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CANopen protocol description

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Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/

3

3.5

PDO protocol

Process data objects PDOs are used to transmit real-time data with no protocol overhead. Each
PDO has its mapping and communication parameter record.

There are two different types of PDOs. Transmit PDOs for producing data into network and Receive
PDOs for consuming data from network. OPTE6 board supports 3 receive and 3 transmit PDOs.

3.5.1

PDO communication parameter record

PDO communication parameter record defines the COB-id, transmission type and how often the
PDO is transmitted. The fields can be modified during the pre-operational state.

Table 21: PDO-related objects in OD

Index

Description

0x1400

1st rxPDO communication parameter record

0x1401

2nd rxPDO communication parameter record

0x1402

3rd rxPDO communication parameter record

0x1600

1st rxPDO mapping parameter record

0x1601

2nd rxPDO mapping parameter record

0x1602

3rd rxPDO mapping parameter record

0x1800

1st txPDO communication parameter record

0x1801

2nd txPDO communication parameter record

0x1802

3rd txPDO communication parameter record

0x1A00

1st txPDO mapping parameter record

0x1A01

2nd txPDO mapping parameter record

0x1A02

3rd txPDO mapping parameter record

Table 22: PDO communication parameter record

Indexes

Sub-index

Name

Data type

RX PDO

TX PDO

0x1400
0x1401
0x1402
0x1800
0x1801
0x1802

0

Highest sub-index supported

UNSIGNED8

ro

ro

1

COB ID

UNSIGNED32

r/w

r/w

2

Transmission type

UNSIGNED8

r/w

r/w

3

Inhibit time

UNSIGNED16

ro

r/w

4

Reserved

UNSIGNED8

ro

ro

5

Event timer

UNSIGNED16

r/w

r/w

6

SYNC start value

UNSIGNED8

Not
available

r/w

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Содержание CANopen OPTE6

Страница 1: ...vacon ac drives canopen option board opte6 user manual ...

Страница 2: ......

Страница 3: ...rotocol 19 3 6 1 SYNC with counter 19 3 7 Communication objects 21 3 7 1 0X1000 Device Type 21 3 7 2 0X1001 Error Register 21 3 7 3 0X1003 Pre defined Error Field 22 3 7 4 0X1005 COB ID SYNC 22 3 7 5 0X100C Guard Time 22 3 7 6 0X100D Life Time Factor 22 3 7 7 0X1014 COB ID EMCY 23 3 7 8 0X1016 Heartbeat Consumer Entries 23 3 7 9 0X1017 Producer Heartbeat Time 24 3 7 10 0X1018 Identify Object 24 3 ...

Страница 4: ...75 8 3 1 PDO configuration 75 8 4 Default process data application mapping 79 8 4 1 FB Control Word 80 8 4 2 FB Control Word Extension general control word 80 8 4 3 FB Speed Reference 81 8 4 4 FB Process data Input 1 8 81 8 4 5 FB Processdata Input mapping in application 81 8 4 6 FB Status Word 82 8 4 7 FB Status Word Extension general status word 82 8 4 8 FB Actual Speed 82 8 4 9 FB Processdata O...

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 time use a measuring equipment to absolutely ensure that no voltage is present Always ensure absence of voltage before starting any electrical work The control I O terminals are isolated from the mains ...

Страница 6: ...rol for Start Stop logic has been selected Furthermore the I O functionalities including start inputs may change if parameters applications or software are changed Disconnect therefore the motor if an unexpected start can cause danger The motor starts automatically after automatic fault reset if the auto restart function is activated See the Application Manual for more detailed information Prior t...

Страница 7: ...hing conductor which does not form part of the supply cable or cable enclosure must in any case be not less than 2 5mm2 if mechanical protection is provided or 4mm2 if mechanical protection is not provided The earth fault protection inside the AC drive protects only the drive itself against earth faults in the motor or the motor cable It is not intended for personal safety Due to the high capaciti...

Страница 8: ...peration mode velocity mode CiA 303 3 CANopen indicator specification implemented by using 2 CANopen status led indicators 2 2 Software 2 2 1 CAN The CAN data link layer protocol is standardised in ISO 11898 The standard describes mainly the data link layer composed of the logical link control LLC sub layer and the media access control MAC sub layer and some aspects of the physical layer of the OS...

Страница 9: ...MT service starts with remote node indication or by local control 4 and 7 NMT service enters pre operational indication 5 and 8 NMT service stops remote node indication 6 NMT service starts remote node indication 9 10 and 11 NMT resets node indication 12 13 and 14 Indication of NMT service reset communication Boot up protocol After a node starts it will enter automatically into the pre operational...

Страница 10: ...t When the node is in pre operational state it will not answer to PDO messages Protocol reset node The reset node message makes the node s apply application reset See Figure 1 NMT state machine Application reset sets the whole object dictionary back to the default or previously saved values If the node ID in the message is set to 0 the message affects all nodes broadcast After the node has made th...

