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Common Industrial Objects implemented by vacon® 100 family

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7.2.3.2

Services

Instance Service “Reset”

The Control Supervisor Object has a instance service named “Reset” which has the Service Code
05

. The service resets the drive to the start-up state.

If an error is detected, an error response is returned. Otherwise a successful Reset response is
returned.

7.2.3.3

Control Supervisor State Machine

The Control Supervisor Object defines a state machine for governing the behaviour of devices. The
figure below describes the states and transitions of the state machine.

Figure 8. Control Supervisor State Machine

Table 33. NetIdleMode values

Mode

Action

Error/Warning

Stops motor

Fault

Ignored. IO data is not used, drive stays in state

which was active before reception of IDLE

Vendor specific, fieldbus fault is activated (actual

behavior depends on drive application and

parametrization).

Fault

Other values are not supported

7082_UK

Non-existent

Startup

Faulted

Main Power Off

Fault_Stop

Not_Ready

Enabled

Stopping

Ready

Reset

Switch On

Switch Off

Fault Detected

Initialisation Complete

Fault Detected

Fault_Stop
Complete

Fault
Detected

Main Power Off

Main Power On

Run

Stop

Stop
Complete

Fault Reset

Содержание 100 flow

Страница 1: ...user manual ethernet ip ac drives vacon 100 x vacon 100 flow vacon 100 industrial...

Страница 2: ......

Страница 3: ...ce 15 4 2 4 Communication timeout 15 4 3 EtherNet IP monitoring menu 15 5 EtherNet IP connection example 17 6 EtherNet IP 18 6 1 Overview 18 6 2 AC DC Drive Profile 18 6 3 EDS file 18 6 4 Explicit Mes...

Страница 4: ...xedControlWord 73 8 3 7 Request Fieldbus Reference bit in VACON FBFixedControlWord 73 8 4 Mapping of VACON data onto Standard Input Assemblies 73 8 4 1 FBFixedStatusWord 73 8 4 2 Ready Indication bit...

Страница 5: ...pad is attached see the indicators on the cover Wait 5 more minutes before doing any work on the connections of the drive Do not open the cover before this time has expired After expiration of this ti...

Страница 6: ...ly if the start signal is active unless the pulse control for Start Stop logic has been selected Futhermore the I O functionalities including start inputs may change if param eters applications or sof...

Страница 7: ...conductor which does not form part of the supply cable or cable enclosure shall in any case be not less than 2 5mm2 if mechanical protection is provided or 4mm2 if mechanical protection is not provide...

Страница 8: ...ielded CAT 5e cable Use a so called crossover cable at least CAT 5e cable with STP Shielded Twisted Pair if you want to connect the drive directly to the master appliance Use only industrial standard...

Страница 9: ...with an alarm This is done according the DefendWithPolicyB You cannot acknowledg the alarm if the problem is active The ACD opens Ethernet connection if the other device with the same IP address disap...

Страница 10: ...of the AC drive The relay outputs and other I O terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains 2 Locate the components that you will need on...

Страница 11: ...he cables through Should the grommets fold in while inserting the cable just draw the cable back a bit to straighten the grommets up Do not cut the grommet open ings wider than what is necessary for t...

Страница 12: ...vacon vacon com 3 Figure 3 Leading the cables left IP21 right IP54 Figure 4 5 Remount the AC drive cover NOTE When planning the cable runs remember to keep the distance between the Ethernet cable and...

Страница 13: ...cover of the AC drive 2 Remove the cable entry plate NOTE The cable entry plate at the bottom of the drive is used only for mains and motor cables 3 Open the necessary holes in the cable entry plate...

Страница 14: ...hour support 358 0 201 212 575 Email vacon vacon com 3 4 Attach a cable gland on the hole in the cable entry plate Pull the EtherNet cable through the hole 5 Put the cable entry plate back 6 Close th...

Страница 15: ...onfiguration Protocol and Fixed DHCP pro tocol gives IP addresses to new devices connecting to the local network If the AC drive is unable to retrieve its IP settings it will set a link local address...

Страница 16: ...he network and the sub network Gateway address is the IP address of a network point that acts as an entrance to another network 4 1 3 Active IP address subnet mask and default gateway These values can...

Страница 17: ...timeout It defines how much time can pass from the last received message from the Master Device before a fieldbus fault is generated For EtherNet IP this value is considered as an additional timeout T...

Страница 18: ...ute Close Format Rejects in Table 14 8 Close Other Rejects 16 bit 2428d For details see Instance Attribute Close Other Rejects in Table 14 9 Connection Timeouts 16 bit 2429d For details see Instance A...

