Danfoss VLT DeviceNet MCA 104 Operating instructions

MAKING MODERN LIVING POSSIBLE
Programming Guide
VLT®DeviceNet MCA 104
VLT®Frequency Converter Series • FC 102 • FC 202 • FC 301/302
vlt-drives.danfoss.com

Contents
1 Introduction 3
1.1 Purpose of the Manual 3
1.2 Additional Resources 3
1.3 Document and Software Version 3
1.4 Product Overview 3
1.5 Approvals and Certications 4
1.6 Symbols, Abbreviations and Conventions 4
2 Safety 5
2.1 Safety Symbols 5
2.2 Qualied Personnel 5
2.3 Safety Precautions 5
3 Conguration 7
3.1 Congure the DeviceNet Network 7
3.2 Congure the Master 8
3.3 Congure the Frequency Converter 8
4 Control 9
4.1 DeviceNet Process Control Modes 9
4.2 I/O Assembly Instances 10
4.3 Process Data 10
4.4 ODVA Control Prole 11
4.5 FC Control Prole 13
5 Parameter Access 17
5.1 Explicit Messages 17
5.2 Object Classes 17
5.3 DeviceNet Object Classes 18
5.4 Danfoss Object Classes 27
6 Parameters 28
6.1 Parameter Description 28
6.2 Parameter List 36
6.3 Data Types Supported 37
7 Application Examples 38
7.1 Example: Working with Instance 101/151 Process 38
8 Troubleshooting 40
8.1 LED Status 40
8.2 No Communication with the Frequency Converter 41
Contents Programming Guide
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8.3 Frequency Converter Does Not Respond to Control Signals 41
8.4 Warnings and Alarms 44
Index 46
Contents VLT®DeviceNet MCA 104
2 Danfoss A/S © 12/2015 All rights reserved. MG92F102

1 Introduction
1.1 Purpose of the Manual
The VLT®DeviceNet MCA 104 Programming Guide provides
information about conguring the system, controlling the
frequency converter, parameter access, programming,
troubleshooting, and some typical application examples.
The programming guide is intended for use by qualied
personnel who are familiar with the VLT®frequency
converter, with DeviceNet technology, and with the PC or
PLC that is used as a master in the system.
Read the instructions before programming and follow the
procedures in this manual.
VLT®is a registered trademark.
1.2 Additional Resources
Resources available for the VLT®frequency converter and
optional equipment:
•The VLT
®
Operating Instructions provide the
necessary information for getting the VLT®
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
®
DeviceNet MCA 104 Installation Guide
provides information about installing the
DeviceNet and troubleshooting.
•The VLT
®
DeviceNet MCA 104 Programming Guide
provides information about conguring the
system, controlling the VLT®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
MG92F1xx First edition. 4.4x
Table 1.1 Document and Software Version
1.4 Product Overview
This programming guide relates to the DeviceNet interface.
Ordering number:
•130B1102 (non-coated version).
•130B1210 (conformal coated version).
DeviceNet is a low-level network that standardizes
communications between industrial devices (sensors, limit
switches, motor controls) and high-level devices
(controllers). DeviceNet follows the Open Systems Intercon-
nection (OSI) model and is based on CAN technology for
media access control and physical signaling.
DeviceNet systems can be congured to operate in a
master/slave or a distributed control architecture using
peer-to-peer communication. Up to 63 nodes in a multi-
drop network topology are supported. By using the same
cable for communication, communication options can be
powered directly from the bus. Nodes can be removed or
inserted without powering down the network.
Each node on the network has its own unique media
access control identier (MAC ID) to distinguish it on the
network. The access control is based on the CSMA/CA
(carrier sense multiple access/collision avoidance) principle,
meaning that all nodes may have access to the network at
the same time. When 2 nodes attempt to get control of
the network bus simultaneously, the CAN protocol resolves
the issue by arbitration. In this way, collisions on the
network are avoided.
DeviceNet denes device proles for devices belonging to
specic classes. For other devices, dene a custom class to
make it DeviceNet compatible. All the above enhances the
interchangeability and interoperability of the network.
