Vacon 100 INDUSTRIAL User manual

user manual
add-on instruction for ethernet/ip
opte9, optea
ac drives
vacon®nxp
vacon®100 x
vacon®100 flow
vacon®100 industrial
vacon®20

Introduction vacon • 1
Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/
TABLE OF CONTENTS Date: 15.2.2018
DPD Code: DPD02074A
1 Introduction .................................................................................................. 2
1.1 Purpose of this document ................................................................................... 2
1.2 Compatibility ....................................................................................................... 3
2 Available Add-On Instructions and features .................................................. 3
2.1 VACON_DRIVE_20_70 .......................................................................................... 3
2.2 VACON_DRIVE_21_71 .......................................................................................... 4
2.3 VACON_NXP_111_117 ......................................................................................... 5
2.4 VACON_100_111_117........................................................................................... 7
3 Configuration of the AC drive ...................................................................... 10
3.1 EtherNet/IP parameterization ........................................................................... 10
3.2 AC drive parameterization................................................................................. 11
4 Using the Add-On Instruction (AOI) ............................................................. 11
4.1 Importing the AOI .............................................................................................. 12
4.2 Configuring the PLC I/O..................................................................................... 14
4.3 Creating a task/program/routine in RSLogix5000 ............................................. 17
4.4 Setting up the AOI.............................................................................................. 19

2 • vacon Introduction
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1
Disclaimer
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or distribute this software, either
in source code form or as a compiled binary, for any purpose, commercial or non-
commercial, and by any means.
In jurisdictions that recognize copyright laws, the author or authors of this software dedicate
any and all copyright interest in the software to the public domain. We make this dedication
for the benefit of the public at large and to the detriment of our heirs and successors. We
intend this dedication to be an overt act of relinquishment in perpetuity of all present and
future rights to this software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
THE AUTHORS OR ANY LEGAL ENTITY PART OF DANFOSS GROUP BE LIABLE FOR ANY
CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
USE OR OTHER DEALINGS IN THE SOFTWARE.
For more information, refer to http://unlicense.org.
1Introduction
1.1 Purpose of this document
The purpose of this document and the provided Add-On Instructions (AOIs) is to give
instructions and a working example on how to integrate VACON®series AC drives into
RSLogix5000 control systems. The AOIs are provided with source codes to provide easy
programming to end-user.
Several AOIs are provided from simple to more complex AOIs that allow access to more AC
drive features.
All AOIs require parameterization from AC drive before they can be used. All parameter
settings that differ from those set by default are described in this document.
NOTE!
Provided AOIs are examples and are not meant to be used as-is by the end user. The AOIs
can be modified at will and serve as an example to start the programming of VACON®AC
drives. The code should not be used as or a part of a safety system.

Available Add-On Instructions and features vacon • 3
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1.2 Compatibility
Use RSLogix5000 version 20.01. If you use newer versions, check the compatibility before
starting.
2Available Add-On Instructions and features
The table shows the Add-On Instructions (AOIs) that are available for use and modification.
Table 1. The AOIs available
AOI
Drive series
EtherNet/IP
Assemblies
Use case
Motor control
NXP
100
20
VACON_DRIVE_20_70 x x x 20/70 Basic speed
control Speed
VACON_DRIVE_21_71 x x x 21/71 Extended
speed control
Speed
VACON_NXP_111_117 x 111/117
Extended
features for
VACON
®
NXP
Frequency /
Torque
VACON_100_111_117 x 111/117
Extended
features for
VACON®100
Frequency /
Torque
These examples provide means to control the drive using speed, frequency, and torque
references.
2.1 VACON_DRIVE_20_70
This AOI uses EtherNet/IP CIP standard assembly instances 20 and 70. This provides a
simple interface to control the AC drive.
•Start and stop of the drive handled with one bit
•Speed reference given as rpm
•Actual speed given as rpm
•Fault indication and resetting

4 • vacon Available Add-On Instructions and features
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Figure 1.
Table 2.
Tag
Usage
Type
Description
Range
RUN
Input
BOOL
0 = Stop motor, 1 = Start motor
0..1
RESET
Input
BOOL
Rising edge resets faults from AC drive
0..1
SPEED_REF
Input
INT
Speed reference in rpm
0..32767
Bus_Ok
Output
BOOL
0 = Connection faulted, 1 = Connection ok
Running
Output
BOOL
Motor is running
Faulted
Output
BOOL
AC drive has an active fault
Speed_Act Output INT Actual speed (rpm)
Supported AC drives: VACON®100 family, VACON®20 family, VACON®NX family.
2.2 VACON_DRIVE_21_71
This AOI uses EtherNet/IP CIP standard assembly instances 21 and 71. This provides slightly
more control options and more information about the AC drive status.
•Start and stop of the drive handled with one bit
•Speed reference given as rpm
•Actual speed given as rpm, At_Ref indicates speed reference is reached
•Direction of motor controllable with one bit
•Fault and warning indication and resetting

