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105

CANopen external communication cards

POWERXL DG1 SERIES VFD

   MN040010EN—September 2016   www.eaton.com

CANopen overview

CANopen is a network system based on the serial bus 

network Controller Area Network (CAN). The CANopen 

communication profile (CiA-301) supports both direct 

access to device parameters and critical process data 

communications. CANopen device profiles (CiA DS-40X) 

define standards for device functionality while providing 

ample ability for additional vendor-specific device features. 

CANopen is used in direct peer-to-peer data exchange 

between nodes and the host machine. CANopen supports 

cyclic and event driven communications, allowing for 

reduced bus load and better performance with minimal 

cable loss.

Device Profile Drives and Motion Control (CiA-402) 

document represents the standardized CANopen Device 

Profile for digital controlled motion products like servo, 

drives or stepper motors. All these types of devices use 

the same communication techniques that conform to 

those described in the CANopen Application Layer and 

Communication Profile. The starting and stopping of the 

drive and several mode specific commands are executed by 

the state machine.
CANopen communication objects transmitted via the CAN 

network are described by services and protocols. They are 

set up as follows:

 

•

The real-time data transfer is performed by the Process 

Data Objects (PDOs) protocol

 

•

Service Data Object (SD) protocols provide the read and 

write access to entries of a device dictionary

 

•

The Network Management (NMT) protocols provide 

services for network initialization, error control and device 

status control

CANopen message frame

Table 136. Message Frame

SOF

COB-ID

RTR

CTRL

Data Segment

CRC

ACK

EOF

1 bit

11 bits

1 bit

5 bit

0–8 bytes

16 bits

2 bits

7 bits

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 bits.

D-Bit

10

9

8

7

6

5

4

3

2

1

0

COB-ID

Function Code

Node ID

The default identification field consists of a functional part and a module-ID part.  

The functional part determines the object priority. This kind of identification field allows  

communication between a master and 127 slaves. Broadcasting is indicated by a module-ID  

of zero. Function codes are determined with object dictionaries in device profiles.

Содержание DG1-357D6FB-C21C

Страница 1: ...Communication manual PowerXL DG1 Series VFD Effective September 2016 Supersedes May 2014...

Страница 2: ...ILITY OTHER THAN THOSE SPECIFICALLY SET OUT IN ANY EXISTING CONTRACT BETWEEN THE PARTIES ANY SUCH CONTRACT STATES THE ENTIRE OBLIGATION OF EATON THE CONTENTS OF THIS DOCUMENT SHALL NOT BECOME PART OF...

Страница 3: ...nd product information You can also find information on local distributors or Eaton s sales offices Website address www eaton com drives EatonCare customer support center Call the EatonCare Support Ce...

Страница 4: ...ormation 2 OPTION CARD SLOTS Installing DG1 option board 4 Control wiring 4 EMC directive 5 Control cable grounding 5 MODBUS RTU ON BOARD COMMUNICATIONS Modbus RTU specifications 7 Commissioning 8 Mod...

Страница 5: ...CANopen cable 100 CANopen bus termination 101 Hardware specification 102 Commissioning 103 CANopen overview 105 Network management NMT 107 Drive profile state machine 109 Device profile parameters 11...

Страница 6: ...17 Static default gateway 23 Figure 18 Modbus TCP unit ID 24 Figure 19 Module and network status 33 Figure 20 Human to machine user interface 34 Figure 21 Machine to machine industrial environment fa...

Страница 7: ...nation 101 Figure 43 CANopen hardware 102 Figure 44 CANopen parameters 103 Figure 45 NMT state machine 107 Figure 46 Internal state machine 109 Figure 47 Device profile 121 Figure 48 Trunk lines or dr...

Страница 8: ...uts 12 Table 19 Request to write holding registers 12 Table 20 Index table 13 Table 21 Process data slave master max 22 Bytes 13 Table 22 Process data master slave max 22 Bytes 13 Table 23 Fieldbus ba...

Страница 9: ...30 Table 64 EtherNet IP technical data 31 Table 65 Ethernet LED description 32 Table 66 Module status LED description 33 Table 67 Network status LED description 33 Table 68 PowerXL etherNet IP network...

Страница 10: ...tions 82 Table 106 Recommended cable 82 Table 107 PROFIBUS parameters 84 Table 108 Binary bits and corresponding outputs 86 Table 109 FB control word 86 Table 110 Speed reference 86 Table 111 Bypass m...

Страница 11: ...122 Table 156 DeviceNet power LED D1 124 Table 157 DeviceNet board status LED D10 124 Table 158 The MS and NS LED D2 124 Table 159 Devicenet parameters 126 Table 160 Instance 20 output length 4 bytes...

Страница 12: ...0x03 140 Table 182 Assembly object class 0x04 141 Table 183 Motor data object class 0x28 142 Table 184 Control supervisor object class 0x29 143 Table 185 AC DC Drive object class 0x2A 144 Table 186 V...

Страница 13: ...programs interrupted after a voltage DIP or failure This should not cause dangerous operating states even for a short time If necessary emergency stop devices should be implemented Wherever faults in...

Страница 14: ...checking components Always work with another person in case an emergency occurs Disconnect power before checking controllers or performing maintenance Be sure equipment is properly earthed Wear safety...

Страница 15: ...e may still remain in the DC bus capacitors even if the power has been turned off Confirm that the capacitors have fully discharged by measuring their voltage using a multimeter set to measure the DC...

Страница 16: ...uctor must be connected or the cross section of the equipment grounding conductor must be at least 10 mm2 Cu Drive requires that only copper conductor should be used CAUTION Debounced inputs may not b...

Страница 17: ...nction and potential damage CAUTION Make sure that the drive output terminals U V W are not connected to the utility line power as severe damage to the drive may occur CAUTION When the control termina...

Страница 18: ...n us pour un montage dans des bo tiers ou armoires de commande ne doivent tre utilis s et contr l s qu apr s avoir t install s et avec le bo tier ferm Les unit s de bureau ou portatives ne doivent tre...

