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42 • vacon

Node Guarding Protocol

Tel.+358-(0)201-21

Tel. +358 (0)201 2121 • Fax +358 (0)201 212 205

NODE GUARDING PROTOCOL

This protocol is used to detect remote errors in the network. Master can update status of slaves and

slaves can guard is master active.

Each NMT slave uses one remote COB for node guarding protocol. The NMT Master polls each NMT

slaves at regular time interval. This time interval is called guard time and may be different for each

NMT slave. The response of the NMT slave contains the state of that NMT slave. Slave start guarding

after one Node Guarding message was received from MNT master. After that if slave (=drive) don’t

receive any Node Guarding messages during “life time” it will generate “Fieldbus Fault”.

Vacon CanOpen option board has following items for guarding purposes:

Index

(HEX)

Sub-

Index

Name

Default

Min

Max

Type

Attr.

Descriptions

100C

Guard Time

1000

65535

u16

This entry contains the guard time in

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

Unit: ms

100D

Life Time Factor

255

The life time factor multiplied with the

guard time gives the life time for the

device. It is 0, if not used.

Default “life time” is 1000ms (Guard Time) * 2 (Life Time Factor) = 2 s

Example node quarding messages:

MASTER -> SLAVE (node id = 1)

Message

Len

RTR

NMT (Node Guarding)

0x701

SLAVE RESPONSE (node id = 1)

Message

Len

NMT (Node Guarding)

0x701

X =

bit7

0 / 1 (Toggle bit )

bit6…0

Slave state (esim. 5 operational)

Summary of Contents for Vacon NX OPTC6

Page 1: ...vacon nx ac drives optc6 canopen option board user manual ...

Page 2: ...13 5 1 Board information sticker 15 6 COMMISSIONING 16 7 CANOPEN VACON NX INTERFACE 19 7 1 CanOpen message frame 19 7 2 Network Management NMT 21 7 3 Process data PDO 22 7 4 Transmission types 23 7 5 Controlling the drive via PDO messages with Drive Profile 24 7 6 Using manufacturer specific PDOs with ByPass modes 27 7 7 Drive Monitoring 29 7 8 Anyparameter service 30 8 Service Data SDO 31 9 Node ...

Page 3: ...al 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 When experiencing problems with fieldbus functionalities please contact Fieldbus vacon com NOTE You can download the English and French product manuals with applicable safety warning and caution information from www vacon co...

Page 4: ...ons of the drive are applicable Safety Fulfils EN50178 standard Table 2 1 CanOpen technical data 2 2 CanOpen cable According to the ISO 11898 standard cables to be chosen for CAN bus lines should have a nominal impedance of 120Ω and a specific line delay of nominal 5 ns m Line termination has to be provided through termination resistors of 120Ω located at both ends of the line The length related r...

Page 5: ...C problems and minimising cable costs CANopen is the ideal networking system for all types of automated machinery One of the distinguishing features of CANopen is its support for data exchange at the supervisory control level as well as accommodating the integration of very small sensors and actuators on the same physical network This avoids the unnecessary expense of gateways linking sensor actua...

Page 6: ...nOpen option board Figure 4 1 Vacon CanOpen option board OPT C6 Signal Connector Description CAN_GND 1 Ground 0V V CAN_L 2 CAN_L bus line dominant low CAN_SHLD 3 Optional CAN shield CAN_H 4 CAN_H bus line dominant high CAN_V 5 Table 4 1 OPT C6 bus connector signals 4 2 Bus terminal resistors If Vacon drive is the last device of the CanOpen line the bus termination must be set Use jumper X6 ON posi...

Page 7: ...vated and in RUN state Option board is ready for external communication Blinking slow 1 blink 5s Option board is activated and in FAULT state Internal fault of option board Fieldbus status LED M GREEN LED is Meaning OFF Fieldbus module is waiting for parameters from the frequency converter No external communication ON Fieldbus module is activated Parameters received and module activated Module is ...

