Danfoss MCA 124 VLT Automation Drive Instruction Manual

: June 2, 2024
: Danfoss

Table of Contents

Danfoss MCA 124 VLT Automation Drive
Product Information
Product Usage Instructions
FAQs
Safety
Introduction
Illustration
How to Configure
Operating Instructions
How to Control the Frequency Converter
Communication Profile Area
Parameters
Application Examples
Troubleshooting
References
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Danfoss MCA 124 VLT Automation Drive

Danfoss-MCA-124-VLT-Automation-Drive-product

Product Information

Specifications:

Product Name: MCA 124 EtherCAT
Manufacturer: Danfoss
Website: vlt-drives.danfoss.com

Product Usage Instructions

1. Safety

Before operating the MCA 124 EtherCAT, please read and understand the safety instructions provided in the manual.

2. Installation:

Follow the steps outlined in the manual to properly install the frequency converter and EtherCAT network. This includes connecting EtherCAT cables, understanding LED behavior, and EMC precautions.

3. Configuration:

Configure the IP settings, VLT parameters, and EtherCAT network
settings as described in the manual.

4. Master Configuration:

Import the XML file and set up the master according to the instructions provided.

5. Control:

Learn how to control the frequency converter through PDO communication, process data handling, control profiles, and more.

6. Communication Profile Area:

Understand the communication object areas for effective communication with the device.

7. Parameters:

Explore different parameter groups related to operation, communication, Ethernet, and EtherCAT-specific settings.

8. Application Examples:

Refer to application examples provided to understand how to use the product in various scenarios.

9. Troubleshooting:

If you encounter issues, refer to the troubleshooting section for guidance on LED status, communication problems, alarms, and warnings.

10. Warnings and Alarms:

Familiarize yourself with the status messages, alarm lists, and warnings to ensure safe operation of the device.

FAQs

Q: Can I use this product with equipment from vendors other than Danfoss?
- A: Yes, you can use equipment from other vendors if it is intended for communication with Danfoss equipment over a serial communication link.
Q: What should I do if there is no communication with the frequency converter?
- A: Refer to the troubleshooting section in the manual to diagnose and resolve communication issues.

“`

Safety

1 Safety

Operating Instructions

11

1.1 Safety
This publication contains information proprietary to Danfoss. By accepting and using this manual, the user agrees that the information contained herein is used solely for operating equipment from Danfoss or equipment from other vendors if such equipment is intended for communication with Danfoss equipment over a serial communication link. This publication is protected under the Copyright laws of Denmark and most other countries.
Danfoss does not guarantee that a software program produced according to the guidelines provided in this manual functions properly in every physical, hardware, or software environment.
Although Danfoss has tested and reviewed the documentation within this manual, Danfoss gives no warranty or representation, either expressed or implied, with respect to this documentation. This includes its quality, performance, or firness for a particular purpose.
In no event shall Danfoss be liable for direct, indirect, special, incidental, or consequential damages arising out of the use, or the inability to use information contained in this manual, even if advised of the possibility of such damages. In particular, Danfoss is not responsible for any costs including, but not limited to those incurred as a result of lost profits or revenue, loss or damage of equipment, loss of computer programs, loss of data, the costs to substitute these, or any claims by third parties.
Danfoss reserves the right to revise this publication at any time and to change its contents without prior notice or any obligation to notify previous users of such revisions or changes.
It has been assumed that all devices are sitting behind a firewall that does packet filtering and the environment has implemented restrictions on the software that can run inside the firewall. All nodes are assumed to be “trusted” nodes.
WARNING
HIGH VOLTAGE
The voltage of the frequency converter is dangerous whenever connected to mains. Incorrect installation of the motor, frequency converter, or fieldbus may damage the equipment, cause serious personal injury, or death. Consequently, the instructions in this manual, as well as national and local rules and safety regulations, must be complied with.

1. The frequency converter must be disconnected from mains before carrying out repair work. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.
2. The off-command on the serial bus does not disconnect the equipment from mains and should not be used as a safety switch.
3. Correct protective earthing or grounding of the equipment must be established. The user must be protected against supply voltage, and the motor must be protected against overload in accordance with applicable national and local regulations.
4. The earth leakage currents are higher than 3.5 mA.
5. Do not remove the plugs for the motor and mains supply while the frequency converter is connected to mains. Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs.

MG92A302

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Safety

MCA 124 EtherCAT

11

1. The motor can be brought to a stop with bus commands while the frequency converter is connected to mains. These stop functions do NOT provide protection against unintended starts.
2. While parameters are being changed, there is a risk that motor starts.
3. Electronic faults in the frequency converter and cease of
· temporary overload · faults in supply mains, or · fault in the motor connection
can cause an unintended start.
WARNING
ELECTRICAL HAZARD
Touching the electrical parts may be fatal – even after the equipment has been disconnected from mains.
1.2 EtherCAT®
EtherCAT is a Ethernet based realtime communication, which allows a master to communicate to slave in a interval down to 30 microseconds. The size of the network is almost unlimited since up to 65535 devices can be connected. These factors do make EtherCAT to one of the fastest Ethernet based protocols in the marked.
The topology in EtherCAT can be made as line, tree or as star. This gives the user the flexibility to route the cabling in the most optimal way.
On the application level EtherCAT applies CANopen as the application layer. This incorporates the usages of PDO (Process data Objects) for control of the devices and SDO (Service Data Objects) for acyclic access to parameters of the devices.
More information on EtherCAT can be found on the EtherCAT technology groups homepage: www.ethercat.org.

Illustration 1.1 EtherCAT® is Registered Trademark and Patented Technology, Licensed by Beckhoff Automation Gmbh, Germany

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MG92A302

Introduction

Operating Instructions

Introduction

2.1.1 About this Manual
First time users can obtain the most essential information for quick installation and set-up in these chapters:
chapter 2 Introduction chapter 3 How to Install chapter 4 How to Configure For more detailed information, including the full range of set-up options and diagnosis tools, refer to the chapters:
chapter 5 Configure the Master chapter 6 How to Control the Frequency Converter chapter 8 Parameters chapter 9 Application Examples chapter 10 Troubleshooting Terminology: In this manual several terms for Ethernet are used. – EtherCAT, is the term used to describe the EtherCAT protocol. – Ethernet, is a common term used to describe the physical layer of the network and does not relate to the application protocol.
2.1.2 Assumptions
These operating instructions are under the conditions that the Danfoss EtherCAT option is used with a Danfoss FC 301/FC 302 frequency converter. The installed controller must support the interfaces described in this document. Strictly observe all the requirements stipulated in the controller and the frequency converter, along with all limitations herein.
2.1.3 Hardware
This manual relates to the EtherCAT option MCA 124, type no. 130B5546 (uncoated) and 130B5646 (conformal coated).
2.1.4 Background Knowledge
The Danfoss EtherCAT Option Card is designed to communicate with any system complying with the EtherCAT standard. Familiarity with this technology is assumed. Issues regarding hardware or software produced by other manufacturers, including commissioning tools, are

beyond the scope of this manual, and not the responsibility of Danfoss.
For information regarding commissioning tools, or communication to a non- Danfoss node, consult the appropriate manuals.
2.1.5 Available Literature
Available Literature for FC 301/FC 302 – The VLT AutomationDrive Operating Instructions, provide the necessary information for getting the frequency converter up and running.
– The VLT AutomationDrive Design Guide, entails all technical information about the frequency converter design and applications including encoder, resolver, and relay options.
– The VLT AutomationDrive Profibus Operating Instructions, provide the information required for controlling, monitoring, and programming the frequency converter via a Profibus fieldbus.
– The VLT AutomationDrive DeviceNet Operating Instructions, provide the information required for controlling, monitoring, and programming the frequency converter via a DeviceNet fieldbus.
– The VLT AutomationDrive MCT 10 Set-up Software Operating Instructions, provide information for installation and use of the software on a PC.
– The VLT AutomationDrive IP21/Type 1 Instruction, provides information for installing the IP21/Type 1 option.
– The VLT AutomationDrive 24 V DC Backup Instruction, provides information for installing the 24 V DC Backup option.
– The VLT AutomationDrive CanOpen Operating Instructions.
– The VLT AutomationDrive Modbus TCP Operating Instructions.
– The MCA 121/FCD 302 EtherNet/IP Operating Instructions.
– The MCA 120 PROFINET Operation Instruction.
Danfoss technical literature is also available online at http:// www.danfoss.com/BusinessAreas/DrivesSolutions/

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5

Introduction

MCA 124 EtherCAT

22

Abbreviation API CC CTW DCP DHCP EMC I/O IP LCP LED LSB MAV MSB MRV N/A PC PCD PLC PNU REF STW

Definition Actual Packet Interval Control Card Control Word Discovery and Configuration Protocol Dynamic Host Configuration Protocol Electromagnetic Compatibility Input/Output Internet Protocol Local Control Panel Light Emitting Diode Least Significant Bit Main Actual Value (actual output) Most Significant Bit Main Reference Value Not applicable Personal Computer Process Control Data Programmable Logic Controller Parameter Number Reference (=MRV) Status Word

Table 2.1 Abbreviations

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How to Install

Operating Instructions

3 How to Install

3.1.1 How to Install Option in Frequency Converter
Items required for installing a fieldbus option in the frequency converter:
· The fieldbus option · Fieldbus option adaptor frame for the FC 300.
This frame is deeper than the standard frame to allow space for the fieldbus option beneath
· Strain relief (only for A1 and A2 enclosures)

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130BT797.11

Illustration

3.1 MG92A302

Illustration 3.2
Instructions: 1. Remove LCP panel from the FC 300. 2. Remove the frame located beneath and discard it. 3. Push the option into place. The Ethernet connectors must be facing upwards. 4. Remove both knock-outs on the fieldbus option adaptor frame. 5. Push the fieldbus option adaptor frame for the FC 300 into place. 6. Replace the LCP and attach cable.
NOTICE
Do not strip and ground the Ethernet cable via the strain relief-plate! The grounding of screened Ethernet cable is done through the RJ-45 connector on the option.
NOTICE
After installing the MCA 124 EtherCAT option, set parameter 8-01 Control Site and parameter 8-02 Control Word Source as follows: parameter 8-01 Control Site: [2] Control word only or [0] Digital and ctrl. word parameter 8-02 Control Word Source: [3] Option A
3.1.2 Network
It is important that the media selected for Ethernet data transmission meets the required properties. Usually CAT 5e and six cables are recommended for industrial applications. Both types are available as unscreened twisted pair and screened twisted pair. Generally, screened cables are recommended for use in industrial environments and with frequency converters.

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How to Install

MCA 124 EtherCAT

33

A maximum cable-length of 100 m is allowed between network devices.
3.1.3 EtherCAT Cables

Cable Type

Specification

Ethernet standard Standard Ethernet (in accordance with IEEE

802.3), 100Base-TX (FastEthernet)

Cable Type

S/FTP (Screened Foiled Twisted Pair, ISO(IEC

11801 or EN 50173), CAT 5e

Damping

23.2 dB (at 100 MHz and 100 m each)

Crosstalk

24 dB (at 100 MHz and 100 m each)

damping

Return loss

10 dB (100 m each)

Surge impedance 100

Table 3.1 Specification of EtherCAT Cables

3.1.4 LED Behaviour

The option has 3 bicolored LEDs that allow a fast and detailed diagnosis. The three LEDs are each linked to its unique part of the EtherCAT option:

LED Label Status
Link/Act In
Link/Act Out

Description Module Status, reflects the activity on the EtherCAT slave Link/status In, reflects the activity on the IN port Link/status In, reflects the activity on the OUT port

Table 3.2

Illustration 3.3 Overview of the Option

Power OFF or State INIT
Initialisation/Bootstrap
PRE-OP State
SAFE-OP State
OP State
ERR-Init State
Process Data Watchdog timeout
Green
Red Table 3.3 Indication of Status LED
Power OFF or NO Link
Link
Link Active
Green
Red Table 3.4 Link/Act LED
3.1.5 Topology
The EtherCAT module features a built-in EtherCAT slave controller, thus having two Ethernet RJ-45 connectors. This module enables the possibility for connecting several EtherCAT options in a line topology.
It is important in a EtherCAT system, that the connection is done correctly. EtherCAT options has to be connected so that a OUT port always connects to a IN port on the next slave in the network. If this is not fulfilled the EtherCAT will go into error mode.
NOTICE
Do not connect any non-EtherCAT device to the last port as this causes malfunction of the complete EtherCAT network.

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How to Install

Operating Instructions

130BC178.10

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Illustration 3.4 Line Topology

NOTICE
In a line topology all frequency converters must be powered, either by mains or by their 24 V DC option cards, for the built-in EtherCAT slave controller to work. Mounting frequency converters of different power-sizes in a line topology can result in unwanted power-off behavior, while using control word timeout (parameter 8-02 Control Word Source to parameter 8-06 Reset Control Word Timeout. Mount the frequency converters with the longest discharge time first in the line topology.
3.1.6 EMC Precautions
To achieve interference-free operation of the Ethernet, observe the following EMC precautions. Additional EMC information is available in the VLT AutomationDrive Design Guide.
NOTICE
The correct handling of the shield of the motor cable is vital for the overall performance of the system. If the rules are not followed it can lead to loss of the control and malfunction of the system.

NOTICE
Always observe relevant national and local regulations, for example regarding protective earth connection.
The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise between the cables. When crossing is unavoidable, the Ethernet cable must cross motor and brake resistor cables at an angle of 90°.

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How to Install

MCA 124 EtherCAT

130BA908.11

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min. 200 mm 90 ° crossing

Ethernet Cable

Illustration 3.5 Correct Crossing of Ethernet Cable

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How to Configure

Operating Instructions

How to Configure

4.1.1 IP Settings
All IP-related parameters are located in parameter group 12-0 IP Settings: The parameters are all set to EtherCAT standard values, so no setting is needed.
The EtherCAT option offers several ways of IP address assignment.
Parameter group 12-1 Ethernet Link Parameters:
· Parameter 12-10 Link Status · Parameter 12-11 Link Duration · Parameter 12-12 Auto Negotiation · Parameter 12-13 Link Speed · Parameter 12-14 Link Duplex
Each port has unique Ethernet Link Parameters.
Parameter 12-10 Link Status and parameter 12-11 Link Duration displays information on the link status, per port. Parameter 12-10 Link Status displays Link or No Link according to the status of the present port. Parameter 12-11 Link Duration displays the duration of the link on the present port. If the link is lost, the counter is reset.
Parameter 12-12 Auto Negotiation is a feature that enables 2 connected Ethernet devices to select common transmission parameters, such as speed and duplex mode. In this process, the connected devices first share their capabilities and then select the fastest transmission mode they both support. Incapability between the connected devices could lead to decreased communication performance. To prevent this, Auto Negotiation can be disabled. If parameter 12-12 Auto Negotiation is set to OFF, link speed and duplex mode can be configured manually in parameter 12-13 Link Speed and parameter 12-12 Auto Negotiation.
Parameter 12-13 Link Speed – displays/sets the link speed for each port. If no link is present, “None” is displayed.
Parameter 12-14 Link Duplex – displays/sets the duplex mode for each port.