Страница 19: ...t MISE EN GARDE Indique une situation potentiellement dangereuse qui si elle n est pas vit e peut entra ner des blessures l g res mod r es et d importants d g ts mat riels La situation d crite dans la...

Страница 20: ...mort ou des blessures graves AVERTISSEMENT Un dispositif de protection d connexion en amont doit tre fourni tel que requis par le code lectrique national NEC Le non respect de cette pr caution peut en...

Страница 21: ...E EN GARDE Installer cet entra nement dans une pi ce bien a r e non soumise des temp ratures extr mes une forte humidit ou la condensation viter les endroits directement expos s au soleil ou pr sentan...

Страница 22: ...nement sur un syst me TN une phase connect e la terre pour ne pas endommager l entra nement Note Lorsque le filtre CEM interne est d branch l entra nement peut ne pas tre conforme aux normes de compa...

Страница 23: ...ra nement Le nombre de cycles de charge maximum permis des condensateurs CC c est dire les mises sous tension par application de puissance est de cinq en dix minutes MISE EN GARDE Fonctionnement incor...

Страница 24: ...aflet IL040016EN Quick Start Guide MN040006EN User Manual CD CD040002EN and accessory packet The accessory packet includes Rubber grommets Control cable grounding clamps Additional grounding screw Ins...

Страница 25: ...I O and communication interfaces to provide the versatility required for today s demanding motor control applications The input and output capability is designed with modularity in mind comprised of...

Страница 26: ...If an incorrect board is plugged into either slot the board will not work but there is no danger to personal or for equipment damage Figure 3 DG1 series control board location Connect DSP Part to Pow...

Страница 27: ...wer is applied to the PowerXL Drive Verify the board fits tightly in the metal clamp and plastic groove If the board seems to be difficult to install in the slot you should confirm that you are using...

Страница 28: ...ategory C1 is possible with external filter connected to drive Please consult factory Category C2 with internal filter maximum of 10m motor cable length Category C3 with internal filter maximum of 50m...

Страница 29: ...The figure shows a typical arrangement with a host computer master and any number maximum 31 slaves of frequency inverters Each frequency inverter has a unique address in the network This addressing...

Страница 30: ...r Cable Twisted pair 1 pair and shield Electrical Isolation Communications Table 6 Communications Item Description Modbus RTU As described in Modicon Modbus Protocol Reference Guide found at http publ...

Страница 31: ...485 menu In this menu you will be able to scroll through the below settings to setup the communication protocol Table 7 Modbus RTU BACnet MS TP P20 2 Code Parameter Min Max Unit Default ID Note P20 2...

Страница 32: ...device is assigned an address to distinguish it from all other connected devices The Modbus protocol uses the master slave technique in which only one device the master can initiate a transaction The...

Страница 33: ...messages sent from a master to slave devices contains additional information that the slave must use to take the action defined by the function code This can include items like discrete and register...

Страница 34: ...ters Item Code Description Slave address 0x12 Function code 0x04 Start address High 0x07 Starting address 0x07D0 hex 2000 Start address Low 0xD0 Number of Input Registers High 0x00 Number of Input Reg...

Страница 35: ...ess Low 0x13 Quantity of Outputs High 0x00 Quantity of Outputs 0x000A 10 Quantity of Outputs Low 0x0A Bye Count 0x02 Outputs Value High 0xCD Outputs Value Low 0x01 CRC High 0xAB CRC Low 0xFB Note N Th...

Страница 36: ...Status Word Binary coded 2102 32102 42102 FB General Status Word Binary coded 2103 32103 42103 FB Actual Speed 0 100 00 2104 32104 42104 FB Process Data Out 1 2105 32105 42105 FB Process Data Out 2 21...

Страница 37: ...specific Table 24 Binary bits and corresponding outputs 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 FB Ref FB Ctrl Bypass FB DI 4 FB DI 3 FB DI 2 FB DI 1 Fault Reset Reverse RUN Note N The bit is not used T...

Страница 38: ...Status Word is composed of 16 bits that have the following meanings Table 29 FB status word bit descriptions Bit Description Value 0 Value 1 0 Not Ready Ready 1 STOP RUN 2 Clockwise Counterclockwise...

Страница 39: ...ue 2108 Process Data OUT 5 32768 32767 5 Motor Power 2109 Process Data OUT 6 32768 32767 6 Motor Voltage V 2110 Process Data OUT 7 32768 32767 7 DC Link Voltage V 2111 Process Data OUT 8 32768 32767 2...

Страница 40: ...udes an efficient error checking function the Modbus TCP protocol does not include a separate CRC field In addition to the error checking functionality the TCP is responsible for resending packets and...

Страница 41: ...Network status indications Represents the state of the Ethernet port network interface Table 37 Network status LED description Indicator state Summary Meaning Steady Off Not powered no IP address Powe...

Страница 42: ...mponents in the network and avoid complex structures to minimize the length of response time and the amount of incorrect dispatches It is often a good practice to use a subnet that is different from o...

Страница 43: ...Default Static IP Address is 192 168 1 254 Communication timeout Defines how much time can pass from the last received message from the client device before fieldbus fault is generated Default communi...

Страница 44: ...keypad Using the PowerXL Drive Keypad to set the IP Address manually in the PowerXL EtherNet IP 1 Select IP addressing mode as Static IP Static IP mode configurations will be loaded Note N Change in...

Страница 45: ...ications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com 2 Using PowerXL drive keypad set the IP address in the PowerXL EIP to the desired address setting by a Setting Static IP Address...

Страница 46: ...P On Board communications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com b Setting Static Subnet Mask Figure 16 Static subnet mask c Setting Static Default Gateway Figure 17 Static def...

Страница 47: ...ModbusTCP Unit ID Figure 18 Modbus TCP unit ID 3 Make note of the changed IP Address 4 Using PowerXL drive keypad read Active IP Address Keypad menu P20 3 2 Active Subnet Mask Keypad menu P20 3 3 Acti...

