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FC 300 CANopen

- I n t r o d u c t i o n -

MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark

Topology

Assumptions

These operating instructions assume that you are using a Danfoss FC 300 frequency converter with

CANopen. It is also assumed that as master you are using a PLC or PC equipped with a serial

communication card supporting all the CANopen communication services required by your application.

Furthermore, it is assumed that all requirements stipulated in the CANopen standard as well as those set up

in the AC Drive Profile and those pertaining to the VLT frequency converter are strictly observed as well as

all limitations therein fully respected.

Hardware

These operating instructions relate to the CANopen option type nos. 130B1103

Background Knowledge

The Danfoss CANopen option is designed to communicate with any master abiding by the CANopen

standard. It is therefore assumed that you have full knowledge of the PC or PLC you intend to use as a

master in your system. Any questions pertaining to hardware or software produced by any other

manufacturer is beyond the scope of these operating instructions and is of no concern to Danfoss. If you

have questions about how to set up master - master communication or communication to a non-Danfoss

slave, please consult the appropriate documentation.

FC 300-related Literature

The following literature is available for the FC 300 series.

Title

Literature no.

FC 300 Operating Instructions

MG.33.AX.YY

FC 300 Design Guide

MG.33.BX.YY

FC 300 Profibus Operating Instructions

MG.33.CX.YY

FC 300 CANopen Operating Instructions

MG.33.DX.YY

FC 300 CANopen Operating Instructions

MG.33.JX.YY

FC 300 MCT 10 Software Dialogue

MG.33.EX.YY

Profibus DP V1 Design Guide

MG.90.EX.YY

Please also refer to http://www.danfoss.com/drives for frequently asked questions and additional
information.

Abbreviations

Содержание FC 300

Страница 1: ...ct SYNC 15 1017h Producer Heartbeat Time 15 1014h 1015h Emergency object EMCY 16 Configure the FC 300 17 VLT Parameters 17 LEDs 17 How to Control the FC300 18 Device Profile 18 Communication in CANope...

Страница 2: ...Data Objects SDO 39 Initiate download 40 Download segment 41 Initiate upload 41 Upload segment 42 Example Initiate Upload read data 43 SDO Abort Code 44 Parameters 45 Parameter List 50 Data Types Supp...

Страница 3: ...has tested and reviewed the documentation within this manual Danfoss A S makes no warranty or representation either express or implied with respect to this documentation including its quality performa...

Страница 4: ...1 16 x rated motor current and rated motor frequency For the North American market The ETR functions provide class 20 motor overload protection in accordance with NEC 6 Do not remove the plugs for the...

Страница 5: ...on Profile for Industrial Systems and DSP 402 Device Profile Drives and Motion Control CANopen systems can be configured to operate in a master slave or a distributed control architecture using peer t...

Страница 6: ...e with any master abiding by the CANopen standard It is therefore assumed that you have full knowledge of the PC or PLC you intend to use as a master in your system Any questions pertaining to hardwar...

Страница 7: ...ess Data Object QW Peripheral Output Word SINT Signed Integer STW Status Word VSD Variable Speed Drive UDINT Unsigned Double Integer UNIT Unsigned Integer USINT Unsigned Short Integer From Requirement...

Страница 8: ...FC 300 CANopen I n t r o d u c t i o n 8 MG 33 J1 02 VER 050301 VLT is a registered Danfoss trademark...

Страница 9: ...on mm Termination resistor Baudrate Kbit s 0 40 40 300 300 600 600 1000 70 60 40 26 0 25 0 34 0 34 0 6 0 5 0 6 0 75 0 8 124 150 300 150 300 150 300 1000 up to 30m 500 up to 100m 100 up to 500m 50 up t...

Страница 10: ...d local regulations for example regarding protective earth connection must be observed The CANopen communication cable must be kept away from motor and brake resistor cables to avoid coupling of high...

Страница 11: ...EMC compliance is shown in the following drawing Recommendation The Screen must be connected to ground at only one point on the network NB Please note that this recommendation conflicts with the corre...

Страница 12: ...e removal of devices will not sever the network If required the developer must provide strain relief In current installations of this type of connector the strain relief is attached to the product NB...

Страница 13: ...d Push the option into place Two positions are possible with cable terminal facing either up or down The cable up position is often most suitable when several frequency converters are installed side b...

Страница 14: ...t the CANopen Address via Parameter 10 02 Drive Node ID The address can be set via parameter 10 02 Drive Node ID The hardware switches has no functionality The address change will come into effect at...

Страница 15: ...ust use the SYNC object to synchronize their own timing with that of the Synchronization Object producer 1017h Producer Heartbeat Time The heartbeat acts as an error control service to detect a failur...

Страница 16: ...state The behaviour of the EMCY object can be configured via objects 1014h 1015h and par 8 07 Diagnosis Trigger If par 8 07 Diagnosis Trigger is set to OFF then the EMCY will not be sent at all if it...