Страница 19: ...see Chapter 10 APPENDIX 2 FIELDBUS PARAMETRISATION for information how to configure the drive 1 Set control word to 0x0 00000000 2 Set control word to 0x61 01100001 NetRef NetCtrl and Run Fwd enabled...

Страница 20: ...ections are general purpose point to point connections Messages are sent through the TCP protocol Implicit I O Data Connections are established to move application specific I O Data at regu lar interv...

Страница 21: ...s should not be used to control the Output Data However this restriction does not apply for the IO Data reading 6 4 1 List of data types The elementary data types in CIP are among others ISO IEC 8859...

Страница 22: ...te data detected 12d 0Ch Object state conflict The object cannot perform the requested service in its cur rent mode state 14d 0Eh Attribute not settable A request to modify a non modifiable attribute...

Страница 23: ...id connection size 272d 110h Target for connection not configured 273d 111h RPI not supported 274d 112h RPI value s not acceptable 275d 113h Out of connections 276d 114h Vendor id or product code mism...

Страница 24: ...270d FB0Eh Internal Adapter stopped Table 10 CIP Objects Type Class Object Details Required by Ether Net IP 1 Identity Object See chapter 7 1 1 2 Message Router Object See chapter 7 1 2 4 Assembly Obj...

Страница 25: ...additional timeout value The same logic applies if a connection is closed or the cable disconnects link loss Figure 6 EtherNet IP timeout logic with implicit connection IO connection The explicit con...

Страница 26: ...IP timeout logic with explicit connection Communicating Received packet within TCP Inativity time Has user written process data over this connection Communication timeout zero Has additional timeout e...

Страница 27: ...UINT Number of object instances 1 Class Ser vices Id Name Description 1 Get_Attributes_All Get all attributes 14d 0Eh Get_Attribute_Single Get single attribute Instance Attributes Id Access rule Name...

Страница 28: ...eveals the vendor assigned product code for a particular product within a device type Separate products must have different product codes if their configuration and or runtime options are different Th...

Страница 29: ...s Bit s Called Definition 0 Owned TRUE if device has owner 1 Reserved is zero 2 Configured TRUE if device has been configured always true 3 Reserved is zero 4 7 Extended Device Status Value Descriptio...

Страница 30: ...ect class or instance in a target device Although the object is mandatory there are no mandatory attributes or services The VACON 100 Family AC drives do not currently implement any of the object s se...

Страница 31: ...cription 1 Get Open Requests UINT Number of Forward Open service requests received 2 Get Open Format Rejects UINT Number of Forward Open service requests which were rejected due to bad format 3 Get Op...

Страница 32: ...CP IP settings With this object you can configure for example the device s IP address network mask and so on Instance Services Id Name Description 1 Get_Attributes_All Returns content of all implement...

Страница 33: ...The device s IP address Network Mask UDINT The device s network mask Gateway Address UDINT Default gateway address Name Server UDINT Primary name server Name Server 2 UDINT Secondary name server Domai...

Страница 34: ...configuration obtained from hardware settings 3 15 Reserved for future use 4 Mcast Pending Indicates a pending configuration change in the TTL Value and or Mcast Config attributes 5 Interface Con fig...

Страница 35: ...attribute consists of two components a Path Size which reveals the number of UINT values in the path and the Path itself In the VACON 100 Family AC drives the path points to an instance of the EtherN...

Страница 36: ...mantics of the value IP address UDINT The device s IP address Value of 0 indicates no IP address has been configured Otherwise the IP address must be set to a valid Class A B or C address and must not...

Страница 37: ...attribute is used to enable the TCP socket cleanup closing when the defined number of seconds have elapsed with no Encapsulation activity The default value is 120 seconds The TCP keep alive traffic do...

Страница 38: ...n 0 Disable 1 3600 Timeout in seconds Table 23 Ethernet Link Object Class name Ethernet Link Object Class identifier 246d F6h Class Attributes Id Access rule Name Datatype Description 1 Get Revision U...

Страница 39: ...ess ARRAY of 6 USINTs MAC layer address 4 Get Interface Coun ters STRUCT of 11 UDINTs Interface counters See Table 25 5 Get Media Counters STRUCT of 12 UDINTs Media specific counters See Table 26 7 Ge...

Страница 40: ...was defaulted 3 Successfully negotiated speed and duplex 4 Auto negotiation not attempted Forced speed and duplex 5 Manual Setting Requires Reset 0 indicates the interface can automatically activate...

Страница 41: ...Media counters Field name Data type Description Alignment Errors UDINT Frames received that are not an integral number of octets in length FCS Errors UDINT Frames received that do not pass the FCS che...

