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VACON DEVICENET INTERFACE

vacon • 21

24-hour s358 (0)40 837 1150 • Email: [email protected]

7.1.2

Control Supervisor Behaviour

The State Transition Diagram provides a graphical description of the states and corresponding state

transitions for the control supervisor.

Control Supervisor State Transition Diagram

NonExist

Faulted

Ready

Stopping

Fault_Stop

Power_On

Stop_Complete

Fault_Stop
Complete

Fault_Reset

Run

Stop

Reset

Power_Off

DriveFault

ChangeDir

DriveFault

Enabled

Startup

DriveFault

Initialization
Complete

SafeChange

DriveFault OR SafeFault

Figure 7- 2. Control Supervisor State Transition Diagram

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Summary of Contents for NX OPTC7

Page 1: ...vacon nx ac drives optc7 devicenet option board user manual ...

Page 2: ... 7 4 3 Connection of DeviceNet drop line cable 9 5 INSTALLATION OF VACON NX DEVICENET OPTION BOARD 11 5 1 Board information sticker 13 6 COMMISSIONING 14 6 1 DeviceNet Configuration Tool 14 6 2 Setting DeviceNet parameters with the control keypad 15 7 VACON DEVICENET INTERFACE 17 7 1 I O Messaging 17 7 1 1 Input and Output Assemblies 18 7 1 2 Control Supervisor Behaviour 21 7 2 Explicit Messaging ...

Page 3: ...nstalled in slot E on the control board of the frequency converter WARNING Internal components and circuit boards are at high potential when the frequency converter is connected to the power source This voltage is extremely dangerous and may cause death or severe injury if you come into contact with it NOTE You can download the English and French product manuals with applicable safety warning and ...

Page 4: ...vironment Ambient operating temperature 10 C 55 C Storing temperature 40 C 60 C Humidity 95 no condensation allowed Altitude Max 1000 m Vibration 0 5 G at 9 200 Hz Safety Fulfils EN50178 standard Table 2 1 DeviceNet technical data 2 2 DeviceNet features and functionality Network size Up to 64 nodes Network length Selectable end to end network distance varies with speed Baud rate Distance 125 Kbps ...

Page 5: ...y for more complex devices possible In addition to reading the state of discrete devices DeviceNet provides the capability to report temperatures to read the load current in a motor starter to change the deceleration rate of drives or to count the number of packages that have passed on a conveyor in the previous hour 3 2 DeviceNet physical layer and media The basic trunkline dropline topology prov...

Page 6: ... converter takes place through the stan dard Vacon Interface Board Connector 4 1 DeviceNet option board Figure 4 1 Vacon DeviceNet option board OPTC7 Signal Connector Description V 1 Communication power supply Ground CAN_L 2 Communication signal Low Drain 3 Cable shield bare CAN_H 4 Communication signal High V 5 Communication power supply 24V Table 4 1 OPTC7 bus connector signals X1 N A M Bus conn...

Page 7: ...ed the Dup_MAC_ID test yet If the Module status LED is off the device is not powered Green The OPTC7 is on line and allocated to a Master Blinking green The OPTC7 has passed the Dup_MAC_ID test is on line but is not allocated to a master Blinking red One or more I O connections are in the Timed Out state Red The OPTC7 cannot communicate on the network Duplicate MAC ID or Bus off Module status LED ...

Page 8: ... displayed with red blinks and the ones with green blinks The unit plays the tens then the ones and finally delays about 2 seconds before repeating the sequence LED test A LED test is performed at power up The following sequence is performed 1 All LEDs off 2 All LEDs green 0 25 s 3 All LEDs red 0 25 s 4 All LEDs off 5 Start of normal operation ...

Page 9: ...Devicenet system and show you the power up and grounding of the board A Lead the DeviceNet drop line cable through the right gridded hole on the bottom of the Vacon NX frequency converter Make a sufficiently wide opening for the cable by cutting the grid as wide as necessary see step E on page 12 B Connect the 4 coloured wires into the bus connector in the following order from the left black blue ...

Page 10: ... BL BA R W C It is recommended that the bare wire is not connected to any of the terminals If it however has to be connected use the terminal 3 as shown in the picture Note If the bare wire is connected the jumper X1 must be set to OFF position BK BLBA W R X1 ...