4.2 Configure the Frequency Converter
4.2.1 VLT Parameters
Pay particular attention to the following parameters when configuring the frequency converter with an EtherCAT interface.
· Parameter 0-40 [Hand on] Key on LCP. If the [Hand
on] key on the frequency converter is activated, control of the frequency converter via the EtherCAT interface is disabled.
· After an initial power up, the frequency converter
automatically detects whether a fieldbus option is installed in slot A, and set parameter 8-02 Control Word Source to [Option A]. Adding, changing, or removing an option from an already commissioned frequency converter, does not change parameter 8-02 Control Word Source. However, it causes a Trip Mode, and the frequency converter displays an error.
· Parameter 8-10 Control Word Profile. Choose
between the Danfoss FC Profile and the DS 402 profile.
· Parameter 8-50 Coasting Select to
parameter 8-56 Preset Reference Select. Selection of how to gate EtherCAT control commands with digital input command of the control card.
NOTICE
When parameter 8-01 Control Site is set to [2] Control word only, the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select are overruled, and all act on Bus-control.
· Parameter 8-03 Control Word Timeout Time to
parameter 8-05 End-of-Timeout Function. The reaction in the event of a bus time-out is set via these parameters.
4.3 Configure the EtherCAT Network
All EtherCAT stations that are connected to the same bus network must have a unique station alias number. The station alias of the frequency converter can be selected via:
· Hardware switches · parameter 12-50 Configured Station Alias · The TwinCAT under the EtherCATadvance
settingESCE2PROMConfigured station alias setting

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How to Configure

MCA 124 EtherCAT

If parameter 12-50 Configured Station Alias, can only be set if all address switches are set to ON or OFF.

4.3.1.1 Setting the EtherCAT Station Alias using the Hardware Switches

Using the hardware switches it is possible to select an address range from 1 to 254 according to Table 4.1:

44

Switch Address value Address 5 Address 35 Address 82 Address 147

8 +128 OFF OFF OFF ON

7

6

5

4

3

2

1

+64

+32

16

+8

+4

+2

+1

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

Table 4.1 Address Range

NOTICE
Switch off the power supply before changing the hardware switches. The address change will come into effect at the next power-up, and can be read in parameter 12-50 Configured Station Alias. Note the location and sequence of the hardware switches as illustrated in Illustration 4.1.

130BD078.10

IN

OUT

STATUS

MCA124 EtherCAT

Option A 130B55 46

Link/Act IN MAC00-1B-0 8-00-00- 00

Link/Act OUT
SW. ver. 2.02 TM. ver. 3.10

8 7 6 5 4 3 2 1

Device

ON

ID

OFF

Station alias DIP switches
Illustration 4.1

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Configure the Master

Operating Instructions

5 Configure the Master

5.1 Import 5.1.1 Importing the XML File

To configure an EtherCAT Master, the configuration tool needs an XML file for each type of slave on the network. The XML file is a text file containing the necessary communications set-up data for a slave. Download the XML file for the FC 300 at http://www.danfoss.com/BusinessAreas/DrivesSolutions/EtherCAT/EtherCAT+files.htm.

Option version 1.x, 2.x and 3.x

File Danfoss_FC_series_ECAT_019.XML

Table 5.1

The steps outlined in chapter 5.2.1 Setting up the Master shows how to add a new device to the TwinCAT Tool. For tools from other vendors, consult their relevant manuals.

Copy the XML file from the Danfoss Web page to the location: C:TwinCATIoEtherCAT, and restart the TwinCAT System Manager. This will update the Device Description library of TwinCAT. If an older version of the XML file is installed, this has to be erased. If the older versions are not erased it can lead to wrong identification of the Drive on the EtherCAT network. The XML file contains three entrys, FC 300, FC 301 and FC 302. The FC 300 is the the entry for older EtherCAT drive version 1.02, Where the EtherCAT version 2.xx are handled via the entries FC 301 and FC 302.
5.2 Setting Up
5.2.1 Setting up the Master

Inserting the Danfoss EtherCAT slave to the TwinCAT Master
1. Right click and select EtherCAT I/O master.
2. Select Append Box…

Illustration 5.1 3. Select Danfoss Power Electronics in the I/O Catalogue of the Insert EtherCAT Device window. 4. Select VLT FC Series. 5. Select FC-300 VLT AutomationDrive.
Illustration 5.2 Danfoss FC-300 is inserted into the EtherCAT master system.

130BC192.11

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Configure the Master

MCA 124 EtherCAT

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Illustration 5.3
To function properly, each of the four process data must be linked to variables inside the PLC. In this example, two transmit variables and two receive variables have been inserted in the PLC memory. To see a list of matching data
1. Select the variable. 2. Click the Linked to… button in the right window.

Illustration 5.5
The status word is now linked to the variable STW in the PLC. Remaining variables must be mapped equally to the variables in the PLC.

130BC197.11

130BC195.12

Illustration 5.6

Illustration 5.4

After a successfully integrating the frequency converter to the TwinCAT system, the frequency converter is now ready for operation.

In the following example, the status word is linked to the variable STW.

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How to Control the Frequenc…

Operating Instructions

How to Control the Frequency Converter

6.1 PDO Communication
The DS402 profile for frequency converters specifies a number of communication objects (SDOs). SDOs are suitable for data exchange between a process controller, for example a PLC, and frequency converters. Some SDOs are defined for cyclic data transfer, so that process data (PCD) can be transferred from the controller to the slave and vice versa. PDOs are used for cyclic data, a subset of the SDOs are PDO mappable.
PDO 23 is pure process data objects for applications requiring no cyclic parameter access. The PLC sends out process control data, and the frequency converter then responds with a transmit PDO containing process status data. In the Danfoss EtherCAT interface all PDOs are free selectable. The first two words of the process data area (PCD 0 and PCD1) are set to a default value at factory, but can be changed.
Select the signals for transmission from the master to the frequency converter in parameter 12-21 Process Data Config Write (request from master to the frequency converter). Select the signals for transmission from the frequency converter to the master in parameter (response: FC master).
The EtherCAT option has only one PDO available – PDO 23. The PDO 23 is flexible in size, so that it can be adjusted to fit all needs (max. 10 PCDs). The selection is made in the master configuration, and is then automatically downloaded to the frequency converter during the transition from Init to Pre- Op. No manual setting of PPO types in the frequency converter is required.
Selection [1] Standard telegram 1 is equivalent to PDO 23.
Receive PDOs (PLC Drive)

PDO 23

PCD 0 CTW

PCD 1 REF

PCD 9 write

Transmit PDOs (Drive PLC)

PDO 23

PCD 0 STW

Illustration 6.1

PCD 1 MAV

PCD 9 read

6.2 Process Data
Use the process data part of the PDO for controlling and monitoring the frequency converter via the EtherCAT.

130BC177.10

6.2.1 Process Control Data

The example in Table 6.1 shows control and reference sent from the PLC to the frequency converter, and status word and Main Actual Value sent from the frequency converter to the PLC.

Master to slave

0

1

2

……

9

CTW MRV PCD

……

PCD

PCD write
Table 6.1 Process Control Data (PCD)
PCD 0 contains a 16-bit control word where each bit controls a specific function of the frequency converter, see chapter 6.3 Control Profile. PCD 1 contains a 16-bit speed setpoint in percentage format. See chapter 6.2.3 Reference Handling.

The content of PCD 2 to PCD 9 is read only.
6.2.2 Process Status Data

Process data sent from the frequency converter contain information about the current state of the frequency converter.

Slave to master

0

1

2

……

9

STW MAV PCD

……

PCD

PCD read
Table 6.2 Process Status Data
PCD 0 contains a 16-bit status word where each bit contains information regarding a possible state of the frequency converter. PCD 1 contains per default the value of the current speed of the frequency converter in percentage format (see chapter 6.2.3 Reference Handling).
6.2.3 Reference Handling

The reference handling in FC 301/FC 302 is an advanced mechanism that sums up references from different sources.

For more information on reference handling, refer to the FC 301/FC 302 Design Guide.

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Illustration 6.2
The reference, or speed set point (MRV, sent via EtherCAT), is always transmitted to the frequency converter in percentage format as integers represented in hexadecimal (0-4000 hex). Depending on the setting of parameter 3-00 Reference Range the reference and MAV are scaled accordingly:
Illustration 6.3
NOTICE
If parameter 3-00 Reference Range is set to [0] Min – Max, a negative reference is handled as 0%. The speed limit parameters in parameter 4-11 Motor Speed Low Limit [RPM] to parameter 4-14 Motor Speed High Limit [Hz] limits the actual frequency converter output. parameter 4-19 Max Output Frequency sets the final speed limit. The reference and the MAV have the format which appears from Table 6.3.

MRV/MAV 100% 75% 50% 25% 0% -25% -50% -75% -100%

Integer in hex 4000 3000 2000 1000 0 F000 E000 D000 C000

Integer in decimal 16.384 12.288 8.192 4.096 0 -4.096 -8.192 -12.288 -16.384

Table 6.3 Reference and MAV Formats

NOTICE
Negative numbers are formed as a complement of two.

NOTICE
The data type for MRV and MAV is 16-bit standardised value, which can express a range from -200% to +200% (8001 to 7FFF).

Parameter 1-00 Configuration Mode set to [0] Speed open loop. Parameter 3-00 Reference Range set to [0] Min – Max. Parameter 3-02 Minimum Reference set to 100 RPM. Parameter 3-03 Maximum Reference set to 3000 RPM.

0% 25% 50% 75% 100%

MRV/MAV 0 hex 1000 hex 2000 hex 3000 hex 4000 hex

Actual Speed 100 RPM 825 RPM 1550 RPM 2275 RPM 3000 RPM

Table 6.4

6.2.4 Process Control Operation

In process control operation parameter 1-00 Configuration Mode is set to [3] Process. The reference range in parameter 3-00 Reference Range is always [0] Min-Max. – MRV represents the process setpoint. – MAV expresses the actual process feedback (range ±200%).
6.2.5 Influence of the Digital Input Terminals upon FC Control Mode

The influence of the digital input terminals upon control of the frequency converter can be programmed in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select.

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How to Control the Frequenc…

Operating Instructions

NOTICE
Note the parameter 8-01 Control Site overrules the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select, and Terminal 37 Coasting Stop (safe) overrules any parameter.
Each digital input signal can be programmed to logic AND, logic OR, or to have no relation to the corresponding bit in the control word. This way, fieldbus only, fieldbus AND Digital Input, or Ether Fieldbus OR Digital input terminal can initiate a specific control command, that is stop/coast.
CAUTION
To control the frequency converter via EtherCAT, set parameter 8-50 Coasting Select to either [1] Bus, or to [2] Logic AND. Then set parameter 8-01 Control Site to [0] Digital and ctrl.word or [2] control word only.
More detailed information and examples of logical relationship options are provided in chapter 10 Troubleshooting.
6.3 Control Profile
The frequency converter can be controlled according to the DS 402 profile, or the Danfoss FC profile. Select the desired control profile in parameter 8-10 Control Word Profile. The choice of profile affects the control and status word only.
The desired control profile can also be controlled by object 6060 Modes of operation and readout by object 6061 Modes of operation display. Value -1 indicates frequency converter profile. Value 2 indicates DS 402 Velocity mode. The XDD file has default process data mapping. If frequency converter is run in DS 402 profile, the DS 402 profile must be selected (for example, by parameter 8-10 Control Word Profile or object 6060). The four process data Control Word, Reference, Status Word and Main Actual Value will the information in according the specification. Make sure that the profile selected is also the profile used in the PLC.

6.4 DS 402 Control Profile
6.4.1 Control Word According to DSP 402 Profile (Parameter 8-10=DSP 402 profile)

Master-follower CTW

Speed ref.

Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 6.4 Control Word Profile

Bit

Bit value=0

Bit value=1

00

Switch off

Switch on

01

Disable voltage

Enable voltage

02

Quick stop

Run

03

Disable operation

Enable operation

04

Disable ramp

Enable ramp

05

Freeze

Run enable

06

Ramp stop

Start

07

No function

Reset

08

Reserved

09

Reserved

10

Reserved

11

Jog 1 OFF

Jog 1 ON

12

Reserved

13

Setup select (LSB)

14

Setup select (MSB)

15

Forward

Reversing

Table 6.5 Definition of Control Bits

Explanation of the control bits

Bit 00, Switch OFF/ON Bits 00, Switch OFF/ON Bit 00=”0″ – executes transition 2, 6 or 8. Bit 00=”1″ – executes transition 3.

Bit 01, Disable/Enable Voltage Bit 01=”0″ – executes transition 9, 10 or 12. Bit 01=”1″ – enables voltage.

Bit 02, Quick stop/Run Bit 02=”0″ – executes transition 7, 10 or 11. Bit 02=”1″ – quick stop not active.

Bit 03, Disable/enable Operation Bit 03=”0″ – executes transition 5. Bit 03=”1″ – enables operation.

Bit 04, Quick-stop/ramp

130BA274.11

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MCA 124 EtherCAT

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Bit 04=”0″ – executes transition 7 or 11, Quick stop. Bit 04=”1″ – enables ramp.

Bit 05, Freeze output frequency/run enable Bit 05=”0″ – the given output frequency is maintained even if the reference is changed. Bit 05=”1″ – the frequency converter is again able to regulate, and the given reference is followed.

Bit 06, Ramp stop/start Bit 06=”0″ – the frequency converter controls the motor down to stop. Bit 01=”1″ – gives a start command to the frequency converter.

Bit 07, No function/reset Reset of trip. Bit 07=”0″ – there is no reset. Bit 07=”1″ – a trip is reset.

Bit 08, 09 and 10 DSP402 reserved.

Bit 11, Jog 1 OFF/ON Activation of pre-programmed speed in parameter 8-90 Bus
Jog 1 Speed JOG 1 is only possible if Bit 04=”0″, and bit 00-03=”1″.