Страница 42: ...e attribute indicates the ability to use the Ethernet interface for administration for example for changing the settings The VACON 100 Family AC drives support this attribute with the value 01h admini...

Страница 43: ...Assembly object Class name Assembly object Class identifier 4 Class Attributes Id Access rule Name Datatype Description 1 Get Revision UINT Class revision 2 2 Get Max Instance UINT Maximum instance n...

Страница 44: ...lows reading and writing of the motor rated electrical frequency The unit of the attribute is 1 hertz Class Attributes Id Access rule Name Datatype Description Class Ser vices Id Name Description Inst...

Страница 45: ...ated frequency The unit of the attribute is 1 RPM 7 2 3 Control Supervisor Object Class 0x29 Control Supervisor Object provides an interface for drive management You can for example start and stop the...

Страница 46: ...nning2 BOOL True when running in reverse 9 Get Ready BOOL True when Ready or Ena bled or Stopping 10d 0Ah Get Faulted BOOL True when fault is active 11d 0Bh Get Warning BOOL True when warning alarm is...

Страница 47: ...ttribute reveals the state of the device according to the table below See also chapter 7 2 3 3 Instance Attribute Running1 This attribute is used to describe the run state of the drive The value of th...

Страница 48: ...to signal that one or several warnings have appeared in the drive The value of the attribute is 1 if a warning has appeared and has not been acknowledged Otherwise the attribute has the value 0 indica...

Страница 49: ...behaviour of devices The figure below describes the states and transitions of the state machine Figure 8 Control Supervisor State Machine Table 33 NetIdleMode values Mode Action Error Warning 0 Stops...

Страница 50: ...01 212 205 7 2 4 AC DC Drive Object Class 0x2A The AC DC Drive Object models the functions specific to an AC or DC drive Table 34 AC DC drive object Class name AC DC drive object Class identifier 42d...

Страница 51: ...is attribute 22d 8 Get SpeedRef INT Speed reference Units RPM 2SpeedScale where SpeedScale is attribute 22d 11d 0Bh Get TorqueActual INT Actual torque Units Nm 2TorqueScale where TorqueScale is attrib...

Страница 52: ...m network Values are 0 Set reference not DN control 1 Set reference at DN control Instance Attribute DriveMode Allowed values for Drive Mode defined in the table below NOTE The actual drive mode suppo...

Страница 53: ...stance Attribute TorqueRef This attribute allows reading and writing of the torque reference set point The unit of the attribute must be Nm 2TorqueScale where the TorqueScale is attribute 24d If the T...

Страница 54: ...dor Specific Objects 7 3 1 Vendor Parameters Object Class 0xA0 The Vendor Parameters Object is a vendor specific object which allows the user to access any application parameter from the drive 7 3 1 1...

Страница 55: ...ked in an instance the parameter ID to be fetched from the drive is calculated then the read operation is started and once available a response is provided to the master The format of the message is a...

Страница 56: ...nstances Attribute ID XXXXh Attribute Data Parameter specific Table 40 Field Data Service Code 10h Class Code A0h Instance Number YYh Attribute ID XXh Attribute Data Parameter specific Table 41 Assemb...

Страница 57: ...as follows Instance Service Set_Attribute_Single The format of the message is as follows 7 3 2 3 Rejection of Set_Attribute_Single request If an I O connection has been established with a master throu...

Страница 58: ...ribute FeedbackMode This attribute is used to detect or change the used feedback mode The values allowed for this attribute are listed in the table below Table 44 Motor Control Mode Object Class name...

Страница 59: ...is as follows Instance Service Set_Attribute_Single The service is used to set the value of an instance attribute The format of the message is as follows 7 3 3 3 Link to AC DC Drive Object DriveMode...

Страница 60: ...stance of the Fault History Object Low instance numbers correspond to the most recent fault entries Table 49 Set DriveMode value ControlMode value FeedbackMode value 0d Vendor specific 0d Frequency co...

Страница 61: ...presents the number of instances that currently exist of the Fault History Object in the device Class Ser vices Id Name Description 1 Get_Attributes_All Returns content of all implemented attributes i...

Страница 62: ...bute contains the year in which the fault occurred according to the fault history Instance Attribute FaultMonth The attribute contains the month in which the fault occurred according to the fault hist...

Страница 63: ...bject Data Bit Bit name Object Attribute name Attribute ID 0 RunFwd Control Supervisor Object Run1 3d 1 RunRev Control Supervisor Object Run2 4d 2 FaultRst Control Supervisor Object FaultRst 12d 3 4 5...