Page 11: ...apply only to field installations Otherwise the board has already been installed for you at the factory NOTE MAKE SURE THAT THE FREQUENCY CONVERTER IS SWITCHED OFF BEFORE AN OPTION OR FIELDBUS BOARD IS CHANGED OR ADDED Before taking any commissioning actions carefully read the safety instructions in Vacon NX User s Manual Chapter 1 A Vacon NX frequency converter B Remove the cable cover ...

Page 12: ...et option board in slot E on the control board of the frequency converter Make sure that the grounding plate see below fits tightly in the clamp E Make a sufficiently wide opening for your cable by cutting the grid as wide as necessary F Close the cover of the control unit and the cable cover X1 N A M 1 2 3 4 5 ...

Page 13: ...et option board package delivered by the factory includes a sticker shown below Please mark the board type 1 the slot into which the board is mounted 2 and the mounting date 3 on the sticker Finally attach the sticker on your drive Drive m odified Option board NXOPT IP54 upgrade Collar in slot Date A B C D E EMC level modified H Ý T T Ý H Date Date 1 2 3 ...

Page 14: ...e address is changed You must also check or set the following attributes before use Monitoring Data Class 0xAA Instance Attributes Attribute Name Services Default Data Description Minimum Type Maximum 120 0x78 Polled Input Assembly Type Get_Attribute_Single Set_Attribute_Single 71 70 73 75 107 C7 Input assembly used by the polled connection 121 0x79 Polled Output Assembly Type Get_Attribute_Single...

Page 15: ...ers make sure that the settings correspond to the settings in the Master system Expander board menu M7 The Expander board menu makes it possible for the user 1 to see what expander boards are connected to the control board and 2 to reach and edit the parameters associated with the expander board Enter the following menu level G with the Menu button right At this level you can browse through slots ...

Page 16: ...rameters Note Every device that is connected to the bus must have an individual MAC ID Before the values of these parameters can be changed the drive must be in STOP mode and the communication power supply must be connected DeviceNet status To see the present status of the DeviceNet Fieldbus enter the Devicenet Status page from Monitor menu G7 5 2 See Figure 6 2 and Table 6 2 below Figure 6 2 Devi...

Page 17: ...ns slaves They are exchanged across single or multi cast connections and typically use high priority identifiers I O polling messages contain no protocol in the 8 byte data field The meaning of the message is implied by the connection ID CAN identifier Before messages are sent using these IDs both the device sending and receiving them must be configured The configuration contains the source and de...

Page 18: ... Speed Reference Low Byte Byte 3 Speed Reference High Byte Byte 4 Torque Reference Low Byte Byte 5 Torque Reference High Byte Output 25 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 NetRef NetCtrl FaultReset RunRev RunFwd Byte 1 Byte 2 Speed Reference Low Byte Byte 3 Speed Reference High Byte Byte 4 Process Reference Low Byte Byte 5 Process Reference High Byte Output 101 Bit 7 Bit 6 Bit 5...

Page 19: ...d Byte 1 Drive State Byte 2 Speed Actual Low Byte Byte 3 Speed Actual High Byte Byte 4 Torque Actual Low Byte Byte 5 Torque Actual High Byte Input 75 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 AtReference RefFromNet CtrlFromNet Ready Running2 Running1 Alarm Faulted Byte 1 Drive State Byte 2 Speed Actual Low Byte Byte 3 Speed Actual High Byte Byte 4 Process Actual Low Byte Byte 5 Proces...

Page 20: ...ual 1 is Process Data 3 Etc Input 107 Byte 4 Process Actual 1 Low Byte Byte 5 Process Actual 1 High Byte These output bits 0 3 are for Process Actual 2 Example If the value of bits 0 3 is 1 then Process Actual 2 is Process Data 1 If the value of bits 0 3 is 2 then Process Actual 2 is Process Data 2 If the value of bits 0 3 is 3 then Process Actual 2 is Process Data 3 Etc Input 107 Byte 6 Process A...