Страница 11: ...tocol Heartbeat protocol defines the producer and consumer The producer node sends its NMT status that is then available for any consumer node The consumer node is the receiver of heartbeat messages The producer node has a timing parameter that indicates how often the heartbeat message should be sent The consumer node has a relative parameter that indicates how often the heartbeat message should b...

Страница 12: ...onsists of updated information 3 3 3 EMCY object Option board works as an EMCY producer The EMCY object is transmitted when a fault occurs in the drive or option board To switch off the EMCY producer disable the EMCY COB id by writing MSB to 1 object 0x1014 When an error occurs the EMCY message is transmitted with the current value of the error register and the error code is inserted into the pre ...

Страница 13: ...tion MSEF fields DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 0x0000 ER 3 Number of remaining error sources 0x1000 Drive fault codes 0x8110 0x8120 0x8130 3 Heartbeat consumer subindex 4 Heartbeat consumer node ID 0x8140 0x8210 0x8220 0x8240 0x8250 Table 17 Description and behavior of different error situations EEC Description Error behaviour Err LED 0x0000 Error Reset or No Error If MSEF field ...

Страница 14: ...be transferred by using the expedited transfer where the data fits into one CAN message For bigger than 4 byte object sizes segmented transfer must be used Optionally block transfer is also possible with bigger data types Block transfer is most efficient with big data sizes 0x8140 Recovered from Bus Off EMCY is sent after CAN driver goes back to active state This also clears the fault On 0x8250 PD...

Страница 15: ...x1400 1st rxPDO communication parameter record 0x1401 2nd rxPDO communication parameter record 0x1402 3rd rxPDO communication parameter record 0x1600 1st rxPDO mapping parameter record 0x1601 2nd rxPDO mapping parameter record 0x1602 3rd rxPDO mapping parameter record 0x1800 1st txPDO communication parameter record 0x1801 2nd txPDO communication parameter record 0x1802 3rd txPDO communication para...

Страница 16: ...bit frames Table 23 COB ID 31 30 29 28 11 10 0 Valid Reserved Frame 0x00000 11 bit CAN ID 29 bit CAN ID Table 24 COB ID data fields Bit s Value Description Valid 0 PDO exists enabled 1 PDO does not exist disabled Reserved x Not applicable Frame 0 11 bit CAN ID valid 1 20 bit CAN ID valid 29 bit CAN ID x 29 bit CAN ID of the CAN extended frame 11 bit CAN ID x 11 bit CAN ID of the CAN base frame ...

Страница 17: ...tarts the sampling with the reception of the RTR and transmits the PDO immediately Event driven means that the PDO can be transmitted at any time based on the occurrence of the internal event of the CANopen device An event that triggers the OPTE6 transmission occurs when the data mapped into the PDO is changed Also an event timer can be used to create transmit events Inhibit time For transmit PDOs...

Страница 18: ...rmal sync behaviour for the PDO is used If the sync start value is greater than zero the PDO waits for the SYNC message that contains the counter value When the counter value of a SYNC message equals the SYNC start value the first SYNC message is regarded as received The sync start value must not be changed while the PDO exists See the SYNC message format in Table 29 3 5 4 PDO parameter mapping re...

Страница 19: ...e compare the value against the sync message counter The sync producer counter will overflow after it reaches the value defined in its synchronous counter overflow value at the object 0x1019 Also the sync consumer has the object 0x1019 even when the value itself is ignored When the value of the sync consumer is greater than zero the sync counter handling and expecting of the sync messages with cou...

Страница 20: ...dex Description 0x1005 COB ID SYNC 0x1019 Synchronous counter 0x1014 EMCY object COB ID 0x1400 1st rxPDO communication parameter record 0x1401 2nd rxPDO communication parameter record 0x1402 3rd rxPDO communication parameter record 0x1800 1st txPDO mapping parameter record 0x1801 2nd txPDO mapping parameter record 0x1802 3rd txPDO mapping parameter record SYNC txPDO time 1 2 3 4 5 6 7 8 ...

Страница 21: ...et for a generic drive device 3 7 2 0X1001 Error Register Error register indicates the active error code Not used supported Table 32 0x1000 Device type Index Sub index Value Name Data type Access 0x1000 0x00010192 Device type UNSIGNED32 const Table 33 0x1001 Error register Index Sub index Value Name Data type Access 0x1001 0x0 Error register UNSIGNED8 ro Table 34 Error register bit descriptions Bi...

Страница 22: ...s disabled 3 7 6 0X100D Life Time Factor Life time factor is used together with guard time which is multiplied with the life time factor Node life time life time factor x guard time If node life time is zero guarding is disabled Table 35 0x1003 Pre defined error field Index Sub index Value Name Data type Access 0x1003 0 0x0 Number of errors UNSIGNED8 ro 1 0x0 Standarderror field UNSIGNED32 ro 9 0x...

