set to 3000
RPM.
MRV/MAV Actual speed [RPM]
0% 0 hex 100
25% 1000 hex 825
50% 2000 hex 1550
75% 3000 hex 2275
100% 4000 hex 3000
Table 4.4 Actual Speed for MRV/MAV
4.2.4 Process Control Operation
In process control operation, parameter 1-00 Conguration
Mode is set to [3] Process.
The reference range in parameter 3-00 Reference Range is
always [0] Min - Max.
•MRV is the process setpoint.
•MAV expresses the actual process feedback (range
±200%).
4.2.5 Inuence of the Digital Input
Terminals on FC Control Mode
In parameter 8-50 Coasting Select to parameter 8-56 Preset
Reference Select, set the inuence of the digital input
terminals on the control of the frequency converter.
NOTICE
The setting of parameter 8-01 Control Site overrules the
settings in parameter 8-50 Coasting Select to
parameter 8-56 Preset Reference Select. The setting of
terminal 37 coast stop (safe) overrules any other
parameter.
Program each of the digital input signals to logic AND,
logic OR, or to have no relation to the corresponding bit in
the control word. In this way, the following signal sources
initiate a specic control command, for example stop/
coast:
•Fieldbus only.
•Fieldbus AND digital input.
•Either eldbus OR digital input terminal.
NOTICE
To control the frequency converter via PROFIBUS, set
parameter 8-50 Coasting Select to either [1] Bus or [2]
Logic AND. Then set parameter 8-01 Control Site to [0]
Digital and ctrl.word or [2] Controlword only.
For more detailed information and examples of logical
relationship options, see chapter 8 Troubleshooting.
4.3 Control Prole
Control the frequency converter according to:
•The PROFIdrive prole, see chapter 4.4 PROFIdrive
Control Prole, or
•The Danfoss FC control, see chapter 4.5 Danfoss
FC Control Prole.
Select the control prole in parameter 8-10 Control Word
Prole. The choice of prole aects the control word and
status word only.
Chapter 4.4 PROFIdrive Control Prole and
chapter 4.5 Danfoss FC Control Prole provide a detailed
description of control and status data.
Control VLT®PROFIBUS DP MCA 101
16 Danfoss A/S © 01/2016 All rights reserved. MG37G202
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4.4 PROFIdrive Control Prole
This section describes the functionality of the control word
and status word in the PROFIdrive prole.
4.4.1 Control Word According to
PROFIdrive Prole (CTW)
The control word is used to send commands from a master
(for example a PC) to a slave.
Bit Bit=0 Bit=1
00 OFF 1 ON 1
01 OFF 2 ON 2
02 OFF 3 ON 3
03 Coasting No coasting
04 Quick stop Ramp
05 Hold frequency output Use ramp
06 Ramp stop Start
07 No function Reset
08 Jog 1 OFF Jog 1 ON
09 Jog 2 OFF Jog 2 ON
10 Data invalid Data valid
11 No function Slow down
12 No function Catch up
13 Parameter set-up Selection lsb
14 Parameter set-up Selection msb
15 No function Reverse
Table 4.5 Control Word Bits
Explanation of the control bits
Bit 00, OFF 1/ON 1
Normal ramp stops using the ramp times of the actual
selected ramp.
Bit 00=0 stops and activates the output relay 1 or 2 if the
output frequency is 0 Hz, and if [31] Relay 123 is selected
in parameter 5-40 Function Relay.
When bit 0=1, the frequency converter is in state 1,
Switching on inhibited.
Refer to Illustration 4.4.
Bit 01, OFF 2/ON 2
Coast stop.
Bit 01=0 coast stops and activates the output relay 1 or 2
if the output frequency is 0 Hz, and if [31] Relay 123 is
selected in parameter 5-40 Function Relay.
When bit 01=1, the frequency converter is in state 1,
Switching on inhibited. Refer to Illustration 4.4.
Bit 02, OFF 3/ON 3
Quick stop using the ramp time of parameter 3-81 Quick
Stop Ramp Time.
Bit 02=0 quick stops and activates the output relay 1 or 2
if the output frequency is 0 Hz, and if [31] Relay 123 is
selected in parameter 5-40 Function Relay.
When bit 02=1, the frequency converter is in state 1,
Switching on inhibited.
Refer to Illustration 4.4.
Bit 03, coasting/no coasting
Bit 03=0 leads to a coast stop.
When bit 03=1, if the other start conditions are fullled,
the frequency converter can start.
NOTICE
The selection in parameter 8-50 Coasting Select
determines how bit 03 is linked with the corresponding
function of the digital inputs.
Bit 04, quick stop/ramp
Quick stop using the ramp time of parameter 3-81 Quick
Stop Ramp Time.
When bit 04=0, a quick stop occurs.
When bit 04=1, if the other start conditions are fullled,
the frequency converter can start.
NOTICE
The selection in parameter 8-51 Quick Stop Select
determines how bit 04 is linked with the corresponding
function of the digital inputs.
Bit 05, hold frequency output/use ramp
When bit 05=0, the present output frequency is
maintained, even if the reference value is modied.