Page 21: ... and corresponding state transitions for the control supervisor Control Supervisor State Transition Diagram NonExist Faulted Ready Stopping Fault_Stop Power_On Stop_Complete Fault_Stop Complete Fault_Reset Run Stop Reset Power_Off DriveFault ChangeDir DriveFault Enabled Startup DriveFault Initialization Complete SafeChange DriveFault OR SafeFault Figure 7 2 Control Supervisor State Transition Diag...

Page 22: ... 0 1 0 1 0 ChangeDir Rev Enabled FwdMode 0 RevMode 1 Change to Reverse Enabled 1 x x x x x SafeFault Fault_Stop Faulted 1 FaultCode x Initiate Faulted Stop FwdMode 0 RevMode 0 Ready 0 Run1Var 0 Run2Var 0 Enabled 1 x x x x x SafeChange Enabled FwdMode Run1Var NOT PresetDir RevMode Run2Var PresetDir SpeedRef PresetSpeed TorqueRef PresetTorque Stopping x x x x x x DriveFault Fault_Stop Faulted 1 Faul...

Page 23: ... IF RefFromNet Write reference frequency or torque to the drive whenever SpeedRef or TorqueRef are written When performing changes to achieve programmed Safe State 1 Run Stop Direction can be changed because CtrlFromNet must equal 1 when in the Enabled State 2 Reference in the drive can be changed to PresetSpeed or PresetTorque only if RefFromNet 1 ...

Page 24: ...ty 0x02 Message Router 0x03 DeviceNet 0x04 Assembly 0x05 DeviceNet Connection 0x28 Motor Data 0x29 Control Supervisor 0x2A AC DC Drive 0xA0 Parameter 0xAA Monitoring Data 7 2 2 List of services The Services supported by these object classes are shown below Service Code in hex Service Name Identity Message Router DeviceNet Assembly Connection Motor Data Control Supervisor AC DC Drive Other Objects ...

Page 25: ...ding 7 2 4 Reset service The following table lists the different types of resets supported by the Identity Object Resetting the OPTC7 interface to its out of box configuration will set ALL attributes to their default values and change the response of the drive to a loss of communications with the OPTC7 The device will have to be re configured for your application before resuming normal operation R...

Page 26: ...etween the DeviceNet Master and the DeviceNet option board is broken Check the installation If installation is correct contact the nearest Vacon distributor 54 Slot fault Defective option board or slot Check the board and slot Contact the nearest Vacon distributor Table 8 1 DeviceNet option board faults You can define with parameters how the frequency converter shall react to certain faults Code P...

Page 27: ...Consistency Value CRC mismatch 0x0E The device s configuration is incorrect or incomplete Major Recoverable Fault An Identity Reset type 1 is needed for recovery Microprocessor watchdog timeout 0x0F The device detected a serious problem with itself Major Unrecoverable Fault Received explicit message is too big 0x10 Message is ignored Received IO message is too big 0x11 Message is ignored Parameter...

Page 28: ...on object code Producer unable to send acknowledgment 0x26 Error detected by connection object code Unexpected notification that message was sent 0x27 Error detected by connection object code Explicit reply is too big 0x31 Error detected by connection object code First fragment of an IO message is too big 0x34 Error detected by connection object code Reassembled IO message is too big 0x35 Error de...

Page 29: ...l service list Get_Attribute_Single 1 16 1 16 1 16 A2 04 C7 A1 01 C7 6 0x06 Max Class Attribute ID Get_Attribute_Single 190 190 190 C7 7 0x07 Max Instance Attribute ID Get_Attribute_Single 176 176 176 C7 176 0xB0 Object Name Get_Attribute_Single Identity Identity Identity DA ASCII Name for the object Class 180 0xB4 Class Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 0...

Page 30: ...t_Attribute_Single N A 0 255 D2 Summary Status of the Device Defined in ODVA DeviceNet spec Bit 5 User fault Bit 6 Node fault Bit 7 System fault 6 0x06 Serial Number Get_Attribute_Single N A 0x30940000 0x37FFFFFF C8 Serial Number of the device 7 0x07 Product Name Get_Attribute_Single OPTC7 OPTC7 OPTC7 DA Human readable identification 8 0x08 State Get_Attribute_Single N A 0 5 C6 Present state of th...