Страница 23: ...Index Sub index Value Name Data type Access 0x1014 0x00000080 node id COB ID EMCY UNSIGNED32 r w Table 40 0x1016 Heartbeat consumer entries Index Sub index Value Name Data type Access 0x1016 0 0x08 Number of entries UNSIGNED8 ro 1 0x0000 0000 Consumer heart beat time 1 UNSIGNED32 r w 2 0x0000 0000 Consumer heart beat time 2 UNSIGNED32 r w 3 0x0000 0000 Consumer heart beat time 3 UNSIGNED32 r w 4 0...

Страница 24: ...ether a counter is mapped into the SYNC mes sage as well as the highest value the counter can reach 0 disables the sync counter Table 42 0x1017 Producer heartbeat time Index Sub index Value Name Data type Access 0x1017 0x0000 Producer heartbeat time UNSIGNED16 r w Table 43 Heartbeat message CAN ID LENGTH DATA0 0x700 node 0x1 Node state Table 44 0x1018 Identify object Index Sub index Value Name Dat...

Страница 25: ...h a command Autonomous saving is not supported To save the parameters in the object dictionary write the value 0x65766173 ASCII save into the sub index by using the SDO protocol 3 8 2 0X1011 Restore default parameters The object values of the object dictionary are restored to defaults by using the object 0x1011 Option board supports restoring All parameters sub index 1 and manufacturer specific By...

Страница 26: ...2 Bypass parameter set is described in Chapter 8 3 The bypassed set disables the CIA 402 drive profile and resets the PDO mapping to the vendor specific configuration See Chapter 8 2 and Chapter 8 3 for more information Table 49 0x1011 Restore default parameters Index Sub index Name Data type Access 0x1011 0 Highest sub index supported UNSIGNED8 ro 1 Restore all default parameters UNSIGNED32 r w 4...

Страница 27: ...ue must be used 150 300 Ohm Table 50 Technical data of CANopen option board CAN bus electrical isolation 500 VDC Ambient temperature As specified in drive specification 10 C 40 C Storing temperature As specified in drive specification 40 C 70 C Humidity 0 95 non condensing corrosive Vibration and electrical safety EN 61800 5 1 2007 5 15 8 Hz 1mm peak 15 8 150 Hz 1 G Emission C2 level EN 61800 3 20...

Страница 28: ...ble line It is connected at only one point into common ground potential If one CAN device with not galvanically isolated interface is connect ed to the network the potential for isolated CAN ground is given Therefore only one device with not galvanically isolated interface may be connected to the network Figure 3 Completely isolated nodes Figure 4 CAN network with one non isolated node E6 Option B...

Страница 29: ... connection of isolated digital grounds with nodes VACON recommends the following cable UNITRONIC BUS CAN FD P Colour coded in accordance with DIN 47100 Figure 5 Recommended cable Table 52 Cable thickness length and baud rate relation Bit rate Min cable thickness 1 Mbit s 0 25 500 kbit s 0 25 0 34 250 kbit s 0 25 0 34 0 6 125 kbit s 0 25 0 34 0 6 100 kbit s 0 25 0 34 0 6 0 6 50 kbit s 0 25 0 34 0 ...

Страница 30: ...on The two hardware revisions are marked with different product codes and this product code can be located from the sticker on the top side location marked in Figure 6 The two hardware revisions are named 70CVB01605 and 70CVB01124 Figure 6 OPTE6 board layout 1 CAN GND isolated digital ground reference 2 CAN L 3 SHIELD shield connector 4 CAN H 5 NC No connection 6 Grounding option jumper 7 Bus term...

Страница 31: ... connections vacon 31 Local contacts http drives danfoss com danfoss drives local contacts 5 CAN connector pinout Pin out 1 CAN GND isolated digital ground reference 2 CAN LO 3 Shield connector 4 CAN HI 5 No connection ...

Страница 32: ...error Blinking Invalid configuration Single flash At least one of the error counters of the CAN controller has reached or exceeded the warning level too many error frames Double flash A guard event NMT slave or NMT master or a heartbeat event heartbeat consumer has occurred Quadruple flash An expected PDO was not received before the event timer elapsed ON The CAN controller is bus off LED is Descr...

Страница 33: ...for the CAN bus termination resistor are shown in the figure below Figure 10 CAN bus termination jumper A Termination resistor 120 Ohm connected B Termination resistor is not connected to the CAN bus Factory default setting C Termination resistor is not connected to the CAN bus The jumper 6 settings for the CAN cable shield grounding are shown in the figure below 3 4 5 6 7 3 4 5 6 7 11653_00 70CVB...

Страница 34: ...nector pin 3 shield connected to the drive chassis with a high impedance RC circuit Recommended option when equipotential bonding is poor B CAN connector pin 3 shield connected directly into the drive chassis Recommended option when equipotential bonding is good Factory default setting C CAN connector pin 3 is not connected 3 1 2 3 2 1 1 2 3 A B C 9342 emf ...

Страница 35: ...anfoss drives local contacts 6 6 INSTALLATION 6 1 Installation in VACON 100 1 Open the cover of the AC drive The relay outputs and other I O terminals may have a dangerous control voltage present even when AC drive is disconnected from mains M4x55 9174 emf DANGER ...