Page 8: ...ances between the devices are relatively short see 4 4 2 1 In this manner of grounding the position of jumper X1 is of no importance Figure 4 3 Grounding by clamping the cable to the converter frame 1 Strip about 5 cm of the CanOpen cable in the same way as shown in Figure 4 4 but cut off the grey cable shield Remember to do this for both bus cables except for the last device 2 Leave no more than ...

Page 9: ...5 cm of the CanOpen cable as shown in the picture Note Do the same for both bus cables except for the last device However since the grounding shall be done on one cable only cut off the exposed part of the other grounding cable Figure 4 6 3 Leave no more than 1 cm of the red and green data cable outside the terminal block and strip the data cables at about 0 5 cm to fit in the terminals See pictur...

Page 10: ...10 vacon installation Tel 358 0 201 21 Tel 358 0 201 2121 Fax 358 0 201 212 205 5 Figure 4 7 Figure 4 8 ...

Page 11: ...o fit the grounding cable into the grounding terminal 3 Insert the white and brown data cables of both CanOpen cables into terminals 2 white and 4 brown Figure 4 9 5 Place the CanOpen board into slot E of the control board see board installation on page 13 and fix both the CanOpen cables on the frame with the clamp Figure 4 10 ...

Page 12: ...g disturbances e g voltage spikes are more likely to appear In this grounding method the disturbances are filtered out Even if the ground planes of A B and C are different which is very typical e g in construction there is no current between them because the points do not have a ground connection Figure 4 11 Grounding with RC filter 1 Set jumper X1 in OFF position Figure 4 12 Jumper X1 positions 2...

Page 13: ...acon vacon com 5 5 INSTALLATION OF VACON NX CANOPEN BOARD NOTE MAKE SURE THAT THE FREQUENCY CONVERTER IS SWITCHED OFF BEFORE AN OPTION OR FIELDBUS BOARD IS CHANGED OR ADDED A Vacon NX frequency converter B Remove the cable cover C Open the cover of the control unit ...

Page 14: ...tion 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 X6 X1 1 2 3 4 5 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 ...

Page 15: ...ckage 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 16: ... 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 A to E with the Browser buttons to see what expander boards are connected On the lowermost line of the display you also see the number of parameter groups associated with the board If you still press the Menu button right once you ...

Page 17: ...ic applications and in special applications such as System Interface application ByPass 2 mode is used with standard applications e g NXL Multicontrol application and All in One applications for NXS and NXP ByPass 2 mode is supported in the following System software versions NXL NXL00005V253 NXS NXS00001V174 NXP NXP00002V174 The parameters of every device must be set before connecting to the bus E...

Page 18: ...ioning Tel 358 0 201 21 Tel 358 0 201 2121 Fax 358 0 201 212 205 6 CanOpen status 0 INITIALISING 4 STOPPED 5 OPERATIONAL 6 PRE_OPERATIONAL 7 RESET_APPLICATION 8 RESET_COMM 9 UNKNOWN Table 6 2 CANopen status indications ...

Page 19: ...r control and device status control START STOP CANOPEN COMMUNICATION 7 1 CanOpen message frame SOF COB ID RTR CTRL Data Segment CRC ACK EOF 1bit 11bit 1bit 5bit 0 8bytes 16bits 2bits 7bits SOF Start of Frame CRC Cyclic Redundancy Check RTR Remote Transmission Request ACK Acknowledge CTRL Control Field i e Data Length EOF End of Frame COB ID The identification field of the CANopen message is 11 bit...

Page 20: ...de 0x1801 PDO6 Process Data Objects rx 0110 0x0300 Node 0x1401 SDO Service Data Objects tx 1011 0x0580 Node SDO Service Data Objects rx 1100 0x0600 Node Node Guarding 1110 0x0700 Node 0x100E Table 7 1 Drive Profile mode ByPass mode Object Function Code binary COB ID Comm parameter at Index NMT message 0000 0x0000 Sync Message 0001 0x0080 0x1005 Time Stamp Message 0010 0x0100 PDO1 Process Data Obje...

