Danfoss OPTC6 VACON NXP Air Cooled Installation Guide

: June 16, 2024
: Danfoss

Table of Contents

OPTC6 VACON NXP Air Cooled
Specifications
Product Usage Instructions
1. Installation
2. Safety Warning
3. Troubleshooting
4. Product Manuals
- FAQ
Q: Where should the CANopen fieldbus board be installed?
Q: What precautions should be taken when dealing with the
Q: What should I do if I encounter problems with fieldbus

OPTC6 VACON NXP Air Cooled

Specifications

CANOPEN OPTION BOARD TECHNICAL DATA

General
- CANopen connections
- Communication interface
- Data transfer method
- Transfer cable
- Electrical isolation
- CANopen Baud rate
- Environment Safety
- Addresses

Product Usage Instructions

1. Installation

The CANopen fieldbus board should be installed in either slot D
or slot E on the control board of the AC drive.

2. Safety Warning

DANGER: The internal components and circuit
boards have high potential when the AC drive is connected to the
power source. This voltage is extremely dangerous and may cause
death or severe injury if you come into contact with it.

3. Troubleshooting

If you experience problems with fieldbus functionalities, always
write down all the texts and codes displayed on the keypad. Then,
send the problem description together with the Drive Info File to
the local distributor. Contact information for local distributors
can be found at
http:/ / drives.danfoss.com/ danfoss- drives/ local –
contacts/.

4. Product Manuals

You can download the English and French product manuals, which
include applicable safety, warning, and caution information, from

http://drives.danfoss.com/knowledge-center/technical- documentation/.

FAQ

Q: Where should the CANopen fieldbus board be installed?

A: The CANopen fieldbus board should be installed in either slot
D or slot E on the control board of the AC drive.

Q: What precautions should be taken when dealing with the

internal components and circuit boards of the AC drive?

A: The internal components and circuit boards of the AC drive
have high potential when connected to the power source. It is
extremely dangerous and may cause death or severe injury if you
come into contact with it. Take necessary precautions and avoid
direct contact with these components.

Q: What should I do if I encounter problems with fieldbus

functionalities?

A: If you experience problems with fieldbus functionalities,
write down all the texts and codes displayed on the keypad. Then,
send the problem description along with the Drive Info File to the
local distributor. Contact information for local distributors can
be found at
http:/ / drives.danfoss.com/ danfoss- drives/ local –
contacts/.

vacon® nx
ac drives
optc6
canopen option board
user manual

1

I N DEX

Document code: DPD00896B Date: 24.08.2017

1. GENERAL …………………………………………………………………………………………………………… 2

2. CANOPEN OPTION BOARD TECHNICAL DATA………………………………………………………….. 3
2.1 Gener al ……………………………………………………………………………………………………………………. 3 2.2 CANopen cabl e …………………………………………………………………………………………………………. 3
3. CANOPEN …………………………………………………………………………………………………………… 4

4. CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS ………………………………………….. 5

4.1 CANopen option boar d ………………………………………………………………………………………………. 5 4.2 Bus ter minal r esistor s ………………………………………………………………………………………………. 5 4.3 LED indications…………………………………………………………………………………………………………. 6 4.4 Connection of CANopen bus cable ………………………………………………………………………………. 7

INSTALLATION OF VACON ® NX CANOPEN BOARD ………………………………………………….. 12

5.1 Boar d infor mation sticker ………………………………………………………………………………………… 14

6. COMMISSIONING……………………………………………………………………………………………….. 15

CANOPEN- VACON® NX INTERFACE……………………………………………………………………… 19

7.1 CANopen message fr ame ………………………………………………………………………………………… 19 7.2 Networ k Management (NMT) ……………………………………………………………………………………. 21 7.3 Pr ocess data (PDO)………………………………………………………………………………………………….. 22 7.4 Tr ansmission types …………………………………………………………………………………………………. 23 7.5 Contr olling the dr ive via PDO messages with Dr ive Pr ofile…………………………………………… 24 7.6 Using manufactur er specific PDOs with ByPass modes……………………………………………….. 27 7.7 Dr ive Monitor ing ……………………………………………………………………………………………………… 29 7.8 Anypar ameter ser vice ……………………………………………………………………………………………… 30

8. Ser vice Data (SDO) …………………………………………………………………………………………….. 31

9. Node Guar ding Pr otocol ……………………………………………………………………………………… 44

10. El ectr onic Data Sheet, EDS- fil e …………………………………………………………………………… 45

11. APPENDICES…………………………………………………………………………………………………….. 46
appendix a – device pr ofile for dr ives ……………………………………………………………………………………….. 46 appendix b sdo messages…………………………………………………………………………………………………….. 47 appendix c pr ocess data contents …………………………………………………………………………………………. 48 appendix d ……………………………………………………………………………………………………………………………. 49

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GENERAL

1. GENERAL VACON® NX AC dr ives can be connected to the CANopen system using a fieldbus boar d. The AC dr ive can then be contr olled, monitor ed and pr ogr ammed fr om the Host system.
The CANopen fieldbus boar d is installed in slot D or slot E on the contr ol boar d of the AC dr ive.

DANGER

Inter nal components and cir cuit boar ds ar e at high potential when the AC dr ive is connected to the power sour ce. This voltage is extr emely danger ous and may cause death or sever e injur y if you come into contact with it.

NOTE! When exper iencing pr oblems with fieldbus functionalities, always wr ite down all the texts and codes on the keypad display. Then send the problem descr iption t ogether with the Dr ive Info File to the local distr ibutor . See local contacts: http://dr ives.danfoss.com/danfoss- dr ives/local- contacts/ .

NOTE! You can download the English and Fr ench pr oduct manuals with applicable safety, war ning and caution infor mation fr om http://dr ives.danfoss.com/knowledge- center /technicaldocum ent at ion/ .
REMARQUE Vous pouvez téléchar ger les ver sions anglaise et fr ançaise des manuels pr oduit
sur le site http://dr ives.danfoss.com/knowledge- center /technical- documentation/ .

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/
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CANOPEN OPTI ON BOARD TECHNI CAL DATA

3

2. CANOPEN OPTION BOARD TECHNICAL DATA

2.1 Gener al

CANopen con nect i ons
Com m unicat ions

Inter face Data tr ansfer m et hod Tr ansfer cable Electr ical isolation CANopen
Baud r ate

Envir onment Saf et y

Addr esses

Table 2- 1. CANopen technical data

Open Style Connector (Pluggable connector , 5.08mm) CAN (ISO 11898)
2 wire twisted shielded cable 500 VDC CiA DS- 301 CiA DSP- 402 10 kBaud 20 kBaud 50 kBaud 100 kBaud 125 kBaud 250 kBaud 500 kBaud 1000 kBaud 1 127 The specifications of the dr ive ar e applicable. Fulfils EN50178 standar d

2.2 CANopen cabl e
Accor ding to the ISO 11898 standar d, cables to be chosen for CAN bus lines should have a nominal impedance of 120, and a specific line delay of nominal 5 ns/m. Line ter mination has to be pr ovided thr ough ter mination r esistor s of 120 located at both ends of the line. The length r elated r esistance should have 70 m/m. All these mentioned AC and DC par ameter s ar e suitable for a 1 Mbit/s tr ansmission r ate.
The table below shows pr actical bus length for CANopen networ ks with less than 64 nodes:

Baudr ate [Kbit/s] 1000 800 500 250 125 50 20

Max. Bus length [m] 30 50 100 250 500 1000 2500

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4

CANOPEN

3. CANOPEN
CANopen is a networ king system based on the ser ial bus Contr oller Ar ea Networ k (CAN). The CANopen Communication Pr ofile (CiA DS- 301) suppor ts both dir ect access to device par ameter s and time- cr itical pr ocess data communication. CANopen device pr ofiles (CiA DS- 40x) define standar ds for basic device functionality while pr oviding ample scope for additional vendor – specific device featur es. CANopen leashes the full power of CAN by allowing dir ect peer to peer data exchange between nodes in an or ganised and, if necessar y, deter ministic manner . The networ k management functions specified in CANopen simplify pr oject design, implementation and diagnosis by pr oviding standar d mechanisms for networ k star t- up and er r or management. CANopen suppor ts both- cyclic and event- dr iven communication. This makes it possible to r educe the bus load to a minimum but still maintaining extr emely shor t r eaction times. High communication per for mance can be achieved at r elatively low baud r ates, thus r educing EMC pr oblems and minimising cable costs. CANopen is the ideal networ king system for all types of automated machiner y. One of the distinguishing featur es of CANopen is its suppor t for data exchange at the super visor y contr ol level as well as accommodating the integr ation of ver y small sensor s and actuator s on the same physical networ k. This avoids the unnecessar y expense of gateways linking sensor /actuator bus systems with higher communication networ ks and makes CANopen par ticular ly attr active to or iginal equipment manufactur er s.
Device Pr ofile Dr ives and Motion Contr ol (CiA DSP- 402) document r epr esents the standar dised CANopen Device Pr ofile for digital contr olled motion pr oducts like ser vo contr oller s, AC dr ives or stepper motor s. All the above- mentioned devices use communication techniques which confor m to those descr ibed in the CANopen Application Layer and Communication Pr ofile. The star ting and stopping of the dr ive and sever al mode specific commands ar e executed by the statemachine. The oper ation mode defines the behaviour of the dr ive. The following modes ar e defined in this pr ofile:
Homing Mode Pr ofile Position Mode Inter polated Position Mode Pr ofile Velocity Mode Pr ofile Tor que Mode Velocity Mode
VACON® CANopen Option Boar d suppor ts the Vel ocity Mode

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CANOPEN OPTI ON BOARD LAYOUT AND CONNECTI ONS

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4. CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS
VACON® CANopen Boar d is connected to the fieldbus thr ough a 5- pin pluggable bus connector (boar d NXOPTC6). The communication with the contr ol boar d of the AC dr ive takes place thr ough the standar d VACON® Inter face Boar d Connector .
4.1 CANopen option boar d

A M

1

2

3 4

X6

5

X1

Bus connector

Jumpers

Grounding plate Figur e 4- 1. VACON® CANopen option boar d OPT- C6

Interface board connector

Si gn al

Con n ect or

CAN_GND

1

CAN_L

2

(CAN_SHLD) 3

CAN_H

4

(CAN_V+)

5

Table 4- 1.OPT- C6 bus connector signals

Descr iption Gr ound / 0V / VCAN_L bus line (dominant low) Optional CAN shield CAN_H bus line (dominant high) –

4.2 Bus ter minal r esistor s
If VACON® dr ive is the last device of the CANopen line the bus ter mination must be set. Use jumper X6 (ON position see Figur e 4- 1), or an exter nal r esistor (120) connected to ter minals 2 and 4.