24 V
Trunk line
Power supply
Drop lines 1
RT=Termination resistors
RTRT
195NA228.10
1 1 1
1
Illustration 1.1 Topology
Introduction Programming Guide
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VLT®DeviceNet MCA 104 is designed to communicate with
any master abiding by the DeviceNet standard. It is
intended for use with:
•VLT®HVAC Drive FC 102
•VLT®AQUA Drive FC 202
•VLT®AutomationDrive FC 301/FC 302
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
ACK ACKnowledge
BOC Bus o counter
BOOL Boolean expression
CAN Controller area network
CSMA/CA Carrier sense multiple access/collision avoidance
COS Change of state
CTW Control word
EDS Electronic data sheet
EMC Electromagnetic compatibility
ETR Electronic thermal relay
FIFO First in rst out
HF High frequency
HPFB High performance eldbus
I/O Input/output
ISO International standards organization
LCD Liquid crystal display
LED Light emitting diode
LSB Least signicant bit
MAC ID Media access control identier
MAV Main actual value
MRV Main reference value
MSB Most signicant bit
N/A Not applicable
ODVA Open DeviceNet Vendor Association
OSI Open systems interconnection
PC Personal computer
PCD Process data
PIW Peripheral input word
PLC Programmable logic control
PNU Parameter number
PPO Parameter-process data object
QW Peripheral output word
Abbreviation Denition
SINT Signed integer
STW Status word
VSD Variable speed drive
UDINT Unsigned double integer
UNIT Unsigned integer
USINT Unsigned short integer
Table 1.2 Symbols and Abbreviations
Conventions
Numbered lists indicate procedures.
Bullet lists indicate other information.
Italicized text indicates:
•Cross reference.
•Link.
•Parameter name.
•Parameter group name.
•Parameter option.
•Footnote.
Introduction VLT®DeviceNet MCA 104
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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. Additionally, the qualied personnel must be
familiar with the instructions and safety measures
described in these operating instructions.
2.3 Safety Precautions
WARNING
HIGH VOLTAGE
Frequency converters contain high voltage when
connected to AC mains input, DC supply, or load sharing.
Failure to perform installation, start-up, and maintenance
by qualied personnel can result in death or serious
injury.
•Only qualied personnel must perform instal-
lation, start-up, and maintenance.
WARNING
UNINTENDED START
When the frequency converter is connected to AC mains,
DC supply, or load sharing, the motor may start at any
time. Unintended start during programming, service, or
repair work can result in death, serious injury, or
property damage. The motor can start with an external
switch, a eldbus command, an input reference signal
from the LCP or LOP, via remote operation using MCT 10
Set-up Software, or after a cleared fault condition.
To prevent unintended motor start:
•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 that
can remain charged even when the frequency converter
is not powered. Failure to wait the specied time after
power has been removed before performing service or
repair work can result in death or serious injury.
•Stop the motor.
•Disconnect the AC mains and remote DC-link
supplies, including battery back-ups, UPS, and
DC-link connections to other frequency
converters.
•Disconnect or lock the PM motor.
•Wait for the capacitors to discharge fully before
performing any service or repair work. The
waiting time is specied in the relevant
frequency converter operating instructions,
Chapter 2 Safety.
WARNING
LEAKAGE CURRENT HAZARD
Leakage currents exceed 3.5 mA. Failure to ground the
frequency converter properly can result in death or
serious injury.
•Ensure the correct grounding of the equipment
by a certied electrical installer.
Safety Programming Guide
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WARNING
EQUIPMENT HAZARD
Contact with rotating shafts and electrical equipment
can result in death or serious injury.
•Ensure that only trained and qualied personnel
perform installation, start-up, and maintenance.
•Ensure that electrical work conforms to national
and local electrical codes.
•Follow the procedures in this 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 VLT®DeviceNet MCA 104
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3Conguration
3.1 Congure the DeviceNet Network
All DeviceNet stations that are connected to the same bus
network must have a unique station address. Select the
DeviceNet address of the frequency converter via:
•Address switches (default 63).
•Parameter 10-02 MAC ID (default 63).
•Class code 0X03, instance 1, attribute 1.
Illustration 3.1 VLT®DeviceNet MCA 104 Interface
3.1.1 Setting the DeviceNet Address using
the Address Switches
NOTICE
Switch o the power supply before changing the address
switches. The address change comes into eect at the
next power-up, and can be read in parameter 10-02 MAC
ID.
Set the address switches to give the option a unique ID.
Select an address range from 0–63 (factory setting 63)
according to Table 3.1.
Switch 8 7 6 5 4 3 2 1
Address value – – +32 +16 +8 +4 +2 +1
5 – – OFF OFF OFF ON OFF ON
20 – – OFF ON OFF ON OFF OFF
35 – – ON OFF OFF OFF ON ON
Table 3.1 Settings for the Address Switches
3.1.2 Setting the DeviceNet Address via
Parameter 10-02 MAC ID
Set the address via parameter 10-02 MAC ID if the hardware
switches are set to 63 (factory setting). The address change
comes into eect at the next power-up.
3.1.3 Setting the DeviceNet Address with
the Object Class Code 0x03, Instance
1, Attribute 1
Set the address via the DeviceNet object class code 0x03
attribute 1 command when the address switch is set to 63
(factory setting). A new address becomes eective
immediately after the class code 0x03, instance 1, attribute
1 command.
3.1.4 Setting the Baud Rate
All DeviceNet stations connected to the same bus network
must have the same baud rate. Select the baud rate of the
frequency converter via:
•Address switches.