Страница 48: ...Item Code Description Slave address 0x12 Function code 0x03 Start address High 0x07 Starting address 0x07D0 hex 2000 Start address Low 0xD0 Number of Holding Registers High 0x00 Number of Holding Regi...

Страница 49: ...s in the previous example correspond to the outputs in the following way Table 48 Binary bits and corresponding outputs Bit 1 1 0 0 1 1 0 1 0 0 0 0 0 0 0 1 Output 26 25 24 23 22 21 20 19 28 27 Example...

Страница 50: ...42007 FB Process Data In 4 Integer 16 2008 32008 42008 FB Process Data In 5 Integer 16 2009 32009 42009 FB Process Data In 6 Integer 16 2010 32010 42010 FB Process Data In 7 Integer 16 2011 32011 420...

Страница 51: ...nter Clockwise 2 No Reset Fault Reset 3 FB INDATA1 Off FB INDATA1 On 4 FB INDATA2 Off FB INDATA2 On 5 FB INDATA3 Off FB INDATA3 On 6 FB INDATA4 Off FB INDATA4 On 7 Bypass Relay Disable Bypass Relay En...

Страница 52: ...Word is composed of 16 bits that have the following meanings Table 59 FB status word bit descriptions Bit Description Value 0 Value 1 0 Not Ready Ready 1 STOP RUN 2 Clockwise Counterclockwise 3 Faulte...

Страница 53: ...32767 1 Output Frequency Hz 2105 Process Data OUT 2 32768 32767 2 Motor Speed RPM 2106 Process Data OUT 3 32768 32767 3 Motor Current A 2107 Process Data OUT 4 32768 32767 4 Motor Torque 2108 Process...

Страница 54: ...se find the software installation at www Eaton com drives In a local network IP addresses are determined by the network server using DHCP protocol The user can also manually define the network address...

Страница 55: ...llow a visual inspection the following sequence will be performed 1 Turn first indicator Green all other indicators off 2 Leave first indicator on Green for approximately 0 25 second 3 Turn first indi...

Страница 56: ...er on self test Network status indications Represents the state of the Ethernet port network interface Table 67 Network status LED description Indicator State Summary Meaning Steady off Not powered no...

Страница 57: ...cations including control safety synchronization motion configuration and information As a truly media independent protocol that is supported by hundreds of vendors around the world CIP provides users...

Страница 58: ...and the amount of incorrect dispatches It is often a good practice to use a subnet that is different from other devices not related to the drive control Figure 22 CAT 5e cable Table 68 PowerXL EtherNe...

Страница 59: ...client device before fieldbus fault is generated Default communication timeout is 10seconds Note N If the network cable is broken from PowerXL EtherNet IP slot a fieldbus error is generated immediatel...

Страница 60: ...keypad Using the PowerXL Drive Keypad to set the IP Address manually in the PowerXL EtherNet IP 1 Select IP addressing mode as Static IP Static IP mode configurations will be loaded Note N Change in...

Страница 61: ...nications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com 2 Using PowerXL drive keypad set the IP address in the PowerXL EIP to the desired address setting by a Setting Static IP Addres...

Страница 62: ...ic subnet mask c Setting Static Default Gateway Figure 26 Static default gateway 3 Make note of the changed IP Address 4 Using PowerXL drive keypad read Active IP Address Keypad menu P20 3 2 Active Su...

Страница 63: ...der logic variables to the scanner The following example is for an RSLogix5000 with a CompactLogix L23E QB1 PLC controller Note N Some PLCs do not support polled messaging for EtherNet IP For example...

Страница 64: ...EtherNet IP On Board communications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com Select New from File menu New controller window will pop up Select the controller and assign unique n...

Страница 65: ...nications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com Press OK Right click on Ethernet Select New Module Note N PC on which RSLogix master is running and PowerXL device slave should...

Страница 66: ...43 EtherNet IP On Board communications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com Select Module Type window will pop up Select PowerXL DG1 use filter to search PowerXL from catalog...

Страница 67: ...op up as shown below Fill in unique name and appropriate IP address for PowerXL Press OK The device will get added under Ethernet module Note N You must change the class1 connection from provided defa...

Страница 68: ...ons POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com Choose the INT data type then select IO connection from the provided list After selecting desired I O assembly instance connection in...

Страница 69: ...nications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com After selecting the I O connection click OK For this example I O connection ASM23OT 73TO will be used The module definition win...

Страница 70: ...47 EtherNet IP On Board communications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com After pressing OK the following warning will pop up Press Yes Warning snapshot...

Страница 71: ...mber 2016 www eaton com Then select OK on the New Module Window and the PowerXL drive will be added to the EtherNet IP Network on the left in this case under the CompactLogix EtherNet IP master port a...

Страница 72: ...nto RSLogix5000 These tags are automatically aliased to the generic I O tags created by RSLogix5000 The generic tags shown above for the PowerXL drive are an example This means you will not have to ty...

Страница 73: ...u can provide configuration support for your device by using a specially formatted ASCII file referred to as the EDS The information in an EDS allows configuration tools to provide informative screens...

Страница 74: ...x Data type description BOOL C1 Logical Boolean with values TRUE and FALSE SINT C2 Signed 8 bit integer value INT C3 Signed 16 bit integer value USINT C6 Unsigned 8 bit integer value UINT C7 Unsigned...

Страница 75: ...nstances UINT Get 1 03h Number of instances UINT Get 1 06h Maximum ID class attribute UINT Get 7 07h Maximum ID instance attribute UINT Get 7 Class services 0Eh Get_attribute_single 01h Get_attribute_...

Страница 76: ...1h Revision UINT Get 02h Max instances UINT Get 03h Number of instances UINT 04h Optional attribute list STRUCT of Get Number of optional attributes UINT 06h Maximum ID UINT Get Number class Attribute...

Страница 77: ...D4 03h Configuration control DWORD Get Set 02 dhcp 0 static 04h Physical link STRUCT of Get Path size UINT 00 Path Padded EPATH 00 05h Interface configuration Struct of NV Get Set Ip address UDINT 192...