Bit 12 Danfoss reserved.

Bits 13/14, Selection of Setup Bits 13 and 14 are used for selecting among the four menu set-ups in accordance with Table 6.6:

Set-up 0 0 1 1

Bit 14 0 1 0 1

Table 6.6 Set-up Selection Table

Bit 15, Forward/reversing Bit 15=”0″ – no reversing. Bit 15=”1″ – reversing.

Bit 13 1 2 3 4

NOTICE
In factory setting reversing is set to [digital] in parameter 8-54 Reversing Select.

6.4.2 Status Word According to DS 402 Profile

Follower-master STW

Output freq.

Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 6.5

Bit 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15

Bit value=0

Bit value=1

Not ready to switch ON

Ready to switch ON

Switched OFF

Switched ON

Operation disabled

Operation enabled

No malfunction

Malfunction

Voltage disabled

Voltage enabled

Quick stop

Run

Switch on disable

Switch on enable

No warning

Warning

Reserved

Remote disabled

Remote enabled

Set point not reached

Set point reached

Speed limit not active

Speed limit active

Reserved

Not running

Running

Reserved

Table 6.7

Explanation of the status bits

Bit 00, Not ready to switch on/Ready to switch on Bit 00=”0″ – state less than “Ready to switch on”. Bit 00=”1″ – state at least = “Ready to Switch on”.

Bit 01, Switch off/Switch on Bit 00=”0″ – state less than “Switched on”. Bit 00=”1″ – state at least = “Switched on”.

Bit 02, Operation disable/Operation enable Bit 00=”0″ – state less than “Operation enable”. Bit 00=”1″ – state at least = “Operation enable”.

Bit 03, No fault/trip Bit 03=”0″ – the frequency converter is not in a fault condition. Bit 03=”1″ – the frequency converter has tripped and needs a reset signal to run.

Bit 04, Voltage disable/Voltage enable Bit 04=”0″ – control word bit 01=”1″. Bit 04=”1″ – control word bit 01=”0″.

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Operating Instructions

Bit 05, Quick stop/Run Bit 05=”0″ – control word bit 02=”1″. Bit 05=”1″ – control word bit 02=”0″.
Bit 06, Start enable/Start disable Bit 06=”0″ – state is not “Switch on disable”. Bit 06=”1″ – state = “Switch on enable”.
Bit 07, No warning/Warning Bit 07=”0″ – no warning situation. Bit 07=”1″ – a warning has occurred.
Bit 08, Danfoss reserved:
Bit 09, Remote disable/Remote enable Bit 09=”0″ – the frequency converter has been stopped with the stop key on the LCP, or [Local] has been selected in parameter 3-13 Reference Site. Bit 09=”1″ – it is possible to control the frequency converter via the serial port.
Bit 10, Set point not reached/Set point reached Bit 10=”0″ – the actual motor speed is different from the speed reference set. This situation can occur while the speed is ramped up/down during start/stop. Bit 10=”1″ – the present motor speed equals the speed reference set.

Bit 11, Speed limit not active/speed limit active Bit 11=”0″ – the output frequency is out of the range set in parameters 4-11/4-12 Motor Speed low Limit RPM/Hz or parameters 4-13/4-14 Motor Speed high Limit RPM/Hz. Bit 11=”1″ – the output frequency is within the mentioned range.

Bit 12, DSP 402 reserved

Bit 13, DSP 402 reserved

Bit 14, Running/Not running Bit 14=”0″ – the motor is not running. Bit 14=”1″ – the frequency converter has a valid start signal or that the output frequency is greater than 0 Hz.

Bit 15, Danfoss reserved.

8-10 Control Profile

Option:

[0] *

FC profile

[7]

CANOpen DSP 402

Function:

FC Profile is the default control profile for the frequency converter, whereas CANOpen DSP 402 is the CiA standardized control profile, featuring the special DSP 402 transition state machine.

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Illustration 6.6 DSP 402 State Machine

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Operating Instructions

6.4.3 DSP 402 State Transitions

Transition State

–

Start condition

0

Start-upNot ready to switch on

1

Switch On DisabledSwitch On Disabled

2

Not Ready to Switch OnSwitched On

3

Ready to Switch OnSwitched On

4

Switched OnReady to Switch On

5

Operation EnabledSwitched On

6

Switched OnReady to Switch On

7

Ready to Switch OnSwitch On Disable

8

Operation EnableReady to Switch On

9

Operation EnableSwitch On Disable

Control word 0000 0000 0000, 0001 0006 0007 000F 0007

Status word 0000 0200 0240 0231 0233 0237 0233

0006 0001, 0000 0006

0231 0240 0231

0001, 0000 0240

Action
Motor ramps to 0 RPM with programmed ramp down parameter. If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate. If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.

10

Switched OnSwitched On Disable

0001, 0000 0240

If the motor is not braked, and the power section is switched off immediately, the motor is free to rotate.

11

Operation EnabledQuick Stop Active

0002

0207

Motor ramps to 0 RPM with programmed quick ramp parameter.

11

Operation EnabledQuick Stop Active

0003

0217

Motor ramps to 0 RPM with programmed quick ramp parameter.

12

Quick Stop ActiveSwitch On Disabled

0001, 0000 0240

If the motor is not braked, and the power section is

switched off immediately, the motor is free to rotate.

13

All statesFault Reaction Active

xxxx

023F

–

14

Fault Reaction ActiveFault

xxxx

023F

–

15

FaultSwitch On Disabled

0000

0240

–

16

Quick Stop ActiveOperation Enable (not

–

supported)

Table 6.8 DSP 402 State Transitions

6.5 Danfoss FC Control Profile
6.5.1 Control Word according to FC Profile (CTW)
To select Danfoss FC protocol in the control word, parameter 8-10 Control Word Profile must be set to [0] frequency converter profile. The control word is used to send commands from a master (PLC or PC) to a slave (frequency converter).

Bit

Bit value=0

Bit value=1

00

Reference value

external selection lsb

01

Reference value

external selection msb

02

DC brake

Ramp

03

Coasting

No coasting

04

Quick stop

Ramp

05

Hold output frequency Use ramp

06

Ramp stop

Start

07

No function

Reset

08

No function

Jog

09

Ramp 1

Ramp 2

10

Data invalid

Data valid

11

No function

Relay 01 active

12

No function

Relay 04 active

13

Parameter set-up

selection lsb

14

Parameter set-up

selection msb

15

No function

Reverse

Table 6.9 Bit Values for FC Control Word

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Explanation of the control bits Bits 00/01 Reference value Bits 00 and 01 are used to choose between the four reference values, which are pre-programmed in parameter 3-10 Preset Reference according to Table 6.10.
NOTICE
In parameter 8-56 Preset Reference Select a selection is made to define how Bit 00/01 gates with the corresponding function on the digital inputs.

Bit 01 Bit 00

0

1

0

1

Programmed ref. value 1
2
3
4

Parameter
[0] Parameter 3-10 Preset
Reference [1] Parameter 3-10 Preset Reference [2] Parameter 3-10 Preset Reference [3] Parameter 3-10 Preset Reference

Table 6.10 Programmed Reference Values for Bits

Bit 02, DC brake Bit 02=”0″ – leads to DC braking and stop. Braking current and duration are set in parameter 2-01 DC Brake Current and parameter 2-02 DC Braking Time. Bit 02=”1″ – leads to ramping.
Bit 03, Coasting Bit 03=”0″ – causes the frequency converter to immediately coast the motor to a standstill. Bit 03=”1″ – enables the frequency converter to start the motor if the other starting conditions have been fulfilled.
NOTICE
In parameter 8-50 Coasting Select a selection is made to define how Bit 03 gates with the corresponding function on a digital input.

Bit 04, Quick stop Bit 04=”0″ – causes a quick stop, ramping the motor speed down to stop via parameter 3-81 Quick Stop Ramp Time. Bit 04=”1″ – the frequency converter ramps the motor speed down to stop via parameter 3-81 Quick Stop Ramp Time.
Bit 05, Hold output frequency Bit 05=”0″ – causes the present output frequency (in Hz) to freeze. The frozen output frequency can only be changed with the digital inputs (parameter 5-10 Terminal 18 Digital Input to parameter 5-15 Terminal 33 Digital Input) programmed to Speed up and Speed down. Bit 05=”1″ – use ramp.

NOTICE
If Freeze output is active, stop the frequency converter with
· Bit 03 Coasting stop · Bit 02 DC braking · Digital input (parameter 5-10 Terminal 18 Digital
Input to parameter 5-15 Terminal 33 Digital Input) programmed to DC braking, Coasting stop, or Reset and coasting stop.
Bit 06, Ramp stop/start Bit 06=”0″ – causes a stop, in which the motor speed is ramped down to stop via the selected ramp down parameter. Bit 06=”1″ – permits the frequency converter to start the motor, if the other starting conditions have been fulfilled.
NOTICE
In parameter 8-53 Start Select a selection is made to define how Bit 06 Ramp stop/start gates with the corresponding function on a digital input.
Bit 07, Reset Bit 07=”0″ – does not cause a reset. Bit 07=”1″ – causes the reset of a trip. Reset is activated on the signals leading edge, that is, when changing from logic “0” to logic “1”.
Bit 08, Jog Bit 08=”0″ – no function. Bit 08=”1″ – parameter 3-19 Jog Speed [RPM] determines the output frequency.
Bit 09, Selection of ramp 1/2 Bit 09=”0″ – ramp 1 is active (parameter 3-40 Ramp 1 Type to parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start). Bit 09=”1″ – ramp 2 (parameter 3-50 Ramp 2 Type to parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start) is active.
Bit 10, Data not valid/Data valid Is used to tell the frequency converter whether it should use or ignore the control word. Bit 10=”0″ – the control word is ignored. Bit 10=”1″ – the control word is used. This function is relevant, because the control word is always contained in the telegram, regardless of which type of telegram is used. Thus, it is possible to turn off the control word, if it is not wished to use it when updating or reading parameters.
Bit 11, Relay 01 Bit 11=”0″ – relay 01 not activated. Bit 11=”1″ – relay 01 activated, provided Control word bit 11 has been chosen in parameter 5-40 Function Relay.
Bit 12, Relay 04 Bit 12=”0″ – relay 04 has not been activated.

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Operating Instructions

Bit 12=”1″ – relay 04 has been activated, provided Control word bit 12 has been chosen in parameter 5-40 Function Relay.

Bit 13/14, Selection of set-up Bits 13 and 14 are used to choose from the four menu setups according to Table 6.11:

The function is only possible when [9] Multi-Set-up is selected in parameter 0-10 Active Set-up.

Set-up

Bit 14

Bit 13

1

0

2

0

1

3

1

0

4

1

Table 6.11 Selection of Set-up

NOTICE
In parameter 8-55 Set-up Select a selection is made to define how Bit 13/14 gates with the corresponding function on the digital inputs.

Bit 15 Reverse Bit 15=”0″ – no reversing. Bit 15=”1″ – reversing.
6.5.2 Status Word according to FC Profile (STW)

The status word is used to inform the master (for example, a PC) of the operation mode of the slave (frequency converter).

Refer to for an example of a status word telegram using PPO type 3.

Bit Bit=0

Bit=1

00 Control not ready

Control ready

01 Frequency converter not Frequency converter ready

ready

02 Coasting

Enable

03 No error

Trip

04 No error

Error (no trip)

05 Reserved

–

06 No error

Triplock

07 No warning

Warning

08 Speed reference

Speed=reference

09 Local operation

Bus control

10 Out of frequency limit Frequency limit ok

11 No operation

In operation

12 Frequency converter OK Stopped, autostart

13 Voltage OK

Voltage exceeded

14 Torque OK

Torque exceeded

15 Timer OK

Timer exceeded

Table 6.12 Definition of Status Bits

Explanation of the status bits Bit 00, Control not ready/ready Bit 00=”0″ – the frequency converter has tripped. Bit 00=”1″ – the frequency converter controls are ready, but the power component is not necessarily receiving any power supply (in case of 24 V external supply to controls).
Bit 01, frequency converter ready Bit 01=”0″ – the frequency converter is not ready for operation. Bit 01=”1″ – the frequency converter is ready for operation, but there is an active coasting command via the digital inputs or via serial communication.
Bit 02, Coasting stop Bit 02=”0″ – the frequency converter has released the motor. Bit 02=”1″ – the frequency converter can start the motor when a start command is given.
Bit 03, No error/trip Bit 03=”0″ – the frequency converter is not in fault mode. Bit 03=”1″ – the frequency converter is tripped, and that a reset signal is required to re-establish operation.
Bit 04, No error/error (no trip) Bit 04=”0″ – the frequency converter is not in fault mode. Bit 04=”1″ – there is a frequency converter error but no trip.
Bit 05, Not used Bit 05 is not used in the status word.
Bit 06, No error/triplock Bit 06=”0″ – the frequency converter is not in fault mode. Bit 06=”1″ – the frequency converter is tripped, and locked.
Bit 07, No warning/warning Bit 07=”0″ – there are no warnings. Bit 07=”1″ – a warning has occurred.
Bit 08, Speed reference/speed = reference Bit 08=”0″ – the motor is running, but that the present speed is different from the preset speed reference. It could, for example, be the case while the speed is being ramped up/down during start/stop. Bit 08=”1″ – the present motor present speed matches the preset speed reference.
Bit 09, Local operation/bus control Bit 09=”0″ – [Stop/Reset] is activated on the control unit, or that Local control in parameter 3-13 Reference Site is selected. It is not possible to control the frequency converter via serial communication. Bit 09=”1″ – it is possible to control the frequency converter via the fieldbus/serial communication.
Bit 10, Out of frequency limit Bit 10=”0″ – the output frequency has reached the value in parameter 4-11 Motor Speed Low Limit [RPM] or parameter 4-13 Motor Speed High Limit [RPM]. Bit 10=”1″ – the output frequency is within the defined limits.