•Parameter 10-01 Baud Rate Select (default 125
kBd).
•Object class code 0x03, instance 1, attribute 2.
3.1.5 Setting the DeviceNet Baud Rate
using the Address Switches
NOTICE
Switch o the power supply before changing the address
switches. The baud rate change comes into eect at the
next power-up, and can be read in parameter 10-01 Baud
Rate Select.
Use the address switches to select a baud rate of 125 k
baud (factory setting), 250 k baud, or 500 k baud, see
Table 3.2:
Baud rate switch 8 7
Parameter 10-01 Baud Rate Select 1 1
125 kBd 0 0
250 kBd 0 1
500 kBd 1 0
Table 3.2 Address Switches
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3.1.6 Setting the DeviceNet Baud Rate via
Parameter 10-01 Baud Rate Select
Set the baud rate via parameter 10-01 Baud Rate Select if
the address switches 1 and 2 are set to ON (factory
setting). The baud rate change comes into eect at the
next power-up.
3.1.7 Setting the DeviceNet Baud Rate with
the Object Class Code 0x03, Attribute
2
Set the baud rate via the DeviceNet object class code 0x03
attribute 2 command, when the address switches 1 and 2
are set to ON (factory setting). A new baud rate becomes
eective immediately after the class code 0x03 attribute 2
command.
3.2 Congure the Master
3.2.1 EDS File
A large part area of the system conguration is the setting
of application-related parameters. EDS (Electronic Data
Sheet) les simplify the setting up of most of the
DeviceNet congurable parameters. For o-line congu-
ration, Danfoss provides a generic English EDS le covering
all voltage and power sizes. Download the EDS le from
www.danfoss.com/drives.
NOTICE
The EDS le does not contain all parameters. It contains
only a selected, limited number of parameters with
generic minimum, maximum, and default values.
3.3 Congure the Frequency Converter
3.3.1 Frequency Converter Parameters
Note the following parameters when conguring the
frequency converter with a DeviceNet interface. Refer to
chapter 6 Parameters for more details of each parameter.
•Parameter 0-40 [Hand on] Key on LCP.
If the Hand key on the frequency converter is
activated, control of the frequency converter via
the DeviceNet interface is disabled. After initial
power-up the frequency converter automatically
detects whether a eldbus option is installed in
slot A, and sets parameter 8-02 Control Word
Source to [3] Option A. If an option is added to,
changed in, or removed from an already commis-
sioned frequency converter, it does not change
parameter 8-02 Control Word Source but enters trip
mode, and the frequency converter shows an
error.
•Parameter 8-10 Control Word Prole (see
chapter 4 Control). Select between the Danfoss FC
Prole and the ODVA prole. Select the desired
DeviceNet instance in parameter 10-10 Process
Data Type Selection.
•Parameter 8-50 Coasting Select to
parameter 8-56 Preset Reference Select (see
chapter 6 Parameters). Selection of how to gate
the DeviceNet control commands with digital
input command of the control card.
NOTICE
When parameter 8-01 Control Site is set to [2] Control
word only, the settings in parameter 8-50 Coasting Select
to parameter 8-56 Preset Reference Select is overruled,
and all act on bus control.
•Parameter 8-03 Control Word Timeout Time to
parameter 8-05 End-of-Timeout Function. The
reaction in the event of a bus timeout is set via
these parameters.
•Parameter 10-10 Process Data Type Selection.
Default is 125 kbps.
•Parameter 10-02 MAC ID. Default is 63.
Conguration VLT®DeviceNet MCA 104
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4 Control
4.1 DeviceNet Process Control Modes
This section describes 2 of 3 possible process control
modes:
•Polling.
•Change of state (COS).
The 3rd FC control mode uses the acyclic mode explicit
messaging via the standard DeviceNet control supervisory
object class 29H. The control supervisory object is
described in chapter 5.3 DeviceNet Object Classes.
4.1.1 Polling
Table 4.1 is a classic master/slave connection and the
standard DeviceNet operating mode. The master controls
the data exchange by sending cyclic poll-requests to the
connected slave, and the slave answers by sending a poll-
response to the master. The master can control and
monitor the frequency converter by polling the DeviceNet
or Danfoss objects (I/O instances).
Master ⇒Slave CTW MRV
Slave ⇒Master STW MAV
Table 4.1 Standard DeviceNet Operation Mode - Polled I/O
4.1.2 Change of State, COS
COS is an event-controlled operating mode used to minimize network trac. Messages are transmitted only if a dened
state or value has changed. The condition for triggering a COS message is determined by the insertion of COS-lters
(parameter 10-20 COS Filter 1 to parameter 10-23 COS Filter 4), for each bit in the dierent PCD words. The lter acts like a
logical AND function: If a bit in the lter is set to 1, the COS function triggers after a change to the corresponding bit for
the PCD word.