ON

OFF

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6

CANOPEN OPTI ON BOARD LAYOUT AND CONNECTI ONS

4.3 LED indications
The CANopen Option Boar d includes two LED status indicator s next to the connector : Fieldbus status (M), CANopen(A). Led N is unused.

N Not used A Green
M Green

1

2

3 4

X6

5

X1

Figur e 4- 2. LED indications on the CANopen boar d

CANopen boar d status LED (A) GREEN

LED is:

Meaning:

OFF

Option boar d not activated

ON

Option boar d in initialisation state waiting for activation

command fr om the AC dr ive

Blinking fast Option boar d is activated and in RUN state

(1 blink / s) Option boar d is r eady for exter nal communication

Blinking slow Option boar d is activated and in FAULT state

(1 blink/ 5s) Inter nal fault of option boar d

Fieldbus status LED (M) GREEN

LED is:

Meaning:

OFF

Fieldbus module is waiting for par ameter s fr om the AC

dr ive

No exter nal communication

ON

Fieldbus module is activated

Par ameter s r eceived and module activated

Module is waiting for messages fr om the bus

Blinking fast Module is activated and r eceiving messages fr om the bus

(1 blink / s)

Blinking slow Module is in FAULT state

(1 blink / 5s) No messages fr om Master within the watchdog time

Bus br oken, cable loose or Master off line

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CANOPEN OPTI ON BOARD LAYOUT AND CONNECTI ONS

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4.4 Connection of CANopen bus cabl e
The bus cable shield can be gr ounded in thr ee differ ent ways: a) clamping the cable to the AC dr ive fr ame b) to the fr ame of the AC dr ive thr ough an RC filter c) dir ectly to the AC dr ive fr ame
Note: Nor mally, the option boar d has alr eady been installed in slot E of the contr ol boar d. It is not necessar y to detach the whole boar d for the gr ounding of the bus cable shield. Just detach the ter minal block.
4.4.1 Gr ounding by cl amping the cabl e to the AC dr ive fr am e
This manner of gr ounding is the most effective and especially r ecommended when the distances between the devices ar e r elatively shor t (see 4.4.2.1). In this manner of gr ounding, the position of jumper X1 is of no impor tance

CanOpen cable

Figur e 4- 3. Gr ounding by cl amping the cable to the AC dr ive fr ame
1 Str ip about 5 cm of the CANopen cable in the same way as shown in Figur e 4- 4 but cut off the gr ey cable shield. Remember to do this for both bus cables (except for the last device).
2 Leave no mor e than 1 cm of the data cable outside the ter minal block and str ip the data cables at about 0.5 cm to fit in the ter minals. See Figur es 4- 5 and 4- 6. Note: Do this for both bus cabels
3 Inser t the data cables of both CANopen cabl es into ter minals # 2 and # 4. See Figur e 4- 7.
4 Str ip the CANopen cable at such a distance fr om the ter minal that you can fix it to the fr ame with the gr ounding clamp.

Figur e 4- 4.
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CANOPEN OPTI ON BOARD LAYOUT AND CONNECTI ONS

4.4.2 Gr ounding the bus cabl e shiel d dir ectl y to the AC dr ive fr am e using jum per X1 1 Set jumper X1 in ON position:
ON
OFF
X1
Figur e 4- 5. Jumper X1 positions
2 Str ip about 5 cm of the CANopen cable as shown in the pictur e. Note: Do the same for both bus cables (except for the last device). However , since the gr ounding must be done on one cable only cut off the exposed par t of the other gr ounding cabl e.

Figur e 4- 6.
3 Leave no mor e than 1 cm of the r ed and gr een data cable outside the ter minal block and str ip the data cables at about 0.5 cm to fit in the ter minals. See pictur es below. Note: Do this for both bus cabels.
Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/
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CANOPEN OPTI ON BOARD LAYOUT AND CONNECTI ONS

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Figur e 4- 7. Figur e 4- 8.
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10

CANOPEN OPTI ON BOARD LAYOUT AND CONNECTI ONS

4 We r ecommend you to use an Abico connector to fit the gr ounding cable into the gr ounding ter minal (# 3). Inser t the white and brown data cables of both CANopen cabl es into ter minals # 2 (white) and # 4 (br own).

Figur e 4- 9.
5 Place the CANopen board into slot E of the contr ol boar d (see boar d installation on page 12) and fix both the CANopen cables on the fr ame with the clamp.

Figur e 4- 10.
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CANOPEN OPTI ON BOARD LAYOUT AND CONNECTI ONS

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4.4.2.1 Gr ounding the bus cable shield dir ectly to the AC dr ive fr ame using an RC- filter
We r ecommend you to do the gr ounding in this manner when the distance between the devices exceeds 50 meter s (55 yds.). When the distance between the devices is long distur bances (e.g. voltage spikes) ar e mor e likely to appear . In this gr ounding method, the distur bances ar e filter ed out. Even if the gr ound planes of A, B and C ar e differ ent (which is ver y typical e.g. in constr uction) ther e is no cur r ent between them because the points do not have a gr ound connection.

A
CanOpen cable

B

C

CanOpen cable

Figur e 4- 11. Gr ounding with RC filter
1 Set jumper X1 in OFF position

ON OFF

A M
1 2 3 4 5
X1

Figur e 4- 12. Jumper X1 positions

2 Car r y out the gr ounding in the same way as advised in Chapter 4.4.1.

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12

I NSTALLATI ON OF VACON® NX CANOPEN BOARD

5. INSTALLATION OF VACON® NX CANOPEN BOARD

!
NOTE

MAKE SURE THAT THE AC DRIVE IS SWITCHED OFF BEFORE AN OPTION OR FIELDBUS BOARD IS CHANGED OR ADDED!

A VACON® NX AC dr ive

B Remove the cable cover .

C Open the cover of the control unit.

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I NSTALLATI ON OF VACON® NX CANOPEN BOARD

13

D Install CANopen option boar d in slot E
on the contr ol boar d of the AC dr ive. Make sur e that the gr ounding plate (see below) fits tightly in the clamp.

1

2

3 4

X6

5

X1

E Make a sufficiently wide opening for
your cable by cutting the gr id as wide as necessar y.

F Close the cover of the control unit and
the cable cover .

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14

I NSTALLATI ON OF VACON® NX CANOPEN BOARD

5.1 Boar d infor mation sticker
The CANopen option boar d package deliver ed by the factor y includes a sticker (shown below). Please mar k the boar d type (1), the slot into which the boar d is mounted (2) and the mounting date (3) on the sticker . Finally, attach the sticker on your dr ive.

1

3

Drive modified:

Option board: N XOPT……………. Date:……………….

in slot: A B C D E

IP54 upgrade/ Collar

Date:……………….

EMC level modified: HT / T H Date:……………….

2

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COMMI SSI ONI NG

15

6. COMMISSIONING
READ FIRST CHAPTER ‘COMMISSIONING’ IN VACON® NX USER’S MANUAL VACON® NXS NXP Air cooled User Manual” or VACON® NXL User ‘s Manual”, go to http:/ / dr ives.danfoss.com/ knowl edgecenter / technical -documentation/ ). Note! You must select Fieldbus as the active contr ol place, if you wish to contr ol the AC dr ive thr ough fiel dbus. See VACON® NX User Manual. The VACON® CANopen boar d is commissioned with the contr ol keypad by giving values to appropr iate par ameter s in menu M7 (for locating the expander boar d menu see VACON® NX User Manual.
Expander boar d m enu (M7) The Expander boar d menu makes it possible for the user 1) to see what expander boar ds ar e connected to the contr ol boar d and 2) to r each and edit the par ameter s associated with the expander boar d. Enter the following menu level (G# ) with the Menu button r ight. At this level, you can browse thr ough slots A to E with the Br owser buttons to see what expander boar ds ar e connected. On the lower most line of the display you also see the number of par ameter gr oups associated with the boar d. If you still pr ess the Menu button r ight once you will r each the par ameter gr oup level wher e ther e ar e two gr oups: Editable parameter s and Monitor ed values. A fur ther press on the Menu button r ight takes you to either of these gr oups.
CANopen par am eter s To commission the CANopen boar d, enter the level P7.5.1.# fr om the Par ameter s gr oup (G7.5.1). Give desired values to all CANopen par ameter s.