Страница 36: ...Open the inner cover to reveal the option board slots C D E See Figure below 3 Install the fieldbus board into slot D or E See figure below NOTE Incompatible boards cannot be installed on the AC drive Compatible boards have a slot coding that enable the placing of the board 3023 emf D E 3024 emf ...

Страница 37: ...cept for the last device Leave no more than 10 mm of the cable outside the terminal block and strip the cables at about 5 mm to fit in the terminals See picture below 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 15 mm Do not strip the aluminum cable shield 5 Then connect the cable to i...

Страница 38: ...is PE potential difference then the shield should be connected to PE only at one point in the system The shields of the cables shall be joint but not connected to several PE points with different poten tial 7 If the AC drive is the last device on the bus the bus termination must be set with jumper X13 see ch 4 3 8 Unless already done for the other control cables cut free the opening on the AC driv...

Страница 39: ...nded to route the option board cables away from the power cables as shown in the pic ture 10 The bus termination must be set for the first and the last device of the fieldbus line See picture below See also step 7 on page 38 We recommend that the first device on the bus and thus terminated was the Master device 9202 emf Fieldbus cables Fieldbus cable Bus termination Termination activated Terminati...

Страница 40: ...ACON 20 6 3 1 Frames MI1 MI2 MI3 1 Remove the cable connector lid from the AC drive 2 Select a correct grounding plate and attach it to the option board mounting frame The grounding plate is marked with the supported enclosure size 3 Attach an option board mounting frame to the AC drive 11555A_00 11649_00 11556A_0 ...

Страница 41: ... 6 4 Connect the flat cable from the option board mounting frame to VACON 20 5 If a cable strain relief is required attach the parts as shown in the figure 6 Install the option board to the option board holder Make sure that the option board is securely fastened 11557A_00 11558A_00 11559A_00 ...

Страница 42: ...tp drives danfoss com danfoss drives local contacts 7 Cut free a sufficiently wide opening for the option board connector 8 Attach the option board cover to VACON 20 Attach the strain relief cable clamp with screws if needed 11650_00 11560A_00 ...

Страница 43: ...ss drives local contacts 6 6 3 2 Frames MI4 MI5 Make sure power is disconnected before opening the VACON 20 cover 1 1a For MI4 Open the cover 1b For MI5 Open the cover and release the fan connector 2 Attach the option board support 13006 emf 11561_00 11562_00 11563_00 ...

Страница 44: ... danfoss com danfoss drives local contacts 3 Connect the flex cable to option board connector PCB 4 Connect the option board to connector PCB 5 Attach the option board with connector PCB to VACON 20 and connect the flex cable 11564_00 11565_00 11566_00 ...

Страница 45: ... com danfoss drives local contacts 6 6 Attach a suitable grounding plate to VACON 20 The grounding plate is marked with supported enclosure size 7 Assemble a clamp on top of the grounding plate on both sides of the option board MI 04 MI 05 11567_00 11568_00 ...

Страница 46: ...6 vacon 46 Installation Local contacts http drives danfoss com danfoss drives local contacts 8 8a For MI4 Close the cover 8b For MI5 Remount the fan connector and close the cover 11569_00 11570_00 ...

Страница 47: ... CP Do not add or replace option boards or fieldbus boards on an AC drive with the power switched on This may damage the boards 1 Open the cover of the drive MU3 example The relay outputs and other I O terminals may have a dangerous control voltage present even when the drive is disconnected from mains 13006 emf 11643_00 13006 emf ...

Страница 48: ...nfoss com danfoss drives local contacts 2 Remove the option slot cover 3 Install the option board into the slot as shown in the figure 4 Mount the option slot cover Remove the plastic opening for the option board ter minals 7089_00 7090_00 7091_00 7091_00 ...

Страница 49: ...Installation vacon 49 Local contacts http drives danfoss com danfoss drives local contacts 6 6 5 Installation in VACON 100 X Frames MM4 MM6 1 Open the cover of the AC drive 11638_00 ...

Страница 50: ...6 vacon 50 Installation Local contacts http drives danfoss com danfoss drives local contacts 2 To get access to the option board slots remove the screws and open the cover of the control unit 11639_00 ...

Страница 51: ...se the option board cover 5 Remove the cable entry plate If you installed the option board in the slot D use the cable entry plate on the right side If you installed the option board in the slot E use the cable en try plate on the left side NOTE The cable entry plate at the bottom of the drive is used only for mains and motor cables D E 11640_00 11641_00 ...

Страница 52: ...her holes See the VACON 100 X Installation Manual for the dimensions of the holes 7 Attach a cable gland on the hole in the ca ble entry plate Pull the fieldbus cable through the hole NOTE The fieldbus cable must go through the correct cable entry plate to avoid going near the motor cable 8 Put the cable entry plate back 9 Close the cover of the AC drive 11642_00 ...