Page 31: ... for the object Class 180 0xB4 Class Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes a class attribute The Array s elements are structs as described in the semantics section Individual elements are accessed using the Get Member service 186 0xBA Instance Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each El...

Page 32: ...D Get_Attribute_Single 176 176 176 C7 176 0xB0 Object Name Get_Attribute_Single DeviceNet DeviceNet DeviceNet DA ASCII Name for the object Class 180 0xB4 Class Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes a class attribute The Array s elements are structs as described in the semantics section Individual elements are accessed using the Get...

Page 33: ...Bus Off Interrupt Get_Attribute_Single Set_Attribute_Single 1 0 1 C1 4 0x04 Bus off Counter Get_Attribute_Single Set_Attribute_Single 0 0 255 C6 5 0x05 Allocation Information Get_Attribute_Single N A N A N A A2 02 D1 C6 Allocation Choice Master s Mac ID Struct of BYTE Allocation Choice byte Bit 0 explicit messaging Bit 1 Polled I O USINT Master s Mac ID 0 63 valid 255 unallocated 100 0x64 Bus off ...

Page 34: ...lass Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes a class attribute The Array s elements are structs as described in the semantics section Individual elements are accessed using the Get Member service 186 0xBA Instance Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes an instance attr...

Page 35: ...ded Process Control 25 Attribute Name Services Default Data Description Minimum Type Maximum 3 0x03 Data Get_Attribute_Single N A N A N A A2 05 A1 01 C1 D1 C3 176 0xB0 User Label Get_Attribute_Single Set_Attribute_Single N A N A N A DA User Supplied name for the Instance Maximum of 8 characters Assembly Class 4 Extended Vendor Control 101 Attribute Name Services Default Data Description Minimum Ty...

Page 36: ...ingle Set_Attribute_Single N A N A N A DA User Supplied name for the Instance Maximum of 8 characters Assembly Class 4 Extended Process Control 75 Attribute Name Services Default Data Description Minimum Type Maximum 3 0x03 Data Get_Attribute_Single N A N A N A A2 05 A1 01 C1 D1 C3 176 0xB0 User Label Get_Attribute_Single Set_Attribute_Single N A N A N A DA User Supplied name for the Instance Maxi...

Page 37: ...x Instance Attribute ID Get_Attribute_Single 176 176 176 C7 176 0xB0 Object Name Get_Attribute_Single DeviceNet Connection DeviceNet Connection DeviceNet Connection DA ASCII Name for the object Class 180 0xB4 Class Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes a class attribute The Array s elements are structs as described in the semantics...

Page 38: ...nnection Size Get_Attribute_Single 41 41 41 C7 Maximum number of bytes received across this Connection 9 0x09 Expected Packet Rate Get_Attribute_Single Set_Attribute_Single 2500 0 65535 C7 Defines timing associated with this Connection 12 0x0C Watchdog Timeout Action Get_Attribute_Single Set_Attribute_Single 1 1 3 C6 Defines how to handle Inactivity Watchdog timeouts 1 Auto Delete 3 Defered Delete...

Page 39: ...tion 8 0x08 Consumed Connection Size Get_Attribute_Single 4 0 6 C7 Maximum number of bytes received across this Connection 9 0x09 Expected Packet Rate Get_Attribute_Single Set_Attribute_Single 0 0 65535 C7 Defines timing associated with this Connection 12 0x0C Watchdog Timeout Action Get_Attribute_Single Set_Attribute_Single 0 0 2 C6 Defines how to handle Inactivity Watchdog timeouts 1 Auto Delete...

Page 40: ...e ID Get_Attribute_Single 176 176 176 C7 176 0xB0 Object Name Get_Attribute_Single Motor Data Motor Data Motor Data DA ASCII Name for the object Class 180 0xB4 Class Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes a class attribute The Array s elements are structs as described in the semantics section Individual elements are accessed using t...

Page 41: ...tepper Motor 9 Sinusoidal PM BL Motor 10 Trapezoidal PM BL Motor 6 RatedCurrent 100mA Get_Attribute_Single 70 C7 Rated Stator Current 0x06 0 Units 100mA 16000 7 RatedVoltage V Get_Attribute_Single 230 C7 Rated Base Voltage 0x07 180 Units V 690 9 RatedFrequency Hz Get_Attribute_Single 50 C7 Rated Electrical Frequency 0x09 30 Units Hz 500 12 PoleCount pair 2 Get_Attribute_Single 4 C7 Number of poles...

