Danfoss VLT AutomationDrive User manual

VLT®AutomationDrive EtherNet/IP
MG.90.Jx.02 ver. 5th September 2007 – VLT is a registered Danfoss trademark 1
Contents
Safety Note.......................................................................................................................... 3
Introduction ..........................................................................................................................3
About this Manual................................................................................................................. 3
Technical Overview ............................................................................................................... 3
Assumptions ........................................................................................................................ 3
Hardware ............................................................................................................................ 3
Background Knowledge ......................................................................................................... 3
FC 300-related Literature.......................................................................................................3
ODVA Conformance .............................................................................................................. 3
Abbreviations ....................................................................................................................... 3
How to Install .......................................................................................................................3
The EtherNet/IP Option ......................................................................................................... 3
LED Behaviour ..................................................................................................................... 3
Topology ............................................................................................................................. 3
Network .............................................................................................................................. 3
Recommended Design Rules .................................................................................................. 3
EMC Precautions ................................................................................................................... 3
How to Install Option in Frequency Converter........................................................................... 3
How to Configure the System ................................................................................................3
IP Settings........................................................................................................................... 3
Ethernet Link Parameters ...................................................................................................... 3
Configuring the Scanner ........................................................................................................3
IP traffic .............................................................................................................................. 3
How to Control the FC 300 ....................................................................................................3
I/O Assembly Instances.........................................................................................................3
EtherNet/IP connections ........................................................................................................ 3
Control Word Profile .............................................................................................................. 3
Change of State, COS ........................................................................................................... 3
Danfoss FC Control Profile......................................................................................................3
ODVA Control Profile ............................................................................................................. 3
Reference Handling............................................................................................................... 3
Parameters............................................................................................................................3
Parameter List...................................................................................................................... 3
Data Types Supported by FC 300............................................................................................ 3
Troubleshooting ....................................................................................................................3
Alarm Word and Warning Word .............................................................................................. 3
Appendix ...............................................................................................................................3
Supported CIP Objects .......................................................................................................... 3
Index ....................................................................................................................................3

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Copyright, Limitation of Liability and Revision Rights
This publication contains information proprietary to Danfoss A/S. By accepting and using this manual
the user agrees that the information contained herein will be used solely for operating equipment from
Danfoss A/S or equipment from other vendors provided that such equipment is intended for
communication with Danfoss equipment over a Ethernet serial communication link. This publication is
protected under the Copyright laws of Denmark and most other countries.
Danfoss A/S does not warrant that a software program produced according to the guidelines provided
in this manual will function properly in every physical, hardware or software environment.
Although Danfoss A/S has tested and reviewed the documentation within this manual, Danfoss A/S
makes no warranty or representation, either express or implied, with respect to this documentation,
including its quality, performance, or fitness for a particular purpose.
In no event shall Danfoss A/S 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 A/S 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 A/S reserves the right to revise this publication at any time and to make changes in its
contents without prior notice or any obligation to notify previous users of such revisions or changes.

VLT®AutomationDrive EtherNet/IP
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Safety Note
The voltage of the frequency converter is dangerous whenever connected to mains. Incorrect
installation of the motor, frequency converter or fieldbus may cause damage to the equipment,
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.
Safety Regulations
1. The frequency converter must be disconnected from mains if repair work is to be carried out. Check
that the mains supply has been disconnected and that the necessary time has passed before removing
motor and mains plugs.
2. The [OFF] key on the control panel of the frequency converter does not disconnect the equipment
from mains and is thus not to be used as a safety switch.
3. Correct protective earthing 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. Protection against motor overload is not included in the factory setting. If this function is desired,
set par. 1-90 to data value ETR trip or data value ETR warning.
Note: The function is initialised at 1.16 x rated motor current and rated motor frequency. For the
North American market: The ETR functions provide class 20 motor overload protection in accordance
with NEC.
6. 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.
7. Please note that the frequency converter has more voltage inputs than L1, L2 and L3, when load
sharing (linking of DC intermediate circuit) and external 24 V DC have been installed. Check that all
voltage inputs have been disconnected and that the necessary time has passed before commencing
repair work.
Warning against Unintended Start
1. The motor can be brought to a stop by means of digital commands, bus commands, references or a
local stop, while the frequency converter is connected to mains.
If personal safety considerations make it necessary to ensure that no unintended start occurs, these
stop functions are not sufficient.
2. While parameters are being changed, the motor may start. Consequently, the stop key
[STOP/RESET] must always be activated; following which data can be modified.
3. A motor that has been stopped may 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:
Touching the electrical parts may be fatal - even after the equipment has been disconnected
from mains.
Also make sure that other voltage inputs have been disconnected, such as external 24 V DC, load
sharing (linkage of DC intermediate circuit), as well as the motor connection for kinetic back up.
Refer to FC 300 Operating Instructions (MG.33.Ax.yy) for further safety guidelines.