Illustration 4.1 Dierent PCDs and the Corresponding Filter Parameters
Parameter 10-20 COS Filter 1 to parameter 10-23 COS Filter 4 can be used to lter out undesired events for COS. If a lter bit is
set to 0, the corresponding I/O instance bit is unable to produce a COS message. By default, all bits in the COS lters are set
to 0.
To signal that the connection has not been interrupted, or the device is not powered o, a heartbeat message is
transmitted within a specied time interval (heartbeat interval). This interval is dened in attribute heartbeat time of the
connection object, class code 0x05.
To prevent the device from producing heavy network trac if a value changes frequently, the production inhibit time (an
attribute of the connection object) is dened. This parameter denes the minimum time between 2 COS messages.
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The attribute expected package rate denes the maximum time between 2 COS messages even when the value is
unchanged. In the event of COS connection, the explicit package rate is identical with the heartbeat interval mentioned
above. This timer is used both as transmission trigger and inactivity watchdog, depending on whether the connection is
producer or consumer.
4.2 I/O Assembly Instances
I/O assembly instances are several dened process control objects with dened content comprising control and status
information. Illustration 4.2 shows the I/O assembly instance options for controlling and monitoring the frequency converter.
Illustration 4.2 I/O Assembly Instance Options
4.3 Process Data
Process data comprises the control and status data in the I/O assembly instances.
The CTW, MRV, STW, and MAV have dened formats and functions, depending on the I/O instance selected. PCD 3 and PCD
4 are freely congurable, for instance 101/151 via parameter 10-11 Process Data Cong Write and parameter 10-12 Process
Data Cong Read.
All PCDs are freely congurable for instance 102/152.
DeviceNet provides a exible way to customize the number of process data (I/O words) and the functionality of each word.
To activate the user denable process data, select the I/O instance 101/151 in parameter 10-10 Process Data Type Selection.
This changes the I/O size to 4 words in the input and output area. This selection uses the Danfoss-specic prole for the
control word and status word as well as for the main reference value/main actual value.
The rst 2 words are xed on the DeviceNet, whereas PCD 3 and PCD 4 are user congurable. The number of PCDs active in
a system is xed to 2 words.
NOTICE
To select [1] Instance 101/151 in parameter 10-10 Process Data Type Selection, set parameter 8-10 Control Word Prole to
[0] FC prole.
To enable use of PCD data from the DeviceNet, congure the contents of each single PCD word in parameter 10-11 Process
Data Cong Write and parameter 10-12 Process Data Cong Read. Changes to parameter 10-11 Process Data Cong Write and
parameter 10-12 Process Data Cong Read are eected immediately in the PCD data.
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CTW REF
CTW REF PCD 2
write
PCD 3
write
STW MAV
STW MAV PCD 2
read
PCD 3
read
Instance
100
101
150
151
Originator (PLC) --> Target (Drive)
Fixed contents User dened contents
Instance
STW MAV
70
STW MAV
71
CTW REF
20
CTW REF
21
Byte # Byte #
Word # Word #
Target (Drive) --> Originator (PLC)
1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8
1 2 3 4 1 2 3 4
130BE709.10
Illustration 4.3 Process Data
4.4 ODVA Control Prole
4.4.1 Control Word under Instances 20/70
and 21/71
Set parameter 8-10 Control Word Prole to ODVA and select
the instance in parameter 10-10 Process Data Type Selection.
Illustration 4.4 The Control Word in Instances 20 and 21
NOTICE
The bits 00 and 02 in instance 20 are identical with bits
00 and 02 in the more extensive instance 21.
Bit Instance 20 Instance 21
Bit = 0 Bit = 1 Bit = 0 Bit = 1
00 Stop Run Fwd Stop Run Fwd
01 – – Stop Run Rev
02 No function Fault reset No function Fault reset
03 – – – –
04 – – – –
05 – – – Net Ctrl
06 – – – Net Ref
07–15 – – – –
Table 4.2 Bits in Instances 20 and 21
Explanation of the bits:
Bit 0, Run Fwd
Bit 0 = 0: The frequency converter has a stop command.
Bit 0 = 1: Leads to a start command, and the frequency
converter runs the motor clockwise.
Bit 1, Run Rev
Bit 1 = 0: Leads to a stop of the motor.
Bit 1 = 1: Leads to a start reverse of the motor, and the
frequency converter runs the motor counterclockwise.
Bit 2, Fault Reset
Bit 2 = 0: There is no reset of a trip.
Bit 2 = 1: A trip is reset.
Bit 3, No function
Bit 3: No function.
Bit 4, No function
Bit 4: No function.
Bit 5, Net Control
Bit 5 = 0: The frequency converter is controlled via the
standard inputs.