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Bit 11, No operation/in operation Bit 11=”0″ – the motor is not running. Bit 11=”1″ – the frequency converter has a start signal or the output frequency is greater than 0 Hz.
Bit 12, frequency converter OK/stopped, auto start Bit 12=”0″ – there is no temporary over temperature on the frequency converter. Bit 12=”1″ – the frequency converter has stopped because of over temperature, but the unit has not tripped and resumes operation once the over temperature stops.
Bit 13, Voltage OK/limit exceeded Bit 13=”0″ – there are no voltage warnings. Bit 13=”1″ – the DC voltage in the frequency converters intermediate circuit is too low or too high.
Bit 14, Torque OK/limit exceeded Bit 14=”0″ – the motor current is lower than the torque limit selected in parameter 4-16 Torque Limit Motor Mode or parameter 4-17 Torque Limit Generator Mode. Bit 14=”1″ – the torque limits in parameter 4-16 Torque Limit Motor Mode and parameter 4-17 Torque Limit Generator Mode have been exceeded.
Bit 15, Timer OK/limit exceeded Bit 15=”0″ – the timers for motor thermal protection and VLT thermal protection, respectively, have not exceeded 100%. Bit 15=”1″ – one of the timers has exceeded 100%.

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Operating Instructions

Communication Profile Area

This chapter describes the general layout of the supported POWERLINK communication area. The process data objects are defined in this area.
7.2 1000-1FFF Communication Object Area
7.2.1 1000 – 1FFF Communication Object Overview

Index (hex) Object (Symbolic Name) Name

Type

1000

VAR

Device type

UNSIGNED32

1001

VAR

Error register

UNSIGNED8

1002

VAR

Manufacturer status register

UNSIGNED32

1003

ARRAY

Pre-defined error field

UNSIGNED32

1008

VAR

Manufacturer device name

VISIBLE_STRING

1009

VAR

Manufacturer hardware version

VISIBLE_STRING

100A

VAR

Manufacturer software version

VISIBLE_STRING

1010

ARRAY

Store parameters

UNSIGNED32

1011

ARRAY

Restore default parameters

UNSIGNED32

1018

RECORD

Identity object

Identity (23h)

1100

VAR

EtherCAT address

UNSIGNED16

1110

ARRAY

Virtual MAC address

UNSIGNED8

1111

ARRAY

Virtual IP address info

UNSIGNED8

1616

ARRAY

Receive PDO parameter

UNSIGNED32

1A16

ARRAY

Transmit PDO parameter

UNSIGNED32

1C00

RECORD

Sync manager type

UNSIGNED8

1C12

RECORD

RxPDO assign

UNSIGNED16

1C13

RECORD

TxPDO assign

UNSIGNED16

2000-5FFF

Vendor specific area

See chapter 7.3.1 2000h-5FFFh Danfoss Specific

Object Area

6040

VAR

Control word

UNSIGNED16

6041

VAR

Status word

UNSIGNED16

6042

VAR

Vl_target_velocity

SIGNED16

6043

VAR

Vl_velocity_demand

SIGNED16

6044

VAR

Vl_actual_value

SIGNED16

6046

ARRAY

Vl_velocity_min_max_amount

UNSIGNED32

6048

RECORD

Vl_velocity_acceleration

See description

6049

RECORD

Vl_velocity_acceleration

See description

604C

ARRAY

Vl dimension factor

UNSIGNED32

6060

VAR

Modes of operation

UNSIGNED8

6061

VAR

Modes of operation display

UNSIGNED8

6502

VAR

Supported frequency converter mode UNSIGNED32

6504

VAR

Frequency converter manufacture VISIBLE_STRING

Read/Write ro ro ro ro constant constant constant rw rw ro ro ro rw rw rw ro rw rw
rw ro rw ro ro ro ro ro rw rw ro ro ro

Table 7.1 Communication Object Overview

7.2.2 1000h Device Type

This object describes the type of device and its functionality. It is composed of a 16-bit field describing the device profile used, and a second 16-bit field providing additional information about optional functionality of the device.

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Additional Information

Device Profile

Number

Mode Bits Type Bits

Bits

31.. 24 23..

16

15..

0

1 (frequency converters, DS402) 402

0

1 (frequency converters,

-1

Danfoss)

Table 7.2 1000h Device Type

Device type will show 0x10192 when DS402 profile is selected in frequency converter, and 0 in case of FC profile.

7.2.3 1001h Error Register

This object is the error register of the device. Only bit 0 is supported. The other information of errors is read with object 603Fh.

Bit

Meaning

0

Generic error

Table 7.3 1001h Error Register

7.2.4 1002h Manufacturer Status Register

The contents of this object are manufacturer specific, and inform of the state of the frequency converter:

Value 1 2 3 4 5

Meaning Init Pre-operational Boot Safe-operational Operational

Table 7.4 1002h Manufacturer Status Register

7.2.5 1003h Predefined Error Field

Holds the error on the frequency converter. Setting index 0 to 0 erases the field. Disabling the diagnosis trigger (FC p807) disables the display of values in this object (that is, they stay at 0).

Index 1003h 0 1003h 1

Meaning Number of stored errors Current error

Table 7.5 1003h Predefined Error Field

The current error consist of two 16 bit word, where the most significant word holds the information if a warning or alarm is set.

Bit0 1, Alarmword 1 has an active Alarm (parameter 16-90 Alarm Word)
Bit1 1, Alarmword 2 has an active Alarm (parameter 16-91 Alarm Word 2)
Bit2 0, Reserved Bit3 1, Warningword 1 has an active Warning (P 16-92) Bit4 1, Warningword 2 has an active Warning (P 16-93) Bit5-15 0, Reserved
Table 7.6
The least significant word reflects the following possible errors:

Code (hex) 0 1000 2130 2213 2240 2310 2311 3100 3130 3210 3220 3300 4210 4310 5110 5112 5210 6100 7110 8100 8302

Meaning No fault General fault Short circuit Overcurr. during startup Short to earth Continuous overcurrent Current inside the device, no. 1 Mains voltage Phase failure Overvoltage inside the device undervoltage inside the device Output voltage Exceed device temperature Excess frequency converter temperature Low voltage power supply +24 V power supply Measurement circuit Internal software fault Brake chopper Communication Torque limiting

Table 7.7

7.2.6 1008h Manufacturer Device Name

This object contains the device name as defined in parameter 15-40 FC Type.
7.2.7 1009h Manufacturer Hardware Version

This object contains the Danfoss FC hardware version.

7.2.8 100Ah Manufacturer Software Version

This object contains the Danfoss software version as displayed in parameter 15-49 SW ID Control Card.

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Operating Instructions

7.2.9 1010h Store Parameters

In the standard configuration, the contents of parameters written via fieldbus are stored in volatile memory, that is, the changed data will be lost after a power cycle. This index permits non-volatile storage of all frequency converter parameters which have been changed.

Index, Sub-Index Meaning

1010h 0

Number sub-index supported

1010h 1

Save option parameters

1010h 2

Save communication option parameters

1010h 3

Reserved

1010h 4

Save edit setup

1010h 5

Save frequency converter parameters/all set-

ups

Table 7.8 1010h Store Parameters

Writing the value “save” (0x65766c173) to sub-index 1 stores all frequency converter parameters of all set-ups into non-volatile memory, all other values are rejected. Subindex 4 does the same for the Edit Set-up. This function is handled via parameter 12-28 Store Data Values.

7.2.10 1011h Restore Default Parameters

To restore factory default settings: 1. Write the value “load” to sub-index 1. 2. Initiate the next power cycle manually. 3. The default value is restored.

Index, sub-index 1011h 0 1011h 1 1011h 2

Meaning Number of sub-index supported Restore all default parameters and restart Restore communication related parameters

Table 7.9 1011h Restore Default Parameters

Writing the value “load” (0x64616F6C) stores all frequency converter parameters of all set-ups into non-volatile memory, all other values are rejected, and errors code 0x08000020 is returned. The frequency converter has to be power cycled before the changes get active. These objects execute an initialisation command in parameter 14-22 Operation Mode.

7.2.11 1018h Identity Object

This object contains general information about the device.

The vendor ID (sub-index 1h) contains a unique value allocated to each manufacturer.

The manufacturer-specific product code (sub-index 2h) identifies a specific device version.
The manufacturer-specific revision number (sub-index 3h) consists of a major revision number and a minor revision number.

Index, sub-index Meaning

1018h 0

Number of entries

1018h 1

Vendor ID

1018h 2

Product code

1018h 3

Revision number (major revision number and

minor revision number)

1018h 4

Serial number

Table 7.10 1018h Identity Object

7.2.12 1100h EtherCAT Address

This object contains the EtherCAT address of the device assigned by the master.

7.2.13 1110h Virtual MAC Address

This object contains the virtual MAC address for the EoE communication.

Index, Sub-Index 1110h 0 1110h 1 1110h 2 1110h 3 1110h 4 1110h 5 1110h 6

Meaning Number sub-index supported Byte 0 of MAC address (LSB) Byte 1 of MAC address Byte 2 of MAC address Byte 3 of MAC address Byte 4 of MAC address Byte 5 of MAC address (MSB)

Table 7.11 1110h Virtual MAC Address

7.2.14 1111h Virtual IP Address Info

This object contains the virtual IP Info objects about IP addresses, gateways, DNS etc.

Index, Sub-Index 1111h 0 1111h 1 1111h 2 1111h 3 1111h 4 1111h 5

Meaning Number sub-index supported IP Address Subnet Mask Default Gateway DNS Server DNS Name

Data Type UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 STRING

Table 7.12 1111h Virtual IP Address Info

For the DNS Name, the maximum string length is 97 characters, where the DNS Name consist of the host name and the DNS name separated by a “.”

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7.2.15 1C00h Sync Manager Type

This object contains a list of all configured sync mangers and their types.

Index, Sub-Index Meaning

1C00h 0

Number of entries

1C00h 1

Sync-Manager Type Channel 1: Mailbox Write

1C00h 2

Sync-Manager Type Channel 2: Mailbox Read

1C00h 3

Sync-Manager Type Channel 3: Process Data

Write (Outputs)

1C00h 4

Sync-Manager Type Channel 4: Process Data

Read (Inputs)

Table 7.13 1C00h Sync Manager Type

7.2.16 1C12h RxPDO Assignment

Sync manager 2 is used for process output data. Multiple RxPDOs can be mapped to this sync manager. Object 1C12h contains the list of all RxPDOs.

Index, Sub-Index 1C00h 0 1C00h 1

Meaning Number of entries RxPDO configurable

Table 7.14 1C12h RxPDO Assignment

7.2.17 1C13h TxPDO Assignment

Sync manager 3 is used for process input data. Multiple RxPDOs can be mapped to this sync manager. Object 1C13h contains the list of all TxPDOs.

Index, Sub-Index 1C00h 0 1C00h 1

Meaning Number of entries RxPDO configurable

Table 7.15 1C13h TxPDO Assignment

7.3 2000-5FFF Danfoss Specific Object Area 7.3.1 2000h-5FFFh Danfoss Specific Object
Area

The area 2000h to 5FFFh holds the indexes for accessing the Danfoss FC parameters. All parameters in the frequency converter are linked to indexes in this area. The first index

available is index 2001h. This index is linked to the frequency converters parameter 1 (language). The rest of the EtherCAT index follows the same rule, where the frequency converters parameter number plus 2000h gives the EtherCAT index. For example, the reading the running hours in parameter 15-01 Running Hours, is calculated by 2000h + parameter number in hex number = 2000h +5DD=index 25DDh. The xml file does only contain a subset of the frequency converters parameters. This subset has the indexes that are required for setting up the PDO communication. If a full list is required, the full list can be readout from the frequency converter. This list allows access to all parameters. This generates the correct information regarding option installed in the B and C slot. Table 7.16 shows a few indexes and their mapping.

Index 2001h 2002h 2003h .. 2078h 2079h .. 24B1h 24B2h

Parameter parameter 0-01 Language parameter 0-02 Motor Speed Unit parameter 0-03 Regional Settings
parameter 1-20 Motor Power [kW] parameter 1-22 Motor Voltage
parameter 12-01 IP Address parameter 12-02 Subnet Mask

Table 7.16 2000h-5FFFh Vendor Specific Object Area

7.4 6000-Device profile Object Area 7.4.1 6000h-9FFFh Standardised Device
Profile Area

The area 6000h to 9FFFh holds the indexes specified by the ETG (ETherCAT user Group) for various device profiles. The Danfoss EtherCAT does support three profiles, FC Profile, MCO and the DS 402 profile, velocity mode. The profile is selected via parameter 8-10 Control Word Profile, Control Word Profile, or via Index 6060h Modes of operation. The profile area has up to 13 indexes depending on the selection made in parameter 8-10 Control Word Profile.

Table 7.17 shows the support of indexes, depending on setting of parameter 8-10 Control Word Profile (Index 6060h)

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Operating Instructions

Index Name

parameter 8-10 Control Word parameter 8-10 Control Word parameter 8-10 Control Word

Profile=FC Profile

Profile=MCO

Profile=DS 402

6040h Control word

–

6041h Status word

–

6042h Vl_target_velocity

–

6043h Vl_velocity_demand

–

6044h Vl_velocity_effort

–

6046h Vl_velocity_min_max_amount

–

6048h Vl_velocity_acceleration

–

6049h Vl_velocity_deceleration

–

604Ch Vl dimension factor

–

6060h Modes of operation

6061h Modes of operation display

6502h Supported frequency converter mode

6504h Frequency converter manufacture

Table 7.17 6000h-9FFFh Standardised Device Profile Area

7.4.2 6040h Control Word
This object contains the control word in accordance with DS 402. The control word consists of 16 bit, these 16 bit are used for controlling the frequency converter (for example, start, stop, reset). The control word is described in chapter 6.4 DS 402 Control Profile.
7.4.3 6041h Status Word
This object contains the Status word in accordance to DS 402. The status word consists of 16 bit. The 16 bits show the state and status of the frequency converter (for example, running, ramping, on speed). The Status word is described in chapter 6.4 DS 402 Control Profile.

parameter 3-03 Maximum Reference. The readout values in parameter 3-02 Minimum Reference and parameter 3-03 Maximum Reference will be truncated.
7.4.8 6048h vl_velocityacceleration
The vl velocity_acceleration index specifies the slope of the acceleration ramp. It is generated as the quotient of the delta_speed and delta_time. The Delta time is stored in parameter 3-41 Ramp 1 Ramp up Time, and the Delta speed is store locally in the options non volatile memory. After a power down the delta speed will be generated from the frequency converter parameter 1-25 Motor Nominal Speed. This can give a different readout from the frequency converter, but the slope value is maintained.