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Introduction
About this Manual
First time users can obtain the most essential information for quick installation and set-up in these
chapters:
Introduction
How to Install
How to Configure the System
For more detailed information including the full range of set-up options and diagnosis tools please
refer to the chapters:
How to Configure the System
How to Control the FC 300
How to Access FC 300 Parameters
Parameters
Troubleshooting
Terminology:
In this manual several terms for Ethernet is used.
-EtherNet/IP, is the term used to describe the CIP/ODVA application protocol.
-Ethernet, is a common term used to describe the physical layer of the network and does not
relate to the application protocol.

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Technical Overview
EtherNet/IP™ was introduced in 2001 and today is the most developed, proven and complete
industrial Ethernet network solution available for manufacturing automation.
EtherNet/IP is a member of a family of networks that implements the Common Industrial Protocol
(CIP™) at its upper layers. CIP encompasses a comprehensive suite of messages and services for a
variety of manufacturing automation applications, including control, safety, synchronization, motion,
configuration and information. As a truly media-independent protocol that is supported by hundreds of
vendors around the world, CIP provides users with an unified communication architecture throughout
the manufacturing enterprise.
EtherNet/IP provides users with the network tools to deploy standard Ethernet technology for
manufacturing applications while enabling Internet and enterprise connectivity.
Assumptions
These operating instructions assume that the Danfoss EtherNet/IP option is used in conjunction with a
Danfoss FC 300 frequency converter. It is also assumed that the installed controller supports the
interfaces described in this document and that all the requirements stipulated in the controller, as well
as the frequency converter, are strictly observed along with all limitations therein.
Hardware
This manual relates to the EtherNet/IP option MCA121, type no. 130B1119 (un-coated) and 130B1219
(coated).
Background Knowledge
The Danfoss EtherNet/IP Option Card is designed to communicate with any system complying with the
CIP EtherNet/IP 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 are not the responsibility of Danfoss.
For information regarding commissioning tools, or communication to a non-Danfoss node, please
consult the appropriate manuals.
FC 300-related Literature
The following literature is available for the FC 300 series:
Title Literature no.
FC 300 Operating Instructions MG.33.Ax.yy
FC 300 Design Guide MG.33.Bx.yy
Please also refer to:
http://www.danfoss.com/BusinessAreas/DrivesSolutions/
-for additional information.
ODVA Conformance
The EtherNet/IP option is tested to conform to the ODVA standards, and is certified, towards
conformance test level version 3.

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Abbreviations
CC Control Card
CIP Common Industrial Protocol
CTW Control Word
DHCP Dynamic Host Configuration
Protocol
EIP EtherNet/IP
EMC Electromagnetic Compatibility
I/O Input/Output
IP Internet Protocol
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
N/A Not applicable
ODVA Open DeviceNet Vendor
Association
PC Personal Computer
PLC Programmable Logic Controller
PNU Parameter NUmber
REF Reference (= MRV)
RTC Real Time Clock
STP Spanning tree Protocol
STW Status Word

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How to Install
The EtherNet/IP Option
The option has 3 bi-coloured LED’s according to ODVA specifications:
LED label Description
MS Module Status
NS1 Network Status Ethernet Port 1
NS2 Network Status Ethernet Port 2