Available Add-On Instructions and features vacon • 5
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Figure 2.
Table 3.
Tag
Usage
Type
Description
Range
RUN
Input
BOOL
0 = Stop motor, 1 = Start motor
0..1
REVERSE
Input
BOOL
0 = Clockwise, 1 = Counter-clockwise
0..1
RESET
Input
BOOL
Rising edge resets faults from AC drive
0..1
SPEED_REF
Input
INT
Speed reference (rpm)
0..32767
Bus_Ok
Output
BOOL
0 = Connection faulted, 1 = Connection ok
RUN_Ready
Output
BOOL
RUN command is accepted
Ready Output BOOL AC drive is ready to run
Running
Output
BOOL
Motor is running
Direction Output BOOL 0 = Clockwise, 1 = Counter-clockwise run
direction
Faulted
Output
BOOL
AC drive has an active fault
Warning
Output
BOOL
AC drive has an active warning
At_Ref
Output
BOOL
Motor is running at requested reference
Speed_Act
Output
INT
Actual speed (rpm)
Supported AC drives: VACON®100 family, VACON®20 family, VACON®NX family
2.3 VACON_NXP_111_117
This AOI is for VACON®NXP AC drives only. This AOI uses VACON®specific assembly
instances 111 and 117. It is assumed that process data configuration is not modified from the
default values of the VACON®Multi-Purpose application. If values are modified, the PDOs 1-8
might not display values correctly.
•Start and stop of the drive handled with one bit
•Speed reference given as percentage of maximum frequency

6 • vacon Available Add-On Instructions and features
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•Actual speed given as percentage of maximum frequency, At_Reference indicates
reference reached
•Fault and warning indication and resetting
•8 process data items displaying additional information about the drive, for example,
frequency, current, power, voltage, etc.
•(Optional) Torque reference as percentage
oRequires AC drive to be parameterized to torque control
Figure 3.
Table 4.
Tag
Usage
Type
Description
Range
RUN
Input
BOOL
0 = Stop motor, 1 = Start motor
0..1
DIR Input BOOL 0 = Clockwise, 1 = Counter-
clockwise
0..1
RESET Input BOOL Rising edge resets faults from AC
drive
0..1
SPEED_REF Input REAL Speed reference in percentage of
maximum frequency
0..100
PDI1_TORQUE_REF Input REAL Torque reference in percentage of
maximum torque
0..100
Bus_Ok Output BOOL 0 = Connection faulted, 1 =
Connection ok
Ready
Output
BOOL
AC drive is ready to run
Running
Output
BOOL
Motor is running

Available Add-On Instructions and features vacon • 7
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Direction Output BOOL 0 = Clockwise, 1 = Counter-
clockwise run direction
Fault
Output
BOOL
AC drive has an active fault
Alarm
Output
BOOL
AC drive has an active alarm
At_Reference Output BOOL Motor is running at requested
reference
Speed_Actual Output REAL Actual speed as percentage of
maximum frequency
PDO1_Output_Frequency
Output
REAL
Output frequency of the motor (Hz)
PDO2_Motor_Speed Output INT Actual speed of the motor
(calculated) (rpm)
PDO3_Motor_Current
Output
REAL
Measured current of the motor (A)
PDO4_Motor_Torque Output REAL
Actual torque of the motor
(calculated) in percentage of
maximum torque (%)
PDO5_Motor_Power Output REAL
Actual shaft power of the motor
(calculated) as a percentage of the
motor nominal power (%)
PDO6_Motor_Voltage Output REAL Actual output voltage of the motor
(V)
PDO7_DC_Link_Voltage Output INT Measured voltage in the DC-link of
the drive (V)
PDO8_Active_Fault_Code Output INT Latest activated fault code that is
not reset
Supported AC drives: VACON®NXP
2.4 VACON_100_111_117
This AOI is for VACON®100 family AC drives only. This AOI uses VACON®specific assembly
instances 111 and 117. It is assumed that process data configuration is not modified from the
default values of the VACON®INDUSTRIAL application. If values are modified, the PDOs 1-8
might not display values correctly.
•Multiple stop modes and signals. Stop by ramp, coast and quick stop
•Reference as percentage of maximum frequency
•Actual speed as percentage of maximum frequency
•8 process data items displaying additional information about the drive, e.g. frequency,
current, power, voltage, etc.
•Quick ramp to make acceleration/deceleration faster
•Freeze and zero setpoint enables modifying setpoint
•Force control and reference to fieldbus regardless of AC drive parameterization
•Enable 2 jogging references