RE ADY
Expander boards
G1G5

RE ADY
E:NXOPTC6
G1G2

RE ADY
Parameters
P1P3

RE ADY
Node ID
63

CHANGE VALUE enter CONFIRM CHANGE

Figur e 6- 1. Changing the CANopen option boar d par ameter s

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16

COMMI SSI ONI NG

Name 1 Node ID 2 BAUD RATE

Defaul t 1
6

3 Oper ate mode 1

Table 6- 1. CANopen par ameter s

Range 1 127 1 10 kBaud 2 20 kBaud 3 50 kBaud 4 100 kBaud 5 125 kBaud 6 250 kBaud 7 500 kBaud 8 1000 kBaud 1 Dr ive Pr ofile 2 ByPass 3 ByPass 2 4 Bypass 3 5 Bypass 4

Descr iption Communication speed
Communication set selection 1 = xPDO1, xPDO6 2 = xPDO1, xPDO21, xPDO22 3 = xPDO1, xPDO21, xPDO22 4 = xPDO1, xPDO21, xPDO22, xPDO23 5 = xPDO1, xPDO21, xPDO22, xPDO23

NOTE! Bypass modes 3 and 4 r equire OPTC6 V26 fir mwar e or newer . See VACON® NX contr ol fir mwar e r equir ements below.

Bypass and Bypass 3 modes can be used in customer – specific applications and in special applications, such as System Inter face application.

Bypass 2 and Bypass 4 modes ar e used with standar d applications, e.g. VACON® NXL Multicontr ol application and VACON® All- in- One applications for VACON® NXS and NXP.

ByPass 2 mode is suppor ted in the following System softwar e ver sions: · NXL NXL00005V253 · NXS NXS00001V174 · NXP NXP00002V174
ByPass 3 and 4 mode ar e suppor ted in the following System softwar e ver sions: · NXP NXP00002V194

The par ameter s of ever y device must be set befor e connecting to the bus. Especially the par ameter s at i on.

CANopen status To see the pr esent status of the CANopen Fieldbus, enter the CANopen Status page fr om Monitor menu (G7.5.2). See picture and table below.

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COMMI SSI ONI NG

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RE ADY I/Oter m
M o n i t o r
V 1 V 1
Figur e 6- 2. DeviceNet status

R E A D Y I/Oterm
CANiopen status
2 5 . 0

CANopen status Message counter

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18

CANopen status

0

INITIALISING

4

STOPPED

5

OPERATIONAL

6

PRE_OPERATIONAL

7

RESET_APPLICATION

8

RESET_COMM

9

UNKNOWN

Table 6- 2. CANopen status indications

COMMI SSI ONI NG

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CANOPEN- VACON® NX I NTERFACE

19

7. CANOPEN- VACON® NX INTERFACE
CANopen communication objects tr ansmitted via the CAN networ k ar e descr ibed by ser vices and pr otocols. They are classified as follows:
– The r eal- time data tr ansfer is per for med by the Pr ocess Data Objects (PDOs) pr otocol REAL- TIME CONTROL OF THE DRIVE
– Ser vice Data Objects (SDO) pr otocols pr ovide the r ead and wr ite access to entr ies of a device object dictionar y CONFIGURATION OF THE DRIVE, READ/WRITE DRIVE PARAMETERS
– The Networ k Management (NMT) pr otocols pr ovide ser vices for networ k initialization, er r or contr ol and device status contr ol START/STOP CANOPEN COMMUNICATION
7.1 CANopen m essage fr am e

SOF

COB-ID

1bit

11bit

RTR

CTRL

1bit

5bit

Data Segment 0-8bytes

CRC ACK 16bits 2bits

EOF 7bits

SOF Star t of Fr ame RTR Remote Tr ansmission Request CTRL Contr ol Field (i.e. Data Length)

CRC

Cyclic Redundancy Check ACK Acknowledge EOF End of Fr ame

COB- ID The identification field of the CANopen- message is 11 bits.

ID-Bit COB-ID

10

9

8

7

6

5

4

3

2

1

0

Function Code

Module-ID

The default identification field consists of a functional par t and a module- ID par t. The functional par t deter mines the object pr ior ity. This kind of identification field allows communication between a master and 127 slaves. Br oadcasting is indicated by a module- id of zer o. Function codes ar e deter mined with object dictionar ies in device profiles.

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CANOPEN- VACON® NX I NTERFACE

Pr edefined connection sets
CANopen option boar d has two differ ent communication par ameter sets. These sets can be selected via Oper ate Mode
– pr ofile descr ibed in CiA DSP- 402.

Object
NMT message Sync Message Time-Stamp-Message PDO1, Process Data Objects (tx) PDO1, Process Data Objects (rx) PDO6, Process Data Objects (tx) PDO6, Process Data Objects (rx) SDO, Service Data Objects (tx) SDO, Service Data Objects (rx) Node Guarding
Table 7- 1. Dr ive Pr ofile – mode
Object
NMT message Sync Message Time-Stamp-Message PDO1, Process Data Objects (tx) PDO1, Process Data Objects (rx) PDO21, Process Data Objects (tx) PDO21, Process Data Objects (rx) PDO22, Process Data Objects (tx) PDO22, Process Data Objects (rx) PDO23, Process Data Objects (tx) PDO23, Process Data Objects (rx) SDO, Service Data Objects (tx) SDO, Service Data Objects (rx) Node Guarding
Table 7- 2. Bypass – mode

Drive Profile – mode

Function Code (binary)

COB-ID

0000

0x0000

0001

0x0080

0001

0x0100

0011

0x0180 +Node

0100

0x0200 +Node

0101

0x0280 +Node

0110

0x0300 +Node

1011

0x0580 +Node

1100

0x0600 +Node

1110

0x0700 +Node

ByPass – mode

Function Code (binary)

COB-ID

0000

0x0000

0001

0x0080

0010

0x0100

0011

0x0180 +Node

0100

0x0200 +Node

0111

0x0380 +Node

1000

0x0400 +Node

1001

0x0480 +Node

1010

0x0500 +Node

0101

0x280 +Node

0110

0x300 +Node

1011

0x0580 +Node

1100

0x0600 +Node

1110

0x0700 +Node

Comm. parameter at Index
0x1005 0x1800 0x1400 0x1801 0x1401
(0x100E)
Comm. parameter at Index
0x1005 0x1800 0x1400 0x1814 0x1414 0x1815 0x1415 0x1816 0x1416
(0x100E)

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CANOPEN- VACON® NX I NTERFACE

21

7.2 Networ k Managem ent (NMT)
The CANopen networ k management is node- or iented and follows a master /slave str uctur e. It r equir es one device in the networ k, which fulfills the function of the NMT master . The other nodes ar e NMT slaves. The CANopen NMT slave devices implement a state machine, see pictur e below. After power on a node initialises and tr ansits to the “Pr e- oper ational State”. In this state communication across SDO channels is possible for node configur ation, but not yet acr oss PDOs. With the NMT message “Star t
on the networ k can be set into the “Oper ational State”. In this state, also the exchange of data by means of PDOs is possible. With enabling the oper ation of all nodes of a networ k at the same time, a co- or dinated oper ation of the communicating system is secur ed (DS301). To Set VACON® CANopen Option boar d to the “Oper ational State” the following message must be sent :

Message: Start_Remote_Node Master to Slave (1)

Header

ID

RTR

Len

0000

0

2

1 = CS 01

2 = Node ID 01

Data

3

4

5

6

7

8

Function of the inter nal state machine:

Power On 5

Initialization
6 Pre-Operational

1

3

Operational

4

2

3

Prepared

1

2

Change 1 2 3 4 5 6

Message / Event Start Remote Node Stop Remote Node Enter Pre-operational State Reset Node Reset Communication Initialisation finished

Command Specifier (CS) CS = 1 CS = 2 CS = 128 CS = 129 CS = 130 Automatic

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Cycl i c Acycl i c Synchr onous Asynchr onous (def aul t RTR Only mode Event Timer

22

CANOPEN- VACON® NX I NTERFACE

7.3 Pr ocess data (PDO)
The r ealPDOs is per for med with no pr otocol over head. Pr ocess Data is time- cr itical data used for contr ol of the dr ive and monitor status of the dr ive. Tr ansmit PDOs suppor t sever al tr ansmission modes which ar e cyclic, acyclic, synchr onous, asynchr onous and RTR only mode. Most PDOs suppor t also Event Timer for tr ansmitting PDOs. TPDO1 is exception which is defined for asynchr onous only oper ation. Receive PDOs suppor t only asynchr onous tr ansmission mode (event dr iven). VACON® CANopen option boar d uses 8 types of PDOs as follows:

PDO Type

Mapped Data

TPDO1 statuswor d

–

TPDO6 statuswor d

vl_contr ol_effor t

–

X X X

TPDO21 nx_status_wor d nx_actual_speed pr ocess_data_out pr ocess_data_out X X X

1

2

TPDO22 pr ocess_data_out3 pr ocess_data_out4 pr ocess_data_out5 pr ocess_data_out6 X X X

RPDO1 contr olwor d

–

RPDO6 contr olwor d

vl_tar get_velocity –

–

RPDO21 nx_contr ol_wor d nx_speed_r efer ence pr ocess_data_in1 pr ocess_data_in2

RPDO22 pr ocess_data_in3 pr ocess_data_in4 pr ocess_data_in5 pr ocess_data_in6

x x XX x XX
x XX x x x x

Note: manufactur er specific PDOs (TPDO21/RPDO21/ TPDO22/RPDO22) consist of application specific pr ocess data. See appendix for contents of these pr ocess datas in differ ent applications. See Chapter 7.6 (Using manufactur er specific PDOs) or a specific application manual.