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LED Behaviour
The option LED’s operates according to ODVA specifications.
MS: Module Status
State LED Description
No power Off
The device is un-powered
Device
operational Green: █████████████ Solid green
The device is operational
Standby Green: ▂█▂█▂█▂█▂█▂█▂ Flashing green
The device needs commissioning
Minor fault Red: ▂█▂█▂█▂█▂█▂█▂█ Flashing red
The device has detected a recoverable
fault
Major fault Red: ██████████████ Solid red
The device has detected a un-recoverable
fault
Self test Red: ▂█▂█▂█▂█▂█▂█▂█
Green: ▂█▂█▂█▂█▂█▂█▂ Flashing red/green
The EIP option is in self-test mode.
NS1 + NS2: Network status (one per port)
State LED Description
No IP-address
(no power) Off
The device does not have a valid IP-
address (or is un-powered)
No connections Green: ▂█▂█▂█▂█▂█▂█ Flashing green
There is not established any CIP
connections to the device
Connected Green: ████████████ Steady green
There is established (at least) one CIP
connection to the device
Connection
time-out Red: ▂█▂█▂█▂█▂█▂█▂ Flashing red
One or more CIP connections has timed-
out
Duplicate IP Red: █████████████ Steady red
The IP-address assigned to the device is
already in use
Self test Red: ▂█▂█▂█▂█▂█▂█▂█
Green: ▂█▂█▂█▂█▂█▂█▂ Flashing red/green
The EIP option is in self-test mode.
During normal operation the both the MS and at least one NS LED will light steady green.

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Topology
The MCA121 features a build-in Ethernet-switch, thus having two Ethernet RJ-45 connectors.
This enables the possibility for connecting several EtherNet/IP options in a line topology as an
alternative to the typical star-topology.
The two ports are equal, in the sense that they are transparent for the option. If only one connector is
used, either port can be used.
Star topology
Line topology
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Note: For line topology please refer to section: “Recommended design rules”
In a line topology all drives must be powered, either by mains or 24 V DC option, for the build-
in switch to work.

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Ring/redundant line topology
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Note: For this type of topology it is crucial that the network switch supports Spanning Tree
Protocol (STP), and that STP is enabled.
For more information on Spanning Tree please refer to section IP traffic.
Network
It is of high importance that the medias chosen for Ethernet data transmission are suitable.
Usually CAT 5e and 6 cables are recommended for industrial applications. Both types of cable 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.
Optical fibres can be used for gapping longer distances and providing galvanic isolation.
For connecting EtherNet/IP devices both hubs and switches can be used.
It is, however, recommended always to use suitable industrial graded Ethernet switches.
For more information regarding IP-switching, please refer to section: IP Traffic in this manual.

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Recommended Design Rules
While designing Ethernet networks special caution regarding active networks components must be
taken.
While designing a network in line topology it is important to notice that a small delay is added with
every switch in the line.
For EtherNet/IP the maximum number of drives in a line is dependent of the API speed of the
connected scanner:
According to the graph above, the network should thus be segmented with the use of external
Ethernet switches.
It is not recommended to connect more than 32 drives in a line at any API.
AutomationDrive
VLT AutomationDrive VLT AutomationDrive VLT AutomationDrive VLT AutomationDrive VLT AutomationDrive VLT AutomationDrive VLT
AutomationDrive
VLT AutomationDrive VLT AutomationDrive VLT AutomationDrive VLT AutomationDrive VLT AutomationDrive VLT AutomationDrive VLT
Max. 32 drives

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EMC Precautions
The following EMC precautions are recommended in order to achieve interference-free operation of the
Ethernet network. Additional EMC information is available in the FC 300 series Design Guide.
N.B.:
Relevant national and local regulations, for example regarding protective earth connection,
must be observed.
The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid
coupling of high frequency noise from one cable to the other. 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 degrees.
AutomationDrive
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min. 200 mm
90° crossing
Ethernet cable