Страница 17: ...e and the frequency converter will display an error Parameter 8 10 Control word profile see section How to Control the FC300 Choose between the Danfoss FC Profile and the DSP 402 profile for CANopen P...

Страница 18: ...01F Static Data Types 0020 003F Complex Data Types 0040 005F Manufacturer Specific Data Types 0060 007F Device Profile Specific Data Types 0080 009F Device Profile Specific Complex Data Types 00A0 0FF...

Страница 19: ...functionality of PDOs and SDOs Process Data Objects PDO Service Data Objects SDO Client Server communication 0 8 bytes of data Always 8 bytes of data If fewer than 8 bytes are used the remainder of t...

Страница 20: ...11 ARRAY Restore default parameters UNSIGNED32 rw 1014 VAR COB ID EMCY UNSIGNED32 rw 1017 VAR Producer heartbeat time UNSIGNED16 rw 1018 RECORD Identity Object Identity 23h ro 1201 RECORD 2nd Server S...

Страница 21: ...ap internal errors in this byte This entry is mandatory for all devices and is a part of the Emergency Object Each bit of the error register is reserved for a specified group of errors alarms Only bit...

Страница 22: ...nc cycle after setting Bit 30 to 1 1008h Manufacturer Device Name This object contains the device name as defined in par 15 40 1009h Manufacturer Hardware Version This object contains the Danfoss FC h...

Страница 23: ...x sub index Meaning 1011h 0 Largest sub index supported 1011h 1 Restore all default parameters 1014h COB ID emergency object This object defines the COB ID under which the emergency object EMCY is sen...

Страница 24: ...e and the given reference is followed Bit 06 Ramp stop start Bit06 0 The VLT controls the motor down to stop Bit 01 1 Start command to the VLT is given Bit 07 No function reset Reset of trip Bit 07 0...

Страница 25: ...rning situation Bit 07 1 means that a warning has occurred Bit 08 Danfoss reserved Bit 09 Remote disable Remote enable Bit 09 0 means that the drive has been stopped by means of the stop key on the LC...

Страница 26: ...is a registered Danfoss trademark Bit 12 DSP 402 reserved Bit 13 DSP 402 reserved Bit 14 Running Not running Bit 14 0 means that the motor is not running Bit 14 1 means that the drive has a valid sta...

Страница 27: ...wer section is switched off immediately and the motor is free to rotate if unbraked 9 Operation Enable Switch on Disable 0001 0000 0240 The power section is switched off immediately and the motor is f...

Страница 28: ...enables the frequency converter to start the motor if the other starting conditions have been fulfilled N B In parameter 8 50 Coasting select a selection is made to define how Bit 03 gates with the c...

Страница 29: ...ored Bit 10 1 causes the control word to be used This function is relevant because the control word is always contained in the telegram regardless of which type of telegram is used i e it is possible...

Страница 30: ...not in fault mode Bit 03 1 means that 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 means that the frequency...

Страница 31: ...ns that the torque limit in parameter 4 18 Current limit has been exceeded Bit 15 Timer OK limit exceeded Bit 15 0 means that the timers for motor thermal protection and VLT thermal protection respect...

Страница 32: ...try has to be interpreted as defined in the following figure and table Structure of PDO COB ID entry Unsigned32 MSB LSB bits 31 30 29 28 11 10 0 11 bit ID 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0...

Страница 33: ...ronous Transmission The classification of synchronous and asynchronous PDOs is as follows PDO Triggering Modes The CANopen Communication Profile distinguishes two message triggering modes Event Driven...

Страница 34: ...e determined by corresponding PDO mapping entry of the PDO inhibit time application specific Receive PDO The following overview shows the receive read PDOs PDO No Index Link to PDO COB ID Mapping Obje...

Страница 35: ...PDO 400h node ID 2 transmission type 255 3 inhibit time 0 4 not used 1614 h 0 number of mapped objects 4 1 60400010 h 2 60420010 h 3 process data word 1 from par 10 50 index 0 h 4 process data word 2...

Страница 36: ...2f10h 1 Status word vl_control_effort RPM process data word 1 1051 0 process data word 2 1051 1 22 1815h 4 480h 2f10h 2 2f10h 3 2f10h 4 2f10h 5 process data word 3 1051 2 process data word 4 1051 3 p...

Страница 37: ...l_control_effort RPM 60440010 h 3 process data word 0 from VLT 1051 index 0 h 4 process data word 1 from VLT 1051 index 1 h 22nd transmit PDO Index Subindex Comment Default Value 1814 h 0 number of en...

Страница 38: ...ANopen object index 1 2001h 2 2002h 7934 2EFFh CANopen object index sub index Contents Parameter 2F00h 0 PCD 0 write Par 10 40 0 2F00h 1 PCD 1 write Par 10 40 1 2F00h 2 PCD 0 write Par 10 40 2 2F00h 3...

Страница 39: ...bits 31 30 29 28 11 10 0 11 bit ID 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 11 bit Identifier 29 bit ID 0 1 0 1 29 bit Identifier Description of SDO COB ID entry Bit number Value Meaning 0 SDO val...