Note! All Tx objects ar e event- dr iven by default. (Message is sent out if one or sever al values within the message change)

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CANOPEN- VACON® NX I NTERFACE

23

7.4 Tr ansm ission types

tr ansmission type

PDO tr ansmission

cycl i c

acycl i c

0

X

1- 240

X

241- 251

252

253

254

255

Table 7- 3. Descr iption of tr ansmission type

synchr onou asynchr onou

s

X

– Reser ved –

X

RTR only
X X

Synchr onous (tr ansmission types 0- 240 and 252) means that the tr ansmission of the PDO shall be r elated to the SYNC object. Pr efer ably the devices use the SYNC as a tr igger to output or actuate based on the previous synchr onous Receive PDO r espectively to update the data tr ansmitted at the following synchr onous Tr ansmit PDO. Asynchr onous means that the tr ansmission of the PDO is not r elated to the SYNC object. A tr ansmission type of zer o means that the message shall be tr ansmitted synchr onously with the SYNC object but not per iodically. A value between 1 and 240 means that the PDO is tr ansfer r ed synchr onously and cyclically. The tr ansmission type indicating the number of SYNC which ar e necessar y to tr igger PDO tr ansmissions. Receive PDOs ar e always tr igger ed by the following SYNC upon r eception of data independent of the tr ansmission types 0 – 240.
The tr ansmission types 252 and 253 mean that the PDO is only tr ansmitted on r emote tr ansmission r equest. At tr ansmission type 252, the data is updated (but not sent) immediately after r eception of the SYNC object. At tr ansmission type 253 the data is updated at the r eception of the r emote tr ansmission r equest (har dwar e and softwar e r estr ictions may apply). These value ar e only possible for TPDOs. For TPDOs tr ansmission type 254 means, the application event is manufactur er specific (manufactur er specific par t of the Object Dictionar y), tr ansmission type 255 means, that the application event is defined in the device profile. RPDOs with that type tr igger the update of the mapped data with the r eception. PDOs Sub- index 3h contains the inhibit time. This time is a minimum inter val for PDO tr ansmission. The value is defined as multiple of 100 s. It is not allowed to change the value while the PDO exists (Bit 31 of sub- index 1 is 0).
In mode 254/255 additionally an event time can be used for TPDO. If an event timer exists for a TPDO (value not equal to 0) the elapsed timer is consider ed to be an event. The event timer elapses as multiple of 1 ms of the entr y in sub- index 5h of the TPDO. This event will cause the tr ansmission of this TPDO in addition to other wise defined events. The occur r ence of the events set the timer . Independent of the tr ansmission type the RPDO event timer is used r ecognize the expir ation of the RPDO.

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24

CANOPEN- VACON® NX I NTERFACE

7.5 Contr ol l ing the dr ive via PDO m essages with Dr ive Pr ofil e

PDO1 Rx

Master to Slave (1)

Header

Data

ID

RTR Len

1

2

3

4

5

6

7

8

0x201 0

2

controlword

–

PDO1 Tx

Slave (1) to Master

Header

Data

ID

RTR Len

1

2

3

4

5

6

7

8

0x181 0

2

statusword

–

PDO6 Rx

Master to Slave (1)

Header

Data

ID

RTR Len

1

2

3

4

5

6

7

8

0x301 0

4

controlword

vl_target_velocity

–

PDO6 Tx

Slave (1) to Master

Header

Data

ID

RTR Len

1

2

3

4

5

6

7

8

0x281 0

4

statusword

vl_control_effort

–

The state of the dr ive can be contr olled by the contr olwor d The state of the dr ive is shown in the statuswor d.

The Statemachine descr ibes the device status and the possible control sequence of the dr ive.

contr olwor d

statuswor d

bit Name

0

Switch ON

1

Disable Voltage

2

Quick Stop

3

Enable Oper ation

4

Oper ation Mode Specific

5

Oper ation Mode Specific

6

Oper ation Mode Specific

7

Reset Fault

8

Hal t

9

Reser ved

10

Reser ved

11

Manufactur er Specific

12

Manufactur er Specific

13

Manufactur er Specific

14

Manufactur er Specific

15

Manufactur er Specific

bit Name

0

Ready to Switch ON

1

Switched ON

2

Oper ation Enable

3

Faul t

4

Voltage Disable

5

Quick Stop

6

Swich ON Disable

7

War ning

8

Manufactur er Specific

9

Rem ot e

10

Tar get Reached

11

Inter nal Limit Active

12

Oper ation Mode Specific

13

Oper ation Mode Specific

14

Manufactur er Specific

15

Manufactur er Specific

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7

CANOPEN- VACON® NX I NTERFACE

By using a contr ol wor d the dr ive can be contr olled as follows:

Com m and Pr epar e READY Pr epar e RUN RUN
STOP FAULT RESET (step 1) FAULT RESET (step 2)

Contr olWor d 0006hex 0007hex 000Fhex
0007hex bit 7 = 0 bit 7 = 1

Descr iption
pl ace Stop motor Rising edge to bit 7

vl _tar get_vel ocity
The vl_tar get_velocity is the r equired speed r efer ence to the AC dr ive. The unit is RPM.

vl _contr ol _effor t
The vl_contr ol_effor t is the actual speed of the motor . The unit is RPM.

25 he active contr ol

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26

CANOPEN- VACON® NX I NTERFACE

State Machine The state machine descr ibes the device status and the possible contr ol sequence of the dr ive. The
cur rent status of state machine. The modes INIT, STOP, RUN and FAULT cor respond to the actual mode of the Dr ive.
SW = StatusWor d CW = Contr olWor d wor d

Power ON

Fault

Automatic

N OT READY TO SW ITCH ON

IN IT

SW :xx00h

Automatic

CW : 000Dh

SW ITCH ON DISABLED STOP SW :xx40h or xx60h

CW : 0006h

CW : 0002h

READY TO SW ITCH ON

STO P

SW :xx21h

CW : 0006h

CW : 0007h

CW : 0006h

SW ITCHED ON

STO P

SW : xx23h

MALFUN CTION REACTION ACTIVE

FAULT

SW :xxxFh or xx2Fh

Automatic

MALFUN CTION

FAULT

SW :xx08h or xx28h

Reset malfunction CW : 0000h
CW : 0080h

CW : 0003h

CW : 000Fh

CW : 0007h

OPERATION EN ABLED

RUN

SW :xx27h CW : 0002h

QUICK STOP ACTIVE

STO P

SW :xx07h

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7

CANOPEN- VACON® NX I NTERFACE

27

7.6 Using m anufactur er specific PDOs with ByPass m odes
any Bypass mode. For communication set used in ByPass modes, see Table 7- 2. Manufactur er specific PDOs ar e TPDO21, TPDO22, TPDO23, RPDO21, RPDO22 and RPDO23.

PDO21 Rx

Master to Slave (1)

Header

ID

RTR Len

0x401 0

8

1

2

nx_control_word

Data

3

4

5

6

nx_speed_referense

process_data_in1

7

8

process_data_in2

PDO21 Tx

Slave (1) to Master

Header

ID

RTR Len

0x381 0

8

1

2

nx_status_word

Data

3

4

5

6

nx_actual_speed

process_data_out1

7

8

process_data_out2

PDO22 Rx

Master to Slave (1)

Header

ID

RTR Len

0x501 0

8

1

2

process_data_in3

Data

3

4

5

6

process_data_in4

process_data_in5

7

8

process_data_in6

PDO22 Tx

Slave (1) to Master

Header

ID

RTR Len

0x481 0

8

1

2

process_data_out3

Data

3

4

5

6

process_data_out4 process_data_out5

7

8

process_data_out6

PDO23 Rx

Master to Slave (1)

Header

ID

RTR Len

0x301 0

4

1

2

process_data_in7

Data

3

4

5

process_data_in8

6 –

7

8

–

TDO23 Tx

Slave (1) to Master

Header

ID

RTR Len

0x281 0

4

1

2

process_data_out7

Data

3

4

5

process_data_out8

6 –

7

8

–

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28

CANOPEN- VACON® NX I NTERFACE

Contr ol l ing dr ive NOTE: Some VACON®
manual for details

terface. Refer to the specific application

The Refer ence to the dr ive can be set also via manufactur er specific Pr ocess Data Object 21 (r x) when option boar d is set to Bypass mode. In the application, the value is scaled in per centage of fr equency ar ea between the set minimum and maximum fr equencies.

nx_contr ol _wor d, used onl y with Bypass 2 or Bypass 4 mode. When Bypass or Bypass 3 modes ar e used, check mor e detail ed Contr ol Wor d in the appl ication manual

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

–

RST DIR RUN

In VACON® applications, the thr ee fir st bits of the contr ol wor d are used to contr ol the AC dr ive. However , you can customise the content of the contr ol wor d for your own applications because the contr ol wor d is sent to the AC dr ive as such.

Bit

Descr iption

Value = 0

Value = 1

0

St op

Run

1

Cl ock wise

Counter clockwise

2

Rising edge of this bit will r eset active fault

Not in use

nx_speed_r efer ence

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

MSB

LSB

This is the Refer ence 1 to the AC dr ive. Used nor mally as Speed r efer ence. The allowed scaling is 10000…10000. In the application, the value is scaled in per centage of the fr equency ar ea between the set minimum and maximum fr equencies.

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

MSB

LSB

These ar e application specific pr ocess data. See APPENDIX C for content of these pr ocess data in differ ent applications.

