Danfoss MCA 124 User manual

MAKING MODERN LIVING POSSIBLE
Operating Instructions
MCA 124 EtherCAT

Contents
1 Safety 3
1.1.2 Safety Note 3
1.1.3 Safety Regulations 3
1.1.4 Warning against Unintended Start 4
1.2 EtherCAT®4
2 Introduction 5
2.1.1 About this Manual 5
2.1.2 Assumptions 5
2.1.3 Hardware 5
2.1.4 Background Knowledge 5
2.1.5 Available Literature 5
2.1.6 Abbreviations 6
3 How to Install 7
3.1.1 How to Install Option in Frequency Converter 7
3.1.2 Network 7
3.1.3 EtherCAT Cables 8
3.1.4 LED Behaviour 8
3.1.5 Topology 9
3.1.6 EMC Precautions 10
4 How to Configure 11
4.1.1 IP Settings 11
4.1.2 EtherNet Link Parameters 11
4.2 Configure the Frequency Converter 11
4.2.1 VLT Parameters 11
4.3 Configure the EtherCAT Network 12
4.3.1.1 Setting the EtherCAT Station Alias using the Hardware Switches 12
5 Configure the Master 13
5.1 Import 13
5.1.1 Importing the XML File 13
5.2 Setting Up 13
5.2.1 Setting up the Master 13
6 How to Control the Frequency Converter 15
6.1 PDO Communication 15
6.2 Process Data 15
6.2.3 Reference Handling 16
6.2.4 Process Control Operation 16
Contents MCA 124 EtherCAT Operating Instruction
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6.2.5 Influence of the Digital Input Terminals upon FC Control Mode 17
6.3 Control Profile 17
6.4 DS 402 Control Profile 17
6.4.3 DSP 402 State Transitions 21
6.5 Danfoss FC Control Profile 22
7 Communication Profile Area 25
7.2 1000-1FFF Communication Object Area 25
7.3 2000-5FFF Danfoss Specific Object Area 28
7.4 6000-Device profile Object Area 29
8 Parameters 32
8.1 Parameter Group 0-** Operation/Display 32
8.2 Parameter Group 8-** Communication and Option 32
8.3 Parameter Group 12-** Ethernet 36
8.3.4 12-5* EtherCAT 38
8.4 EtherCAT-specific Parameter List 40
9 Application Examples 42
9.1 Example: Process Data with PDO 23 42
9.2 Example: Simple Control Word, Reference, Status Word and Main Actual Val-
ue 44
10 Troubleshooting 45
10.1.1 LED Status 45
10.1.2 No Communication with the Frequency Converter 45
10.1.3 Warning 34 Appears even though Communication is Established 46
10.1.4 Frequency Converter Does Not Respond to Control Signals 46
10.1.5 Alarm and Warning Words 48
11 Warnings and Alarms 51
11.1 Status Messages 51
11.1.1 Warnings/Alarm Messages 51
11.1.2 Alarm List 51
Index 55
Contents MCA 124 EtherCAT Operating Instruction
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1 Safety
1.1.1 Copyright, Limitation of Liability and
Revision Rights
This publication contains information proprietary to
Danfoss. By accepting and using this manual, the user
agrees that the information contained herein is used solely
for operating equipment from Danfoss or equipment from
other vendors if such equipment is intended for communi-
cation with Danfoss equipment over a serial
communication link. This publication is protected under
the Copyright laws of Denmark and most other countries.
Danfoss does not guarantee that a software program
produced according to the guidelines provided in this
manual functions properly in every physical, hardware, or
software environment.
Although Danfoss has tested and reviewed the documen-
tation within this manual, Danfoss gives no warranty or
representation, either expressed or implied, with respect to
this documentation. This includes its quality, performance,
or fitness for a particular purpose.
In no event shall Danfoss be liable for direct, indirect,
special, incidental, or consequential damages arising out of
the use, or the inability to use information contained in
this manual, even if advised of the possibility of such
damages. In particular, Danfoss is not responsible for any
costs including, but not limited to those incurred as a
result of lost profits or revenue, loss or damage of
equipment, loss of computer programs, loss of data, the
costs to substitute these, or any claims by third parties.
Danfoss reserves the right to revise this publication at any
time and to change its contents without prior notice or
any obligation to notify previous users of such revisions or
changes.
It has been assumed that all devices are sitting behind a
firewall that does packet filtering and the environment has
implemented restrictions on the software that can run
inside the firewall. All nodes are assumed to be "trusted"
nodes.
1.1.2 Safety Note
WARNING
HIGH VOLTAGE
The voltage of the frequency converter is dangerous
whenever connected to mains. Incorrect installation of the
motor, frequency converter or fieldbus may damage the
equipment, cause serious personal injury, or death.
Consequently, the instructions in this manual, as well as
national and local rules and safety regulations, must be
complied with.
1.1.3 Safety Regulations
1. The frequency converter must be disconnected
from mains before carrying out repair work.