Страница 78: ...attributes Array of UINT 0x07 0x00 0x08 0x00 0x09 0x00 0x0A 0x00 06h Maximum ID class attribute UINT Get 0x07 07h Maximum ID instance attribute UINT Get 0x0A Class services 01h Get_attributes_all 0Eh...

Страница 79: ...es 01h Revision UINT Get 2 02h Max instance UINT Get 0x7F 03h Number of instances UINT Get 0x0E 04h Optional attribute list Struct of Get Number of attributes UINT 01 Array of attributes Array of UINT...

Страница 80: ...le count UINT Get 4 1 8 0Fh Base speed UINT Get 1440 300 20000 Instance 2 attributes 03h Motor type USINT V Get Squirrel cage induction motor 7 06h First rated current UINT NV Get Set 126 1 5000 07h F...

Страница 81: ...0 1 04h Run2 RunReverse BOOL Get Set 0 0 1 05h NetCtrl BOOL Get Set 0 0 1 06h State USINT Get 0 0 7 07h Running1 BOOL Get 0 0 1 08h Running2 BOOL Get 0 0 1 09h Ready BOOL Get 0 0 1 0Ah Faulted0 BOOL...

Страница 82: ...59 EtherNet IP On Board communications POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com Figure 27 State transition diagram...

Страница 83: ...Max 03h Atreference BOOL Get 0 04h Netref BOOL Get Set 0 06h Drivemode USINT Get 0 07h Speedactual INT Get 0 08h Speedref INT Get Set 0 0Bh Torqueactual INT Get 0 0Ch Torqueref INT Get Set 0 1Dh Reff...

Страница 84: ...A for Class Instance and Attribute values for each parameter Table 82 Vendor specific objects ID Description Data type Access rule Remarks default Class attributes 01h Revision UINT Get 1 02h Max inst...

Страница 85: ...7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 NetRef NetCtrl FaultReset RunRev RunFwd 1 2 Speed reference Low Byte rpm 3 Speed reference High Byte rpm 4 Torque reference Low Byte Nm 5 Torque reference...

Страница 86: ...ut frequency hertz 2 Motor Speed rpms 3 Motor Current amps 4 Motor Torque of nominal motor torque 5 Motor Power of nominal motor power 6 Motor Voltage Calculated motor voltage 7 DC Bus Voltage 8 Activ...

Страница 87: ...ataIn2 LowByte 7 ProcessDataIn2 HighByte 8 ProcessDataIn3 LowByte 9 ProcessDataIn3 HighByte 10 ProcessDataIn4 LowByte 11 ProcessDataIn4 HighByte 12 ProcessDataIn5 LowByte 13 ProcessDataIn5 HighByte 14...

Страница 88: ...1 Table 90 Instance 71 Input length 4 bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 AtReference RefFromNet CtrlFromNet Ready Running2 Running1 Warning Faulted 1 Drive State 2 Speed Actu...

Страница 89: ...n Page 65 Process actual value is same as process reference This value will be a 0 to 10000 100 00 for use with Analog outputs writing 0 0 or 4 mA and 10000 being 20 mA Assembly instance 107 Table 93...

Страница 90: ...rocessDataOut1 LowByte 19 ProcessDataOut1 HighByte 20 ProcessDataOut2 LowByte 21 ProcessDataOut2 HighByte 22 ProcessDataOut3 LowByte 23 ProcessDataOut3 HighByte 24 ProcessDataOut4 LowByte 25 ProcessDa...

Страница 91: ...e is between 0 and 10000 In the application the value is scaled in percentage of frequency area between set minimum and maximum frequency 0 0 00 10000 100 00 Note N See Appendix B for Process Data Val...

Страница 92: ...mmunications network BACnet provides a method by which computer based control equipment from different manufacturers can work together or interoperate For this to be achieved components must be able t...

Страница 93: ...ng the cable Also strip the cable now at such a distance from the terminal that you can fix it to the frame with the grounding clamp Strip the cable at a maximum length of 0 59 in 15 mm IMPORTANT Do n...

Страница 94: ...ermination 7 Remount the AC drive cover Note N When planning the cable runs remember to keep the distance between the fieldbus cable and the motor cable at a minimum of 11 81 in 30 cm 8 The bus termin...

Страница 95: ...path to the fieldbus parameters may differ from application to application The exemplary paths below apply to the G Max HVAC drive Figure 35 BACnet parameter navigation 1 First ensure that the right...

Страница 96: ...to the bus Especially the parameters MAC Address and baud rate must be the same as in the master s configuration The first parameter MAC Medium Access Control address must be unique on the network to...

Страница 97: ...B ReinitializeDevice B Alarms and Events Not supported Schedules Not supported Trends Not supported Network Management Not supported Table 98 Supported object types and properties summery Property De...

Страница 98: ...s_binding Manual_slave_address_binding Profile_name Last_restart_session Time_of_device_restart Restart_notification_recipients Utc_time_synchronization_recipients Time_synchronization_interval Align_...

Страница 99: ...d to change active source for controlling motor LocalMotorCtrl FBMotorCtrl C BV8 Speed reference source Command to change source of motor speed reference LocalSpeedRef FBSpeedRef C BV9 Run stop cmd Co...

Страница 100: ...Operating days resettable Day R AV11 Operating hours Operating hours resettable Hour R AV12 Torque reference Torque reference Percent R AV13 Motor temperature Motor temperature Percent R AV14 Active f...

Страница 101: ...78 BACnet MS TP On Board communication POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com Fault tracing...

Страница 102: ...more than 32 stations are used repeaters are required PROFIBUS specifications Table 101 PROFIBUS technical data Items Value Terminal DB9 connector Female or 5 00 mm connector male Data transfer metho...

Страница 103: ...FIBUS LEDs are as stated below Table 103 PROFIBUS LEDs ON GREEN the left one BF RED the middle one SF RED the right one Fault condition Blinking Blinking Blinking Board Initialization ON OFF OFF Every...