Page 42: ... Get_Attribute_Single 176 176 176 C7 176 Object Name Get_Attribute_Single Control Supervisor DA ASCII Name for the object Class 0xB0 Control Supervisor Control Supervisor 180 0xB4 Class Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes a class attribute The Array s elements are structs as described in the semantics section Individual elements ...

Page 43: ... Ready to Accept a Run Event 0x09 0 0 Other state 1 1 Ready to accept a Run Event 10 Faulted Get_Attribute_Single N A C1 Fault Occurred 0x0A 0 0 No faults present 1 1 Fault occurred latched 11 Alarm Get_Attribute_Single N A C1 Alarm Present 0x0B 0 0 No Alarms present 1 1 Alarm present not latched 12 FaultRst Get_Attribute_Single 0 C1 Fault Reset Request 0x0C Set_Attribute_Single 0 0 No action 1 0 ...

Page 44: ...eset speed and direction ATTENTION Ignoring communication faults may result in equipment damage personal injury or death Ensure that you understand how ignoring a communication fault may affect the operation of your system 176 0xB0 User Label Get_Attribute_Single Set_Attribute_Single N A N A N A DA User Supplied name for the Instance Maximum of 8 characters ...

Page 45: ...he Array s elements are structs as described in the semantics section Individual elements are accessed using the Get Member service 186 0xBA Instance Attribute List Get Member CH_Get_Member N A N A N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes an instance attribute The Array s elements are structs as described in the semantics section Individual elements are accessed using the Get Membe...

Page 46: ...ence 0x0C Set_Attribute_Single 0 Units Nm 10000 15 PowerActual W Get_Attribute_Single N A C3 Actual output power 0x0F 0 Units Watts 32767 16 InputVoltage V Get_Attribute_Single N A C3 Input Voltage 0x10 180 Units Volts 690 17 OutputVoltage V Get_Attribute_Single N A C3 Output Voltage 0x11 0 Units Volts 690 20 LowSpdLimit RPM Get_Attribute_Single 0 C7 Minimum speed limit 0x14 0 Units RPM 30000 21 H...

Page 47: ...List Get Member N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes a class attribute The Array s elements are structs as described in the semantics section Individual elements are accessed using the Get Member service 0xB4 CH_Get_Member N A N A 186 Instance Attribute List Get Member N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes an instance attribute The Array s elements are struct...

Page 48: ...D Get_Attribute_Single 176 176 176 C7 176 Object Name Get_Attribute_Single Monitoring Data DA ASCII Name for the object Class 0xB0 Monitoring Data Monitoring Data 180 Class Attribute List Get Member N A A1 08 A2 06 C7 DA DA A1 01 C6 Each Element describes a class attribute The Array s elements are structs as described in the semantics section Individual elements are accessed using the Get Member s...

Page 49: ...7 0x6B E7 Get_Attribute_Single Set_Attribute_Single N A 0 65535 C7 108 0x6C E8 Get_Attribute_Single Set_Attribute_Single N A 0 65535 C7 109 0x6D EC Get_Attribute_Single Set_Attribute_Single N A 0 65535 C7 110 0x6E SafeStateType Get_Attribute_Single Set_Attribute_Single 0 0 2 C7 Selects Safe State response to errors which specify safe state operation Currently only a loss of connection other than b...

Page 50: ...eference 0 00 if the Safe State Behavior attribute specifies Preset Speed Direction Alarm Review the application for safe operation before specifying a value for this attribute Inverter will require external stop 120 0x78 Polled Input Assembly Type Get_Attribute_Single Set_Attribute_Single 71 70 73 75 107 C7 Input assembly used by the polled connection 121 0x79 Polled Output Assembly Type Get_Attr...

Page 51: ......

Page 52: ...ID Rev A Manual authoring documentation vacon com Vacon Plc Runsorintie 7 65380 Vaasa Finland Subject to change without prior notice 2012 Vacon Plc Find your nearest Vacon office on the Internet at www vacon com ...

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