Bit 5 = 1: The DeviceNet controls the frequency converter.
NOTICE
Changes aect parameter 8-50 Coasting Select to
parameter 8-56 Preset Reference Select.
Bit 6, Net Reference
Bit 6 = 0: Reference is from the standard inputs.
Bit 6 = 1: Reference is from DeviceNet.
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NOTICE
Changes aect parameter 3-15 Reference Resource 1 to
parameter 3-17 Reference Resource 3.
For the speed reference, see chapter 4.4.3 Bus Speed
Reference Value under Instances 20/70 and 21/71.
4.4.2 Status Word under Instances 20/70
and 21/71
Illustration 4.5 Status Word in Instances 70 and 71
NOTICE
The bits 00 and 02 in instance 70 are identical with bits
00 and 02 in the more extensive instance 71.
Bit Instance 70 Instance 71
Bit = 0 Bit = 1 Bit = 0 Bit = 1
00 – Fault – Fault
01 – – – Warning
02 – Running 1
Fwd
– Running 1
Fwd
03 – – – Running 2
Rev.
04 – – – Ready
05 – – – Control
from Net
06 – – – Reference
from Net
07 – – – At
reference
08–15 – – State attribute
Table 4.3 Bits in Instances 70 and 71
Explanation of the bits:
Bit 0, Fault
Bit 0 = 0: There is no fault in the frequency converter.
Bit 0 = 1: There is a fault in the frequency converter.
Bit 1, Warning
Bit 0 = 0: There is no unusual situation.
Bit 0 = 1: An abnormal condition has arisen.
Bit 2, Running 1
Bit 2 = 0: The frequency converter is not in the running
forward state, or run 1 is not set.
Bit 2 = 1: The frequency converter state attribute is
enabled or stopping, or that fault-stop and bit 0 (run 1) of
the control word are set at the same time.
Bit 3, Running 2
Bit 3 = 0: The frequency converter is not in the running
reverse state, or run 2 is not set.
Bit 3 = 1: The frequency converter state attribute is
enabled or stopping, or fault-stop and bit 0 (run 2) of the
control word are set at the same time.
Bit 4, Ready
Bit 4 = 0: The state attribute is in another state.
Bit 4 = 1: The state attribute is ready, enabled, or stopping.
Bit 5, Control from net
Bit 5 = 0: The frequency converter is controlled from the
standard inputs.
Bit 5 = 1: The DeviceNet has control (start, stop, reverse) of
the frequency converter.
Bit 6, Ref from net
Bit 6 = 0: The reference comes from inputs to the
frequency converter.
Bit 6 = 1: The reference comes from the DeviceNet.
Bit 7, At reference
Bit 7 = 0: The motor is running, but the present speed is
dierent from the preset speed reference, for example, the
speed is being ramped up/down during start/stop.
Bit 7 = 1: The frequency converter and reference speeds
are equal.
Bit 8–15, State attribute
(Instance 71 only)
Represents the state attribute of the frequency converter,
as indicated in Table 4.4.
Bit number Meaning
8 (Vendor specic)
9 Start up
10 Not ready
11 Ready
12 Enabled
13 Stopping
14 Fault stop
15 Faulted
Table 4.4 State Attribute (Instance 71)
For more details of the actual output speed, see
chapter 4.4.4 Actual Output Speed under Instances 20/70 and
21/71.
4.4.3 Bus Speed Reference Value under
Instances 20/70 and 21/71
The speed reference value is transmitted to the frequency
converter as a 16-bit word. The value is transmitted as a
whole number. Negative gures are formatted by 2’s
complement.
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Illustration 4.6 Speed Reference Value
The bus speed reference has the following format:
Parameter 3-00 Reference Range = 0 [refMIN to refMAX] 0
(0000 hex) [RPM] to + 32767 (7FFF hex) [RPM]
Parameter 3-00 Reference Range = 1 [-refMAX to +refMAX]
-32767 (8001 hex ) to +32767 [RPM] (7FFF hex)
The actual reference [Ref. %] in the frequency converter
depends on the settings in the following parameters:
Parameter 1-23 Motor Frequency
Parameter 1-25 Motor Nominal Speed
Parameter 3-03 Maximum Reference
NOTICE
When the bus speed reference is negative, and the
control word contains a run reverse signal, the frequency
converter runs clockwise (- - is +).
Example:
Parameter 1-25 Motor Nominal Speed = 1420 RPM
Parameter 1-23 Motor Frequency = 50 Hz
Parameter 3-03 Maximum Reference = 1420 RPM
To run the motor at 25%, the reference transmitted must
be: (1420x0.25) = 355 = 16.3 hex
163 hex ⇒25% ⇒Fout = 12.5 Hz
4.4.4 Actual Output Speed under Instances
20/70 and 21/71
Illustration 4.7 Actual Output Speed Value
The value of the actual speed of the motor, is transmitted
in the form of a 16-bit word.