Страница 104: ...or protect GND 2 No use or M24 Minus 24V output Voltage 3 RXD TXD P Positive of Receive or Transmit signal 4 RTS Request To Send 5 DGND GND of signal Isolated GND from RS 485 side 6 VP 5V Voltage Plus...

Страница 105: ...IBUS connection Table 105 PROFIBUS cable connections Parameter Line A Line B Impedance 135 165 3 20 MHz 100 130 f 100 kHz Capacity 30 pF m 60 pf m Resistance 100 km Wire gauge 0 64 mm 0 53 mm Conducto...

Страница 106: ...Card Menu Optional comm cards parameters Once the card is detected following parameters can be set on keypad for the PROFIBUS Figure 38 PROFIBUS parameter menu JOG 13 53 STP FWD KEY TPM P Parameter F...

Страница 107: ...2 1 2 Slave Address 2 125 118 1242 1250 Address of the PROFIBUS Slave BX 2 2 2 Baud Rate 1 10 10 1243 1251 Baud Rate for PROFIBUS 1 9 6 kBaud 2 19 2 kBaud 3 93 75 kBaud 4 187 5 kBaud 5 500 kBaud 6 1...

Страница 108: ...s long as PNU927 1 and PNU928 1 by default When these bits are disabled it only allows monitoring values cyclic via acyclic commands Operation mode The parameter Operation Mode BX 2 4 above defines ho...

Страница 109: ...he drive Table 109 FB control word Bit Description value 0 Value 1 0 Drive Output Off Drive Output On 1 Clockwise Rotation Counter Clockwise 2 No Reset Fault Reset 3 FB INDATA1 Off FB INDATA1 On 4 FB...

Страница 110: ...ID Modbus register Group Range Type 2101 32101 42101 FB Status Word Binary coded 2102 32102 42102 FB General Status Word Binary coded 2103 32103 42103 FB Actual Speed 2104 32104 42104 FB Process Data...

Страница 111: ...OFIBUS DP can be used to replace parallel signal transmission with 24V or 0 to 20 mA The PROFIBUS Family PROFIBUS specifies the technical and functional characteristics of a serial fieldbus system wit...

Страница 112: ...e range of drive application from the most simple frequency convertor up to highly dynamic synchronized multi axis systems with a single profile PROFIdrive defines six application categories but Power...

Страница 113: ...mend using the device specific bits only for the control of manufacturer specific functions The device specific bits shall not be necessary for the operation of a device in the speed control mode and...

Страница 114: ...ault reaction has isolated the voltage the drive then goes into the Switching On Inhibited condition 0 No significance 8 1 Jog 1 Ona Prerequisite Operation is enabled drive is in standstill and STW1 b...

Страница 115: ...th Set point Motor ON with RFG 8 0x0407 Clear Run Command Motor Off as earlier 9 0x047F Run Command with RFG and with Set point Motor ON with RFG 10 0x045F Set Freeze of Ramp Motor ON with Ramp Freeze...

Страница 116: ...he fault buffer 0 No Fault 4 1 Coast Stop Not Activated No OFF 2 0 Coast Stop Activated OFF 2 Coast Stop OFF 2 command is present 5 1 Quick Stop Not Activated No OFF 3 0 Quick Stop Activated OFF 3 Qui...

Страница 117: ...ences SN N2 data type hex N2 data type decimal N2 data type percentage Frequency in decimal 1 4000 16384 100 50 2 3000 12288 74 37 3 2000 8192 50 25 4 1000 4096 24 12 5 0 0 0 0 6 F000 61440 25 12 7 E0...

Страница 118: ...nal b The internal condition fault with ramp stop also activates this transition Information on the general state diagram The green blocks represent states the arrows represent transitions From severa...

Страница 119: ...ual values The following values are permissible for the signal numbers 0 not assigned 1 99 standard signal numbers profile specific signal numbers 100 65535 signal numbers device specific The PowerXL...

Страница 120: ...arameter address appears only in the request not in the response Parameter value Per addressed parameter there is a segment for the parameter values Depending on the request ID parameter values appear...

Страница 121: ...ange parameter 0x83 0xBF Reserved 0xC0 0xFF Manufacturer specific Axis DO ID Unsigned 8 0x00 Device Representative Zero is not a DO but representative of the access to the drive unit 0x01 0xFE DO ID N...

Страница 122: ...substitute Byte Word or Double Word are also possible The master shall be able to interpret all values data types 0x01 0x36 Data types 0x37 0x3F Reserved 0x40 Zero 0x41 Byte 0x42 Word 0x43 Double word...

Страница 123: ...Vdc Table 128 Communications Item Value CANopen CiA DS 301 CiA DSP 402 Baud rate 1000 kBaud 800 kBaud 500 kBaud 250 kBaud 125 kBaud 50 kBaud 20 kBaud Addresses 1 127 Table 129 Environment Description...

Страница 124: ...101 CANopen external communication cards POWERXL DG1 SERIES VFD MN040010EN September 2016 www eaton com CANopen bus termination Figure 42 CANopen bus termination CANopen...

Страница 125: ...AN communication fault occurs Table 133 CANopen module status Error LED D2 Red LED Illumination Pattern Meaning Description OFF No error The device is in working condition Single flash Warning limit r...

Страница 126: ...ntrol board Once the card is inserted to the slot the device will recognize it and will show a warning for Device Added This warning will be shown for 5 seconds and will clear Once the card is detecte...

Страница 127: ...l Control Note N PDO1 and PDO2 should be used when in Drive Mode and PDO3 and PDO4 used in Bypass Mode By default the CANopen option board is configured to be used in the Drive Profile mode but can be...

Страница 128: ...of the drive and several mode specific commands are executed by the state machine CANopen communication objects transmitted via the CAN network are described by services and protocols They are set up...

Страница 129: ...et Object Function Code COB ID Comm Parameter Index NMT 0000 0x0000 Emergency 0010 0x0080 Node TPDO1 0011 0x0180 Node 0x1800 RPDO1 0100 0x0200 Node 0x1400 TPDO2 0101 0x0280 Node 0x1801 RPDO2 0110 0x03...

