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
Safety MCA 124 EtherCAT Operating Instruction
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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

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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3.1.6 EMC Precautions
To achieve interference-free operation of the Ethernet,
observe the following EMC precautions. Additional EMC
information is available in the VLT AutomationDrive series
Design Guide.
NOTE
The correct handling of the shield of the motor cable is
vital for the overall performance of the system. If the rules
are not followed it can lead to loss of the control and
malfunction of the system.
NOTE
Always observe relevant national and local regulations, for
example regarding protective earth connection.
The Ethernet communication cable must be kept away
from motor and brake resistor cables to avoid coupling of
high frequency noise between the cables. Normally, a
distance of 200 mm (8 inches) is sufficient, but maintaining
the greatest possible distance between the cables is
recommended, especially where cables run in parallel over
long distances. When crossing is unavoidable, the Ethernet
cable must cross motor and brake resistor cables at an
angle of 90°.
min. 200 mm
90 ° crossing
Ethernet Cable
130BA908.11
Illustration 3.5
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4 How to Configure
4.1.1 IP Settings
All IP-related parameters are located in parameter group
12-0* IP Settings: The parameters are all set to EtherCAT
standard values, so no setting is needed.
The EtherCAT option offers several ways of IP address
assignment.
4.1.2 EtherNet Link Parameters
Parameter group 12-1* holds EtherNet Link information:
12-10 Link Status
12-11 Link Duration
12-12 Auto Negotiation
12-13 Link Speed
12-14 Link Duplex
Each port has unique EtherNet Link Parameters.
12-10 Link Status and 12-11 Link Duration displays
information on the link status, per port.
12-10 Link Status displays Link or No Link according to the
status of the present port.
12-11 Link Duration displays the duration of the link on the
present port. If the link is broken, the counter is reset.
12-12 Auto Negotiation is a feature that enables two
connected EtherNet devices to choose common
transmission parameters, such as speed and duplex mode.
In this process, the connected devices first share their
capabilities and then choose the fastest transmission mode
they both support.
Incapability between the connected devices could lead to
decreased communication performance.
To prevent this, Auto Negotiation can be disabled.
If 12-12 Auto Negotiation is set to OFF, link speed and
duplex mode can be configured manually in 12-13 Link
Speed and 12-12 Auto Negotiation.
12-13 Link Speed - displays/sets the link speed for each
port. If no link is present, “None” is displayed.
12-14 Link Duplex - displays/sets the duplex mode for each
port.
Half-duplex provides communication in both directions,
but only in one direction at a time (not simultaneously).
Full-duplex allows for simultaneous communication in both
directions.
4.2 Configure the Frequency Converter
4.2.1 VLT Parameters
Pay particular attention to the following parameters when
configuring the frequency converter with an EtherCAT
interface.
•0-40 [Hand on] Key on LCP. If the [Hand on] key
on the frequency converter is activated, control of
the frequency converter via the EtherCAT
interface is disabled.
•After an initial power up, the frequency converter
automatically detects whether a fieldbus option is
installed in slot A, and set 8-02 Control Word
Source to [Option A]. Adding, changing, or
removing an option from an already commis-
sioned frequency converter, does not change
8-02 Control Word Source. However, it causes a
Trip Mode, and the frequency converter displays
an error.
•8-10 Control Word Profile. Choose between the
Danfoss FC Profile and the DS 402 profile.
•8-50 Coasting Select to 8-56 Preset Reference Select.
Selection of how to gate EtherCAT control
commands with digital input command of the
control card.
NOTE
When 8-01 Control Site is set to [2] Control word only, the
settings in 8-50 Coasting Select to 8-56 Preset Reference
Select are overruled, and all act on Bus-control.
•8-03 Control Word Timeout Time to 8-05 End-of-
Timeout Function. The reaction in the event of a
bus time-out is set via these parameters.
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4.3 Configure the EtherCAT Network
All EtherCAT stations that are connected to the same bus
network must have a unique station alias number. The
station alias of the frequency converter can be selected via:
•Hardware switches
•12-50 Configured Station Alias
•The TwinCAT under the EtherCAT⇒advance
setting⇒ESC⇒E2PROM⇒Configured station alias
setting
If 12-50 Configured Station Alias, can only be set if all
address switches are set to ON or OFF.