The value is transmitted as a whole number (negative
gures are formed with 2's complement).
-32767 (8000 hex) [RPM] to +32767 [RPM] (7FFF hex) [RPM]
4.5 FC Control Prole
4.5.1 Control Word under Instances
100/150, 101/151, and 102/152
To select FC protocol in the control word, set
parameter 8-10 Control Word Prole to [0] FC prole. The
control word is used to send commands from a master
(PLC or PC) to a slave (frequency converter).
Illustration 4.8 Control Words in Instances 100, 101, and 102
Bit Bit value = 0 Bit value = 1
00 Reference value External selection lsb
01 Reference value External selection msb
02 DC brake Ramp
03 Coasting No coasting
04 Quick stop Ramp
05 Hold output frequency Use ramp
06 Ramp stop Start
07 No function Reset
08 No function Jog
09 Ramp 1 Ramp 2
10 Data invalid Data valid
11 No function Relay 01 active
12 No function Relay 04 active
13 Parameter set-up Selection lsb
14 Parameter set-up Selection msb
15 No function Reverse
Table 4.5 Bits in Instances 100, 101, and 102
Explanation of the control bits:
Bits 00/01
Bits 00 and 01: Select between the 4 reference values,
which are pre-programmed in parameter 3-10 Preset
Reference according to Table 4.6.
Programmed
reference
value
Parameter Bit 01 Bit 00
1 3-10 [0] 0 0
2 3-10 [1] 0 1
3 3-10 [2] 1 0
4 3-10 [3] 1 1
Table 4.6 Reference Values
Control Programming Guide
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NOTICE
In parameter 8-56 Preset Reference Select, a selection is
made to dene how bit 00/01 gates with the
corresponding function on the digital inputs.
Bit 02, DC brake
Bit 02 = 0: Leads to DC braking and stop. Braking current
and duration are set in parameter 2-01 DC Brake Current
and parameter 2-02 DC Braking Time.
Bit 02 = 1: Leads to ramping.
Bit 03, Coasting
Bit 03 = 0: Causes the frequency converter to immediately
release the motor (the output transistors are disabled), and
coasts to a standstill.
Bit 03 = 1: Enables the frequency converter to start the
motor if the other starting conditions are fullled.
NOTICE
In parameter 8-50 Coasting Select, a selection is made to
dene how bit 03 gates with the corresponding function
on a digital input.
Bit 04, Quick stop
Bit 04 = 0: Causes a stop, in which the motor speed is
ramped down to stop via parameter 3-81 Quick Stop Ramp
Time.
Bit 05, Hold output frequency
Bit 05 = 0: Causes the present output frequency (in Hz) to
freeze. The frozen output frequency can then be changed
only with the digital inputs (parameter 5-10 Terminal 18
Digital Input to parameter 5-15 Terminal 33 Digital Input)
programmed to speed up and speed down.
NOTICE
If hold output is active, only the following can stop the
frequency converter:
•Bit 03 coasting stop.
•Bit 02 DC braking.
•Digital input (parameter 5-10 Terminal 18 Digital
Input to parameter 5-15 Terminal 33 Digital
Input) programmed to DC braking, coasting
stop, or reset and coasting stop.
Bit 06, Ramp stop/start
Bit 06 = 0: Causes a stop, in which the motor speed is
ramped down to stop via the selected ramp down
parameter.
Bit 06 = 1: Allows the frequency converter to start the
motor, if the other starting conditions are fullled.
NOTICE
In parameter 8-53 Start Select, a selection is made to
dene how bit 06 ramp stop/start gates with the
corresponding function on a digital input.
Bit 07, Reset
Bit 07 = 0: Does not cause a reset.
Bit 07 = 1: Resets a trip. Reset is activated on the leading
edge of the signal, that is, when changing from logic 0 to
logic 1.
Bit 08, Jog
Bit 08 = 1: The frequency converter ramps up/ramps down
according to the setting in parameter 3-19 Jog Speed [RPM].
Bit 09, Selection of ramp 1/2
Bit 09 = 0: Ramp 1 is active (parameter 3-40 Ramp 1 Type to
parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start).
Bit 09 = 1: Ramp 2 is active (parameter 3-50 Ramp 2 Type to
parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start).
Bit 10, Data not valid/Data valid
Tells the frequency converter whether to use or to ignore
the control word.
Bit 10 = 0: Ignores the control word.
Bit 10 = 1: Uses the control word to be used. This function
is relevant, because the control word is always contained
in the telegram, regardless of the type of telegram. It is
possible to turn o the control word if you do not wish to
use it with updating or reading parameters.
Bit 11, Relay 01
Bit 11 = 0: Relay not activated.