Страница 130: ...perational State When the device is in this state data exchange can be done via PDOs NMT network management manages CANopen and is a mandatory common feature for all devices The protocol describes sev...

Страница 131: ...all nodes Table 140 Enter pre operational message CAN ID LENGTH DATA 0 DATA 1 DATA 2 DATA 3 DATA 4 DATA 5 DATA 6 DATA 7 0x0 0x2 0x80 NODE ID The reset node message makes the nodes apply application r...

Страница 132: ...machine describes the device status and the possible control sequence of the drive The state transitions can be generated by using controlword The statusword parameter indicates the current status of...

Страница 133: ...eed Unsigned16 RW 2 Maximum speed Unsigned16 RW 6048 24648 vl velocity acceleration 0 Number of entries Unsigned8 RO 1 delta speed Unsigned32 RW 2 delta time Integer16 RW 6049 24649 vl velocity decele...

Страница 134: ...1 Disable Voltage Enable Disable DG1 Motor output voltage 2 Quick Stop Stops drive with a 0 1 sec ramp when value is changed to 0 3 Enable Operation Enable drive start 4 Operation Mode Specific Not U...

Страница 135: ...f the drive is in the Remote control state 10 Target Reached Or Exceeded Target velocity is reached 11 Manufacturer Specific Not Used 12 Manufacturer Specific Not Used 13 Manufacturer Specific Not Use...

Страница 136: ...urrent Fault Code RxPDO3 Header Data ID RTR LEN 1 2 3 4 5 6 7 8 0x401 0 8 Fixed control word Speed reference Percentage FB_Process_data_in1 FB_Process_data_in2 TxPDO3 Header Data ID RTR LEN 1 2 3 4 5...

Страница 137: ...eset active fault 3 FB Input data 1 off FB Input data 1 On 4 FB Input data 2 off FB Input data 2 On 5 FB Input data 3 off FB Input data 3 On 6 FB Input data 4 off FB Input data 4 On 7 Switch to drive...

Страница 138: ...ockwise Counterclockwise 3 Faulted 4 Warning 5 Ref frequency not reached Ref Frequency reached 6 Motor is running in bypass 7 Disable motor run Enable motor run 8 15 Not in use Not in use Actual speed...

Страница 139: ...t TX Unsigned32 RO 1400 5120 Receive PDO communication parameter 1 RO 0 Number of entries Unsigned8 RW 1 COB ID Unsigned32 RW 2 Transmission type Unsigned8 RO 1401 5121 Receive PDO communication param...

Страница 140: ...O 1 communication parameters 0 Highest sub index Unsigned8 RO 1 COB ID Unsigned32 RW 2 Transmission type Unsigned8 RO 3 Inhibit time Unsigned16 RW 4 Event timer Unsigned16 RW 1801 6145 Transmit PDO 2...

Страница 141: ...onfiguration such as setting device parameters They are also used to define the types and formats of the information in the Process Data Objects CANopen Configuration tools with EDS files can be used...

Страница 142: ...Unsigned8 RW 200C 8204 Local control place Unsigned8 RW 200D 8205 Local reference Unsigned8 RW 200E 8206 Remote 1 ref Unsigned8 RW 200F 8207 Reverse enable Unsigned8 RW 2010 8208 Fixed control word U...

Страница 143: ...t Process Data In values assigned Fixed status word Refer to Table 147 on Page 38 Actual speed percentage The Actual Speed Percentage indicates the actual speed value of the motor This value will be r...

Страница 144: ...N040010EN September 2016 www eaton com Bypass profile Figure 47 Device profile SC2 Percentage Function 2 vl_percentage_demand vl_velocity_demand 0x3FFF vl_velocity_reference SC3 Percentage Function 3...

Страница 145: ...al Protocol DeviceNet technical data Table 152 DeviceNet connection Item Value Interface Open style connector Pluggable connector Data Transfer method CAN Transfer Cable 2 wire Twisted shielded cable...

Страница 146: ...and power distribution Wire diameter for the trunk and drop lines may vary and the distance will be determined by baud rate and cable size In this topology devices are powered directly from the bus a...

Страница 147: ...Device operational AND On line not connected or Device On line AND Device needs commissioning Flashing Green The device is operating in a normal condition and the device is on line with no connection...

Страница 148: ...trol board Once the card is inserted into the slot the device will recognize it and will show a warning for Device Added This warning will be shown for 5 seconds and will clear Once the card is detect...

Страница 149: ...bly 101 107 6 Assembly 111 117 7 Assembly 111 127 BX 2 4 Comm Card FB Fault Response 0 1 0 2519 2520 0 In Fieldbus Control 1 in all Control DeviceNet Overview DeviceNet is designed to provide two diff...

Страница 150: ...s Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 NetRef NetCtrl FaultReset RunRev RunFwd 1 2 Speed reference Low Byte rpm 3 Speed reference High Byte rpm 4 Torque reference Low Byte Nm 5 Torqu...

Страница 151: ...frequency hertz 2 Motor Speed rpms 3 Motor Current amps 4 Motor Torque of nominal motor torque 5 Motor Power of nominal motor power 6 Motor Voltage Calculated motor voltage 7 DC Bus Voltage 8 Active...

Страница 152: ...rocessDataIn2 LowByte 7 ProcessDataIn2 HighByte 8 ProcessDataIn3 LowByte 9 ProcessDataIn3 HighByte 10 ProcessDataIn4 LowByte 11 ProcessDataIn4 HighByte 12 ProcessDataIn5 LowByte 13 ProcessDataIn5 High...

Страница 153: ...71 Table 167 Instance 71 Input length 4 bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 AtReference RefFromNet CtrlFromNet Ready Running2 Running1 Warning Faulted 1 Drive state 2 Speed a...

Страница 154: ...EADY 0x04 DN_ENABLED 0x05 DN_STOPPING 0x06 DN_FAULT_STOP 0x07 DN_FAULTED Assembly instance 75 Table 169 Instance 75 Input length 6 bytes Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 AtRefere...