4.3.1.1 Setting the EtherCAT Station Alias using the Hardware Switches
Using the hardware switches it is possible to select an
address range from 1 to 254 according to Table 4.1:
Switch 8 7 6 5 4 3 2 1
Address value +128 +64 +32 16 +8 +4 +2 +1
Address 5 OFF OFF OFF OFF OFF ON OFF ON
Address 35 OFF OFF ON OFF OFF OFF ON ON
Address 82 OFF ON OFF ON OFF OFF ON OFF
Address 147 ON OFF OFF ON OFF OFF ON ON
Table 4.1 Address Range
NOTE
Switch off the power supply before changing the hardware
switches. The address change will come into effect at the
next power-up, and can be read in 12-50 Configured
Station Alias. Note the location and sequence of the
hardware switches as illustrated in Illustration 4.1.
Option A
130B55 46
ON
OFF
MCA12 4
EtherCA T
SW. ver. 2.02
TM. ver. 3.10
STATUS
Link/Act IN
Link/Act OUT
OUTIN
MAC 00-1B-0 8-00-00- 00
Device
ID
8 7 6 5 4 3 2 1
Station alias DIP switches
130BD078.10
Illustration 4.1
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5 Configure the Master
5.1 Import
5.1.1 Importing the XML File
To configure an EtherCAT Master, the configuration tool
needs an XML file for each type of slave on the network.
The XML file is a text file containing the necessary
communications set-up data for a slave. Download the
XML file for the FC 300 at http://www.danfoss.com/Busines-
sAreas/DrivesSolutions/EtherCAT/EtherCAT+files.htm.
Option version File
1.x, 2.x and 3.x Danfoss_FC_series_ECAT_019.XML
Table 5.1
The steps outlined in 5.2.1 Setting up the Master shows how
to add a new device to the TwinCAT Tool. For tools from
other vendors, consult their relevant manuals.
Copy the XML file from the Danfoss Web page to the
location: C:\TwinCAT\Io\EtherCAT, and restart the TwinCAT
System Manager. This will update the Device Description
library of TwinCAT. If an older version of the XML file is
installed, this has to be erased. If the older versions are not
erased it can lead to wrong identification of the Drive on
the EtherCAT network. The XML file contains three entrys,
FC 300, FC 301 and FC 302. The FC 300 is the the entry for
older EtherCAT drive version 1.02, Where the EtherCAT
version 2.xx are handled via the entries FC 301 and FC 302.
5.2 Setting Up
5.2.1 Setting up the Master
Inserting the Danfoss EtherCAT slave to the TwinCAT
Master
1. Right click and select EtherCAT I/O master.
2. Select Append Box...
130BC191.11
Illustration 5.1
3. Select Danfoss Power Electronics in the I/O
Catalogue of the Insert EtherCAT Device window.
4. Select VLT FC Series.
5. Select FC-300 VLT AutomationDrive.
130BC192.11
Illustration 5.2
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Danfoss FC-300 is inserted into the EtherCAT master
system.
130BC193.11
Illustration 5.3
To function properly, each of the four process data must
be linked to variables inside the PLC. In this example, two
transmit variables and two receive variables have been
inserted in the PLC memory. To see a list of matching data
1. Select the variable.
2. Click the Linked to... button in the right window.
130BC195.12
Illustration 5.4
In the following example, the status word is linked to the
variable STW.
130BC196.11
Illustration 5.5
The status word is now linked to the variable STW in the
PLC. Remaining variables must be mapped equally to the
variables in the PLC.
130BC197.11
Illustration 5.6
After a successfully integrating the frequency converter to
the TwinCAT system, the frequency converter is now ready
for operation.
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6 How to Control the Frequency Converter
6.1 PDO Communication
The DS402 profile for frequency converters specifies a
number of communication objects (SDOs). SDOs are
suitable for data exchange between a process controller,
for example a PLC, and frequency converters. Some SDOs
are defined for cyclic data transfer, so that process data
(PCD) can be transferred from the controller to the slave
and vice versa. PDOs are used for cyclic data, a subset of
the SDOs are PDO mappable.
PDO 23 is 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 transmit PDO containing process status
data. In the Danfoss EtherCAT interface all PDOs are free
selectable. The first two words of the process data area
(PCD 0 and PCD1) are set to a default value at factory, but
can be changed.