Страница 53: ...N 20 family 1 P5 x 3 1 P2 2 Node ID 1 127 1 Network wide unique identifier for each CANopen device 2 P5 x 3 2 P2 3 Baud Rate 3 8 5 Data signalling rate Should be the same on each node in the same bus See Table 54 3 P5 x 3 3 P2 4 Operate Mode 1 4 1 Selection between OPTE6 operate modes See Table 55 5 P5 x 3 4 Comm Timeout 0 65535 1 Timeout in seconds for CAN communication faults PASSIVE BUS OFF 6 P...

Страница 54: ...s when fieldbus communication timeout is activated in Chapter 9 2 Fieldbus timeout fault F53 Mode compatibility mode s can be activated using this parameter This parameter is the same as object 0x2005 Mode 7 1 1 OPTE6 additional panel parameters From VACON 100 INDUSTRIAL V027 and FLOW V018 and OPTE6 V009 firmware version forwards CANopen bus communication parameters are stored and can also be modi...

Страница 55: ...mer Time 3 0 5 x 3 7 5 Consumer Time 4 0 5 x 3 7 6 Consumer Time 5 0 5 x 3 7 7 Consumer Time 6 0 5 x 3 7 8 Consumer Time 7 0 5 x 3 7 9 Consumer Time 8 0 5 x 3 8 1 COB ID 0x200 Node ID 3 5 2 5 x 3 8 2 Transmission Type 0xFE 3 5 3 5 x 3 8 3 Inhibit Time 0 5 x 3 8 4 Event Timer 0 5 x 3 9 1 COB ID 0x80000300 Node ID 3 5 2 5 x 3 9 2 Transmission Type 0xFE 3 5 3 5 x 3 9 3 Inhibit Time 0 5 x 3 9 4 Event ...

Страница 56: ...art Value 0 5 x 3 15 1 COB ID 0x80000280 Node ID 3 5 2 5 x 3 15 2 Transmission Type 0xFE 3 5 3 5 x 3 15 3 Inhibit Time 1000 5 x 3 15 4 Event Timer 0 5 x 3 15 5 Sync Start Value 0 5 x 3 16 1 COB ID 0x80000380 Node ID 3 5 2 5 x 3 16 2 Transmission Type 0xFE 3 5 3 5 x 3 16 3 Inhibit Time 1000 5 x 3 16 4 Event Timer 0 5 x 3 16 5 Sync Start Value 0 5 x 3 17 1 Number of Entries 2 3 5 4 5 x 3 17 2 1st Ap...

Страница 57: ...OPTE6 while parameters are changed from panel parameters or from CANopen objects that are linked to these parameters Note that there are some differences between OPTE6 versions Changing of Node ID V008 and earlier No difference to any stored parameter listed in Table 57 This means that if the COB IDs of e g PDO communication parameters need to be recalculated using the new Node ID one of the follo...

Страница 58: ... value other than zero to this parameter all CANopen communication parame ters are restored to default parameters and PDO communication and mapping parameters are re stored to default parameters of the currently active operate mode Node ID operate mode baud rate communication timeout and mode parameters are not affected After the restore the parameter value is set back to zero automatically 7 1 3 ...

Страница 59: ... values than the stored parameters depending if parameters written via bus are stored or not The values are divided into subfolders same way as the corresponding parameters Table 58 OPTE6 Monitoring Values Panel code Parameter Format Description VACON 100 family VACON 20 family V5 x 2 1 V2 1 CANopen Status NNNN Y NNNN A running counter for incoming messages Y Node CANopen status see Table 59 V5 x ...

Страница 60: ...ow NOTE With VACON 20 the baud rate 9600 must be used With VACON 20 X and VACON 20 CP the following baud rates are supported 9600 19200 38400 or 57600 Step 1 Connect your PC to the controller by using the USB RS485 cable Then select the firmware file which you want to load to the option board and double click it This will start the VACON Loader software You can also start the program from the Wind...

Страница 61: ...p drives danfoss com danfoss drives local contacts 7 Step 2 Press next and wait for the loader to find the network drives Then select a drive from the list and press Connect to Selected See Figure 13 Figure 13 VACON Loader Connecting to drive ...

Страница 62: ...rives danfoss com danfoss drives local contacts Step 3 Select the modules to be updated press next and wait until the operation is finished See Figure 14 and Figure 15 Figure 14 Option board module selection Figure 15 VACON Loader Firmware loading ...

Страница 63: ...Commissioning vacon 63 Local contacts http drives danfoss com danfoss drives local contacts 7 Figure 16 VACON Loader Loading is finished ...

Страница 64: ...C drive starts Statusword is 0x637 8 Set vl target velocity 0x6042 to 500 rpm Motor starts to run at 500 rpm 0x6044 vl velocity actual value If actual velocity does not change check that AC drive reference is set to fieldbus Bypass Motor control mode must be set to Frequency if reference is given as percentage of maximum fre quency 5 Set FB Control Word 0x2000 01 to 0x00 FB Status Word 0x2001 01 i...