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CANOPEN- VACON® NX I NTERFACE

29

7.7 Dr ive Monitor ing Sever al dr ive actual values/par ameter s can be monitor ed by using manufactur er specific PDOs.

nx_speed_r efer ence

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

MSB

LSB

This is the r efer ence 1 to the AC dr ive. Used nor mally as Speed r efer ence. The allowed scaling is 0..10000. In the application, the value is scaled in per centage of the fr equency ar ea between set minimum and maximum fr equency.

nx_status_wor d, used onl y Bypass 2 or Bypass 4 mode. When Bypass or Bypass 3 modes ar e used, check mor e detail ed Status Wor d in the application manual

15

14

13

12

11 10

9

8

7

6

5

4

3

2

1

0

–

UVFS DDIR TCSPDL FR

Z

AREF W

FLT DIR RUN RDY

Infor mation about the status of the device and messages is indicated in the Status wor d. The Status wor d is composed of 16 bits that have the following meanings:

Bit

Descr iption

Value = 0

Value = 1

0

Not Ready

Ready

1

STOP

RUN

2

Cl ock wise

Counter clockwise

3

–

Faul t ed

4

–

War ning

5

Ref. fr equency not r eached

Ref. Frequency r eached

6

–

Motor is r unning at zer o speed

7

Flux Ready

Flux Not Ready

8

TC Speed Limit Active (depends on dr ive TC Speed Limit Not Active (depends on

m odel )

dr ive model)

9

Detected Encoder Direction Clockwise Encoder Dir ection Counter clockwise

(depends on dr ive model)

10

UV Fast Stop Active (depends on dr ive

UV Fast Stop Not Active (depends on dr ive

m odel )

11…15 Not In use

Not In use

Table 7- 4. Status wor d bit descr iptions

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

MSB

LSB

These ar e application specific pr ocess data. See APPENDIX C for content of these pr ocess data in differ ent applications.

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30

CANOPEN- VACON® NX I NTERFACE

7.8 Anypar am eter ser vice
SDO protocol can be used to r ead any par ameter or actual value and wr ite any par ameter fr om dr ive. These par ameter s ar e r ead fr om dr ive with its ID number specified in user manual. Ther e ar e thr ee index in object dictionar y as follow for anypar ameter ser vice.

Inde Description

Size

x

2000 AnyparameterReadID U16

2001 AnyparameterReadV U32

alue

2002 AnyparameterWrite U32

Type Hi 16b
RW RO Status
RW ID

Low 16b
Read ID Value
Write Value

Reading anypar ameter
Wr iting new value to index 2000 will tr igger r ead event, while r ead is in pr ocess index 2001 is zer o. Read event will r etur n value to index 2001. If r ead is success status will get value of ID and Value is value of ID. If r ead fails Status will get value 0xFFFF (dec 65535).

Wr iting anypar ameter
When new ID and value is wr itten to index 2002 a wr ite event will be tr igger ed. Index 2002 value will r emain as long as wr iting is processed (nor mal sdo/pdo oper ation dur ing this time). If wr ite is success index 2002 ID and value will be cleared and new wr ite is possible. If wr ite fails ID will clamp to 0xFFFF and value zer o.

Index 2000

16bit
0x0066 Read ID

Index 2001

0x1060b6i 6 St at us

0x160b0it32 Val ue

Figur e 7- 1. Reading Any Par ameter

Wr ite ID with SDO pr otocol

.

100ms delay for r ead event

.

Read value with SDO pr otocol 0xFFFF 0x0000 = Fail
ID Value = OK 0x000 0x0000 = In pr ocess

Index 2002

16bi
0x0066 ID

16bit
0x003C Val ue

Index 2002

16bi
0x0000

16bit
0x0000

St at us

Figur e 7- 2. Wr iting Any Par ameter

Wr ite ID and value with SDO

pr otocol .

.

100ms delay for wr ite event

.

Read wr ite event status 0x0000 0x0000 = OK, 0xFFFF 0x0000 = Fail 0x0066 0x003c = In Pr ocess

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Ser vi c e Da t a ( SDO)

31

8. SERVICE DATA (SDO)
With ser vice Data Objects (SDOs) the access to entr ies of a device Object Dictionar y is provided. Via SDO all items fr om object dictionar y can be r ead/wr itten. Ser vice Data Objects (SDO)s ar e nor mally used for device configur ation such as setting device par ameter s. They are also used to define the type and for mat of infor mation communicated using the Pr ocess Data Objects. CANopen Configur ation tools with EDS- files can be used for that pur pose. The constr uction and the method of oper ation of the SDOs can be found in the CANopen (DS301) Communication Pr ofile document. Appendix B consist of shor t descr iption of the SDOs used with VACON® CANopen option Boar d.

Object Dictionar y

Index hex 1000
1001
1003 1005 100C 100D 1018 1200 1400 1405 1414 1415 1600 1605 1614 1615 1800 1805 1814 1815 1A00 1A05 1A14 1A15 2000 2001 2002 2003 2004 2063 27D1 27D3 27D4 27D5 27D6 27D7 27D8 27D9 27DA 27DB

dec 4096
4097
4099 4101 4108 4109 4120 4608 5120 5125 5140 5141 5632 5637 5652 5653 6144 6149 6164 6165 6656 6661 6676 6677 8192 8193 8194 8195 8196 8291 10193 10195 10196 10197 10198 10199 10200 10201 10202 10203

N am e
devi ce_t ype
er r or _r egister
pr edefined er r or fiel d cob- id sync message guar d_time l if e_t im e_f act or Identity Object 1st_ser ver _SDO_par ameter 1st_r eceive_PDO_par ameter 6st_r eceive_PDO_par ameter 21st_r eceive_PDO_par ameter 22st_r eceive_PDO_par ameter 1st_r eceive_PDO_mapping 6st_r eceive_PDO_mapping 21st_r eceive_PDO_mapping 22st_r eceive_PDO_mapping 1st_tr ansmit_PDO_par ameter 6nd_tr ansmit_PDO_par ameter 21nd_tr ansmit_PDO_par am eter 22nd_tr ansmit_PDO_par am eter 1st_tr ansmit_PDO_mapping 6st_tr ansmit_PDO_mapping 21st_tr ansmit_PDO_mapping 22st_tr ansmit_PDO_mapping AnyPar ameter ReadID AnyPar ameter ReadValue AnyPar ameter Wr ite nx_cur r ent_per centage nx_tor que_per centage nx_f aul t _code NX contr ol wor d NX speed r efer ence Pr ocess data in1 Pr ocess data in2
Pr ocess data in3 Pr ocess data in4 Pr ocess data in5 Pr ocess data in6 Pr ocess data in7 Pr ocess data in8

Type
Unsigned32
Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Ident i t y SDOPar ameter PDOCom m Par PDOCom m Par PDOCom m Par PDOCom m Par PDOMapping PDOMapping PDOMapping PDOMapping PDOCom m Par PDOCom m Par PDOCom m Par PDOCom m Par PDOMapping PDOMapping PDOMapping PDOMapping Integer 16 Integer 32 Integer 32 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16 Integer 16

Attr . CO RO RO RO RW RW
RW RO RW RO RO RO RW RW RW RW RW RW RW RW RW RW

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32

Ser vi c e Da t a ( SDO)

2836

10294

NX status wor d

Integer 16

RO

2838

10296

NX actual speed

Integer 16

RO

2839

10297

Pr ocess data out1

Integer 16

RO

283A

10298

Pr ocess data out2

Integer 16

RO

283B

10299

Pr ocess data out3

Integer 16

RO

283C

10300

Pr ocess data out4

Integer 16

RO

283D

10301

Pr ocess data out5

Integer 16

RO

283E

10302

Pr ocess data out6

Integer 16

RO

283F

10303

Pr ocess data out7

Integer 16

RO

2840

10304

Pr ocess data out8

Integer 16

RO

6040

24640

contr olwor d

Unsigned16

RW

6041

24641

statuswor d

Unsigned16

RO

6042

24642

vl_tar get_velocity

Integer 16

RW

6043

24643

vl _vel ocit y_dem and

Integer 16

RO

6044

24644

vl_contr ol_effor t

Integer 16

RO

6046

24646

vl _vel ocit y_m in_m ax_am ount

Unsigned32

RW

6048

24648

vl_velocity_acceler ation

Ram p

RW

6049

24649

vl_velocity_deceler ation

Ram p

RW

604A

24650

vl _vel ocit y_quick _st op

Ram p

RW

604E

24654

vl_velocity_r efer ence

Unsigned32

RW

6060

24672

modes_of_oper ation

Integer 8

RO

6061

24673

modes_of_oper ation_display

Integer 8

RO

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Ser vi c e Da t a ( SDO)

33

Descr iption of the Object Dictionar y

Abbr eviations

r o – r ead only

wo – wr ite only

r w – r ead wr ite

co – constant

bool – Boolean

i8

– Integer 8

i16 i32 u8 u16 u32 f l oat

– Integer 8 – Integer 8 – Unsigned8 – Unsigned16 – Unsigned32 – Floating Point

Index Sub(HEX) Index

1000

00

1001

00

1003
00 01 02 03 04 05 06 07 08 09

N am e
Device Type Er r or Register
Pr e- defined Er ror Field Number of Er r or s Standar d Er r or Field Standar d Er r or Field Standar d Er r or Field Standar d Er r or Field Standar d Er r or Field Standar d Er r or Field Standar d Er r or Field Standar d Er r or Field Standar d Er r or Field

Defaul t Type Descr iptions

Min

Attr .

Max

Gener al Par am eter s

0x00010192 0x00000000 0xFFFFFFFF 0x00 0x00 0xFF

u32 co u8 ro

The device type specifies the kind of device. The lower 16 bits contain the device profile number and the upper 16 bits an additional infor mation. The er r or r egister is a field of 8 bits, each for a cer tain er r or type. If an er r or occur s the bit has to be set.
Bit Meaning 0 gener ic er ror 1 cur r ent 2 voltage 3 temper atur e 4 communication er r or (over r un, er r or state) 5 device pr ofile specific 6 reser ved 7 manufacturer specific This object holds er ror s that have occur r ed on the device and have been signalled via Emergency Object. It is an er r or histor y. Wr iting value 0 to sub index 0 deletes the entire er r or histor y.