Select the signals for transmission from the master to the
frequency converter in 12-21 Process Data Config Write
(request from master to the frequency converter). Select
the signals for transmission from the frequency converter
to the master in (response: FC ⇒master).
The EtherCAT option has only one PDO available - PDO 23.
The PDO 23 is flexible in size, so that it can be adjusted to
fit all needs (max. 10 PCDs). The selection is made in the
master configuration, and is then automatically
downloaded to the frequency converter during the
transition from Init to Pre-Op. No manual setting of PPO
types in the frequency converter is required.
Selection [1] Standard telegram 1 is equivalent to PDO 23.
Receive PDOs (PLC Drive)
Transmit PDOs (Drive PLC)
PCD 9
write
PDO 23 PCD 0
CTW
PCD 1
REF
PCD 9
read
PCD 0
STW
PCD 1
MAV
PDO 23
130BC177.10
Illustration 6.1
6.2 Process Data
Use the process data part of the PDO for controlling and
monitoring the frequency converter via the EtherCAT.
6.2.1 Process Control Data
Process data sent from the PLC to the frequency converter
are defined as Process Control Data (PCD).
Master slave
0 1 2 ...... 9
CTW MRV PCD ...... PCD
PCD write
Table 6.1
PCD 0 contains a 16-bit control word, where each bit
controls a specific function of the frequency converter, see
6.3 Control Profile. PCD 1 contains a 16-bit speed set point
in percentage format. See 6.2.3 Reference Handling.
The content of PCD 2 to PCD 9 is programmed in
12-21 Process Data Config Write and 12-22 Process Data
Config Read.
6.2.2 Process Status Data
Process data sent from the frequency converter contain
information about the current state of the frequency
converter.
Slave master
0 1 2 ...... 9
STW MAV PCD ...... PCD
PCD read
Table 6.2
PCD 0 contains a 16-bit status word, where each bit
contains information regarding a possible state of the
frequency converter.
PCD 1 contains per default the value of the current speed
of the frequency converter in percentage format (see 6.2.3
Reference Handling).
The content of PCD 2 to PCD 9 is programmed in
12-22 Process Data Config Read.
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6.2.3 Reference Handling
The reference handling in FC 301/FC 302 is an advanced
mechanism that sums up references from different sources.
For more information on reference handling, refer to the
FC 301/FC 302 Design Guide.
Illustration 6.2
The reference, or speed set point (MRV, sent via EtherCAT),
is always transmitted to the frequency converter in
percentage format as integers represented in hexadecimal
(0-4000 hex).
Depending on the setting of 3-00 Reference Range the
reference and MAV are scaled accordingly:
Illustration 6.3
NOTE
If 3-00 Reference Range is set to [0] Min - Max, a negative
reference is handled as 0%.
The speed limit parameters in 4-11 Motor Speed Low Limit
[RPM] to 4-14 Motor Speed High Limit [Hz] limits the actual
frequency converter output.
4-19 Max Output Frequency sets the final speed limit.
The reference and the MAV have the format which appears
from Table 6.3.
MRV/MAV Integer in hex Integer in decimal
100% 4000 16.384
75% 3000 12.288
50% 2000 8.192
25% 1000 4.096
0% 0 0
-25% F000 -4.096
-50% E000 -8.192
-75% D000 -12.288
-100% C000 -16.384
Table 6.3 Reference and MAV Formats
NOTE
Negative numbers are formed as a complement of two.
NOTE
The data type for MRV and MAV is 16-bit standardised
value, which can express a range from -200% to +200%
(8001 to 7FFF).
1-00 Configuration Mode set to [0] Speed open loop.
3-00 Reference Range set to [0] Min - Max.
3-02 Minimum Reference set to 100 RPM.
3-03 Maximum Reference set to 3000 RPM.
MRV/MAV Actual Speed
0% 0 hex 100 RPM
25% 1000 hex 825 RPM
50% 2000 hex 1550 RPM
75% 3000 hex 2275 RPM
100% 4000 hex 3000 RPM
Table 6.4
6.2.4 Process Control Operation
In process control operation 1-00 Configuration Mode is set
to [3] Process.