8 • vacon Available Add-On Instructions and features
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•(Optional) Torque reference as a percentage between minimum and maximum torque
oRequires AC drive to be parameterized to torque control
o0 = Minimum torque reference
Figure 4.
Table 5.
Tag
Usage
Type
Description
Range
RUN
Input
BOOL
0 = Stop motor, 1 = Start motor
0..1
DIR
Input
BOOL
0 = Clockwise, 1 = Counter-clockwise
0..1
RESET Input BOOL Rising edge resets faults from AC
drive
0..1
RAMP_STOP Input BOOL Stop motor with ramp stop even if
RUN is set 0..1
COAST_STOP Input BOOL Stop motor with coast stop even if
RUN is set
0..1
QUICK_STOP
Input
BOOL
Activate quick stop
0..1
QUICK_RAMP
Input
BOOL
Activate quick ramp time
0..1

Available Add-On Instructions and features vacon • 9
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FREEZE_SETPOINT Input BOOL Freeze setpoint, modification of
SPEED_REF has no effect
0..1
ZERO_SETPOINT
Input
BOOL
Zero setpoint, force reference to zero
0..1
FORCE_CONTROL
Input
BOOL
Force Control place to Fieldbus
0..1
FORCE_REFERENCE
Input
BOOL
Force Reference place to Fieldbus
0..1
JOGGING_EN Input BOOL Enable jogging, not possible if RUN is
set
0..1
JOGGING_SEL Input BOOL 0 = Jogging reference 1, 1 = Jogging
reference 2
0..1
SPEED_REF Input REAL Speed reference in percentage of
maximum frequency 0..100
PDI1_TORQUE_REF Input REAL Torque reference between minimum
and maximum torque
0..100
Bus_Ok Output BOOL 0 = Connection faulted, 1 = Connection
ok
Ready
Output
BOOL
AC drive is ready to run
Running
Output
BOOL
Motor is running
Direction Output BOOL 0 = Clockwise, 1 = Counter-clockwise
run direction
Fault
Output
BOOL
AC drive has an active fault
Alarm
Output
BOOL
AC drive has an active alarm
At_Reference Output BOOL Motor is running at requested
reference
Zero_Speed
Output
BOOL
Motor is at zero speed
Speed_Actual Output REAL Actual speed as percentage of
maximum frequency
PDO1_Output_Frequency
Output
REAL
Output frequency of the motor (Hz)
PDO2_Motor_Speed Output INT Actual speed of the motor (calculated)
(rpm)
PDO3_Motor_Current
Output
REAL
Measured current of the motor (A)
PDO4_Motor_Torque Output REAL Actual torque of the motor (calculated)
(%)
PDO5_Motor_Power Output REAL
Actual shaft power of the motor
(calculated) as a percentage of the
motor nominal power (%)
PDO6_Motor_Voltage
Output
REAL
Actual output voltage of the motor (V)
PDO7_DC_Link_Voltage Output INT Measured voltage in the DC-link of the
drive (V)

10 • vacon Configuration of the AC drive
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PDO8_Active_Fault_Code Output INT Latest activated fault code that is not
reset
Supported AC drives: VACON®100 family.
3Configuration of the AC drive
The chapters 2.1 and 2.2 describe how to get the AC drive to communicate and to be
controllable over EtherNet/IP. One or several of the following tools can be used for
commissioning depending on the used AC drive:
•Keypad
•NCDrive (VACON®NXP)
•VACON®Live (VACON®100)
•NCIPConfig (OPTE9/A in all drives)
The following chapters describe the parameterization of VACON®100 INDUSTRIAL and
VACON®NXP Multi-Purpose applications. If you are using a different application, refer to the
relevant application manual for details on parameters.
3.1 EtherNet/IP parameterization
Use the OPTE9/A option board or the inbuilt EtherNet/IP of VACON®100.
For the OPTE9/A option board, change the following settings. These parameters can be found
under path 7.5 in VACON®NXP, and under path 5.4.3 in VACON®100 (when the OPTE9/A
option board is installed into slot E).
Table 6. OPTE9/A Ethernet parameters
Description
Setting
Comm. Protocol
EtherNet/IP
IP Mode
Static IP / Fixed IP
IP Address Part 1 - 4
e.g. 192.168.1.10
Subnet Mask Part 1 -4
e.g. 255.255.255.0
For the inbuilt EtherNet/IP of VACON®100, change the following settings:
Table 7. VACON®100 Ethernet parameters (without OPTE9/A)
Parameter
Description
Setting
5.9.1.1
IP Address Mode
Fixed IP
5.9.1.4.1 IP Address e.g. 192.168.1.10
5.9.1.4.2
Subnet Mask
e.g. 255.255.255.0
5.9.4.1.1 EtherNet/IP Protocol in
use
Yes