0x0000 0x0000 0x00FE 0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF

u8 rw u32 ro u32 ro u32 ro u32 ro u32 ro

0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF

u32 ro u32 ro u32 ro u32 ro

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8

34

0A

1005

00

100C

00

100D

00

1018 00

01

02

03

04

1200 00 01
02

1400 00 01 02
1405 00 01 02

Ser vi c e Da t a ( SDO)

Standar d Er r or Field cob- id sync message Guard Time

0x00000000 0x00000000 0xFFFFFFFF 0x80000080 0x00000001 0xFFFFFFFF 0x03E8 0x0000 0xFFFF

u32 ro

u32 r o cob- id used for synchronize PDO messages

u16 rw

This entr y contains the guard time in milliseconds. It is 0, if not used. Unit: ms

Life Time Factor Identity Object Number of entr ies Vendor Id Pr oduct Code Revision number

0x02 0x00 0xFF
0x4 0x1 0x4 0x00000090 0x0 0xFFFFFFFF 0x00000119 0x0 0xFFFFFFFF 0x00000001 0x0 0xFFFFFFFF

u8 r w The life time factor multiplied with the guard time gives the life time for the device. It is 0, if not used.

u8 ro

This object contains gener al information about the device.

u32 ro u32 ro u32 ro

Sub- Index 1 contains a unique value allocated each manufacturer .
Sub- Index 2 identifies the manufactur er specific product code (device ver sion).
Sub- Index 3 contains the r evision number . Bit 31- 16 is the major revision number and Bit 15- 0 the minor r evision number .

Ser ial number

0x0

u32 ro Sub- Index 4 identified a manufactur er specific ser ial

0x0

num ber .

0xFFFFFFFF

Ser ver SDO Par am eter s

Ser ver SDO Par ameter

The object contains the par ameters for the SDOs for

which the device is the ser ver .

Number of Entr ies

0x02 0x02 u8 r o

0x02

COB- ID Client – > Ser ver 0x600+NodeID u32 ro

0x00000601

0xFFFFFFFF

COB- ID Server – > Client 0x580+NodeID u32 ro

0x00000581 0xFFFFFFFF

Receive PDO Com m unication Par am eter s

Receive PDO 1 Com m unicat ion

It contains the communication parameter s of the fir st PDO the device is able to r eceive.

Par ameter

Number of Entr ies

0x02 0x05

0x02

U8 r o

Sub- index 0 contains the number of PDO- par ameter s im pl em ent ed.

COB- ID

0x200+NodeID U32 ro Sub index 1 descr ibes the COB- ID. If bit 31 is set the PDO

0x00000201

is disabled.

0xFFFFFFFF

Tr ansmission Type

0xFF

u8 r o The tr ansmission mode is defined by sub- index 2.

0x00

Value 0xFF (255) = asynchronous tr ansmission mode (

0xFF

=event dr iven )

Receive PDO 6

It contains the communication parameter s of the second

Com m unicat ion

PDO the device is able to r eceive.

Par ameter

Number of Entr ies

0x02 0x02 u8 r o Sub- index 0 contains the number of PDO- par ameter s

0x05

im pl em ent ed.

COB- ID

0x300+NodeID u32 ro Sub index 1 descr ibes the COB- ID. If bit 31 is set the PDO

0x00000301

is disabled.

0xFFFFFFFF

Tr ansmission Type

0xFF

u8 r o The tr ansmission mode is defined by sub- index 2.

0x00

Value 0xFF (255) = asynchronous tr ansmission mode (

0xFF

=event dr iven )

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8

Ser vi c e Da t a ( SDO)

35

1414 00 01 02
1415 00 01 02
1416 00 01 02
1600
00 01 1605
00 01 02 1614
00 01 02

Receive PDO 21

It contains the communication parameter s of the

Com m unicat ion

manufacturer specific PDO21 the device is able to

Par ameter

r eceive.

Number of Entr ies

0x02 0x02 u8 r o

Sub- index 0 contains the number of PDO- par ameter s

0x05

im pl em ent ed.

COB- ID

0x400+NodeID u32 ro

Sub index 1 descr ibes the COB- ID. If bit 31 is set the

0x00000401

PDO is disabled.

0xFFFFFFFF

Tr ansmission Type

0xFF 0x00 u8 r o

The tr ansmission mode is defined by sub- index 2.

0xFF

Value 0xFF (255) = asynchronous tr ansmission mode (

=event dr iven )

Receive PDO 22

It contains the communication parameter s of the

Com m unicat ion

manufacturer specific PDO22 the device is able to

Par ameter

r eceive.

Number of Entr ies

0x02 0x02 u8 r o

Sub- index 0 contains the number of PDO- par ameter s

0x05

im pl em ent ed.

COB- ID

0x500+NodeID u32 ro

Sub index 1 descr ibes the COB- ID. If bit 31 is set the

0x00000501

PDO is disabled.

0xFFFFFFFF

Tr ansmission Type

0xFF 0x00 u8 r o

The tr ansmission mode is defined by sub- index 2.

0xFF

Value 0xFF (255) = asynchronous tr ansmission mode (

=event dr iven )

Receive PDO 23

It contains the communication parameter s of the

Com m unicat ion

manufacturer specific PDO23 the device is able to

Par ameter

r eceive.

Number of Entr ies

0x02 0x02

u8 ro

Sub- index 0 contains the number of PDO- par ameter s

0x05

im pl em ent ed.

COB- ID

0x300+NodeID u32 ro

Sub index 1 descr ibes the Cob- ID. If bit 31 is set the

0x00000301

PDO is disabled.

0xFFFFFFFF

Tr ansmission Type

0xFF 0x00

u8 ro

The tr ansmission mode is defined by sub- index 2.

0xFF

Value 0xFF (255) = asynchronous tr ansmission mode (

=event dr iven )

Receive PDO Mapping Par am eter s

Receive PDO 1 Mapping

It contains the mapping par ameters of the fir st PDO

Par ameter

the device is able to r eceive.

Sub- index 0 contains the number of the mapped data

objects. All fur ther entr ies define the data by its index,

sub- index and length.

Number of Entr ies

0x01 0x00 u8 r o

0x40

PDO Mapping Entr y

0x60400010

u32 ro

0x00000000

0xFFFFFFFF

Receive PDO 6 Mapping

It contains the mapping par ameters of the PDO6 the

Par ameter

device is able to receive.

Sub- index 0 contains the number of the mapped data

objects. All fur ther entr ies define the data by its index,

sub- index and length.

Number of Entr ies

0x02

u8 ro

0x0 0x40

PDO Mapping Entr y

0x60400010

u32 ro

0x00000000

0xFFFFFFFF

PDO Mapping Entr y

0x60420010

u32 ro

0x00000000

0xFFFFFFFF

Receive PDO 21

It contains the mapping par ameters of the PDO21 the

Mapping Par ameter

device is able to receive.

Sub- index 0 contains the number of the mapped data

objects. All fur ther entr ies define the data by its index,

sub- index and length.

Number of Entr ies

0x04

u8 ro

0x00

0x40

PDO Mapping Entr y

0x27D10010

u32 ro

0x00000000

0xFFFFFFFF

PDO Mapping Entr y

0x27D30010

u32 ro

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8

36
03 04 1615
00 01 02 03 04 1616 00 01 02
1800 00 01 02 03 04
1805 00 01 02
8

Ser vi c e Da t a ( SDO)

0x00000000

0xFFFFFFFF

PDO Mapping Entr y

0x27D40010

u32 ro

0x00000000 0xFFFFFFFF

PDO Mapping Entr y

0x27D50010 0x00000000 0xFFFFFFFF

u32 ro

Receive PDO 22 Mapping Par ameter

It contains the mapping par ameters of the PDO22 the device is able to receive. Sub- index 0 contains the number of the mapped data

objects. All fur ther entr ies define the data by its index,

sub- index and length.

Number of Entr ies

0x04

u8 ro

0x00

0x40

PDO Mapping Entr y

0x27D60010

u32 ro

0x00000000

0xFFFFFFFF

PDO Mapping Entr y

0x27D70010 0x00000000

u32 ro

0xFFFFFFFF

PDO Mapping Entr y

0x27D80010

u32 ro

0x00000000

0xFFFFFFFF

PDO Mapping Entr y

0x27D90010

u32 ro

0x00000000

0xFFFFFFFF

Receive PDO 23

It contains the mapping par ameters of the PDO23 the

Mapping Par ameter

device is able to receive.

Sub- index 0 contains the number of the mapped data

Number of Entr ies

0x02

u8 ro

0x00 0x40

PDO Mapping Entr y

0x27DA0010

u32 ro

0x00000000

0xFFFFFFFF

PDO Mapping Entr y

0x27DB0010 0x00000000

u32 ro

0xFFFFFFFF

Tr ansm it PDO Com m unication Par am eter s

Tr ansmit PDO 1

It contains the communication parameter s of the fir st

Com m unicat ion

PDO the device is able to tr ansmit.

Par ameter

Number of Entr ies

0x04

u8 ro

Sub- index 0 contains the number of PDO- par ameter s

0x02

im pl em ent ed.

0x05

COB- ID

0x180+NodeID u32 ro

Sub index 1 descr ibes the COB- ID. If bit 31 is set the

0x00000181 0xFFFFFFFF

PDO is disabled.

Tr ansmission Type

0xFF

u8 ro

The tr ansmission mode is defined by sub- index 2.

0x00

Value 0xFF (255) = asynchronous tr ansmission mode (

0xFF

=event dr iven )

Inhibit Time

0x03E8 0x0000

u16 rw

An inhibit time can be defined on sub- index 3 in 100 µs. This time is minimum interval for PD tr ansmission.

0xFFFF

Default 100 ms

Compatibility Entr y

0x03

u8 ro

0x00

0xFF

Tr ansmit PDO 6

It contains the communication parameter s of the PDO

Com m unicat ion

6 the device is able to tr ansmit.