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How to Install Option in Frequency Converter
Items required 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)
Instructions:
-Remove LCP panel from the FC 300
-Remove the frame located beneath and discard
-Push the option into place. The Ethernet connectors must be facing upwards.
-Push the fieldbus option adaptor frame for the FC 300 into place
-Replace the LCP and attach cable
N.B.:
Don’t strip the Ethernet cable and ground via the strain relief-plate!
The grounding of screened Ethernet cable is done via the RJ-45 connector on the option.
N.B.:
After installing the MCA121 option, be aware of the following parameter settings:
Par. 8-01 Control Site [2] Controlword only or [0] Digital and ctrl. word
Par. 8-02 Control Word Source [3] Option A

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How to Configure the System
IP Settings
All IP-related parameters are located in parameter group 12-0*:
12-00 IP Address Assignment 12-05 Lease Expires
12-01 IP Address 12-06 Name Servers
12-02 Subnet Mask 12-07 Domain Name
12-03 Default Gateway 12-08 Host Name
12-04 DHCP Server 12-09 Physical Address
The MCA121 option offers several ways of IP address assignment.
Setting up drive with manual assigned IP address:
Par. Name Value
12-00 IP Address Assignment [0] MANUAL
12-01 IP Address 192.168.0.xxx*
12-02 Subnet Mask 255.255.255.0*
12-03 Default Gateway optional
*= Class C IP address example. Any valid IP address can be entered.
N.B.:
A power-cycle is necessary after setting the IP parameters manually.

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Setting up drive with automatic (BOOTP/DHCP) assigned IP address:
Par. Name Value
12-00 IP Address Assignment [1] DHCP/[2] BOOTP
12-01 IP Address Read only
12-02 Subnet Mask Read only
12-03 Default Gateway Read only
By IP address assigned by DHCP/BOOTP server, the assigned IP Address and Subnet Mask can be
read out in par. 12-01 and 12-02.
In par. 12-04 DHCP Server, the IP address of the found DHCP or BOOTP server is displayed.
For DHCP only: The remaining lease-time can be read-out in par. 12-05 Lease Expires.
Par. 12-09 Physical Address reads out the MAC address of option, which is also printed on the label
of the option. If using fixed leases together with DHCP or BOOTP, the physical MAC address is linked
with a fixed IP address.
N.B.:
If no DHCP or BOOTP reply has been received after 4 attempts (e.g. if the DHCP/BOOTP server
has been powered off), the option will fallback to the last good known IP address.
Par. 12-03 Default Gateway is optional and only used in routed networks.
Par. 12-06 Name Servers
Par. 12-07 Domain Name
Par. 12-08 Host Name
Are used with Domain Name Server systems and are all optional. If DHCP or BOOTP is selected as IP
address assignment, these parameters are read only.

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Ethernet Link Parameters
Parameter group 12-1* holds information Ethernet Link information:
12-10 Link Status
12-11 Link Duration
12-12 Auto Negotiation
12-13 Link Speed
12-14 Link Duplex
Please note the Ethernet Link Parameters are unique per port.
Par. 12-10 Link Status and par. 12-11 Link Duration displays information on the link status, per
port.
Par. 12-10 Link Status will display Link or No Link according to the status of the present port.
Par. 12-11 Link Duration will display the duration of the link on the present port. If the link is broken
the counter will be reset.
Par. 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 as for these parameters and then choose the fastest transmission
mode they both support.
By default this function is enabled.
In case of incompability between the connected devices, it might lead to mismatches that can cause
the communication with decreased performance. For this reason Auto Negotiation can be disabled.
If par. 12-12 is set to OFF, link speed and duplex mode can be configured manually in par. 12-13 and
12-14.
Par. 12-13 Link Speed – displays/sets the link speed per port. “None” is displayed if no link is
present.
Par. 12-14 Link Duplex – displays/sets the duplex mode per port.
Half-duplex provides communication in both directions, but only one direction at a time (not
simultaneously).
Full-duplex allows communication in both directions, and unlike half-duplex, allows this to happen
simultaneously.