Page 21: ...ed or any nodes on the network can be set into the Operational State In this state also the exchange of data by means of PDOs is possible With enabling the operation of all nodes of a network at the same time a co ordinated operation of the communicating system is secured DS301 To Set Vacon CanOpen Option board to the Operational State the following message must be sent Message Start_Remote_Node M...

Page 22: ...nchronous default RTR Only mode Event Timer PDO Type Mapped Data Mapped Data Mapped Data Mapped Data TPDO1 statusword x TPDO6 statusword vl_control_effort X X X x X X TPDO21 nx_status_word nx_actual_speed process_data_out 1 process_data_out 2 X X X x X X TPDO22 process_data_out3 process_data_out4 process_data_out5 process_data_out6 X X X x X X RPDO1 controlword x RPDO6 controlword vl_target_veloci...

Page 23: ...53 mean that the PDO is only transmitted on remote transmission request At transmission type 252 the data is updated but not sent immediately after reception of the SYNC object At transmission type 253 the data is updated at the reception of the remote transmission request hardware and software restrictions may apply These value are only possible for TPDOs For TPDOs transmission type 254 means the...

Page 24: ...n the statusword The Statemachine describes the device status and the possible control sequency of the drive controlword statusword bit Name bit Name 0 Switch ON 0 Ready to Switch ON 1 Disable Voltage 1 Switched ON 2 Quick Stop 2 Operation Enable 3 Enable Operation 3 Fault 4 Operation Mode Specific 4 Voltage Disable 5 Operation Mode Specific 5 Quick Stop 6 Operation Mode Specific 6 Swich ON Disabl...

Page 25: ... Statemachine to Switched ON state RUN 000Fhex Start motor if Fieldbus is the active control place STOP 0007hex Stop motor FAULT RESET step 1 FAULT RESET step 2 bit 7 0 bit 7 1 Rising edge to bit 7 vl_target_velocity The vl_target_velocity is the required speed reference to the frequency converter The unit is RPM vl_control_effort The vl_control_effort is the actual speed of the motor The unit is ...

Page 26: ...and FAULT correspond to the actual mode of the Drive SW StatusWord CW ControlWord word MALFUNCTION FAULT SW xx08h or xx28h MALFUNCTION R EACTION ACTIVE FAULT SW xxxFh or xx2Fh QUICK STOPACTIVE STOP SW xx07h READY TO SWITCH ON STOP SWITCH ON DISABLED STOP SW xx40h or xx60h NOT READY TO SWITCH ON IN IT SW xx00h Power ON OPERATION ENABLED RUN SW xx27h SWITCHED ON STOP SW xx23h Reset malfunction CW 00...

Page 27: ...aster to Slave 1 Header Data ID RTR Len 1 2 3 4 5 6 7 8 0x401 0 8 nx_control_word nx_speed_referense process_data_in1 process_data_in2 PDO21 Tx Slave 1 to Master Header Data ID RTR Len 1 2 3 4 5 6 7 8 0x381 0 8 nx_status_word nx_actual_speed process_data_out1 process_data_out2 PDO22 Rx Master to Slave 1 Header Data ID RTR Len 1 2 3 4 5 6 7 8 0x501 0 8 process_data_in3 process_data_in4 process_data...

Page 28: ... 2 1 0 RST DIR RUN In Vacon applications the three first bits of the control word are used to control the frequency converter However you can customise the content of the control word for your own applications because the control word is sent to the frequency converter as such Bit Description Value 0 Value 1 0 Stop Run 1 Clockwise Counterclockwise 2 Rising edge of this bit will reset active fault ...

Page 29: ...s of the device and messages is indicated in the Status word The Status word is composed of 16 bits that have the following meanings Bit Description Value 0 Value 1 0 Not Ready Ready 1 STOP RUN 2 Clockwise Counterclockwise 3 Faulted 4 Warning 5 Ref frequency not reached Ref Frequency reached 6 Motor is running at zero speed 7 Flux Ready Flux Not Ready 8 TC Speed Limit Active depends on drive model...