Страница 155: ...Byte Refer State transition diagram provided under Control Supervisor Object and Drive State table specified at end of Input Instances section Drive State 0x00 DN_NON_EXISTANT 0x01 DN_STARTUP 0x02 DN_...

Страница 156: ...8 ProcessDataOut1 LowByte 19 ProcessDataOut1 HighByte 20 ProcessDataOut2 LowByte 21 ProcessDataOut2 HighByte 22 ProcessDataOut3 LowByte 23 ProcessDataOut3 HighByte 24 ProcessDataOut4 LowByte 25 Proces...

Страница 157: ...DataOut2 LowByte 7 ProcessDataOut2 HighByte 8 ProcessDataOut3 LowByte 9 ProcessDataOut3 HighByte 10 ProcessDataOut4 LowByte 11 ProcessDataOut4 HighByte 12 ProcessDataOut5 LowByte 13 ProcessDataOut5 Hi...

Страница 158: ...object library describes the parameter object class in detail Explicit messaging Explicit messaging is used in commissioning and parameterizing the DeviceNet board and device It is a tool used to pro...

Страница 159: ...ease_Master Slave_Connection_Set Y Control Supervisory has only Type 0 service List of data types The attribute list that follows includes information on the Data Type of each attribute The following...

Страница 160: ...ctory Reset Common industrial objects implemented by PowerXL DeviceNet CIP common required objects Identity object class 0x01 This object provides identification of and general information about the P...

Страница 161: ...indicates the application of the device has been configured to do something different than the out of box default This shall not include configuration of the communications 3 Reserved Reserved shall b...

Страница 162: ...e 1 State USINT Get 2 Instance type USINT Get 3 Transport class trigger BYTE Get 4 Produced connection id UINT Get 5 Consumed connection id UINT Get 6 Initial comm characteristics BYTE Get 7 Produced...

Страница 163: ...ision NV UINT Get 02h Class services ID Service 0Eh Get_attribute_single Instance attribute ID Description NV Data type Access rule Remarks Default 1 MAC ID NV USINT Get Set 63 0 63 2 Baud rate NV USI...

Страница 164: ...T Get 2 02h Max instance V UINT Get 0x7F 03h Number of instances V UINT Get 0x0D 04h Optional attribute list V Struct of Get Number of attributes V UINT 1 Array of attributes V Array of UINT 04 00 06h...

Страница 165: ...count NV UINT Get 0Fh Base speed NV UINT Get Instance 2 attributes ID Description NV Data type Access rule Remarks Default 06h First rated current NV UINT Get Set 07h First rated voltage NV UINT Get...

Страница 166: ...BOOL Get Set 0 0 1 04h Run2 V BOOL Get Set 0 0 1 05h NetCtrl V BOOL Get Set 0 0 1 06h State V USINT Get 0 0 7 07h Running1 V BOOL Get 0 0 1 08h Running2 V BOOL Get 0 0 1 09h Ready V BOOL Get 0 0 1 0Ah...

Страница 167: ...Data type Access rule Default Min Max 03h AtReference V BOOL Get 0 04h NetRef V BOOL Get Set 0 06h DriveMode V USINT Get 0 07h SpeedActual V INT Get 0 08h SpeedRef V INT Get Set 0 0Bh TorqueActual V I...

Страница 168: ...Class Instance and Attribute values for each parameter Table 186 Vendor parameters object class 0xA0 0xA1 0xA2 0xA3 0xA3 0xA4 0xA5 Object descriptions Class attributes ID Description NV Data type Acce...

Страница 169: ...on NV Data type Access rule Default Remark 01h Revision NV UINT Get 1 02h Max instance NV UINT Get 1 03h Number of instances NV UINT Get 1 Class services ID Service 0Eh Get_attribute_single Instance a...

Страница 170: ...60 1 16 DI1 DI2 DI3 M17 13 760 1 160 1 17 160 1 17 DI4 DI5 DI6 M18 576 760 2 160 1 18 160 1 18 DI7 DI8 M19 14 754 0 160 1 19 160 1 19 DO1 Virtual RO1 Virtual RO2 M20 557 762 0 160 1 20 160 1 20 RO1 RO...

Страница 171: ...Time 1 P1 5 486 210 0 40 2 6 40 2 6 Motor Nom Current P1 6 489 217 0 40 2 15 40 2 15 Motor Nom Speed P1 7 490 215 0 161 1 116 162 1 7 Motor PF P1 8 487 211 0 40 2 7 40 2 7 Motor Nom Voltage P1 9 488...

Страница 172: ...194 400 16 160 1 78 164 1 9 Run Enable P3 10 205 432 0 160 1 79 164 1 10 Preset Speed B0 P3 11 206 432 1 160 1 80 164 1 11 Preset Speed B1 P3 12 207 432 2 160 1 81 164 1 12 Preset Speed B2 P3 13 550...

Страница 173: ...P4 1 227 276 0 160 1 114 165 1 1 AO1 Mode P4 2 146 460 0 160 1 116 165 1 2 AO1 Function P4 3 149 279 0 160 1 117 165 1 3 AO1 Minimum P4 4 147 277 0 160 1 118 165 1 4 AO1 Filter Time P4 5 150 274 0 16...

Страница 174: ...35 RO3 Off Delay P5 38 2118 NA NA 164 1 75 166 1 36 RO3 Reverse P5 39 2189 NA NA NA NA NA NA NA NA Motor Current 1 Supv P5 40 2190 NA NA NA NA NA NA NA NA Motor Current 1 Supv Value P5 41 2191 NA NA...

Страница 175: ...81 168 1 27 Energy Savings Reset P7 28 2444 NA NA NA NA NA NA NA NA 2th Stage Ramp Frequency P7 29 2515 NA NA NA NA NA NA NA NA Change PhaseSequence Motor P8 1 287 255 0 161 1 81 168 1 28 Motor Contr...

Страница 176: ...163 1 237 168 1 69 Zero Speed Stop Time P8 43 1630 2902 0 163 1 241 168 1 70 Droop Control Filter Time Constant P8 44 1631 420 4 163 1 242 168 1 71 Startup Torque Selection P8 45 1632 2 3 163 1 243 1...