Страница 65: ... will return value 0x80000002 which is described in table below Table 60 Supported drive modes Bit s Description 31 Manufacturer specific Bypass mode 30 2 Not supported 1 Velocity mode 0 Not supported Table 61 Drive modes Value Mode name Description 2 Velocity mode The CiA 402 Drive Profile mode where the control of the drive is done using a control word and speed reference value as specified in t...

Страница 66: ...The state machine is controlled by the Controlword object and internal events The following objects are usable in velocity mode The possible state machine transitions can be seen from Figure 18 The state of the AC drive can be changed by writing the corresponding bits to Controlword data object The needed bit values for each command can be seen from Figure 17 Table 63 Velocity mode related objects...

Страница 67: ... funtionality Switch on enable operation Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 0 X 1 1 0 2 6 8 3 3 4 NOTE 7 9 10 12 0 0 1 1 1 0 1 1 1 1 0 X X 0 X 0 X 0 1 X 7 10 11 5 4 16 15 0 0 1 1 1 0 1 1 1 1 X X X X Bits of the controlword Power off or reset Fault reaction active xxxx xxxx x0xx 1111b Quick stop active xxxx xxxx x00x 0111b Ready to switch on xxxx xxxx x01x 0001b Not ready to switch on xxxx xxxx x0xx 000...

Страница 68: ...e 2 6 Shutdown command None 3 Switch on command None 4 Enable operation command Drive function is enabled 5 Disable operation command Drive function is disabled 7 Disable voltage or quick stop command None 8 Shutdown command Stop by ramp stop function 9 Disable voltage command Stop by coast stop function 10 12 Disable voltage command None 11 Quick stop command Quick stop stop function 13 Fault sig...

Страница 69: ...de specific Bit 9 is not in use 8 h Halt Bit 8 is not in use 7 fr Fault reset Rising edge resets fault 4 6 na Not Used Bits 4 through 6 are not in use 3 eo Enable operation Start drive 2 qs Quick stop Stops the drive using the drive application specific stop function used as quick stop 1 ev Enable voltage Enables disables output voltage 0 so Switch on Enables possibility to start drive together wi...

Страница 70: ...2678 32767 8 2 2 6 0X6046 vl Velocity Min Max Amount The minimum and maximum rpm speed of the AC drive s motor The motor runs on minimum speed defined here when the vl Target Velocity is set to 0 Range 0 4294967296 8 2 2 7 0X6048 vl Velocity Acceleration This object indicates the configured delta speed and delta time of the slope of the acceleration ramp 0x6042 vl Target Velocity 15 0 Rpm request ...

Страница 71: ...x1011 1 Restore all Default parameters When the parameter set is restored the COB IDs are calculated according to used Node ID 0x6048 02 Delta time 16 0 Time in seconds in which the rpm of the motor will accelerate the amount specified in Delta Speed 0x6049 01 Delta speed 31 0 Maximum change of rpm the motor will accelerate during the time specified in Delta Time 0x6049 02 Delta time 16 0 Time in ...

Страница 72: ...3 0x2001 7 FB PD out 4 TPDO3 0x80000380 Node ID 8 0x2001 8 FB PD out 5 0x2001 9 FB PD out 6 0x2001 A FB PD out 7 0x2001 B FB PD out 8 Table 70 Receive PDO Mapping Parameter 1 Index Sub index Value Name Data type Access 0x1600 0 2 Number of entries UNSIGNED8 r w 1 0x60400010 Controlword UNSIGNED32 r w 2 0x60420010 vl Target Velocity UNSIGNED32 r w Table 71 Receive PDO Mapping Parameter 2 Index Sub ...

Страница 73: ...rameter 2 Index Sub index Value Name Data type Access 0x1401 0 5 Highest sub index UNSIGNED8 ro 1 0x80000300 Node ID COB ID UNSIGNED32 r w 2 0xFE Transmission type UNSIGNED32 r w 3 1000 Inhibit time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0 Event timer UNSIGNED16 r w Table 75 Receive PDO Communication Parameter 3 Index Sub index Value Name Data type Access 0x1402 0 5 Highest sub index UNSIGNED8 r...

Страница 74: ...er of entries UNSIGNED8 r w 1 0x20001810 FB PD out 5 UNSIGNED32 r w 2 0x20001910 FB PD out 6 UNSIGNED32 r w 3 0x20001A10 FB PD out 7 UNSIGNED32 r w 4 0x20001B10 FB PD out 8 UNSIGNED32 r w Table 79 Transmit PDO Communication Parameter 1 Index Sub index Value Name Data type Access 0x1800 0 6 Highest sub index UNSIGNED8 ro 1 0x180 Node ID COB ID UNSIGNED32 r w 2 0xFE Transmission type UNSIGNED32 r w ...