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Configuring the Scanner
EDS file
Danfoss Drives provides a generic English EDS (Electronic Data Sheet) file covering all voltage and
power sizes, for off-line configuration.
The EDS file can be downloaded from:
http://www.danfoss.com/BusinessAreas/DrivesSolutions/Softwaredownload/DDFieldbus_Setup_Files.htm
N.B.:
The current version of the major EtherNet/IP configuration tools does not support EDS-files for
EtherNet/IP devices.
Configuring a Rockwell Master
For configuring a FC 300 with MCA121 for operation with a Rockwell (Allen-Bradley) Scanner via
EtherNet/IP, the FC 300 must be added as a Generic Ethernet Module.
Under the General -tab, enter information about: Name of device, IP Address, Assembly Instance and
Data size.
N.B.:
Under Configuration in the Connection Parameters a “4” must be entered as Assembly Instance.

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Under the Connection Tab, enter information about: RII and fault conditions.
The Module Info – tap holds generic information.
The Reset Module – button will make a simulated Power-cycle of the drive.
N.B.:
For more information on the CIP class 1 Forward Open command, please refer to section:
EtherNet/IP Connections under the How to Control -chapter.

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IP traffic
The use of Ethernet based network for industrial automation purposes, calls for careful and thorough
network design.
Especially the use of active network components like switches and routers requires detailed know-how
about the behaviour of IP traffic.
Some important issues:
Multicast
Multicast traffic is traffic that is addressed to a number of recipients.
Each host processes the received multicast packet to determine if it is the target for the packet. If not,
the IP package is discarded.
This causes an excessive network load of each node in the network since they are flooded with
multicast packages.
The nature of EtherNet/IP traffic is that all Originator-to-Target traffic is Unicast (point-to-point) but
Target-to-Originator traffic is optional Multicast.
This enables that several listen only -connections can be made to a single host.
In switched networks hosts also has the risk of become flooded with multicast traffics.
A switch usually forwards traffic by MAC address tables as it build by looking into the source address
field of all the frames it receives.
A multicast MAC address is never used as source address for a packet. Such addresses do not appear
in the MAC address table, and the switch has no method for learning them and will forward all
multicast traffic to all connected hosts.
IGMP
IGMP (Internet Group Management Protocol) is an integrated part of IP.
It allows hosts to join or leave a multicast host group. Group membership information is exchanged
between a specific host and the nearest multicast router.
For EtherNet/IP networks it is essential that the switches used supports IGMP Snooping.
IGMP Snooping enables the switch to “listen in" on the IGMP conversation between hosts and routers.
By doing this the switch knows which host are members of which groups, thus being able to forward
multicast traffic only to the appropriate hosts.
Spanning Tree Protocol (STP)
For an Ethernet network to function properly, only one active path can exist between two nodes.
Spanning-Tree Protocol is a link management protocol that provides path redundancy while preventing
undesirable loops in the network.
When loops occur, some switches see stations appear on both sides of the switch. This condition
confuses the forwarding algorithm and allows duplicate frames to be forwarded.
To provide path redundancy, Spanning-Tree Protocol defines a tree that spans all switches in an
extended network. Spanning-Tree Protocol forces certain redundant data paths into a standby
(blocked) state. If one network segment in the Spanning-Tree Protocol becomes unreachable, or if
Spanning-Tree Protocol costs change, the spanning-tree algorithm reconfigures the spanning-tree
topology and re-establishes the link by activating the standby path.
Spanning-Tree Protocol operation is necessary if the FC 300’s are running in a ring/redundant line
topology.

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How to Control the FC 300
I/O Assembly Instances
I/O Assembly Instances are a number of defined process control objects with defined content
comprising control and status information.
Unlike DeviceNet it is possible to run with asymmetrical instances. E.g. 101/153 = 8 bytes/20 bytes.
It is not possible to mix instances across profiles, e.g. 20/100.
Assembly instances must consistent to the profile: ODVA or FC profile
The controlling instance can be read in par. 12-20 Control Instance.
The figure below shows the I/O Assembly Instance options for controlling and monitoring the FC 300
drive.
Profile
(par. 8-10) Direction Instance (decimal)
Size
(bytes)
Data
20 4
CTW (20) REF
Originator -> Target
21 4
CTW (21) REF
70 4
ODVA
Target -> Originator
71 4
100 4
101 8
Originator -> Target
103 20
150 4
STW (FC) MAV
151 8
FC
Target -> Originator
153 20