Bit 11 = 1: Relay 01 activated, provided [36] control word
bit 11 is selected in parameter 5-40 Function Relay.
Bit 12, Relay 04
Bit 12 = 0: Relay 04 is not activated.
Bit 12 = 1: Relay 04 is activated, provided [37] control word
bit 12 is selected in parameter 5-40 Function Relay.
Bit 13/14, Selection of set-up
Bits 13 and 14 are used to select from the 4 menu set-ups
according to Table 4.7.
Set-up Bit 14 Bit 13
1 0 0
2 0 1
3 1 0
4 1 1
Table 4.7 Menu Set-up
The function is only possible when [9] Multi Set-up is
selected in parameter 0-10 Active Set-up.
NOTICE
In parameter 8-55 Set-up Select, a selection is made to
dene how bits 13/14 gate with the corresponding
function on the digital inputs.
Bit 15 Reverse
Bit 15 = 0: No reversing.
Bit 15 = 1: Reversing.
Control VLT®DeviceNet MCA 104
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44

4.5.2 Status Word under Instances 100/150,
101/151, and 102/152
Illustration 4.9 Status Words in Instances 150/151/152
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 No error Error (no trip)
05 Reserved –
06 No error Trip lock
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 4.8 Status Bits
Explanation of the status bits:
Bit 00, Control not ready/ready
Bit 00 = 0: The frequency converter has tripped.
Bit 00 = 1: The frequency converter controls are ready, but
the power component is not necessarily receiving any
power supply (if there is 24 V external supply to controls).
Bit 01, Drive ready
Bit 01 = 1: The frequency converter is ready for operation.
Bit 02, Coasting stop
Bit 02 = 0: The frequency converter has released the motor.
Bit 02 = 1: The frequency converter can start the motor
when a start command is given.
Bit 03, No error/trip
Bit 03 = 0: The frequency converter is not in fault mode.
Bit 03 = 1: The frequency converter is tripped, and a reset
signal is required to re-establish operation.
Bit 04, No error/error (no trip)
Bit 04 = 0: The frequency converter is not in fault mode.
Bit 04 = 1: There is a frequency converter error but no trip.
Bit 05, Not used
Bit 05: Not used in the status word.
Bit 06, No error/trip lock
Bit 06 = 0: The frequency converter is not in fault mode.
Bit 06 = 1: The frequency converter is tripped and locked.
Bit 07, No warning/warning
Bit 07 = 0: There are no warnings.
Bit 07 = 1: A warning has occurred.
Bit 08, Speed reference/speed = reference
Bit 08 = 0: The motor is running, but the present speed is
dierent from the preset speed reference. For example, it
could be the case while the speed is being ramped up/
down during start/stop.
Bit 08 = 1: The present motor speed matches the preset
speed reference.
Bit 09, Local operation/bus control
Bit 09 = 0: [STOP/RESET] is activated on the control unit, or
[2] Local in parameter 3-13 Reference Site is selected. It is
not possible to control the frequency converter via serial
communication.
Bit 09 = 1: It is possible to control the frequency converter
via the eldbus/serial communication.
Bit 10, Out of frequency limit
Bit 10 = 0: The output frequency has reached the value in
parameter 4-52 Warning Speed Low or
parameter 4-53 Warning Speed High.
Bit 10 = 1: The output frequency is within the dened
limits.
Bit 11, No operation/in operation
Bit 11 = 0: The motor does not run.
Bit 11 = 1: The frequency converter has a start signal, or
the output frequency is greater than 0 Hz.
Bit 12, Drive OK/stopped, auto start
Bit 12 = 0: There is no temporary overtemperature on the
inverter.
Bit 12 = 1: The inverter has stopped because of overtem-
perature, but the unit has not tripped and resumes
operation once the overtemperature stops.
Bit 13, Voltage OK/limit exceeded
Bit 13 = 0: There are no voltage warnings.
Bit 13 = 1: The DC voltage in the frequency converters DC
link is too low or too high.
Bit 14, Torque OK/limit exceeded
Bit 14 = 0: The motor current is lower than the torque limit
selected in parameter 4-16 Torque Limit Motor Mode or
parameter 4-17 Torque Limit Generator Mode.
Bit 14 = 1: The torque limits in parameter 4-16 Torque Limit
Motor Mode and parameter 4-17 Torque Limit Generator
Mode are exceeded.
Bit 15, Timer OK/limit exceeded
Bit 15 = 0: The timers for motor thermal protection and
frequency converter thermal protection, respectively, have
not exceeded 100%.
Bit 15 = 1: One of the timers has exceeded 100%.
Control Programming Guide
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44

4.5.3 Bus Reference Value under Instances
100/150 and 101/151
The frequency reference value is transmitted to the
frequency converter in the form of a 16-bit word. The
value is transmitted as a whole number (-32767 to
+32767). Negative gures are formatted by 2’s
complement.