Par ameter

Number of Entr ies

0x05

u8 ro

Sub- index 0 contains the number of PDO- par ameter s

0x02 0x05

im pl em ent ed.

COB- ID

0x280+NodeID u32 ro

Sub index 1 descr ibes the COB- ID. If bit 31 is set the

0x00000281

PDO is disabled.

0xFFFFFFFF

Tr ansmission Type

0xFF

u8 rw

The tr ansmission mode is defined by sub- index 2.

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/

Ser vi c e Da t a ( SDO)

03 04 05
1814 00 01 02 03 04 05
1815 00 01
02 03 04 05
1816 00 01 02 03

Inhibit Time
Compatibility Entr y
Event Timer
Tr ansmit PDO 21 Com m unicat ion Par ameter Number of Entr ies
COB- ID
Tr ansmission Type
Inhibit Time
Compatibility Entr y
Event Timer
Tr ansmit PDO 22 Com m unicat ion Par ameter Number of Entr ies
COB- ID
Tr ansmission Type
Inhibit Time
Compatibility Entr y
Event Timer
Tr ansmit PDO 23 Com m unicat ion Par ameter Number of Entr ies
COB- ID
Tr ansmission Type
Inhibit Time

37

0x00 0xFF 0x03E8 0x0000 0xFFFF 0x03 0x00 0xFF 0x0000 0x0000 0xFFFF

u16 rw u8 ro u16 rw

0x05 0x02 0x05 0x380+NodeID 0x00000381 0xFFFFFFFF 0xFF 0x00 0xFF 0x03E8 0x0000 0xFFFF 0x03 0x00 0xFF 0x0000 0x0000 0xFFFF

u8 ro u32 ro u8 rw u16 rw u8 ro u16 rw

0x05 0x02 0x05 0x480 + NodeID 0x00000481 0xFFFFFFFF 0xFF 0x00 0xFF 0x03E8 0x0000 0xFFFF 0x03 0x00 0xFF 0x0000 0x0000 0xFFFF

u8 ro u32 ro
u8 rw u16 rw u8 ro u16 rw

0x05 0x02 0x05 0x280+NodeID 0x00000281 0xFFFFFFFF 0xFF 0x00 0xFF 0x03E8

u8 ro u32 ro u8 rw u16 rw

Value 0xFF (255) = asynchronous tr ansmission mode ( =event dr iven ) An inhibit time can be defined on sub- index 3 in 100 µs. This time is minimum interval for PD tr ansmission. Default 100 ms
Event Time can be define on sub index 5 in 1ms r esolution. This is the time inter val PDO will be tr ansmitted. Value 0 = Disable Event Timer It contains the communication parameter s of the PDO 21 the device is able to tr ansmit.
Sub- index 0 contains the number of PDO- par ameter s im pl em ent ed.
Sub index 1 descr ibes the COB- ID. If bit 31 is set the PDO is disabled.
The tr ansmission mode is defined by sub- index 2. Value 0xFF (255) = asynchronous tr ansmission mode ( =event dr iven ) An inhibit time can be defined on sub- index 3 in 100 µs. This time is minimum interval for PD tr ansmission. Default 100 ms
Event Time can be define on sub index 5 in 1ms r esolution. This is the time inter val PDO will be tr ansmitted. Value 0 = Disable Event Timer It contains the communication parameter s of the PDO 22 the device is able to tr ansmit.
Sub- index 0 contains the number of PDO- par ameter s im pl em ent ed.
Sub index 1 descr ibes the COB- ID. If bit 31 is set the PDO is disabled.
The tr ansmission mode is defined by sub- index 2. Value 0xFF (255) = asynchronous tr ansmission mode ( =event dr iven ) An inhibit time can be defined on sub- index 3 in 100 µs. This time is minimum interval for PD tr ansmission. Default 100 ms
Event Time can be define on subindex 5 in 1ms r esolution. This is the time inter val PDO will be tr ansmitted. Value 0 = Disable Event Timer It contains the communication parameter s of the PDO 23 the device is able to tr ansmit.
Sub- index 0 contains the number of PDO- par ameter s im pl em ent ed.
Sub index 1 descr ibes the COB- ID. If bit 31 is set the PDO is disabled.
The tr ansmission mode is defined by sub- index 2. Value 0xFF (255) = asynchronous tr ansmission mode ( =event dr iven ) An inhibit time can be defined on sub- index 3 in 100 µs.

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/
8

38

Ser vi c e Da t a ( SDO)

04 05
1A00
00 01 1A05
00 01 02

0x0000

This time is minimum interval for PD tr ansmission.

0xFFFF

Default 100 ms

Compatibility Entr y

0x03

u8 ro

0x00 0xFF

Event Timer

0x0000 0x0000 0xFFFF

u16 rw

Event Time can be define on sub index 5 in 1ms r esolution. This is the time inter val PDO will be tr ansmitted.

Value 0 = Disable Event Timer

Tr ansm it PDO Mapping Par am eter s

Tr ansmit PDO 1

It contains the mapping par ameter for the PDOs the

Mapping Par ameter

device is able to tr ansmit.

Sub- index 0 contains the number of the mapped data

objects. All fur ther entr ies define the data by its index,

sub- index and length. The str uctur e of a mapping

entr y is: index , sub index ,length

Number of Entr ies

0x01 0x00 u8 r o

0x40

PDO Mapping Entr y

0x60410010

u32 ro

0x00000000

0xFFFFFFFF

Tr ansmit PDO 6

It contains the mapping par ameter for the PDOs the

Mapping Par ameter

device is able to tr ansmit.

Sub- index 0 contains the number of the mapped data

objects. All fur ther entr ies define the data by its index,

sub- index and length. The str uctur e of a mapping

entr y is: index, sub index, length

Number of Entr ies

0x02 0x0 u8 r o

0x40

PDO Mapping Entr y

0x60410010 0x00000000 0xFFFFFFFF

u32 ro

PDO Mapping Entr y

0x60440010 0x00000000 0xFFFFFFFF

u32 ro

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8

Ser vi c e Da t a ( SDO)

39

1A14
00 01 02 03 04 1A15
00 01 02 03 04 1A16
00 01 02 2000

Tr ansmit PDO 21 Mapping Par ameter
Number of Entr ies

0x04 0x00

u8 ro 0x40

It contains the mapping par ameter for the PDOs the device is able to tr ansmit. Sub- index 0 contains the number of the mapped data objects. All fur ther entr ies define the data by its index, sub- index and length. The str uctur e of a mapping entr y is: index, sub index, length

PDO Mapping Entr y

0x28360010 0x00000000 0xFFFFFFFF

u32 ro

PDO Mapping Entr y

0x28380010 0x00000000 0xFFFFFFFF

u32 ro

PDO Mapping Entr y

0x28390010 0x00000000 0xFFFFFFFF

u32 ro

PDO Mapping Entr y

0x283A0010 0x00000000 0xFFFFFFFF

u32 ro

Tr ansmit PDO 22 Mapping Par ameter
Number of Entr ies PDO Mapping Entr y

0x04 0x00 0x40 0x283B0010 0x00000000 0xFFFFFFFF

u8 ro

It contains the mapping par ameter for the PDOs the device is able to tr ansmit. Sub- index 0 contains the number of the mapped data objects. All fur ther entr ies define the data by its index, sub- index and length. The str uctur e of a mapping entr y is: index,sub index,length

u32 ro

PDO Mapping Entr y

0x283C0010 0x00000000 0xFFFFFFFF

u32 ro

PDO Mapping Entr y

0x283D0010 0x00000000 0xFFFFFFFF

u32 ro

PDO Mapping Entr y

0x283E0010

u32 ro

0x00000000

0xFFFFFFFF

Tr ansmit PDO 23 Mapping

It contains the mapping par ameter for the PDOs the

Par ameter

device is able to tr ansmit.

Sub- index 0 contains the number of the mapped data

objects. All fur ther entr ies define the data by its index, sub- index and length. The str uctur e of a mapping entr y

is: index, sub index, length

Number of Entr ies

0x02 0x00

u8 ro

0x40

PDO Mapping Entr y

0x283F0010

u32 ro

0x00000000

0xFFFFFFFF

PDO Mapping Entr y

0x28400010

u32 ro

0x00000000

0xFFFFFFFF

Manufactur er Specific Par am eter s

AnyPar ameterReadID

0x0000

u16 rw

0x0000 0xFFFF

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/
8

40
2001 2002 2003 2004 2063 27D1 27D3 27D4 27D5 27D6 27D7 27D8 27D9 27DA 27DB 2836 2838 2839 283A 283B 283C 283D 283E
8

Ser vi c e Da t a ( SDO)

AnyPar ameterReadValue AnyPar ameter Wr ite NX cur r ent per centage NX tor que per centage NX faul t code NX contr ol wor d NX speed r efer ence Pr ocess Data In1 Pr ocess Data In2 Pr ocess Data In3 Pr ocess Data In4 Pr ocess Data In5 Pr ocess Data In6 Pr ocess Data In7 Pr ocess Data In8 NX status wor d NX actual speed Pr ocess data out1 Pr ocess data out2 Pr ocess data out3 Pr ocess data out4 Pr ocess data out5 Pr ocess data out6

0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF 0x0000 0x0000 0xFFFF 0x0000 0x0000 0xFFFF 0x0000 0x0000 0xFFFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF 0x0000 0x8000 0x7FFF

u32 ro u32 rw u16 ro Measured motor current. (1 = 0.01A) u16 ro Calculated torque. Scaled in 0.0%…100.0% (0…1000) i16 r o Shows the drive fault code (=0, if no fault active) i16 r w i16 r w i16 r w i16 r w i16 r w i16 r w i16 r w i16 r w i16 rw i16 rw i16 r o i16 r o i16 r o i16 r o i16 r o i16 r o i16 r o i16 r o

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/

Ser vi c e Da t a ( SDO)

41

283F 2840
6040 6041 6042 6043 6044

Pr ocess data out7 Pr ocess data out8
contr olwor d st at uswor d vl tar get velocity vl velocity demand vl control effor t

0x0000

i16 ro

0x8000

0x7FFF

0x0000

i16 ro

0x8000

0x7FFF

Device Pr ofil e Par am eter s

0x0000

u16 rw The contr ol command for the state machine. The state

0x0000 0xFFFF

machine descr ibes the device status and possible contr ol sequence of the dr ive.