Check that the mains supply has been discon-
nected and that the necessary time has passed
before removing motor and mains plugs.
2. The off-command on the serial bus does not
disconnect the equipment from mains and should
not be used as a safety switch.
3. Correct protective earthing or grounding of the
equipment must be established. The user must
be protected against supply voltage, and the
motor must be protected against overload in
accordance with applicable national and local
regulations.
4. The earth leakage currents are higher than 3.5
mA.
5. Do not remove the plugs for the motor and
mains supply while the frequency converter is
connected to mains. Check that the mains supply
has been disconnected and that the necessary
time has passed before removing motor and
mains plugs.
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1.1.4 Warning against Unintended Start
1. The motor can be brought to a stop with bus
commands while the frequency converter is
connected to mains. If personal safety consider-
ations make it necessary to ensure that no
unintended start occurs, these stop functions are
not sufficient.
2. While parameters are being changed, there is a
risk that motor starts.
3. A motor that has been stopped can start if faults
occur in the electronics of the frequency
converter, or if a temporary overload or a fault in
the supply mains or the motor connection ceases.
WARNING
ELECTRICAL HAZARD
Touching the electrical parts may be fatal - even after the
equipment has been disconnected from mains.
1.2 EtherCAT®
EtherCAT is a Ethernet based realtime communication,
which allows a master to communicate to slave in a
interval down to 30 microseconds. The size of the network
is almost unlimited since up to 65535 devices can be
connected. These factors do make EtherCAT to one of the
fastest Ethernet based protocols in the marked.
The topology in EtherCAT can be made as line, tree or as
star. This gives the user the flexibility to route the cabling
in the most optimal way.
On the application level EtherCAT applies CANopen as the
application layer. This incorporates the usages of PDO
(Process data Objects) for control of the devices and SDO
(Service Data Objects) for acyclic access to parameters of
the devices.
More information on EtherCAT can be found on the
EtherCAT technology groups homepage: www.ethercat.org.
Illustration 1.1 EtherCAT®is Registered Trademark and Patented
Technology, Licensed by Beckhoff Automation Gmbh, Germany
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2 Introduction
2.1.1 About this Manual
First time users can obtain the most essential information
for quick installation and set-up in these chapters:
2 Introduction
3 How to Install
4 How to Configure
For more detailed information, including the full range of
set-up options and diagnosis tools, refer to the chapters:
5 Configure the Master
6 How to Control the Frequency Converter
8 Parameters
9 Application Examples
10 Troubleshooting
Terminology:
In this manual several terms for Ethernet are used.
- EtherCAT, is the term used to describe the
EtherCAT protocol.
- Ethernet, is a common term used to describe the
physical layer of the network and does not relate
to the application protocol.
2.1.2 Assumptions
These operating instructions are under the conditions that
the Danfoss EtherCAT option is used with a Danfoss FC
301/FC 302 frequency converter. The installed controller
must support the interfaces described in this document.
Strictly observe all the requirements stipulated in the
controller and the frequency converter, along with all
limitations herein.
2.1.3 Hardware
This manual relates to the EtherCAT option MCA 124, type
no. 130B5546 (uncoated) and 130B5646 (conformal
coated).
2.1.4 Background Knowledge
The Danfoss EtherCAT Option Card is designed to
communicate with any system complying with the
EtherCAT standard. Familiarity with this technology is
assumed. Issues regarding hardware or software produced
by other manufacturers, including commissioning tools, are
beyond the scope of this manual, and not the responsi-
bility of Danfoss.
For information regarding commissioning tools, or
communication to a non-Danfoss node, consult the
appropriate manuals.
2.1.5 Available Literature
Available Literature for FC 301/FC 302
-The VLT AutomationDrive Operating Instructions,
provide the necessary information for getting the
frequency converter up and running.
-The VLT AutomationDrive Design Guide, entails all
technical information about the frequency
converter design and applications including
encoder, resolver, and relay options.
-The VLT AutomationDrive Profibus Operating
Instructions, provide the information required for
controlling, monitoring, and programming the
frequency converter via a Profibus fieldbus.
-The VLT AutomationDrive DeviceNet Operating
Instructions, provide the information required for
controlling, monitoring, and programming the
frequency converter via a DeviceNet fieldbus.
-The VLT AutomationDrive MCT 10 Set-up Software
Operating Instructions, provide information for
installation and use of the software on a PC.
-The VLT AutomationDrive IP21/Type 1 Instruction,
provides information for installing the IP21/Type
1 option.
-The VLT AutomationDrive 24 V DC Backup
Instruction, provides information for installing the
24 V DC Backup option.
-The VLT AutomationDrive CanOpen Operating
Instructions.
-The VLT AutomationDrive Modbus TCP Operating
Instructions.
-The MCA 121 Ethernet/IP Operating Instructions.
-The MCA 120 PROFINET Operation Instruction.