The reference range in 3-00 Reference Range is always [0]
Min - Max.
- MRV represents the process setpoint.
- MAV expresses the actual process feedback (range
±200%).
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6.2.5 Influence of the Digital Input
Terminals upon FC Control Mode
The influence of the digital input terminals upon control of
the frequency converter can be programmed in
8-50 Coasting Select to 8-56 Preset Reference Select.
NOTE
Note the 8-01 Control Site overrules the settings in
8-50 Coasting Select to 8-56 Preset Reference Select, and
Terminal 37 Coasting Stop (safe) overrules any parameter.
Each digital input signal can be programmed to logic AND,
logic OR, or to have no relation to the corresponding bit in
the control word. This way, fieldbus only, fieldbus AND
Digital Input, or Ether Fieldbus OR Digital input terminal
can initiate a specific control command, that is stop/coast.
CAUTION
To control the frequency converter via EtherCAT, set
8-50 Coasting Select to either [1] Bus, or to [2] Logic AND.
Then set 8-01 Control Site to [0] Digital and ctrl.word or [2]
control word only.
More detailed information and examples of logical
relationship options are provided in 10 Troubleshooting.
6.3 Control Profile
The frequency converter can be controlled according to
the DS 402 profile, or the Danfoss FC profile. Select the
desired control profile in 8-10 Control Word Profile. The
choice of profile affects the control and status word only.
The desired control profile can also be controlled by object
6060 Modes of operation and readout by object 6061
Modes of operation display.Value -1 indicated FC profile.
Value 2 indicates DS 402 Velocity mode. ESI (xml) file has
default process data mapping for FC profile objects. If
drive is to be run in DS 402 profile the DS 402 profile must
be selected (e.g. by parameter 8-10 or object 6060) and
the according process data shall be configured. The easy
way to change the process data is to set the frequency
converter in the desired control profile and then the press
the "Load PDO info from device" button on the Process
data tab in TwinCAT. This ensures that the objects for
process data is matching the profile. In case of mismatch
between the selected control profile and the process data
objects, the drive will not enter state OPERATION but Error
PRE-OP and issue an abort code. See Table 7.17.
6.4 DS 402 Control Profile and 6.5 Danfoss FC Control Profile
provide a detailed description of control and status data.
6.4 DS 402 Control Profile
6.4.1 Control Word According to DSP 402
Profile
(Parameter 8-10=DSP 402 profile)
Speed ref.CTW
Master-slave
130BA274.10
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit
no.:
Illustration 6.4
Bit Bit value=0 Bit value=1
00 Switch off Switch on
01 Disable voltage Enable voltage
02 Quick stop Run
03 Disable operation Enable operation
04 Disable ramp Enable ramp
05 Freeze Run enable
06 Ramp stop Start
07 No function Reset
08 Reserved
09 Reserved
10 Reserved
11 Jog 1 OFF Jog 1 ON
12 Reserved
13 Setup select (LSB)
14 Setup select (MSB)
15 Forward Reversing
Table 6.5
Explanation of the Control Bits
Bit 00, Switch OFF/ON
Bits 00, Switch OFF/ON
Bit 00=“0” - executes transition 2, 6 or 8.
Bit 00=“1” - executes transition 3.
Bit 01, Disable/Enable Voltage
Bit 01=“0” - executes transition 9, 10 or 12.
Bit 01=“1” - enables voltage.
Bit 02, Quick stop/Run
Bit 02="0" - executes transition 7, 10 or 11.
Bit 02="1" - quick stop not active.
Bit 03, Disable/enable Operation
Bit 03="0" - executes transition 5.
Bit 03="1" - enables operation.
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Bit 04, Quick-stop/ramp
Bit 04="0" - executes transition 7 or 11, Quick stop.
Bit 04="1" - enables ramp.
Bit 05, Freeze output frequency/run enable
Bit 05="0" - the given output frequency is maintained even
if the reference is changed.
Bit 05="1" - the frequency converter is again able to
regulate, and the given reference is followed.
Bit 06, Ramp stop/start
Bit 06="0" - the frequency converter controls the motor
down to stop.
Bit 01="1" - gives a start command to the frequency
converter.
Bit 07, No function/reset
Reset of trip.
Bit 07="0" - there is no reset.