7.4.4 6042h vl_target_velocity
The vl_target_velocity is the required velocity of the system. The velocity is in RPM.
7.4.5 6043h vl_velocity_demand
The vl_velocity_demand is the velocity of the system after the ramp controller. The velocity is in RPM.
7.4.6 6044h vl_actual_value
The vl_actual_value is the velocity at the motor shaft. The velocity is in RPM, and is obtained from parameter 16-17 Speed [RPM].
7.4.7 6046h vl_velocity_min_max_amount

Index, sub-index 1048h 0 1048h 1 1048h 2

Meaning Number of sub-index supported Delta speed Delta time

Table 7.18 6048h vl_velocity_acceleration

7.4.9 6049h vl_velocity_deceleration

The vl_ velocity_deceleration index specifies the slope of the deceleration ramp. It is generated as the quotient of the delta_speed and delta_time. The Delta time is stored in parameter 3-42 Ramp 1 Ramp Down Time, and the Delta speed is stored locally in the options non volatile memory. After a power down, the delta speed is generated from the frequency converter parameter 1-25 Motor Nominal Speed. This can give a different readout from the frequency converter, but the slope value is maintained.

The vl_ velocity_min_max_amount is the minimum and maximum RPM at the motor shaft. The two values are obtained from parameter 3-02 Minimum Reference and

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MCA 124 EtherCAT

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Index, sub-index 1049h 0 1049h 1 1049h 2

Meaning Number of sub-index supported Delta speed Delta time

Table 7.19 6049h vl_velocity_deceleration

7.4.10 604Ch vl_dimension_factor

The vl_dimension_factor configures the numerator and denominator of the factor. The vl_dimension_factor serves to include gearing in calculation or serves to scale specific units of the user. It influences the vl_target_velocity, vl_velocity_indexes.

Index, sub-index 104Ch 0 104Ch 1 104Ch 2

Meaning Number of sub-index supported Numerator Denomerator

Table 7.20 604Ch vl_dimension_factor

7.4.11 6060h Modes of Operation

This index is used for selection the Danfoss FC profile, MCO profile, or the DS 402 profile. The index links directly to parameter 8-10 Control Word Profile. If this value is changed while in operation, the option enters the “Error PREOP” state.

Index, 6060h value -2
-1 2

Meaning
MCO profile (only possible if MCO305 is mounted) FC Profile DS 402 profile

Table 7.21 6060h Modes of Operation

7.4.12 6061h Modes of Operation Display

This index is used to display which mode the frequency converter is in. The mode can be changed via index 6060. The values are the same as used for index 6060.

Index, 6061h value -1

Meaning Default display operation

Table 7.22 6061h Modes of Operation Display

7.4.13 6502h Supported Frequency Converter Mode

This index informs the user of which operating mode the frequency converter is capable of. Bit 1 is set, indicating that the frequency converter can run DS 402 velocity mode, bit 16 FC profile and 17 indicates MCO profile.
7.4.14 6504h Frequency Converter Manufacturer

The data is coded as a string.

Emergency Object This section describes the general layout of the EtherCAT emergency object. The emergency object is used to signal error states in the frequency converters to the master. The frequency converter can be programmed automatically to send the EMCY object if an alarm or warning is activated. The frequency converter resends the EMCY object if one of the alarms or warnings is removed.

Communication Object Overview The EMCY object always consists of 8 bytes data, see Table 7.23:

Byte 0 Byte 1 EMCY code

Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Object Vendor specific information 1001h
See Reser- Reser- Reser- ReserTable 7 ved ved ved ved .27

Table 7.23 Communication Object Overview

This index does readout the name of the drive manufacturer. Data is coded as a string.

Index, sub-index 6504Ch 0

Meaning Manufacturer “DANFOSS DRIVES”

Table 7.24 6504h Drive Manufacturer (read only)

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Operating Instructions

Code (hex) 0 1000 2130 2213 2240 2310 2311 3100 3130 3210 3220 3300 4210 4310 5110 5112 5210 6100 7110 8100 8302

Meaning No fault General fault Short Circuit Overcurr. during startup Short to earth Continuous overcurrent Current inside the device, No. 1 Mains voltage Phase failure Overvoltage inside the device Undervoltage inside the device Output voltage Exceed device temperature Excess frequency converter temperature Low voltage power supply +24 V Power supply Measurement circuit Internal software fault Brake chopper Communication Torque limiting

Table 7.25 Byte 0 and 1

0

No errors

1

Error active

Table 7.26 Byte 2

Bit0 1, Alarmword 1 has an active Alarm (parameter 16-90 Alarm Word)
Bit1 1, Alarmword 2 has an active Alarm (parameter 16-91 Alarm Word 2)
Bit2 0, Reserved Bit3 1, Warningword 1 has an active Warning (P 16-92) Bit4 1, Warningword 2 has an active Warning (P 16-93) Bit5-15 0, Reserved
Table 7.27 Byte 3

Reserved Table 7.28 Byte 4 to byte 7

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Parameters

MCA 124 EtherCAT

Parameters

88

8.1 Parameter Group 0-** Operation/Display

0-37 Display Text 1

Range: 0 * [0 –
0 ]

Function:
In this parameter, it is possible to write an individual text string to be shown in the LCP or to be read via serial communication.

To show the text permanently, select [37] Display Text 1 in 1 of the following parameters:
· Parameter 0-20 Display Line 1.1 Small. · Parameter 0-21 Display Line 1.2 Small. · Parameter 0-22 Display Line 1.3 Small. · Parameter 0-23 Display Line 2 Large. · Parameter 0-24 Display Line 3 Large. · Parameter 0-37 Display Text

Changing parameter 12-08 Host Name changes parameter 0-37 Display Text 1 – but not vice versa.

8.2 Parameter Group 8-** Communication and Option

8-01 Control Site

Option:

Function:

The setting in this parameter overrides the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select.

[0] Digital and ctrl.word
[1] Digital only

Use both digital input and control word. Use digital inputs only.

[2] Controlword only

Use control word only.

8-03 Control Word Timeout Time

Range:

Function:

1.0 s* [ 0.1 18000.0 s]

Enter the maximum time expected to pass between the reception of 2 consecutive telegrams. If this time is exceeded, it indicates that the telegram communication has stopped. The function selected in
parameter 8-04 Control Word Timeout Function is then carried out. A valid control word triggers the timeout counter.

8-04 Control Word Timeout Function

Select the timeout function. The timeout function activates when the control word fails to be updated within the time period specified in parameter 8-03 Control Word Timeout Time.

Option:

Function:
NOTICE
To change the set-up after a timeout, configure as follows:

1. Set parameter 0-10 Active Setup to [9] Multi set-up.

2. Select the relevant link in parameter 0-12 This Set-up Linked to.

[0] Off

Resumes control via fieldbus (fieldbus or standard), using the most recent control word.

[1] Freeze output

Freezes output frequency until communication resumes.

[2] Stop

Stops with auto restart when communication resumes.

[3] Jogging

Runs the motor at jog frequency until communication resumes.

[4] Max. speed Runs the motor at maximum frequency until communication resumes. [5] Stop and trip

Stops the motor, then resets the frequency converter to restart:
· Via the fieldbus. · Via [Reset]. · Via a digital input.

[7] Select setup 1

Changes the set-up after a control word timeout. If communication resumes after a timeout, parameter 8-05 End-of-Timeout Function either resumes the set-up used before the timeout, or retains the set-up endorsed by the timeout function.

[8] Select setup 2
[9] Select setup 3
[10] Select setup 4
[26] Trip

See [7] Select set-up 1. See [7] Select set-up 1. See [7] Select set-up 1.

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Operating Instructions

8-05 End-of-Timeout Function

Option:

Function: Select the action after receiving a valid control word following a timeout.

This parameter is active only when parameter 8-04 Control Timeout Function is set to:
· [7] Set-up 1. · [8] Set-up 2. · [9] Set-up 3. · [10] Set-up 4.

[0] Hold setup

Retains the set-up selected in parameter 8-04 Control Timeout Function and shows a warning until parameter 8-06 Reset Control Timeout toggles. Then the frequency converter resumes its original set-up.

[1] Resume set-up

Resumes the set-up that was active before the timeout.

8-06 Reset Control Word Timeout This parameter is active only when [0] Hold set-up has been selected in parameter 8-05 End-of-Timeout Function.

Option:

Function:

[0] Do not reset Retains the set-up specified in parameter 8-04 Control Word Timeout Function, following a control word timeout. [1] Do reset

Restores the frequency converter to the original set-up following a control word timeout. The frequency converter performs the reset and then immediately reverts to the [0] Do not reset setting.

8-07 Diagnosis Trigger

This parameter enables and controls the frequency converter diagnosis/Emergency function. In Profibus, it expands the diagnosis data to 24 byte. In EtherCAT, it activates the transmission of the Emergency object. In POWERLINK, it enables the Error signaling. The Emergency/Error signaling object consists of 8 byte of data, where byte 3 indicates an active alarm or warning. Bit 0=1 Alarmword 1 has an active Alarm. Bit 1=1 Alarmword 2 has an active Alarm. Bit 2, reserved, Bit 3=1 Warningword 1 has an active warning. Bit 4=1 Warningword 2 has an active warning. Bits 5-7, reserved.

Option:

Function:

[0]

Disable

[1]

Trigger on alarms

[2]

Trigger alarm/warn.

NOTICE
The following is only valid for Profibus and EtherCAT.

– [0] Disable: Do not send extended diagnosis/ emergency data even if they appear in the frequency converter.
– [1] Trigger on alarms: Send extended diagnosis/ emergency data when one or more alarms appear in alarm parameter 16-90 Alarm Word or parameter 9-53 Profibus Warning Word.
– [2] Trigger alarms/warn.: Send extended diagnosis/ emergency data if one or more alarms or warnings appear in alarm parameter 16-90 Alarm Word, parameter 9-53 Profibus Warning Word, or warning parameter 16-92 Warning Word.
Enabling diagnosis can cause increased bus traffic. Not all fieldbus types support Diagnosis functions.

8-08 Readout Filtering

If the speed feedback value readouts on fieldbus are fluctuating, this function is used. Select filtered, if the function is required. A power cycle is required for changes to take effect.

Option:

Function:

[0] Motor Data Std-Filt.
[1] Motor Data LP-Filter

Normal fieldbus readouts.
Filtered fieldbus readouts of the following parameters:
· Parameter 16-10 Power [kW].

· Parameter 16-11 Power [hp].

· Parameter 16-12 Motor Voltage.

· Parameter 16-14 Motor Current.

· Parameter 16-16 Torque [Nm].

· Parameter 16-17 Speed [RPM].

· Parameter 16-22 Torque [%].

· Parameter 16-25 Torque [Nm] High.

8-10 Control Word Profile

Select the interpretation of the control and status words corresponding to the installed fieldbus. Only the selections valid for the fieldbus installed in slot A are visible in the LCP display. If the parameter is changed while the frequency converter is in operation mode, the frequency converter goes to error state, and the control of the frequency converter is lost. This parameter should not be changed while the motor is running, since it can lead to a unknown state of the profile.

Option:

Function:

[0] *

FC Profile

[7]

CANopen DSP 402

8-13 Configurable Status Word STW Array [16]

Option:

Function: This parameter enables configuration of bits 1215 in the status word.

[0] No function

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MCA 124 EtherCAT

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8-13 Configurable Status Word STW Array [16]

Option: [1] Profile
Default

Function:
The function corresponds to the profile default selected in parameter 8-10 Control Profile.

[2] Alarm 68 Only
[3] Trip excl Alarm 68

Only set if alarm 68, Safe Torque Off occurs.
Set if a trip occurs, except if alarm 68, Safe Torque Off executes the trip.

[16] T37 DI status

The bit indicates the status of terminal 37. 0 indicates that T37 is low (Safe Torque Off). 1 indicates that T37 is high (normal).

8-14 Configurable Control Word CTW Array [15]

Option:

Function: This parameter is not valid in software versions before 4.93.

[0] None

The frequency converter ignores the information in this bit.

[1] Profile default

The functionality of the bit is depending on the selection parameter 8-10 Control Word Profile.

[2] CTW Valid, active low
[3] Safe Option Reset

If set to 1, the frequency converter ignores the remaining bits of the control word.
This function is only available in bits 1215 of the control word, if a safety option is mounted in the frequency converter. The reset is executed on a 01 transition, and resets the safety option as set in parameter 42-24 Restart Behaviour.

[4] PID error inverse

Inverts the resulting error from the process PID controller. Available only if parameter 1-00 Configuration Mode is set to [6] Surface Winder, [7] Extended PID Speed OL, or [8] Extended PID Speed CL.

[5] PID reset I part

Resets the I-part of the process PID controller. Equivalent to parameter 7-40 Process PID I-part Reset. Available only if parameter 1-00 Configuration Mode is set to [6] Surface Winder, [7] Extended PID Speed OL, or [8] Extended PID Speed CL.

[6] PID enable

Enables the extended process PID controller. Equivalent to parameter 7-50 Process PID Extended PID. Available only if parameter 1-00 Configuration Mode is set to [6] Surface Winder, [7] Extended PID Speed OL, or [8] Extended PID Speed CL.

8-50 Coasting Select

Option:

Function:

Select the trigger for the coasting function.

8-50 Coasting Select

Option: [0] Digital
input [1] Bus

Function: A digital input triggers the coasting function.
A serial communication port or the fieldbus triggers the coasting function.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the coasting function. [3] Logic OR

The fieldbus/serial communication port or a digital input triggers the coasting function.

8-51 Quick Stop Select

Select the trigger for the quick stop function.

Option:

Function:

[0]

Digital input

[1]

Bus

[2]

Logic AND

[3]

Logic OR

8-52 DC Brake Select

Option:

Function:

Select control of the DC brake via the terminals (digital input) and/or via the fieldbus.

NOTICE

When parameter 1-10 Motor Construction is set to [1] PM non-salient SPM, only selection [0] Digital input is available.

[0] Digital input
[1] Bus

Activate a start command via a digital input.
Activate a start command via the serial communication port or fieldbus option.

[2] Logic AND

Activate a start command via the fieldbus/serial communication port, and also via 1 of the digital inputs.

[3] Logic OR Activate a start command via the fieldbus/serial communication port, or via 1 of the digital inputs.

8-53 Start Select

Option:

Function: Select the trigger for the start function.

[0] Digital input
[1] Bus

A digital input triggers the start function.
A serial communication port or the fieldbus triggers the start function.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the start function. [3] Logic OR

The fieldbus/serial communication port or a digital input triggers the start function.

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Parameters

Operating Instructions

8-54 Reversing Select

Option:

Function: Select the trigger for the reversing function.

[0] Digital input
[1] Bus

A digital input triggers the reversing function.
A serial communication port or the fieldbus triggers the reversing function.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the reversing function. [3] Logic OR

The fieldbus/serial communication port or a digital input triggers the reversing function.