Using the Add-On Instruction (AOI) vacon • 11
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3.2 AC drive parameterization
Some parameters must be set for the AC drive to be controllable via fieldbus and to control
the motor correctly. Note that only settings that differ from application default values are
listed here.
In VACON®NXP, change the following parameters:
Table 8. VACON®NXP parameters
Parameter
Description
Setting
Note
2.6.1 Motor Ctrl Mode
Freq Control
OL/CL SpeedCont
OL/CL TorqCtrl
2.10.4
Torq Ref Select
Fieldbus
Only if TorqCtrl is used
3.1
Control Place
Fieldbus
In VACON®100, change the following parameters:
Table 9. VACON®100 parameters
Parameter
Description
Setting
Note
3.1.2.1 Control Mode
Frequency Ctrl
OL Speed Ctrl
OL Torque Ctrl
3.2.1 Rem Control
Place
FieldbusCTRL
3.3.2.1 Torque Ref Sel ProceDataIn1 Only if OL Torque Ctrl is
used
Motor control mode: Depending on the used AOI and use case, the motor control mode
should be set. If torque mode is set, torque reference selection must also be set. In the
example AOI provided (VACON_100_111_117 and VACON_NXP_111_117), it is assumed that
torque reference is sent in Process Data In 1. Therefore, torque reference must be set to
Process Data In 1.
4Using the Add-On Instruction (AOI)
The following example uses AOI VACON_DRIVE_21_71 using CIP standard assembly
instances 21 & 71, and a VACON®NXP drive with the OPTE9/A option board.
This example uses RSLogix5000 version 20.01. There might be differences between
RSLogix5000 versions that are not accounted for in this example.

12 • vacon Using the Add-On Instruction (AOI)
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4.1 Importing the AOI
1) Download the VACON®AOIs from the Danfoss Drives website under “Downloads” and
“Fieldbus configuration files”.
2) Create a new project in RSLogix5000.
3) Right click the Add-On Instructions folder in the Controller Organizer and click
“Import Add-On Instruction…”

Using the Add-On Instruction (AOI) vacon • 13
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4) Select the VACON_DRIVE_21_71.L5X and click “Import”.
5) Make sure that there are no errors or warnings.
a. If there are no errors or warnings, importing can be continued.
6) Press “OK”.

14 • vacon Using the Add-On Instruction (AOI)
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7) The AOI is now imported and is visible under “Add-On Instructions”.
8) The logic of the AOI can now be browsed and modified.
4.2 Configuring the PLC I/O
1) Download the VACON®EDS file for the selected AC drive or option from the Danfoss
Drives website under “Downloads” and “Fieldbus configuration files”.
2) Use the “EDS Hardware Installation Tool” under “Tools” to register the downloaded
EDS files to RSLogix5000.
3) Create a new module for the I/O configuration by right clicking the controller and
selecting “New Module…”

Using the Add-On Instruction (AOI) vacon • 15
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4) Select the correct EDS file according to the used setup and click “Create”.
a. In this example, the VACON®NXP drive is used with an OPTE9/A option board.
5) Give the module a name. In this example, “VACON_1” is used.
6) Give the module a valid IP address. The IP address must be same as what was
configured for OPTE9/A (see Chapter 2.1).
7) Click “Change”.
8) Change the module definition to use assembly instances 21/71.
a. This should be selected to be the same as what the AOI is using. In this
example, it is VACON_DRIVE_21_71.

16 • vacon Using the Add-On Instruction (AOI)
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9) Make sure that the data type is “SINT”.
10) Click “OK”.
11) When the following warning message appears, click “Yes”.
12) Confirm the settings by clicking “OK”.
13) Close the “Select Module Type” window by clicking “Close”.
a. A valid I/O module for the VACON®NXP with OPTE9/A has now been added.

Using the Add-On Instruction (AOI) vacon • 17
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4.3 Creating a task/program/routine in RSLogix5000
To handle the AOI, create a new periodic task. The AOI should not be run in the main task as
it is run continuously.
1) Right click “Tasks” and select “New Task…”
2) Give the task a name (in this example, PERIODIC_TASK_10MS).
3) Change the settings, if necessary.
a. In this example, the default settings are used.
4) Right click the newly created task and click “New Program…”
5) Give the program the name “DRIVE_CONTROL”.
6) Click “OK”.

18 • vacon Using the Add-On Instruction (AOI)
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7) Right click the DRIVE_CONTROL program and click “New Routine…”
a. In this example, “Ladder Diagram” is used.
8) Give the routine the name “RUN_DRIVE”.
9) Click “OK”.