Страница 177: ...P9 35 337 840 29536 160 1 205 169 1 35 PT100 Fault Response P9 36 1256 840 35345 163 1 127 169 1 36 Replace Battery Fault Response P9 37 1257 840 28688 163 1 128 169 1 37 Replace Fan Fault Response P9...

Страница 178: ...1 237 170 1 22 PID1 Set Point 2 Source P10 24 1322 2177 0 160 1 238 170 1 23 PID1 Set Point 2 Min P10 25 1323 2178 0 160 1 239 170 1 24 PID1 Set Point 2 Max P10 26 1324 2140 0 160 1 240 170 1 25 PID1...

Страница 179: ...eep Enable P11 18 2398 NA NA NA NA NA NA NA NA PID2 Set Point 1 Sleep Unit Sel P11 19 2454 NA NA NA NA NA NA NA NA PID2 Set Point 1 Sleep Level P11 20 1379 2138 1 161 1 32 171 1 19 PID2 Set Point 1 Sl...

Страница 180: ...P13 4 304 50 1 161 1 90 173 1 4 Torque Ref Max P13 5 305 50 0 161 1 91 173 1 5 Torque Ref Min P13 6 1666 NA NA 164 1 23 173 1 6 Speed Limiter Mode P13 7 1636 3401 0 163 1 247 173 1 7 Window Pos Width...

Страница 181: ...NA Redundant RunTime Limit P18 1 1 2279 NA NA 165 1 57 NA NA NA Multi pump Mode P18 1 2 2278 NA NA 165 1 56 NA NA NA Drive ID P18 1 3 2458 NA NA NA NA NA NA NA NA PID Bandwidth P18 1 4 2315 NA NA 165...

Страница 182: ...3 5 1 2225 NA NA 165 1 8 NA NA NA Drive 1 P18 3 5 2 2237 NA NA 165 1 19 NA NA NA Drive 2 P18 3 5 3 2249 NA NA 165 1 30 NA NA NA Drive 3 P18 3 5 4 2261 NA NA 165 1 41 NA NA NA Drive 4 P18 3 5 5 2273 N...

Страница 183: ...NA NA NA NA NA NA NA Prime Pump Level P18 6 9 2431 NA NA NA NA NA NA NA NA Prime Pump Frequency P18 6 10 2432 NA NA NA NA NA NA NA NA Prime Pump Delay Time P18 6 11 2433 NA NA NA NA NA NA NA NA Prime...

Страница 184: ...9 442 3 163 1 182 180 1 4 FB Process Data Output 4 Sel P20 1 5 1560 442 4 163 1 183 180 1 5 FB Process Data Output 5 Sel P20 1 6 1561 442 5 163 1 184 180 1 6 FB Process Data Output 6 Sel P20 1 7 1562...

Страница 185: ...omm Timeout Modbus TCP P20 3 13 612 3235 0 161 1 216 182 1 13 Modbus TCP Protocol Status P20 3 14 613 3236 0 161 1 217 182 1 14 Slave Busy P20 3 15 614 3237 0 161 1 218 182 1 15 Parity Error P20 3 16...

Страница 186: ...3 889 760 3 162 1 160 186 1 2 DI1 DI2 DI3 B2 1 4 888 761 3 162 1 159 186 1 3 DO1 DO2 DO3 B2 1 5 891 593 100 162 1 162 186 1 4 Thermistor Resistor B2 1 6 887 753 100 162 1 158 186 1 5 Thermistor State...

Страница 187: ...4 1696 760 7 162 1 197 186 1 47 AC4 AC5 AC6 B7 1 1 883 710 1 162 1 151 186 1 1 Board Status B7 1 2 1064 NA NA 162 1 154 NA NA NA Firmware Version B7 1 3 2131 NA NA 164 1 90 NA NA NA Protocol Status B7...

Страница 188: ...B12 2 10 277 277 200 162 1 217 187 1 32 AO1 Filter Time B12 2 11 278 274 200 162 1 218 187 1 33 AO1 Scale B12 2 12 279 278 200 162 1 219 187 1 34 AO1 Inversion B12 2 13 280 275 200 162 1 220 187 1 35...

Страница 189: ...A Operate Mode B17 2 4 2520 NA NA NA NA NA NA NA NA Comm Card FB Fault Response B18 1 1 910 710 2 162 1 199 187 1 10 Board Status B18 1 2 1067 NA NA 162 1 202 NA NA NA Firmware Version B18 1 3 2147 NA...

Страница 190: ...cy Hz 0 01 Hz Process data out 2 Motor dpeed rpm 1 rpm Process data out 3 Motor current A 0 1 A Process data out 4 Motor torque 0 10 Process data out 5 Motor power 0 10 Process data out 6 Motor voltag...

Страница 191: ...01 0 Process data IN4 Actual value 2 to PID1 controller UINT 0 01 0 Process data IN5 Reference for PID2 controller UINT 0 01 0 Process data IN6 Actual value 1 to PID2 controller UINT 0 01 0 Process d...

Страница 192: ...r the P20 1 menu item For example if in FB Data Out 8 one wanted to monitor the state of the Digital Inputs D1 to D3 they would change P20 1 8 from an 8 to a 12 For a complete list of parameters pleas...

Страница 193: ...Power board EEPROM fault Fault MCU 0xA007h 21795 20 FRAM fault Fault MCU 0xA008h 21777 21 Serial flash fault warning MCU 0xA009h 21796 25 MCU WatchDog fault Fault MCU 0x6010h 24848 26 Start up preven...

Страница 194: ...ass overload Fault MCU 0xA025h 28980 83 FieldBus fault Configurable Fault MCU 0xA026h 30064 84 FieldBus fault Configurable Fault MCU 0xA027h 30065 85 FieldBus fault Configurable Fault MCU 0xA028h 3006...

Страница 195: ...power is available when it s needed most With unparalleled knowledge of electrical power management across industries experts at Eaton deliver customized integrated solutions to solve our customers m...

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