Страница 75: ... panel parameter when Bypass operate mode is selected or loading a default parameter set with object 0x1011 4 Restore Bypass parameter set and sending a NMT reset message When the parameter set is restored the COB IDs are calculated according to used Node ID Table 81 Transmit PDO Communication Parameter 3 Index Sub index Value Name Data type Access 0x1802 0 6 Highest sub index UNSIGNED8 ro 1 0x800...

Страница 76: ...PD out 4 TPDO3 0x380 Node ID 8 0x2001 8 FB PD out 5 0x2001 9 FB PD out 6 0x2001 A FB PD out 7 0x2001 B FB PD out 8 Table 84 Receive PDO Mapping Parameter 1 Index Sub index Value Name Data type Access 0x1600 0 3 Number of entries UNSIGNED8 r w 1 0x20000110 FB Control Word UNSIGNED32 r w 2 0x20000210 FB General Control Word UNSIGNED32 r w 3 0x20000310 FB Speed Reference UNSIGNED32 r w Table 85 Recei...

Страница 77: ...t time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0 Event timer UNSIGNED16 r w Table 88 Receive PDO Communication Parameter 2 Index Sub index Value Name Data type Access 0x1401 0 5 Highest sub index UNSIGNED8 ro 1 0x300 Node ID COB ID UNSIGNED32 r w 2 0xFE Transmission type UNSIGNED32 r w 3 1000 Inhibit time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0 Event timer UNSIGNED16 r w Table 89 Receive PDO C...

Страница 78: ... 0x1A01 0 4 Number of entries UNSIGNED8 r w 1 0x20010410 FB PD out 1 UNSIGNED32 r w 2 0x20010510 FB PD out 2 UNSIGNED32 r w 3 0x20010610 FB PD out 3 UNSIGNED32 r w 4 0x20010710 FB PD out 4 UNSIGNED32 r w Table 92 Transmit PDO Mapping Parameter 3 Index Sub index Value Name Data type Access 0x1A02 0 4 Number of entries UNSIGNED8 r w 1 0x20010810 FB PD out 5 UNSIGNED32 r w 2 0x20010910 FB PD out 6 UN...

Страница 79: ...ED32 r w 2 0xFE Transmission type UNSIGNED32 r w 3 1000 Inhibit time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0 Event timer UNSIGNED16 r w 6 0 Sync start value UNSIGNED8 r w Table 95 Transmit PDO Communication Parameter 3 Index Sub index Value Name Data type Access 0x1802 0 6 Highest sub index UNSIGNED8 ro 1 0x380 Node ID COB ID UNSIGNED32 r w 2 0xFE Transmission type UNSIGNED32 r w 3 1000 Inhibit...

Страница 80: ... BCTRL ZREF FRMP ZRMP STPM2 STPM1 FRST DIR STRT Bit Name Description 0 1 12 ESTP Emergency Stop Request as fast stop as possible Emergency stop 11 JOG2 Jogging request Select jogging with reference 2 Select ref2 jogging 10 JOG1 Jogging request Select jogging with reference 1 Select ref1 jogging 9 BREF Bus Reference Force Reference to fieldbus Selected reference place Force Fieldbus refer ence 8 BC...

Страница 81: ...ling I O s and so on Different applications support different features For more information see the application manual Also always check the value of the sent data in the appli cation manual to see in which format they are given for example values bit coded values and so on Table 105 FB Processdata application mapping Bit Name Description 0 1 15 BSTAT2 Bus status Informs bus status into applicatio...

Страница 82: ...ro speed Zero speed condition 5 ATREF At reference Reference frequency is reached Reference reached 4 ALARM Alarm Alarm indication Drive is in Alarm 3 FLT Faulted Drive fault indicatioin Drive is Faulted 2 DIR Direction Motor running direction Clockwise Counter clockwise 1 RUN Run Motor running information Stopped Running 0 RDY Ready Drive readiness information Ready 15 14 13 12 11 10 9 8 7 6 5 4 ...

Страница 83: ...ut 1 8 8 4 10 FB Processdata Output mapping in application Process data output mappings are selectable and also the default settings vary between drives Re fer to application manual for details The following tables show the default values for VACON 100 INDUSTRIAL application VACON 20 X Multipurpose Application and VACON 20 Standard Appli cation 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 FB Process data...

Страница 84: ...00 INDUSTRIAL VACON 20 X MP Motor Speed Rpm 1 rpm 3 VACON 100 INDUSTRIAL VACON 20 X MP Motor Current A 0 1A 4 VACON 100 INDUSTRIAL VACON 20 X MP Motor Torque 0 1 5 VACON 100 INDUSTRIAL VACON 20 X MP Motor Power 0 1 6 VACON 100 INDUSTRIAL VACON 20 X MP Motor Voltage V 0 1V 7 VACON 100 INDUSTRIAL VACON 20 X MP DC Link Voltage V 1V 8 VACON 100 INDUSTRIAL VACON 20 X MP Last Active Fault Code PD Out Ma...