Danfoss technical literature is also available online at
http://www.danfoss.com/BusinessAreas/DrivesSolutions/
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2.1.6 Abbreviations
Abbreviation Definition
API Actual Packet Interval
CC Control Card
CTW Control Word
DCP Discovery and Configuration Protocol
DHCP Dynamic Host Configuration Protocol Configu-
ration
EMC Electromagnetic Compatibility
I/O Input/Output
IP Internet Protocol
PDO Process Data Object
LCP Local Control Panel
LED Light Emitting Diode
LSB Least Significant Bit
MAV Main Actual Value (actual output)
MSB Most Significant Bit
MRV Main Reference Value Reference
N/A Not applicable
PC Personal Computer
PCD Process Control Data
PLC Programmable Logic Controller
PNU Parameter Number
REF Reference (=MRV)
SDO Service Data Object
STW Status Word
Table 2.1
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3 How to Install
3.1.1 How to Install Option in Frequency
Converter
Items required for installing a fieldbus option in the
frequency converter:
•The fieldbus option
•Fieldbus option adaptor frame for the FC 300.
This frame is deeper than the standard frame to
allow space for the fieldbus option beneath
•Strain relief (only for A1 and A2 enclosures)
EtherNet Port1
EtherNet Port2
MCA 121 Option A
EtherNet/IP 130B1119
MS
MS1 MAC-00-1B-08-00-00-22
MS2
SW.ver.
130BT797.10
Illustration 3.1
Illustration 3.2
Instructions:
1. Remove LCP panel from the FC 300.
2. Remove the frame located beneath and discard it.
3. Push the option into place. The Ethernet
connectors must be facing upwards.
4. Remove both knock-outs on the fieldbus option
adaptor frame.
5. Push the fieldbus option adaptor frame for the FC
300 into place.
6. Replace the LCP and attach cable.
NOTE
Do not strip and ground the Ethernet cable via the strain
relief-plate! The grounding of screened Ethernet cable is
done through the RJ-45 connector on the option.
NOTE
After installing the MCA 124 EtherCAT option, set
8-01 Control Site and 8-02 Control Word Source as follows:
8-01 Control Site: [2] Control word only or [0] Digital and ctrl.
word
8-02 Control Word Source: [3] Option A
3.1.2 Network
It is of high importance that the media chosen for Ethernet
data transmission are suitable. Usually CAT 5e and 6 cables
are recommended for industrial applications. Both types
are available as Unshielded Twisted Pair and Shielded
Twisted Pair. Generally, shielded cables are recommended
for use in industrial environments and with frequency
converters.
A maximum cable-length of 100 m is allowed between
switches.
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3.1.3 EtherCAT Cables
Cable Type Specification
Ethernet standard Standard Ethernet (in accordance with IEEE
802.3), 100Base-TX (FastEthernet)
Cable Type S/FTP (Screened Foiled Twisted Pair, ISO(IEC
11801 or EN 50173), CAT 5e
Damping 23.2 dB (at 100 MHz and 100 m each)
Crosstalk damping 24 dB (at 100 MHz and 100 m each)
Return loss 10 dB (100 m each)
Surge impedance 100 Ω
Table 3.1 Specification of EtherCAT Cables
3.1.4 LED Behaviour
The option has 3 bicolored LEDs that allow a fast and
detailed diagnosis. The three LEDs are each linked to its
unique part of the EtherCAT option:
LED Label Description
Status Module Status, reflects the activity on the
EtherCAT slave
Link/Act In Link/status In, reflects the activity on the IN
port
Link/Act Out Link/status In, reflects the activity on the OUT
port
Table 3.2
Illustration 3.3 Overview of the Option
Power OFF or State INIT
Initialisation/Bootstrap
PRE-OP State
SAFE-OP State
OP State
ERR-Init State
Process Data Watchdog
timeout
Green
Red
Table 3.3 Indication of Status LED
Power OFF or NO Link
Link
Link Active
Green
Red
Table 3.4 Link/Act LED
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3.1.5 Topology
The EtherCAT module features a built-in EtherCAT slave
controller, thus having two Ethernet RJ-45 connectors. This
module enables the possibility for connecting several
EtherCAT options in a line topology.
It is important in a EtherCAT system, that the connection is
done correctly. EtherCAT options has to be connected so
that a OUT port always connects to a IN port on the next
slave in the network. If this is not fulfilled the EtherCAT will
go into error mode.
NOTE
Do not connect any non-EtherCAT device to the last port
as this causes malfunction of the complete EtherCAT
network.
130BC178.10
Illustration 3.4 Line Topology
NOTE
In a line topology all frequency converters must be
powered, either by mains or by their 24 V DC option cards,
for the built-in EtherCAT slave controller to work.
Mounting frequency converters of different power-sizes in
a line topology can result in unwanted power-off behavior,
while using control word timeout (8-02 Control Word
Source to 8-06 Reset Control Word Timeout. Mount the
frequency converters with the longest discharge time first
in the line topology.
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