Bit 07="1" - a trip is reset.
Bit 08, 09 and 10
DSP402 reserved.
Bit 11, Jog 1 OFF/ON
Activation of pre-programmed speed in 8-90 Bus Jog 1
Speed
JOG 1 is only possible if Bit 04="0", and bit 00-03="1".
Bit 12
Danfoss reserved.
Bits 13/14, Selection of Setup
Bits 13 and 14 are used for choosing among the four
menu Set-ups in accordance with Table 6.6:
Set-up Bit 14 Bit 13
0 0 1
0 1 2
1 0 3
1 1 4
Table 6.6 Set-up Selection Table
Bit 15, Forward/reversing
Bit 15="0" - no reversing.
Bit 15="1" - reversing.
NOTE
In factory setting reversing is set to [digital] in
8-54 Reversing Select.
6.4.2 Status Word According to DS 402
Profile
Output freq.STW
Bit
no.:
Slave-master
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
130BA273.10
Illustration 6.5
Bit Bit value=0 Bit value=1
00 Not ready to switch ON Ready to switch ON
01 Switched OFF Switched ON
02 Operation disabled Operation enabled
03 No malfunction Malfunction
04 Voltage disabled Voltage enabled
05 Quick stop Run
06 Switch on disable Switch on enable
07 No warning Warning
08 Reserved
09 Remote disabled Remote enabled
10 Set point not reached Set point reached
11 Speed limit not active Speed limit active
12 Reserved
13 Reserved
14 Not running Running
15 Reserved
Table 6.7
Explanation of the Status Bits
Bit 00, Not ready to switch on/Ready to switch on
Bit 00="0" - state less than “Ready to switch on”.
Bit 00="1" - state at least = “Ready to Switch on”.
Bit 01, Switch off/Switch on
Bit 00="0" - state less than “Switched on”.
Bit 00="1" - state at least = “Switched on”.
Bit 02, Operation disable/Operation enable
Bit 00="0" - state less than “Operation enable”.
Bit 00="1" - state at least = “Operation enable”.
Bit 03, No fault/trip
Bit 03="0" - the frequency converter is not in a fault
condition.
Bit 03="1" - the frequency converter has tripped and needs
a reset signal to run.
Bit 04, Voltage disable/Voltage enable
Bit 04="0" - control word bit 01="1".
Bit 04="1" - control word bit 01="0".
How to Control the Frequenc... MCA 124 EtherCAT Operating Instruction
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Bit 05, Quick stop/Run
Bit 05="0" - control word bit 02="1".
Bit 05="1" - control word bit 02="0".
Bit 06, Start enable/Start disable
Bit 06="0" - state is not “Switch on disable”.
Bit 06="1" - state = “Switch on enable”.
Bit 07, No warning/Warning
Bit 07="0" - no warning situation.
Bit 07="1" - a warning has occurred.
Bit 08, Danfoss reserved:
Bit 09, Remote disable/Remote enable
Bit 09="0" - the frequency converter has been stopped
with the stop key on the LCP, or [Local] has been selected
in 3-13 Reference Site.
Bit 09="1" - it is possible to control the frequency
converter via the serial port.
Bit 10, Set point not reached/Set point reached
Bit 10="0" - the actual motor speed is different from the
speed reference set. This situation can occur while the
speed is ramped up/down during start/stop.
Bit 10="1" - the present motor speed equals the speed
reference set.
Bit 11, Speed limit not active/speed limit active
Bit 11="0" - the output frequency is out of the range set in
parameters 4-11/4-12 Motor Speed low Limit RPM/Hz or
parameters 4-13/4-14 Motor Speed high Limit RPM/Hz.
Bit 11="1" - the output frequency is within the mentioned
range.
Bit 12, DSP 402 reserved
Bit 13, DSP 402 reserved
Bit 14, Running/Not running
Bit 14="0" - the motor is not running.
Bit 14="1" - the frequency converter has a valid start signal
or that the output frequency is greater than 0 Hz.
Bit 15, Danfoss reserved.
8-10 Control Profile
Option: Function:
[0] *FC profile
[7] CANopen DSP 402
FC Profile is the default control profile for the frequency
converter, whereas CANopen DSP 402 is the CiA
standardized control profile, featuring the special DSP 402
transition state machine.
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