Master ⇒slave 16 bit
CTW Speed reference RPM
Table 4.9 Speed Reference Value
The bus reference has the following format:
100% = 4000 hex
Parameter 3-00 Reference Range = 0 [refMIN ⇒refMAX] 0 ⇒
16384 (4000 hex) ~ 0 ⇒100%
Parameter 3-00 Reference Range = 1 [- refMAX ⇒+ refMAX]
-16384 (C000 hex) ⇒+16384 (4000 hex) ~ -100% ⇒+100%
4.5.4 Actual Output Frequency under
Instances 100/150 and 101/151
The value of the actual output frequency of the frequency
converter is transmitted in the form of a 16-bit word. The
value is transmitted as a whole number (-32767 to
+32767). Negative gures are formed by 2’s complement.
Slave ⇒master 16 bit
STW Actual reference RPM
Table 4.10 Actual Output Frequency
The actual output frequency has the following format:
-32767 to +32767.
-16384 (C000 hex) corresponds to -100%, and 16384 (4000
hex) corresponds to 100%.
Control VLT®DeviceNet MCA 104
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44

5 Parameter Access
5.1 Explicit Messages
DeviceNet is based on the CAN protocol. Every message contains an 11 bit CAN identier eld to dene the connection ID.
These CAN identiers are also used to determine access priority.
The MAC ID is stored in the header of the message, which is split into 4 dierent message groups, see Table 5.1.
10 9 8 7 6 5 4 3 2 1 0 Identier bits
0 Group 1 ID Source MAC ID Message group 1
1 0 MAC ID Group 2 ID Message group 2
1 1 Group 3 ID Source MAC ID Message group 3
1 1 1 1 1 Group 4 ID Message group 4
1 1 1 1 1 1 1 X X X X Invalid CAN identiers
Table 5.1 MAC ID
It is possible to access frequency converter parameters via the standard DeviceNet service explicit message. Two classes of
explicit messages are supported:
Message group 2: Explicit messages take place via pre-dened master/slave connections.
Message group 3: Explicit messages take place via dynamically established lower prioritized connections.
5.2 Object Classes
Access is available to the following standard DeviceNet objects.
Class ID 01h Identity object Class ID 10h Parameter group object
Class ID 03h DeviceNet object Class ID 28h Motor data object
Class ID 04h Assembly object Class ID 29h Control supervisory object
Class ID 05h Connection object Class ID 2Ah AC/DC drive object
Class ID 0Fh Parameter object Class ID 2Bh Acknowledge handler object
Table 5.2 Standard DeviceNet Objects
The following DeviceNet vendor-specic objects are also available:
Class ID 100d to 119d Danfoss classes.
The object classes are described in chapter 5.3 DeviceNet Object Classes and chapter 5.4 Danfoss Object Classes.
Parameter Access Programming Guide
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55

5.3 DeviceNet Object Classes
5.3.1 Class ID 01h Identity Object
Class ID 01h identity object is a standard DeviceNet object for identication of the device (frequency converter). Set the
heartbeat interval in this object. The attributes supported for this class are listed in Table 5.3.
Attribute Access Name Data type Minimum/
Maximum
Units Default Description
1 Get Vendor USINT – – 97 Danfoss Drives Vendor
code.
2 Get Device Type UNIT – – 2 AD/DC Motor.
3 Get Product Code UNIT – – 100 See chapter 3.2.1 EDS File.
4 Get Revision UNIT – – – Software version on FC
102, FC 202, or FC 300.
5 Get Status UNIT – – –
6 Get Serial Number UDINT – – – From frequency
converter.
7 Get Product Name String – – – FC 100, FC 202, or FC
300.
10 Get/Set Heartbeat
Interval
USINT 0–255 s 0 O.
Table 5.3 Class ID 0x01
5.3.2 Class ID 03h DeviceNet Object
Class ID 03h DeviceNet object is a standard DeviceNet object for conguration and status of the DeviceNet connection. The
attributes supported for this class are listed in Table 5.4.
Attribute Access Name Data type Minimum/
Maximum
Units Default Description
1 Get/Set MAC ID USINT 0–63 – 63 Node address.
2 Get/Set Baud rate USINT 0–2 – 0 0=125
1=250
2=500
4 Get BOC – – – – Bus-o counter.
5 Get Allocate
information
– – – – Only required if
predened master/slave
is implemented.
6 Get MAC ID switch
changed
BOOL 0–1 – 0 The node address switch
has changed since the
last power-up/reset.
7 Get Baud rate
switched from
last power-up
BOOL 0–1 – 0 The baud rate switch has
changed since the last
power-up.
Table 5.4 Class ID 0x03
Parameter Access VLT®DeviceNet MCA 104
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