0x0000

u16 ro The status word indicates the cur rent status of the dr ive.

0x0000 0xFFFF

0x0000 0x8000

i16 rw

Speed r eference of the dr ive. Unit: RPM

0x7FFF

0x0000

i16 ro Speed r eference after r amp function.

0x8000

Unit: RPM

0x7FFF

0x0000

i16 ro Actual speed of the motor .

0x8000

Unit: RPM

0x7FFF

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/
8

42

Ser vi c e Da t a ( SDO)

6046 00 01 02
6048
00 01 02 6049
00 01 02 604A 00 01 02
8

vl velocity min max am ount Number of Entr ies
Minimum Speed
Maximum Speed
vl velocity acceler ation

0x02 0x00 0x02 0x00000000 0x00000000 0xFFFFFFFF 0x00000000 0x00000000 0xFFFFFFFF

u8 ro

Defines speed limits of the dr ive in r pm. The par ameter consist of a minimum and a maximum speed.

u32 rw

This par ameter specifies the slope of the acceler ation r amp. The par ameter consist of two par ts: the delta speed and the delta time.
v / rpm

delta speed

Number of Entr ies del t a_speed del t a_t im e vl velocity deceler ation

0x02 0x00 0x02 0x00000000 0x00000000 0xFFFFFFFF 0x0001 0x0000 0xFFFF

u8 ro

delta time

t / sec

u32 rw

u16 rw

This par ameter specifies the slope of the deceler ation r amp. The par ameter consist of two par ts: the delta speed and the delta time.
v / rpm

Number of Entr ies del t a_speed del t a_t im e vl velocity quick stop Number of Entr ies del t a_speed del t a_t im e

delta speed

delta time

0x02 0x00 0x02 0x00000000 0x00000000 0xFFFFFFFF 0x0001 0x0000 0xFFFF
0x02 0x00 0x02 0x00000000 0x00000000 0xFFFFFFFF 0x0001 0x0000 0xFFFF

u8 ro

u32 rw

u16 rw

u8 ro

Not Used

u32 rw

u16 rw

t / sec

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/

Ser vi c e Da t a ( SDO)

43

6060 6061

modes of oper ation
modes of oper ation displ ay

0x02 0x7F 0x02 0x7F

0x80 0x80

i8 ro i8 ro

This par ameter switches the actually chosen oper ation m ode. This par ameter shows cur r ent mode of oper ation.

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/
8

44

No d e Gu a r d i n g Pr o t o c o l

9. NODE GUARDING PROTOCOL
This pr otocol is used to detect r emote er r or s in the networ k. Master can update status of slaves and slaves can guar d is master active. Each NMT slave uses one r emote COB for node guar ding pr otocol. The NMT Master polls each NMT slaves at r egular time inter val. This time inter val is called guar d time and may be differ ent for each NMT slave. The r esponse of the NMT slave contains the state of that NMT slave. Slave star t guar ding

VACON® CANopen option boar d has following items for guar ding pur poses:

Index (HEX) 100C
100D

SubIndex 00
00

N am e Guar d Time Life Time Factor

Defaul t Min Max 1000 0 65535 2 0 255

Type Descr iptions Attr .

u16 This entr y contains the guar d time in

rw

milli- seconds. It is 0, if not used.

Unit: ms

u8

The life time factor multiplied with the

rw

guar d time gives the life time for the

device. It is 0, if not used.

Example node guar ding messages: MASTER – > SLAVE (node id = 1)

Message NMT (Node Guarding)
SLAVE RESPONSE (node id = 1)

ID

Len RTR

0x701 0

1

X = bit7

Message

ID Len 1

NMT (Node Guarding) 0x701 1

X

0 / 1 (Toggle bit ) Slave state (e.g. 5 oper ational)

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/
9

El ec t r o n i c Da t a Sh eet , EDS- f i l e

45

10. ELECTRONIC DATA SHEET, EDS- FILE
The usage of devices in a communication networ k r equir es configur ation of the device par ameter s and communication facilities. CANopen defines a standar dised way to access these par ameter s via the object dictionar y. For handling of the complexity of CANopen systems Softwar e Tools ar e r equired. This r educes the complexity of the planning, configur ation and analysis pr ocess and significantly incr eases the secur ity of the system. For this pur pose Softwar e Tools need an electr onic descr iption of the CANopen devices. To allow the usage of manufactur er independent Tools, this document defines a standar dised file for mat called Electr onic Data Sheet EDS. For the EDS- file for VACON® CANopen Option Boar d, go to http://dr ives.danfoss.com website.

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/

10

46

APPENDI CES

11. APPENDICES
a p p en d i x a – d evi c e p r o f i l e f o r d r i ves
VACON® CANopen option boar d follows the Dr ive device pr ofile DSP- 402. The Velocity mode is suppor ted.
Basic Device Control and Device Data Interface Dr ive Inter face

contr olwor d (6040h) statusword (6041h)

State Machine

RUN/STOP, FAULT RUN/ STOP,READY,FAUL

Application

Limit

vl_tar get_velocity (6042h) RPM RPM to %

vl _vel oci t y_m in_m ax_am ount (6046h)

RPM to Hz

vl_velocity_deceler ation (6049h) vl_velocity_acceler ation (6048h)

RPM to Hz RPM to Hz

vl_velocity_demand (6043h) RPM % to RPM

MinFr equency MaxFr equency
Deceler ationTime Acceler ationTime

Ram p

vl_control_effor t (6044h) RPM RPM to %
%torque (2003h) %cur rent (2004h) fault code (2063h)

Act ual Speed
Motor Tor que Motor Cur r ent Faul t Code

Motor

11

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/

APPENDI CES

47

a p p en d i x b sd o messa g es

Read Dictionar y Object: SDO1 Rx

Master to Slave (1)

Header

ID

RTR Len

0x601

0

4

Com m and Com m and

= 0x40 aaabbbbb (= 0100 0000) aaa = 010, Initiate upload request

1 Com m and

2

3

Object Index

Dat a 4 Sub- Index

5 6 7 8 D0 D1 D2 D3

Response: SDO1 Tx

Slave (1) to Master

Header

Dat a

ID

RTR

Len

1

2

3

4

0x581

0

8

Repl y

Object Index

Sub- Index

Repl y

= e.g. 0x43

Repl y

aaabcces (= 0100 0011)

aaa

= 010 Initiate upload r esponse

b

= 0

not used

cc

= 00

number of empty bytes ( that case answer consist of 4 bytes)

e

= 1

expedited tr ansfer

s

= 1

data set size is indicated

Data

5 6 7 8 D0 D1 D2 D3

Wr ite Dictionar y Object: SDO1 Rx

Master to Slave (1)

Header

Dat a

ID

RTR

Len

1

2

3

4

0x601

0

8

Com m and

Object Index

Sub- Index

Com m and

= e.g. 0x2B

Com m and

aaabcces (= 0010 1011)

aaa

= 010 Initiate download request

b

= 0

not used

cc

= 00

number of empty bytes ( that case answer consist of 4 bytes)

e

= 1

expedited tr ansfer

s

= 1

data set size is indicated

Data

5 6 7 8 D0 D1 D2 D3

Response: SDO1 Tx

Slave (1) to Master

Header

ID

RTR

Len

1

0x581

0

4

Repl y

= 0x60

Repl y

aaabbbbb (= 0110 0000)

aaa

= 010 Initiate download response

bbbbb = 0 0000 not used

2

3

Object Index

Dat a 4
Sub- Index

5 6 7 8 D0 D1 D2 D3

Local contacts: http:/ / dr ives.danfoss.com/ danfoss- dr ives/ local – contacts/

11

48

APPENDI CES

a p p en d i x c p r o c ess d a t a c o n t en t s

Pr ocess Data OUT (Sl ave Master )

The fieldbus master can r ead the

actual values using pr ocess data var iables.

Basic, Standar d, Local/Remote, Multi- Step, PID contr ol and Pump and fan control applications use

pr ocess data as follows:

Dat a Pr ocess data OUT 1 Pr ocess data OUT 2 Pr ocess data OUT 3 Pr ocess data OUT 4 Pr ocess data OUT 5 Pr ocess data OUT 6

Val ue Output Fr equency Motor Speed Motor Cur r ent Motor Tor que Motor Power Motor Voltage

Unit

Scal e

Hz 0,01 Hz

rpm 1 rpm

A 0,1 A

% 0,1 %

V 0,1 V

The Multipur pose application has a selector par ameter for ever y Pr ocess Data. The monitor ing values and dr ive par ameter s can be selected using the ID number (see VACON® NX All in One Application Manual, Tables for monitor ing values and par ameter s). Default selections ar e as in the t able above.
Pr ocess Data IN (Master – > Sl ave) Contr olWor d, Refer ence and Pr ocess Data ar e used with All – in One applications as follows:
Basic, Standar d, Local/Remote, Multi- Step applications

Dat a Ref er ence Contr olWor d
PD1 PD6

Val ue

Unit

Scal e

Speed Refer ence

%

0.01%

Star t/Stop

–

Com m and

Fault r eset

Com m and