Страница 64: ...ProcessDataIn1 4 ProcessDataIn2 14d Drive Mode AC DC Drive Object DriveMode 6d Table 55 Process Data OUT Mapping To Object Data Parameter name Object Attribute name Attribute ID Speed Actual AC DC Dri...

Страница 65: ...ble below This should be configured in the application as the receiving input The ProcessDataOut1 is always mapped to the ProcessDataOut1 Note that the process reference value is sent to the drive onl...

Страница 66: ...pping 0 ProcessDataIn1 4 ProcessDataIn2 Other Not valid Table 62 Instance Octet Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 23 length 6 0 Net proc NetRef NetCtrl Fault Reset Run Rev Run Fwd 1 Drive Mode 2...

Страница 67: ...Warn ing Faulted 1 Drive State 2 Speed Actual Low Octet 3 Speed Actual High Octet Table 65 Instance Octet Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 73 length 6 0 AtRef erence Ref From Net Ctrl From Net...

Страница 68: ...or specific I O Reference Data Descriptions Attribute Unit Range Note FB Speed Reference 0 10000 100 00 ProcessDataIn1 8 Table 68 Vendor specific I O Actual Data Descriptions Attribute Unit Range Note...

Страница 69: ...in 3 FBSpeedReference High Octet in 4 FBProcessDataIn1 Low Octet 5 FBProcessDataIn1 High Octet 6 FBProcessDataIn2 Low Octet 7 FBProcessDataIn2 High Octet 8 FBProcessDataIn3 Low Octet 9 FBProcessDataIn...

Страница 70: ...FBFixedControlWord Low Octet 1 FBGeneralControlWord High Octet 2 FBSpeedReference Low Octet in 3 FBSpeedReference High Octet in 4 FBProcessDataIn1 Low Octet 5 FBProcessDataIn1 High Octet 6 FBProcessDa...

Страница 71: ...23 16 FBProcessDataIn 3 Bits 31 24 20 FBProcessDataIn 4 Bits 7 0 FBProcessDataIn 4 Bits 15 8 FBProcessDataIn 4 Bits 23 16 FBProcessDataIn 4 Bits 31 24 24 FBProcessDataIn 5 Bits 7 0 FBProcessDataIn 5...

Страница 72: ...SpeedActual Low Octet in rpm 7 RPM With Slip SpeedActual High Octet in rpm 8 Reserved 0 Reserved 0 17 Reserved 0 18 FBProcessDataOut1 Low Octet 19 FBProcessDataOut1 High Octet 20 FBProcessDataOut2 Low...

Страница 73: ...0 FBFixedStatusWord Low Octet 1 FBGeneralStatusWord High Octet 2 FBSpeedActual Low Octet in 3 FBSpeedActual High Octet in 4 FBProcessDataOut1 Low Octet 5 FBProcessDataOut1 High Octet 6 FBProcessDataOu...

Страница 74: ...gth 40 0 FBFixedStatus Word Low Octet FBFixedStatus Word High Octet FBGeneralSta tus Word Low Octet FBGeneralSta tus Word High Octet 4 Reserved Reserved FBSpeedActual Low Octet FBSpeedActual High Octe...

Страница 75: ...use this way you can place the drive to the IO or keypad control while fieldbus is active 8 3 7 Request Fieldbus Reference bit in VACON FBFixedControlWord The NetRef bit in an Output Assembly is not m...

Страница 76: ...cation bit 5 in the VACON FBFixedStatusWord is mapped to the AtReference bit in an Input Assembly which supports this bit 8 4 8 Fieldbus Control indication in Input Assemblies The selected control pla...

Страница 77: ...ted direction is FORWARD 1 Requested direction is REVERSE B2 Fault reset 0 No action 1 No action Rising edge 0 1 Active faults alarms and infos are reset B3 Stop mode 1 0 Stop mode is unmodified 1 Sto...

Страница 78: ...h ref1 B11 Jogging 2 0 No action 1 Jogging request with ref2 B12 Quick stop 0 Drive operates as normal 1 Drive executes quick stop emergency stop B13 Reserved 0 1 B14 Reserved 0 1 B15 Reserved 0 1 Tab...

Страница 79: ...Note that these bits are valid only if NetCtrl NetRef bits are also set NOTE The motor control mode should be selected to support the used process and profile 10 1 Fieldbus control and basic referenc...

Страница 80: ...s provided with the distri bution 3 The name of the author may not be used to endorse or promote products derived from this soft ware without specific prior written permission THIS SOFTWARE IS PROVIDE...

Страница 81: ...Document ID DPD01045D Rev D Sales code DOC 100ETHERIP DLUK Vacon Ltd Member of the Danfoss Group Runsorintie 7 65380 Vaasa Finland www danfoss com...

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