8-55 Set-up Select

Option:

Function:

Select the trigger for the set-up selection.

[0] Digital input
[1] Bus

A digital input triggers the set-up selection.
A serial communication port or the fieldbus triggers the set-up selection.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the set-up selection. [3] Logic OR

The fieldbus/serial communication port or a digital input triggers the set-up selection.

8-90 Bus Jog 1 Speed
Range: 100 RPM* [ 0 – par. 4-13
RPM]

Function:
Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option.

8-91 Bus Jog 2 Speed
Range: 200 RPM* [ 0 – par. 4-13
RPM]

Function:
Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option.

8.3 Parameter Group 12-** Ethernet

8.3.1 12-0* IP Settings

12-00 IP Address Assignment

Option:

Function:

Selects the IP Address assignment method.

[0] MANUAL IP-address can be set in parameter 12-01 IP Address IP Address. [1] DHCP IP-address is assigned via DHCP server. [2] BOOTP IP-address is assigned via BOOTP server. [10] DCP

DCP Assigned via the DCP protocol.

12-01 IP Address

Range:

Function:

0 * [0 2147483647 ]

Configure the IP address of the option. Read-only, if parameter 12-00 IP Address Assignment is set to DHCP or BOOTP. In POWERLINK, the IP address follows the parameter 12-60 Node ID last byte and the first part is fixed to 192.168.100 (node ID).

12-02 Subnet Mask

Range:

Function:

0 * [0 4244635647 ]

Configure the IP subnet mask of the option. Read-only, if parameter 12-00 IP Address Assignment is set to DHCP or BOOTP. In POWERLINK, it is fixed to 255.255.255.0.

12-03 Default Gateway

Range:

Function:

0 * [0 2147483647 ]

Configure the IP default gateway of the option. Read-only, if parameter 12-00 IP Address Assignment is set to DHCP or BOOTP. In a non-routed network, this address is set to the IP address of the IO Device.

12-04 DHCP Server

Range:

Function:

0 * [0 – 2147483647 ] Read-only. Show the IP address of the found DHCP or BOOTP server.

12-05 Lease Expires

Range:

Function:

Size related* [ 0 – 0 ] Read-only. Show the lease time left for the current DHCP-assigned IP address.

12-06 Name Servers

Range:

Function:

0 * [0 – 2147483647 ] IP addresses of domain name servers. Can be automatically assigned when using DHCP.

12-07 Domain Name

Range:

Function:

0 [0 – 2147483647 ] Domain name of the attached network. Can be automatically assigned when using DHCP network.

12-08 Host Name

Range:

Function:

0 * [0 – 2147483647 ] Logical (given) name of option.

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88

12-08 Host Name Range:

Function:
NOTICE
The display of the frequency converter only shows the first 19 characters, but the remaining characters are stored in the frequency converter. If hardware switches are different from all ON or all OFF, the switches have priority.

12-09 Physical Address

Range:

Function:

0 * [0 – 0 ] Read-only. Show the physical (MAC) address of the option.

8.3.2 12-1 Ethernet Link Parameters 8.3.3 12-1 Ethernet Link Parameters

Applies for the whole parameter group.

Index [0] is used for port 1, and index [1] is used for port 2. For EtherCAT, index [0] is for the in-port and index [1] is for the out-port.
12-10 Link Status Option: Function:
Read-only. Show the link status of the Ethernet ports.
[0] No Link [1] Link

12-11 Link Duration

Range:

Function:

Size related* [ 0 – 0 ] Read-only. Show the duration of the present link on each port in dd:hh:mm:ss.

12-12 Auto Negotiation Option: Function:
Configures Auto Negotiation of Ethernet link parameters, for each port: ON or OFF.
[0] Off Link Speed and Link Duplex can be configured in parameter 12-13 Link Speed and parameter 12-14 Link Duplex.
[1] On

NOTICE
It is recommended to set parameter 12-12 Auto Negotiation to [0] Off for the EtherCAT option and for the connected port. This setting ensures that the connected ports are set to an optimized Link Speed with Link Duplex setting. If only one of the ports in a link is set to Auto Negotiation ON, the ports can switch to half duplex, which results in poor network performance. Most switches today have Auto negotiation set, but it can then take longer to establish a connection. In POWERLINK this parameter is locked to OFF position.

12-13 Link Speed

Option:

Function:

Force the link speed for each port in 10 Mbps or 100 Mbps. If parameter 12-12 Auto Negotiation is set to [1] On, this parameter is read-only and shows the actual link speed. If no link is present, None is shown.

[0] None [1] 10 Mbps [2] 100
Mbps

NOTICE
In POWERLINK, this parameter is locked to 100 Mbs.

12-14 Link Duplex

Option:

Function:

NOTICE

In POWERLINK, this parameter is locked to half duplex.

Force the duplex for each port to full or half duplex. If parameter 12-12 Auto Negotiation is set to [1] On, this parameter is read-only.
[0] Half Duplex [1] Full Duplex

8.3.4 12-2* Process Data

12-20 Control Instance

Range:

Function:

[None, 20, 21, 23, 100, 101, 103]

Read-only. Displays the connection to the master. In Ethernet/IP: If no CIP connection is present, None is displayed. In EtherCAT: If no connection is active None is displayed, else it displays the active PDO. In POWERLINK: If no connection is active None is displayed, else it displays the active PDO (23).

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Parameters

Operating Instructions

12-21 Process Data Config Write

Range:

Function:

[[0 – 9] PCD read 0 – 9]

Configuration of readable process data. In POWERLINK, this parameter is read- only. The same applies for:

· parameter 12-22EN-22 Process Data Config
Read

· parameter 12-23 Process Data Config Write
Size

· parameter 12-24 Process Data Config Read
Size

12-22 Process Data Config Read

Range:

Function:

[[0 – 9] PCD read 0 – 9] Configuration of readable process data.

12-23 Process Data Config Write Size

Range:

Function:

16 * [8 – 32 ] Sets the number of bits being sent from the frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least significant bit of the signal is transferred from the frequency converter.

12-24 Process Data Config Read Size

Range:

Function:

16 * [8 – 32 ] Sets the number of bits being sent to the frequency converter as process data. The setting counts from right (LSB). The value 1 means that only the least significant bit of the signal is transferred to the frequency converter. The preceding bits are set to zero.

12-28 Store Data Values

Option:

[0]

Off

[1]

Store all setups

[2]

Store all setups

Function:

12-29 Store Always
Option: Function: Activates function that always stores received parameter data in non-volatile memory (EEPROM).
[0] * Off [1] On

8.3.5 12-5* EtherCAT

12-50 Configured Station Alias

Range:

Function:

0 * [0 65535 ]

This parameter shows the configured EtherCAT station alias for the frequency converter.

12-50 Configured Station Alias

Range:

Function:
Changes are first active after a power cycle. If the DIP switches all are set to ON or all to OFF, the display setting has priority over the DIP switch. Else the DIP switch settings has priority over the parameter. In this case the parameter will reflect the setting of the DIP switches. Changes to the DIP switch setting, will first be active after a power up.

12-51 Configured Station Address

Range:

Function:

0 * [0 – 65535 ] This parameter shows the configured station address. The parameter can only be set by the master at power up.

12-59 EtherCAT Status

Range:

Function:

0 [0 –

This parameter contains status information

4294967295 ] on the EtherCAT interface. Each of the 32

bits are linked to a status information of the

EtherCAT interface.

· Bit 0-7 contains info from ESC
register 0x0130 (AL Status)

· Bit 8-15 is reserved for future use

· Bit 16-27 contains info from ESC
register 0x0110 and 0x0111 (DL
status)

· Bit 28-31 is reserved for future use

Bit

0

1

Meaning

0

Init State EtherCAT

Statemachine

state

1

Pre-OP EtherCAT

Statemachine

state

2

Safe-OP EtherCAT

Statemachine

state

3

Operation EtherCAT

al

Statemachine

state

4

Reserved

5

Reserved

6

Reserved

7

Reserved

8

Reserved

9

Reserved

10

Reserved

11

Reserved

12

Reserved

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MCA 124 EtherCAT

88

12-59 EtherCAT Status

Range:

Function:

Bit

0

1

Meaning

13

Reserved

14

Reserved

15

Reserved

16 EEPROM EEPROM PDI

not

loaded Operational

loaded, correctly,

PDI not PDI

operation operation

al

17 Watchdog Watchdog PDI Watchdog

expired reloaded Status

18 Deactivate Activated Enhanced link

d for all for all

detection

ports

19

Reserved

20 No link Link

Physical link

detected on Port 0

21 No link Link

Physical link

detected on Port 1

22

Reserved

23

Reserved

24 Open

Closed Loop port 0

25 No stable Communi- Communi-

communi- cation

cation on port

cation establishe 0

d

26 Open

Closed Loop port 1

27 No stable Communi- Communi-

communi- cation

cation on port

cation establishe 1

d

28

Reserved

29

Reserved

30

Reserved

31

Reserved

Table 8.1 Bit Interpretation

8.3.6 12-8* Other Ethernet Services

12-80 FTP Server

Option:

Function:

[0] Disabled

Disable the built-in FTP server.

[1] Enabled

Enable the built-in FTP server.

12-81 HTTP Server

Option:

Function:

[0] Disabled Disable the built-in HTTP (web) server. [1] Enabled Enable the built-in HTTP (web) server.

12-82 SMTP Service

Option:

Function:

[0] Disabled Disable the SMTP (e-mail) service on the option. [1] Enabled Enable the SMTP (e-mail) service on the option.

12-89 Transparent Socket Channel Port

Range:

Function:

Size related*

[0 0. ]

Configure the TCP port number for the transparent socket channel. This configuration enables FC telegrams to be sent transparently on Ethernet via TCP. Default value is 4000, 0 means disabled. The MCT 10 Set-up Software uses this port.

8.3.7 12-9* Advanced Ethernet Settings

12-90 Cable Diagnostic
Option: Function:
NOTICE
The cable diagnostics function is only issued on ports where there is no link (see parameter 12-10 Link Status, Link Status).

Enable/disable advanced cable diagnosis function. If enabled, the distance to cable errors can be read out in parameter 12-93 Cable Error Length. The parameter resumes to the default setting of disable after the diagnostics have finished.
[0] Disabled Disable the cable diagnostic function.
[1] Enabled Enable the cable diagnostic function.

12-91 Auto Cross Over

Option:

Function:

[0] Disabled Disable the auto-crossover function. [1] Enabled Enable the auto- crossover function.

12-93 Cable Error Length

Range:

Function:

0 * [0 65535 ]

If cable diagnostics is enabled in parameter 12-90 Cable Diagnostic, the built-in switch is possible via time domain reflectometry (TDR). This measurement technique detects common cabling problems such as open circuits, short circuits, and impedance mismatches, or breaks in transmission cables. The distance from the option to the error is shown in meters with an accuracy of ±2 m (6.56 ft). The value 0 means that no errors are detected.

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Parameters

Operating Instructions

8.4 EtherCAT-specific Parameter List

Parameter

Default value

Parameter 8-01 Control Site

[0] Dig. & ctrl. word

Parameter 8-02 Control Word Source [0] FC RS485

Parameter 8-03 Control Word Timeout

Time

1

Parameter 8-04 Control Word Timeout

Function

[0] Off

Parameter 8-05 End-of-Timeout Function [0] Hold set-up

Parameter 8-06 Reset Control Word

Timeout

[0] Do not reset

Parameter 8-07 Diagnosis Trigger

[0] Disable

Parameter 8-10 Control Word Profile

[0] FC profile

Parameter 8-13 Configurable Status

Word STW

Parameter 8-50 Coasting Select

[3] *Logic OR

Parameter 8-51 Quick Stop Select

[3] *Logic OR

Parameter 8-52 DC Brake Select

[3] *Logic OR

Parameter 8-53 Start Select

[3] *Logic OR

Parameter 8-54 Reversing Select

[3] *Logic OR

Parameter 8-55 Set-up Select

[3] *Logic OR

Parameter 8-56 Preset Reference Select [3] *Logic OR

Parameter 8-90 Bus Jog 1 Speed

100 rpm

Parameter 8-91 Bus Jog 2 Speed

200 rpm

parameter 12-00 IP Address Assignment 0.0.0.0

parameter 12-01 IP Address

0.0.0.0

parameter 12-02 Subnet Mask

0.0.0.0

parameter 12-03 Default Gateway

0.0.0.0

parameter 12-04 DHCP Server

0.0.0.0

parameter 12-05 Lease Expires

0

parameter 12-06 Name Servers

0.0.0.0

parameter 12-07 Domain Name

parameter 12-08 Host Name

Parameter 12-09 Physical Address

00:1B:08:00:00:00

Parameter 12-10 Link Status

[0] No Link

Parameter 12-11 Link Duration Parameter 12-12 Auto Negotiation Parameter 12-13 Link Speed Parameter 12-14 Link Duplex parameter 12-20 Control Instance parameter 12-21 Process Data Config Write parameter 12-22EN-22 Process Data Config Read parameter 12-23 Process Data Config Write Size parameter 12-24 Process Data Config Read Size parameter 12-28 Store Data Values parameter 12-29 Store Always

00:00:00:00 [1] On [0] None [1] Full Duplex Application Dependent
Application Dependent
16
16
0
[0] Off

Range
[0-2] [0-4] 0.1-18000
[0-10] [0-1] [0-1] [0-3] [0-x] [0-3] [0-3] [0-3] [0-3] [0-3] [0-3] [0-3] 0-parameter 4-13 Motor Speed High Limit [RPM] 0-parameter 4-13 Motor Speed High Limit [RPM] [0-1] [0-1] [0-2] [0-1] 0-255
1-32
1-32
0-4294967295

Conversion index –
-1
–
–
–
67
67 –
–

Data type
Uint8 Uint8
Uint32
Uint8 Uint8
Uint8 Uint8 Uint8

Uint8 Uint8 Uint8 Uint8 Uint8 Uint8 Uint8
Uint16
Uint16 Unsigned 8 Unsigned 32 Unsigned 32 Unsigned 32 Unsigned 32 Unsigned 32 Unsigned 32 String String Visible string 17 Unsigned 8 Time diff. w/ date Unsigned 8 Unsigned 8 Unsigned 8[

88

MG92A302

39

Parameters

MCA 124 EtherCAT

88

Parameter

Default value

Range

parameter 12-50 Configured Station Alias parameter 12-51 Configured Station Address parameter 12-59 EtherCAT Status Parameter 12-80 FTP Server Parameter 12-81 HTTP Server Parameter 12-82 SMTP Service Parameter 12-89 Transparent Socket Channel Port Parameter 12-90 Cable Diagnostic Parameter 12-91 Auto Cross Over Parameter 12-93 Cable Error Length Parameter 12-98 Interface Counters Parameter 12-99 Media Counters Parameter 16-84 Comm. Option STW Parameter 16-90 Alarm Word Parameter 16-92 Warning Word

0
0 0 [0] Disable [0] Disable [0] Disable
[0] Disable [0] Disable [0] Enable 0 0 0 0 0 0

–
[01] [01] [01] [01] [0-1] [0-1] 0-200 0-65535 0-65535 0-FFFF 0-FFFF 0-FFFF

Table 8.2 Refer to the relevant Operating Instructions for a comprehensive parameter list.