Page 30: ...f ID and Value is value of ID If read fails Status will get value 0xFFFF dec 65535 Writing anyparameter When new ID and value is written to index 2002 a write event will be triggered Index 2002 value will remain as long as writing is processed normal sdo pdo operation during this time If write is succes index 2002 ID and value will be cleared and new write is possible If write fails ID will clamp ...

Page 31: ...eter PDOCommPar 1414 5140 21st _receive_PDO_parameter PDOCommPar 1415 5141 22st _receive_PDO_parameter PDOCommPar 1600 5632 1st _receive_PDO_mapping PDOMapping 1605 5637 6st _receive_PDO_mapping PDOMapping 1614 5652 21st _receive_PDO_mapping PDOMapping 1615 5653 22st _receive_PDO_mapping PDOMapping 1800 6144 1st _transmit_PDO_parameter PDOCommPar 1805 6149 6nd _transmit_PDO_parameter PDOCommPar 18...

Page 32: ...ontrolword Unsigned16 RW 6041 24641 statusword Unsigned16 RO 6042 24642 vl_target_velocity Interger16 RW 6043 24643 vl_velocity_demand Interger16 RO 6044 24644 vl_control_effort Interger16 RO 6046 24646 vl_velocity_min_max_amount Unsigned32 RW 6048 24648 vl_velocity_acceleration Ramp RW 6049 24649 vl_velocity_deceleration Ramp RW 604A 24650 vl_velocity_quick_stop Ramp RW 604E 24654 vl_velocity_ref...

Page 33: ... current 2 voltage 3 temperature 4 communication error overrun error state 5 device profile specific 6 reserved 7 manufacturer specific 1003 Pre defined Error Field This object holds errors that have occurred on the device and have been signalled via Emergency Object It is an error history Writing value 0 to sub index 0 deletes the entire error history 00 Number of Errors 0x0000 0x0000 0x00FE u8 r...

Page 34: ... number Server SDO Parameters 1200 Server SDO Parameter The object contains the parameters for the SDOs for which the device is the server 00 Number of Entries 0x02 0x02 0x02 u8 ro 01 COB ID Client Server 0x600 NodeID 0x00000601 0xFFFFFFFF u32 ro 02 COB ID Server Client 0x580 NodeID 0x00000581 0xFFFFFFFF u32 ro Receive PDO Communication Parameters 1400 Receive PDO 1 Communication Parameter It cont...

Page 35: ...ins the mapping parameters of the first PDO the device is able to receive Sub index 0 contains the number of the mapped data objects All further entries define the data by it s index sub index and length 00 Number of Entries 0x01 0x00 0x40 u8 ro 01 PDO Mapping Entry 0x60400010 0x00000000 0xFFFFFFFF u32 ro 1605 Receive PDO 6 Mapping Parameter It contains the mapping parameters of the PDO6 the devic...

Page 36: ...x00 0xFF u8 ro 1805 Transmit PDO 6 Communication Parameter It contains the communication parameters of the PDO 6 the device is able to transmit 00 Number of Entries 0x05 0x02 0x05 u8 ro Sub index 0 contains the number of PDO parameters implemented 01 COB ID 0x280 NodeID 0x00000281 0xFFFFFFFF u32 ro Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled 02 Transmission Type 0xFF 0x00...

Page 37: ...nhibit time can be defined on sub index 3 in 100 µs This time is minimum interval for PD transmission Default 100 ms 04 Compatibility Entry 0x03 0x00 0xFF u8 ro 05 Event Timer 0x0000 0x0000 0xFFFF u16 rw Event Time can be define on subindex 5 in 1ms resolution This is the time interval PDO will be transmitted Value 0 Disable Event Timer Transmit PDO Mapping Parameters 1A00 Transmit PDO 1 Mapping P...

Page 38: ...able to transmit Sub index 0 contains the number of the mapped data objects All further entries define the data by it s index sub index and length The structure of a mapping entry is index subindex length 00 Number of Entries 0x04 0x00 0x40 u8 ro 01 PDO Mapping Entry 0x283B0010 0x00000000 0xFFFFFFFF u32 ro 02 PDO Mapping Entry 0x283C0010 0x00000000 0xFFFFFFFF u32 ro 03 PDO Mapping Entry 0x283D0010...