Страница 40: ...ifying a component of a device object dictionary entry Four different routines exist for uploading or downloading SDO data Initiate download Download segment Initiate upload Upload segment Initiate do...

Страница 41: ...oad seg response scs 1 byte 7 no data size 6 byte 0 no more segments to be downloaded 2 3 7 byte 2 7 no data size 1 byte Initiate upload The initiate upload starts the SDO communication from the clien...

Страница 42: ...0 X reserved Server response 0 Byte 1 8 7 5 ccs 4 x 3 2 1 n 0 c segment data t toggle bit c indicator for more segments Byte 0 Bit 5 7 Bit 4 Bit 3 1 Bit 0 ccs scs t toggle n c 0 Upload seg Response s...

Страница 43: ...cator If the transfer type is set to 1 the reply consists only of 1 telegram expedited transfer i e the amount of transferred data is 0 4 bytes If the size indicator is set to 1 and the expedited bit...

Страница 44: ...reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to an hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0...

Страница 45: ...does not change but the drive will be tripped and display Alarm 67 Option changed Par 8 02 cannot be changed while the motor is running 8 03 Control Word Timeout Time Range 0 1 18000 0 s 1 0 s Functi...

Страница 46: ...me The drive resumes the original set up 8 06 Reset Control Word Timeout Option Do not reset 0 Do reset 1 Function Used for returning the drive to the original set up after a Control word timeout Afte...

Страница 47: ...AND 2 Logic OR 3 Function Choose between controlling the drive via the terminals digital input and or via the bus If you select Bus you can only activate Selection of Setup if it is transmitted via th...

Страница 48: ...f Bus Off events since the last power up 10 31 Store Data Values Option Off 0 Store edit set up 1 Store all set ups 2 Function Par 10 31 is used to activate storing of data in non volatile memory 10 3...

Страница 49: ...ut 16 61 Terminal 53 switch setting 16 62 Analog input 53 16 63 Terminal 54 switch setting 16 64 Analog input 54 16 65 Analog output 42 mA 16 66 Digital output bin 16 67 Freq input 29 Hz 16 68 Freq in...

Страница 50: ...t Logic OR 3 0 3 5 8 53 Start Select Logic OR 3 0 3 5 8 54 Reversing Select Logic OR 3 0 3 5 8 55 Set up Select Logic OR 3 0 3 5 8 56 Preset Reference Select Logic OR 3 0 3 5 8 90 Bus Jog 1 Speed 100...

Страница 51: ...iption 3 Integer 16 4 Integer 32 5 Unsigned 8 6 Unsigned 16 7 Unsigned 32 9 Visible string 10 Byte string 33 Standardized value 16 bit 35 Bit sequence 41 Byte 42 Word Conversion index This number refe...

Страница 52: ...shooting Troubleshooting LED Status First check the LEDs The CANopen control card contains two bi colour green red LEDs to indicate the state of the device and the network respectively The upper LED E...

Страница 53: ...consumer has occurred 5 triple flash sync error sync message has not been received within configured timeout object 0x1006 6 On bus off bus off If more than 1 error has occurred the one with the highe...

Страница 54: ...Pin no Terminal Colour Name 1 Reserved 2 CAN_L Blue CAN LOW 3 Drain bare Screen 4 CAN_H White CAN HIGH 5 Reserved Check 2 Is the correct EDS file installed Download the correct EDS file from http www...

Страница 55: ...ick stop select and 8 52 DC Brake select is as follows If Digital input 0 is selected the terminal will control the Coast and DC Brake functions Par 8 50 51 52 setting Digital input 0 Terminal Bit 02...

Страница 56: ...e activated only when given via the control word Par 8 53 54 setting Bus 1 Terminal Bit 02 03 04 Function 0 0 Stop Anti clockwise 0 1 Start Clockwise 1 0 Stop Anti clockwise 1 1 Start Clockwise If Log...

Страница 57: ...1 1 3 1 1 0 0 4 1 1 0 1 4 1 1 1 0 4 1 1 1 1 4 If Bus 1 is selected commands will be activated only when given via the control word If Logic AND 2 is selected both signals must be activated to perform...

Страница 58: ...activation of one signal will activate the function Par 8 55 56 setting Logic OR 3 Terminal Bit 00 01 13 14 Function Msb Lsb Msb Lsb Preset ref Set up no 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0...

Страница 59: ...ature 10 Major Recoverable 00000200 Inverter overloaded 9 Major Recoverable 00000400 DC link under voltage 8 Major Recoverable 00000800 DC link over voltage 7 Major Recoverable 00001000 Short circuit...

Страница 60: ...alarms and warnings In the event of an alarm The frequency converter will enter a fault condition After the cause for the alarm has been cleared the master will have to acknowledge the alarm message f...

Страница 61: ...classes CANopen termination Conversion index D Danfoss FC control profile Danfoss object classes Drive will not respond to control signals Drop cable E Earth connection EDS file EMC precautions I L LE...

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