Conversion index
–
–
0 0 0 0

Data type
Unsigned 16
Unsigned 16 Unsigned 32 Unsigned 8 Unsigned 8 Unsigned 8
Unsigned 8 Unsigned 8 Unsigned 8 Unsigned 16 Unsigned 16 Unsigned 16 V2 Uint32 Uint32

40

MG92A302

Parameters

Operating Instructions

88

MG92A302

41

Application Examples

MCA 124 EtherCAT

Application Examples

99

9.1 Example: Process Data with PDO 23
This example shows how to work with PDO 23, which consists of Control Word/Status Word and Reference/Main Actual Value. In the example the drive is set to FC profile in Parameter 8-10 Control Word Profile. The PDO contains up

to ten objects, which can be programmed to monitor process signals:

From controller
From frequency converter

0

CTW

04

7C

STW

07

0F

1

MRV

20

00

MAV

00

20

Byte # Table 9.1

1

2

3

4

The application requires monitoring of the motor torque and digital input, so PCD 2 is set up to read the current motor torque. PCD 3 is set up to monitor the state of an external sensor via the process signal digital input. The sensor is connected to digital input 18.

PCD 00

2 PCD[2] 00 PCD[2]

3F

A6

5

6

3

PCD

00

PCD[3]

00

08

7

8

An external device is also controlled via control word bit 11 and the built-in relay of the frequency converter. Reversing is permitted only when the reversing bit 15 in the control word and the digital input 19 are set to high.

For safety reasons, the frequency converter stops the motor if the EtherCAT cable is broken, the master has a system failure, or the PLC is in stop mode.

130BC190.11

Recieve PDO’s (PLC Drive)

PCD 0
CTW

PCD 1
REF

Transmit PDO’s (Drive PLC)

PCD 0
STW

PCD 1
MAV

PCD 2
Torque [Nm]

PCD 3
Digital Inputs

Illustration 9.1

12 18 20
13 19 20
Relay 04-05

+ Sensor

Reversing –
Ext. Device

230Vac

42

MG92A302

Application Examples

Operating Instructions

Program the frequency converter as follows:
Parameter Parameter 4-10 Motor Speed Direction Parameter 5-10 Terminal 18 Digital Input Parameter 5-11 Terminal 19 Digital Input Parameter 5-40 Function Relay Parameter 8-03 Control Word Timeout Time Parameter 8-04 Control Word Timeout Function Parameter 8-10 Control Word Profile Parameter 8-50 Coasting Select Parameter 8-51 Quick Stop Select Parameter 8-52 DC Brake Select Parameter 8-53 Start Select Parameter 8-54 Reversing Select Parameter 8-55 Set-up Select Parameter 8-56 Preset Reference Select parameter 12-21 Process Data Config Write
Parameter 12-22 Process Data Config Read
parameter 12-23 Process Data Config Write Size
parameter 12-24 Process Data Config Read Size
Table 9.2

Setting [2] Both directions [0] No operation [10] Reversing [36/37] Control word bit 11/12 1 s [2] Stop [0] FC Profile [1] Bus [1] Bus [1] Bus [1] Bus [2] Logic AND [1] Bus [1] Bus [0] Sub index parameter 16-80 Fieldbus CTW 1 [1] Sub index parameter 16-85 FC Port CTW 1 [0] Sub index parameter 16-03 Status Word [1] Sub index parameter 16-05 Main Actual Value [%] [2] Sub index parameter 16-16 Torque [Nm] [3] Sub indes parameter 16-60 Digital Input [0] Sub index 16 [1] Sub index 16 [0] Sub index 16 [1] Sub index 16 [2] Sub index 16 [3] Sub index 16

99

MG92A302

43

Application Examples

MCA 124 EtherCAT

99

9.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value
This example shows how the control word telegram relates to the controller and the frequency converter, using FC Control Profile.

The control word telegram is sent from the PLC to the frequency converter. Standard Telegram 1 is used in the example to demonstrate the full range of modules. All the values shown are arbitrary, and are provided for demonstration purposes only.

PQW:

0 CTW 04 7C

PCD

1

2

MRV

PCD

20 00

256

258

260

CTW

MRV

3 PCD
262

Bit no.:

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0000 0 100011111000010000000000000

0

4

7

C

2

0

Table 9.3 Standard Telegram 1 Example

Table 9.3 indicates the bits contained within the control word, and how they are presented as process data in Standard Telegram 1 for this example.

Table 9.4 indicates which bit functions, and which corresponding bit values are active for this example.

Bit

Bit value=0

Bit value=1

Bit value

00

Reference value

External selection lsb

0

01

Reference value

External selection msb

0

02

DC brake

Ramp

1

C

03

Coasting

Enable

1

04

Quick stop

Ramp

1

05

Freeze output

06

Ramp stop

Ramp enable Start

1

7

07

No function

Reset

0

08

No function

Jog

0

09

Ramp 1

10

Data not valid

Ramp 2 Valid

0

1

4

11

No function

Relay 01 active

0

12

No function

Relay 02 active

0

13

Parameter set-up

14

Parameter set-up

Selection lsb Selection msb

0

15

No function

Reversing

0

Function active

Function inactive Table 9.4 Bit Functions

44

MG92A302

Application Examples

Operating Instructions

99

MG92A302

45

Troubleshooting

MCA 124 EtherCAT

Troubleshooting

10.1.1 LED Status

Illustration 10.1 LED Status

10 10

Power OFF or State INIT Initialisation/Bootstrap PRE-OP State SAFE-OP State OP State ERR-Init State Process Data Watchdog timeout Green Red Table 10.1 Indication of Status LED Power OFF or NO Link Link Link Active

Green Red Table 10.2 Link/Act LED

10.1.2 No Communication with the Frequency Converter
If there is no communication with the frequency converter, proceed with the following checks:
Check 1: Is the cabling correct? Check that the cable is mounted correctly. Check if the corresponding Network LED shows link activity. Link/Act
Check 2: Does the hardware configuration match? Check that the Station Alias in the master matches the value in parameter 12-50 Configured Station Alias
Check 3: Is the correct XML file installed? Download the correct XML file from http://www.danfoss.com/BusinessAreas/DrivesSolutions/ EtherCAT/EtherCAT+files.htm. Check that the process data matches the active profile in the drive.
Check 4: What is the value of parameter 12-59? The parameter 12-59 EtherCAT Status does contain 32 bits, which each is linked to internal information. The different bits will give a good overview over possible errors.

46

MG92A302

Troubleshooting

Operating Instructions

Illustration 10.2

Parameter 15-61 Option SW Version

XML File

1.x

Danfoss_FC_series_ECAT_00

1.XML

1.x or 2.x

Danfoss_FC_series_ECAT_00

20.XML

Table 10.3

If the master is in stop mode, Warning 34 appears. Check that the master is in run mode. If the frequency converter is not in operational state, Warning 34 will appear (60 s after power up or immediately if the frequency converter has been in operational state).
Check 1: Is the control word valid? If bit 10 = 0 in the control word, the frequency converter does not accept the control word.
Check 2: Is the relationship between bits in the control word and the terminal I/Os correct? Check the logical relationship in the frequency converter.
Define the desired logical relationship in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select according to the following range of options. Select the FC control mode, digital input and/or serial communication, using parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select.
If parameter 8-01 Control Site is set to digital only, the frequency converter does not react on commands sent via the control word.

130BT797.11

Table 10.4 to Table 10.11 show a coast command’s effect upon the frequency converter for the full range of parameter 8-50 Coasting Select settings.
The effect of control mode upon the function of parameter 8-50 Coasting Select, parameter 8-51 Quick Stop Select, and parameter 8-52 DC Brake Select is as follows:
If [0] Digital input is selected, the terminals control the coast and DC brake functions.
NOTICE
Coasting, quick stop, and DC brake functions are active for logic 0.

Terminal 0 0 1 1

Bits 02/03/04 0 1 0 1

Function Coast/DC brake/Q-Stop Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop

Table 10.4 [0] Digital Input

If [1] Serial communication is selected, commands are activated only when given via serial communication.

Terminal 0 0 1 1

Bits 02/03/04 0 1 0 1

Function Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop

Table 10.5 [1] Serial Communication

If [2] Logic AND is selected, both signals must be activated to perform the function.

10 10

Terminal 0 0 1 1

Bits 02/03/04 0 1 0 1

Function Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop

Table 10.6 [2] Logic AND

If [3] Logic OR is selected, activation of one signal activates the function.

Terminal 0 0 1 1

Bits 02/03/04 0 1 0 1

Function Coast/DC brake/Q-Stop Coast/DC brake/Q-Stop Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop

Table 10.7 [3] Logic OR

MG92A302

47

Troubleshooting

MCA 124 EtherCAT

The effect of control mode upon the function of parameter 8-53 Start Select and parameter 8-54 Reversing Select:
If [0] Digital input is selected, the terminals control the start and reversing functions.

Terminal 0 0 1 1

Bits 06/15 0 1 0 1

Function Stop/Counterclockwise Stop/Counterclockwise Start/Clockwise Start/Clockwise

Table 10.8 [0] Digital input

If [1] Serial communication is selected, commands are activated only when given via serial communication.

10 10

Terminal 0 0 1 1

Bits 02/03/04 0 1 0 1

Function Stop/Counterclockwise Start/Clockwise Stop/Counterclockwise Start/Clockwise

Table 10.9 [1] Serial Communication

If [2] Logic AND is selected, both signals must be activated to perform the function.

Terminal 0 0 1 1

Bits 02/03/04 0 1 0 1

Function Stop/Counterclockwise Stop/Counterclockwise Stop/Counterclockwise Start/Clockwise

Table 10.10 [2] Logic AND

If [3] Logic OR is selected, activation of one signal activates the function.

Terminal 0 0 1 1

Bits 02/03/04 0 1 0 1

Function Stop/Counterclockwise Start/Clockwise Start/Clockwise Start/Clockwise

Table 10.11 [3] Logic OR

The effect of control mode upon the function of parameter 8-55 Set-up Select and parameter 8-56 Preset Reference Select:

If [0] Digital input is selected, the terminals control the setup and preset reference functions.

Terminal

Msb

Lsb

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Bits 00/01, 13/14

Msb

Lsb

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Function Preset ref. set-up
number 1 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4

Table 10.12 [0] Digital Input

If [1] Serial communication is selected, commands are activated only when given via serial communication.

Terminal

Msb

Lsb

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Bits 00/01, 13/14

Msb

Lsb

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Function Preset ref. set-up
number 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

Table 10.13 [1] Serial Communication

If [2] Logic AND is selected, both signals must be activated to perform the function.

48

MG92A302

Troubleshooting

Operating Instructions

Terminal

Msb

Lsb

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Bits 00/01, 13/14

Msb

Lsb

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Function Preset ref. set-up
number 1 1 1 1 1 2 1 2 1 1 3 3 1 2 3 4

Table 10.14 [2] Logic AND

If [3] Logic OR is selected, activation of 1 signal activates the function.

Terminal

Msb

Lsb

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Bits 00/01, 13/14

Msb

Lsb

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

Table 10.15 [3] Logic OR

Function Preset ref. set-up
number 1 2 3 4 2 2 4 4 3 4 3 4 4 4 4

10.1.3 Alarm and Warning Words

Alarm word, Warning word, and EtherCAT warning word are shown in the display in Hex format. If there is more than one warning or alarm, a sum of all warnings or alarms is shown. Alarm word, warning word, and EtherCAT warning word can also be displayed using the serial bus in parameter 16-90 Alarm Word, parameter 16-92 Warning Word, and parameter 12-59 EtherCAT Status.

Bit (Hex)
00000001 00000002
00000004 00000008
00000010 00000020 00000040 00000080
00000100
00000200 00000400 00000800 00001000 00002000 00004000 00008000 00010000 00020000 00040000 00080000 00100000 00200000 00400000 00800000 01000000 02000000 04000000 08000000 10000000 20000000 40000000 80000000

Unit diagnose bit
48 49
50 51
52 53 54 55
40
41 42 43 44 45 46 47 32 33 34 35 36 37 38 39 24 25 26 27 28 29 30 31

Alarm word (parameter 16-90 Alarm Word) Brake check Power card over temperature Earth fault Control card over temperature Control word timeout Over current Torque limit Motor thermistor over temp. Motor ETR over temperature Inverter overloaded DC link under voltage DC link over voltage Short circuit Inrush fault Mains phase loss AMA not OK Live zero error Internal fault Brake overload Motor phase U is missing Motor phase V is missing Motor phase W is missing Fieldbus comm. fault 24 V supply fault Mains failure 1.8 V supply fault Brake resistor short circuit Brake chopper fault Option change Drive initialisation Safe stop Mechanical brake low

Alarm no.
28 29
14 65
18 13 12 11
10
9 8 7 16 33 4 50 2 38 26 30 31 32 34 47 36 48 25 27 67 80 68 63

Table 10.16

10 10

MG92A302

49

Troubleshooting

MCA 124 EtherCAT

10 10

Bit (Hex)
00000001 00000002

Unit diagnose bit
112 113

00000004

114

00000008

115

00000010

116

00000020

117

00000040

118

00000080

119

00000100

104

00000200

105

00000400

106

00000800

107

00001000

108

00002000

109

00004000

110

00008000

111

00010000

96

00020000

97

00040000

98

00080000

99

00100000

100

00200000

101

00400000

102

00800000

103

01000000

88

02000000

89

04000000

90

08000000

91

10000000

92

20000000

93

40000000

94

80000000

95

Warning word (parameter 16-92 Warning Word) Brake check Power card over temperature Earth fault Control card Control word timeout Over current Torque limit Motor thermistor over temp. Motor ETR over temperature Inverter overloaded DC link under voltage DC link over voltage DC link voltage low DC link voltage high Mains phase loss No motor Live zero error 10 V low Brake overload Brake resistor short circuit Brake chopper fault Speed limit Fieldbus comm. fault 24 V supply fault Mains failure Current limit Low temperature Voltage limit Encoder loss Output frequency limit Unused Warning word 2 (ext. stat. word)

Alarm no.
28 29
14 65 18 13 12 11
10
9 8 7 6 5 4 3 2 1 26 25 27 49 34 47 36 59 66 64 61 62 –

Table 10.17

Bit (Hex)
00000001 00000002 00000004 00000008 00000010 00000020 00000040 00000080 00000100 00000200 00000400 00000800 00001000 00002000 00004000 00008000

Unit diagnose bit
160 161 162 163 164 165 166 167 152 153 154 155 156 157 158 159

PROFIBUS warning word (parameter 9-53 Profibus Warning Word) Connection with DP-master is not ok Unused FDL (Fieldbus Data link Layer) is not ok Clear data command received Actual value is not updated Baudrate search PROFIBUS ASIC is not transmitting Initialising of PROFIBUS is not ok Drive is tripped Internal CAN error Wrong configuration data from PLC Wrong ID sent by PLC Internal error occurred Not configured Timeout active Warning 34 active

Table 10.18

Bit (Hex)
00000001 00000002 00000004 00000008 00000010 00000020 00000040 00000080 00000100 00000200 00000400 00000800 00001000 00002000 00004000 00008000

Comm. option STW (parameter 16-84 Comm. Option STW) parameterization ok configuration ok clearmode active baudrate search waiting for parameterization waiting for configuration in data exchange not used not used not used not used MCL2/1 connected MCL2/2 connected MCL2/3 connected data transport active not used

Table 10.19

NOTICE
Parameter 16-84 Comm. Option STW is not part of extended diagnosis.