When bit 05=1, the frequency converter can perform its
regulating function again according to the respective
reference value.
Bit 06, ramp stop/start
Normal ramp stop using the ramp times of the actual
ramp selected. In addition, if [31] Relay 123 is selected in
parameter 5-40 Function Relay, and if the output frequency
is 0 Hz, this bit activates output relay 01 or 04.
Bit 06=0 stops the frequency converter.
When bit 06=1, if the other start conditions are fullled,
the frequency converter can start.
NOTICE
The selection in parameter 8-53 Start Select determines
how bit 06 is linked with the corresponding function of
the digital inputs.
Bit 07, no function/reset
Reset after switching o. Acknowledges event in fault
buer.
When bit 07=0, no reset occurs.
When there is a slope change of bit 07 to 1, a reset occurs
after switching o.
Bit 08, jog 1 OFF/ON
Activation of the pre-programmed speed in
parameter 8-90 Bus Jog 1 Speed. JOG 1 is only possible if bit
04=0 and bits 00–03=1.
Bit 09, jog 2 OFF/ON
Activation of the pre-programmed speed in
parameter 8-91 Bus Jog 2 Speed. JOG 2 is only possible if bit
04=0 and bits 00–03=1.
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Bit 10, data invalid/valid
Tells the frequency converter whether to use or ignore the
control word.
Bit 10=0 ignores the control word, making it possible to
turn o the control word when updating/reading
parameters.
Bit 10=1 uses the control word. This function is relevant,
because the control word is always contained in the
telegram, regardless of which type of telegram is used.
Bit 11, no function/slow down
Used to reduce the speed reference value by the amount
given in parameter 3-12 Catch up/slow Down Value.
When bit 11=0, no modication of the reference value
occurs.
When bit 11=1, the reference value is reduced.
Bit 12, no function/catch up
Used to increase the speed reference value by the amount
given in parameter 3-12 Catch up/slow Down Value.
When bit 12=0, no modication of the reference value
occurs.
When bit 12=1, the reference value is increased.
If both slowing down and accelerating are activated (bits
11 and 12=1), slowing down has priority, and the speed
reference value is reduced.
Bits 13/14, set-up selection
Bits 13 and 14 are used to select between the 4 parameter
set-ups according to Table 4.6.
The function is only possible if [9] Multi Set-up has been
selected in parameter 0-10 Active Set-up. The selection in
parameter 8-55 Set-up Select determines how bits 13 and
14 are linked with the corresponding function of the
digital inputs. Changing set-up while running is only
possible if the set-ups have been linked in
parameter 0-12 This Set-up Linked to.
Set-up Bit 13 Bit 14
1 0 0
2 1 0
3 0 1
4 1 1
Table 4.6 Parameter Set-ups
Bit 15, no function/reverse
Bit 15=0 causes no reversing.
Bit 15=1 causes reversing.
NOTICE
In the factory setting, reversing is set to [0] Digital in
parameter 8-54 Reversing Select.
NOTICE
Bit 15 causes reversing only when Ser. communication,
Logic or, or Logic and is selected.
4.4.2 Status Word According to PROFIdrive
Prole (STW)
The status word is used to notify a master (for example a
PC) about the status of a slave.
Bit Bit=0 Bit=1
00 Control not ready Control ready
01 Drive not ready Drive ready
02 Coasting Enable
03 No error Trip
04 OFF 2 ON 2
05 OFF 3 ON 3
06 Start possible Start not possible
07 No warning Warning
08 Speed ≠reference Speed = reference
09 Local operation Bus control
10 Out of frequency limit Frequency limit ok
11 No operation In operation
12 Drive OK Stopped, auto start
13 Voltage OK Voltage exceeded
14 Torque OK Torque exceeded
15 Timer OK Timer exceeded
Table 4.7 Status Word Bits
Explanation of the status bits
Bit 00, control not ready/ready
When bit 00=0, bit 00, 01, or 02 of the control word is 0
(OFF 1, OFF 2, or OFF 3) - or the frequency converter is
switched o (tripped).
When bit 00=1, the frequency converter control is ready,
but power is not necessarily supplied to the unit (in the
event of 24 V external supply of the control system).
Bit 01, VLT not ready/ready
Same signicance as bit 00, however, power is supplied to
the unit. The frequency converter is ready when it receives
the necessary start signals.
Bit 02, coasting/enable
When bit 02=0, bit 00, 01, or 02 of the control word is 0
(OFF 1, OFF 2, or OFF 3 or coasting) - or the frequency
converter is switched o (trip).
When bit 02=1, bit 00, 01, or 02 of the control word is 1,
and the frequency converter has not tripped.
Bit 03, no error/trip
When bit 03=0, no error condition exists in the frequency
converter.
When bit 03=1, the frequency converter has tripped and
requires a reset signal before it can start.
Bit 04, ON 2/OFF 2
When bit 01 of the control word is 0, bit 04=0.
When bit 01 of the control word is 1, bit 04=1.
Bit 05, ON 3/OFF 3
When bit 02 of the control word is 0, bit 05=0.
When bit 02 of the control word is 1, bit 05=1.
Control VLT®PROFIBUS DP MCA 101
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