Page 39: ...16 ro 283A Process data out2 0x0000 0x8000 0x7FFF i16 ro 283B Process data out3 0x0000 0x8000 0x7FFF i16 ro 283C Process data out4 0x0000 0x8000 0x7FFF i16 ro 283D Process data out5 0x0000 0x8000 0x7FFF i16 ro 283E Process data out6 0x0000 0x8000 0x7FFF i16 ro Device Profile Parameters 6040 controlword 0x0000 0x0000 0xFFFF u16 rw The control command for the state machine The state machine descripe...

Page 40: ...peed and the delta time v rpm delta speed delta time t sec 00 Number of Entries 0x02 0x00 0x02 u8 ro 01 delta_speed 0x00000000 0x00000000 0xFFFFFFFF u32 rw 02 delta_time 0x0001 0x0000 0xFFFF u16 rw 6049 vl velocity deceleration This parameter specifies the slope of the deceleration ramp The parameter consist of two parts the delta speed and the delta time delta speed delta time v rpm t sec 00 Numb...

Page 41: ...58 0 40 837 1150 Email vacon vacon com 8 6060 modes of operation 0x02 0x80 0x7F i8 ro This parameter switches the actually choosen operation mode 6061 modes of operation display 0x02 0x80 0x7F i8 ro This parameter shows current mode of operation ...

Page 42: ...After that if slave drive don t receive any Node Guarding messages during life time it will generate Fieldbus Fault Vacon CanOpen option board has following items for guarding purposes Index HEX Sub Index Name Default Min Max Type Attr Descriptions 100C 00 Guard Time 1000 0 65535 u16 rw This entry contains the guard time in milli seconds It is 0 if not used Unit ms 100D 00 Life Time Factor 2 0 255...

Page 43: ...ect dictionary For handling of the complexity of CANopen systems Software Tools are required This reduces the complexity of the planning configuration and analysis process and significantly increases the security of the system For this purpose Software Tools need an electronic description of the CANopen devices To allow the usage of manufacturer independent Tools this document defines a standardis...

Page 44: ...leration 6049h vl_velocity_acceleration 6048h vl_velocity_demand 6043h RPM vl_velocity_min_max_amount 6046h torque 2003h current 2004h fault code 2063h vl_target_velocity 6042h RPM Drive Interface Limit Ramp Motor vl_control_effort 6044h RPM RPM to RPM to Hz RPM to Hz RPM to Hz to RPM RPM to ActualSpeed MinFrequency MaxFrequency DecelerationTime AccelerationTime FaultCode controlword 6040h Applica...

Page 45: ... not used cc 00 number of empty bytes that case answer consist of 4 bytes e 1 expedited transfer s 1 data set size is indicated Data D0 D4 Write Dictionary Object SDO1 Rx Master to Slave 1 Header Data ID RTR Len 1 2 3 4 5 6 7 8 0x601 0 8 Command Object Index Sub Index D0 D1 D2 D3 Command e g 0x2B Command aaabcces 0010 1011 aaa 010 Initiate download request b 0 not used cc 00 number of empty bytes ...

Page 46: ...rrent A 0 1 A Process data OUT 4 Motor Torque 0 1 Process data OUT 5 Motor Power 0 1 Process data OUT 6 Motor Voltage V 0 1 V The Multipurpose application has a selector parameter for every Process Data The monitoring values and drive parameters can be selected using the ID number see NX All in One Application Manual Tables for monitoring values and parameters Default selections are as in the tabl...

Page 47: ...PUT 0 01 PD3 PD6 Not Used PID control and Pump and fan control applications Data Value Unit Scale Reference Speed Reference 0 01 ControlWord Start Stop Command Fault reset Command Process Data IN1 Reference for PID controller 0 01 Process Data IN2 Actual Value 1 to PID controller 0 01 Process Data IN3 Actual Value 2 to PID controller 0 01 PD4 PD6 Not Used appendix d Version 8 of the C6 Option boar...

Page 48: ...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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