There is a clear distinction between alarms and warnings. An alarm make the frequency converter enter a fault condition. After the cause for the alarm has been cleared, the master will have to acknowledge the alarm message before the frequency converter can start operating again. A warning condition triggers a warning which disappears when condition returns to normal, without interfering with the process.

50

MG92A302

Troubleshooting

Operating Instructions

Warnings A single bit within a warning word represents warnings within the frequency converter. Bit status [0] False means no warning, while bit status [1] True means warning. Any bit change in the warning word is notified by a change of bit 7 in the status word.
Alarms Following an alarm message, the frequency converter enters fault condition. When the fault has been removed and the controller has acknowledged the alarm message by setting bit 7 in the control word, the frequency converter resumes operation. A single bit within an alarm word represents alarms within the frequency converter. Bit status [0] False means no fault, while bit status [1] True means fault.

10 10

MG92A302

51

Warnings and Alarms

MCA 124 EtherCAT

11 Warnings and Alarms

11.1 Status Messages 11.1.1 Warning and Alarm Messages

The LEDs on the LCP signal a warning or an alarm. A code in the display is also shown.

A warning remains active until its cause is no longer present. Under certain circumstances, operation of the motor can still be continued. Warning messages are not necessarily critical.

An alarm makes the frequency converter trip. Alarms must be reset to restart operation once their cause has been rectified.
3 ways of resetting alarms
· By pressing [Reset]. · Via a digital input with the reset function. · Via serial communication/optional fieldbus.

NOTICE
After a manual reset pressing [Reset], press [Auto On] to restart the motor.

11 11

If an alarm cannot be reset, the reason could be that its cause has not been rectified, or the alarm is triplocked (see also Table 11.1).

11.1.2 Alarm and Warning List

Alarms that are trip locked offer additional protection, meaning that the mains supply must be switched off before the alarm can be reset. After being switched back on, the frequency converter is no longer blocked and can be reset as described once the cause has been rectified.
Alarms that are not trip locked can also be reset using the automatic reset function in parameter 14-20 Reset Mode. (Warning: automatic wake-up is possible).
When a warning or alarm is marked against a code in Table 11.1, this means that either a warning occurs before an alarm, or that it is possible to specify whether it is a warning or an alarm that is shown for a given fault.
For instance, this is possible in parameter 1-90 Motor Thermal Protection. After an alarm or trip, the motor continues coasting, and the alarm and warning flash. Once the problem has been rectified, only the alarm continues flashing until the frequency converter is reset.

Number 1
2
3
4
5 6 7 8 9
10

Description 10 V low
Live zero error
No motor
Mains phase loss
DC link voltage high DC link voltage low
DC overvoltage DC undervoltage Inverter overloaded
Motor ETR overtemperature

Warning X
(X)
(X)
(X)
X X X X X
(X)

Alarm/trip
(X)
(X)
X X X (X)

11

Motor thermistor overtemperature

(X)

12

Torque limit

X

13

Overcurrent

X

14

Earth fault

X

15

Hardware mismatch

X

Alarm/trip lock

Parameter reference

Parameter 6-01 Live Zero Timeout

Function

Parameter 1-80 Function at Stop

(X)

Parameter 14-12 Function at Mains

Imbalance

Parameter 1-90 Motor Thermal Protection Parameter 1-90 Motor Thermal Protection
X X X

52

MG92A302

Warnings and Alarms

Operating Instructions

Number 16
17
22 23 24 25
26
27 28 29
30

Description Short circuit
Control word time-out
Hoist mech. brake Internal fan fault External fan fault Brake resistor short- circuited
Brake resistor power limit
Brake chopper short-circuited Brake check
Heat sink temp
Motor phase U missing

Warning (X)

Alarm/trip X
(X)

X X X

(X)

X

(X)

X

(X)

31

Motor phase V missing

(X)

32

Motor phase W missing

(X)

33

Inrush fault

X

34

Fieldbus communication fault

X

36

Mains failure

X

38

Internal fault

X

39

Heat sink sensor

X

40

Overload of digital output terminal 27 (X)

41

Overload of digital output terminal 29 (X)

42

Overload of dgital output o X30/6

(X)

42

Overload of digital output on X30/7

(X)

46

Pwr. card supply

X

47

24 V supply low

X

48

1.8 V supply low

X

49

Speed limit

X

50

AMA calibration failed

X

51

AMA check Unom and Inom

X

52

AMA low Inom

X

53

AMA motor too big

X

54

AMA motor too small

X

55

AMA parameter out of range

X

56

AMA interrupted by user

X

57

AMA time-out

X

58

AMA internal fault

X

59

Current limit

X

61

Tracking error

(X)

62

Output frequency at maximum limit

X

63

Mechanical brake low

(X)

64

Voltage limit

X

65

Control board overtemperature

X

66

Heat sink temperature low

X

67

Option configuration has changed

X

Alarm/trip lock X

Parameter reference
Parameter 8-04 Control Word Timeout Function

Parameter 14-53 Fan Monitor

Parameter 2-13 Brake Power Monitoring

Parameter 2-15 Brake Check X

(X)

Parameter 4-58 Missing Motor Phase

Function

(X)

Parameter 4-58 Missing Motor Phase

Function

(X)

Parameter 4-58 Missing Motor Phase

Function

X

X X
Parameter 5-00 Digital I/O Mode, parameter 5-01 Terminal 27 Mode Parameter 5-00 Digital I/O Mode, parameter 5-02 Terminal 29 Mode Parameter 5-32 Term X30/6 Digi Out (MCB 101) Parameter 5-33 Term X30/7 Digi Out (MCB 101) X X X

Parameter 4-30 Motor Feedback Loss Function
Parameter 2-20 Release Brake Current
X

11 11

MG92A302

53

Warnings and Alarms

MCA 124 EtherCAT

11 11

Number 68 69 70 71 72 73

Description Safe stop
Pwr. card temp Illegal FC configuration
PTC 1 safe stop Dangerous failure Safe stop auto restart

Warning (X)
X

77

Reduced power mode

X

79

Illegal PS config

Frequency converter Initialised to 80
default value

81

CSIV corrupt

82

CSIV parameter error

85

Profibus/Profisafe error

90

Encoder loss

(X)

91

Analogue input 54 wrong settings

100199

See Operating Instructions for MCO 305

243

Brake IGBT

X

244

Heat sink temp

X

245

Heat sink sensor

246

Pwr.card supply

247

Pwr.card temp

248

Illegal PS config

250

New spare part

251

New type code

Alarm/trip (X)1) X X1)
X X
(X)
X X X X X X X

Alarm/trip lock
X X
X1)

Parameter reference Parameter 5-19 Terminal 37 Safe Stop
Parameter 5-19 Terminal 37 Safe Stop Parameter 5-19 Terminal 37 Safe Stop

Parameter 14-59 Actual Number of Inverter Units X

Parameter 17-61 Feedback Signal

Monitoring

X

S202

X

Parameter 14-23 Typecode Setting

X

Table 11.1 Alarm/Warning Code List
(X) Dependent on parameter 1) Cannot be auto reset via parameter 14-20 Reset Mode
A trip is the action when an alarm has appeared. The trip coasts the motor and can be reset by pressing [Reset] or by making a reset by a [1] digital input (Parameter group 5-1* Digital I/O Mode ). The event that caused an alarm cannot damage the frequency converter or cause dangerous conditions. A trip lock is an action when an alarm occurs, that can damage the frequency converter or connected parts. A trip lock situation can only be reset by a power cycling.

Warning Alarm
Trip locked
Table 11.2 LED Indication

yellow flashing red yellow and red

54

MG92A302

Warnings and Alarms

Operating Instructions

Bit

Hex

0 00000001

1 00000002

2 00000004

3 00000008
4 00000010
5 00000020 6 00000040 7 00000080 8 00000100 9 00000200 10 00000400 11 00000800 12 00001000 13 00002000 14 00004000 15 00008000 16 00010000 17 00020000 18 00040000 19 00080000 20 00100000 21 00200000 22 00400000 23 00800000 24 01000000 25 02000000 26 04000000 27 08000000 28 10000000 29 20000000
30 40000000
31 80000000

Dec

Alarm word

Alarm word 2

Warning word

1
2
4
8
16
32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 262144 524288 1048576 2097152 4194304 8388608 16777216 33554432 67108864 134217728 268435456 536870912
1073741824
2147483648

Brake check
Pwr. card temp
Earth fault
Ctrl.card temp
Ctrl. word TO
Overcurrent Torque limit Motor Th over Motor ETR over Inverter overld. DC undervolt DC overvolt Short circuit Inrush fault Mains ph. loss AMA not OK Live zero error Internal fault Brake overload U phase loss V phase loss W phase loss Fieldbus fault 24 V supply low Mains failure 1.8 V supply low Brake resistor Brake IGBT Option change Drive Initialised
Safe stop (A68)
Mech. brake low

ServiceTrip, Read/Write ServiceTrip, (reserved) ServiceTrip, Typecode/ Sparepart ServiceTrip, (reserved) ServiceTrip, (reserved)
KTY error Fans error ECB error
PTC 1 Safe stop (A71) Dangerous failure (A72)

Brake check
Pwr. card temp
Earth fault
Ctrl.card temp
Ctrl. word TO
Overcurrent Torque limit Motor Th over Motor ETR over Inverter overld. DC undervolt DC overvolt DC voltage low DC voltage high Mains ph. loss No motor Live zero error 10 V low Brake overload Brake resistor Brake IGBT Speed limit Fieldbus fault 24 V supply low Mains failure Current lmit Low temp Voltage limit Encoder loss Output freq. lim.
Safe stop (W68)
Extended status word

Warning word 2

Extended status word

Ramping

AMA running

Start CW/CCW

Slow down

Catch up

KTY Warn Fans Warn ECB Warn

Feedback high Feedback low Output current high Output current low Output freq high Output freq low Brake check OK Braking max Braking Out of speed range OVC active AC brake Password timelock Password protection

Unused

PTC 1 Safe stop (W71)

Unused

Table 11.3 Description of Alarm Word, Warning Word, and Extended Status Word

The alarm words, warning words and extended status words can be read out via serial bus or optional fieldbus for diagnose. See also parameter 16-94 Ext. Status Word.

11 11

MG92A302

55

Index

MCA 124 EtherCAT

Index
A
Abbreviation………………………………………………………………………………… 6 Alarm…………………………………………………………………………………………… 52 Alarm word………………………………………………………………………………… 49 Assumptions………………………………………………………………………………… 5
B
Background Knowledge…………………………………………………………….. 5
C
Cabling……………………………………………………………………………………….. 38 Configuration………………………………………………………………….. 6, 33, 37 Control Profile……………………………………………………………………………. 17
D
DC Backup……………………………………………………………………………………. 5 DeviceNet…………………………………………………………………………………….. 5
E
EMC Precautions………………………………………………………………………….. 9 EtherCAT……………………………………………………………………………………….. 5 Ethernet……………………………………………………………………… 9, 11, 36, 38
H
Hardware………………………………………………………………………………….. 3, 5
I
I/O………………………………………………………………………………………………….. 6 Influence of the Digital Input Terminals upon FC Control
Mode…… 16 Installation……………………………………………………………………………. 3, 5, 7 IP Settings…………………………………………………………………………………… 11 IP21/Type 1…………………………………………………………………………………… 5

O
Overview………………………………………………………………………………………. 8
P
Parameter……………………………………………………………………………….. 4, 11 Parameters…………………………………………………………………………………. 11 PDO Communication……………………………………………………………….. 15 Process Control Data………………………………………………………………… 15 Process control operation………………………………………………………… 16 Process Data………………………………………………………………………………. 15 Process Status Data…………………………………………………………………… 15 Profibus…………………………………………………………………………………………. 5
R
Reference……………………………………………………………………………………… 6 Reference Handling………………………………………………………………….. 15
S
Safety…………………………………………………………………………………………….. 3
T
Topology………………………………………………………………………………………. 8
V
VLT Parameters………………………………………………………………………….. 11
W
Warning………………………………………………………………………………………. 52 Warning word……………………………………………………………………………. 49

L
LED………………………………………………………………………………………………… 6 LED Status………………………………………………………………………………….. 46 Literature………………………………………………………………………………………. 5

N
Network………………………………………………………………………………… 5, 7, 9 No Communication with the Frequency Converter……………. 46 No response to control signals……………………………………………….. 47

56

MG92A302

Index

Operating Instructions

MG92A302

57

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Danfoss A/S Ulsnaes 1 DK-6300 Graasten vlt-drives.danfoss.com

130R0273

MG92A302
MG92A302

05/2015