Страница 85: ...s The used scale in VACON 100 family depends on the Mode parameter setting This can be written from panel parameter of by using CANopen object 0x2005 VACON provides EDS files which contains the correct data types and IDs for VACON 100 INDUS TRIAL FLOW VACON 20 and 20X applications These files can be downloaded from www drives danfoss com 8 5 1 Error responses In case an error occurs during reading...

Страница 86: ...CON 100 family Any Pre V008 102 0x2166 2 88 13 5000 50 00 Hz 600 0x2358 2 01 00 1 1 OL Speed VACON 100 family Normal 102 0x2166 4 20 A1 07 00 500000 50 0000 Hz 600 0x2358 4 01 00 00 00 1 1 OL Speed AC drive Mode Write command Actual value ID Index Length Value Hex VACON 20 family VACON 100 family Any Pre V008 102 0x2166 2 94 11 45 00 Hz 600 0x2358 2 00 00 0 OL Frequency VACON 100 family Normal 102...

Страница 87: ...rvice Info File to the local distributor See local contacts http drives dan foss com danfossdrives local contacts If possible also send CAN communication log from the fault situation if applicable 9 1 Typical fault conditions Table 117 Typical fieldbus fault conditions Fault condition Possible cause Remedy No communication Cabling Supply or motor cables are located too close to the fieldbus cable ...

Страница 88: ... trigger conditions Fault Description Remedy CAN Passive Communication timeout parameter is other than zero Either Transmit Error Counter or Receive Error Counter raises above 127 causing the CAN driver to go into passive state Check cabling and baud rates of all nodes in net work Disable communication timeout or increase the time CAN BUS OFF Communication timeout parameter is other than zero Tran...

Страница 89: ...tion 1 IO Watchdog IO connection closed after timeout occurred 2 IO Connection Closed IO connection closed by fieldbus master 3 Explicit Messaging Watchdog Explicit messaging connection other than cyclic IO data closed after timeout occurred 4 Explicit Messaging Connection Closed Explicit messaging connection closed by fieldbus master 5 Cable Disconnected Fieldbus cable disconnected after device s...

Страница 90: ...ED32 RO No 0x0000000 006 Standard Error Field UNSIGNED32 RO No 0x0000000 007 Standard Error Field UNSIGNED32 RO No 0x0000000 008 Standard Error Field UNSIGNED32 RO No 0x0000000 009 Standard Error Field UNSIGNED32 RO No 0x0000000 Object 1005h COB ID SYNC 1005 0 COB ID SYNC Variable UNSIGNED32 RW No 0x00000080 Object 100Ch Guard Time 100C 0 Guard Time Variable UNSIGNED16 RW No 0x00000000 ms Object 1...

Страница 91: ...dentity Object 1018 Identity Object Record IDENTITY 000 Number of Entries UNSIGNED8 RO No 0x4 001 Vendor Id UNSIGNED32 RO No 0x90 002 Product Code UNSIGNED32 RO No 003 Revision number UNSIGNED32 RO No 004 Serial number UNSIGNED32 RO No Object 1019h Synchronous counter 1019 0 Synchronous counter Variable UNSIGNED8 RW No 0x00000000 Object 1029h Error Behaviour 1029 Error Behaviour Array UNSIGNED8 00...

Страница 92: ...s UNSIGNED8 RW No 0x02 001 Mapping Entry 1 UNSIGNED32 RW No 0x60400010 002 Mapping Entry 2 UNSIGNED32 RW No 0x60420010 003 Mapping Entry 3 UNSIGNED32 RW No 0x00000000 004 Mapping Entry 4 UNSIGNED32 RW No 0x00000000 Object 1601h Receive PDO Mapping Parameter 2 1601 Receive PDO Mapping Param eter 2 Record PDO_MAPPING 000 Number of Entries UNSIGNED8 RW No 0x04 001 Mapping Entry 1 UNSIGNED32 RW No 0x2...

Страница 93: ...ommuniction Parameter 3 Record PDO_COMM_PAR 000 Number of Entries UNSIGNED8 RO No 0x06 001 COB ID UNSIGNED32 RW No 0x80000380 002 Transmission Type UNSIGNED8 RW No 0xFE 003 Inhibit Time UNSIGNED16 RW No 0x3E8 100 μs 005 Event Timer UNSIGNED16 RW No 0x0 ms 006 Sync start value UNSIGNED8 RW No 0x0 Object 1A00h Transmit PDO Mapping Parameter 1 1A00 Transmit PDO Mapping Parameter 1 Record PDO_MAPPING ...

Страница 94: ... 0x0 005 FB Process Data In 2 UNSIGNED16 RWW Yes 0x0 006 FB Process Data In 3 UNSIGNED16 RWW Yes 0x0 007 FB Process Data In 4 UNSIGNED16 RWW Yes 0x0 008 FB Process Data In 5 UNSIGNED16 RWW Yes 0x0 009 FB Process Data In 6 UNSIGNED16 RWW Yes 0x0 010 FB Process Data In 7 UNSIGNED16 RWW Yes 0x0 011 FB Process Data In 8 UNSIGNED16 RWW Yes 0x0 Object 2001h FB Processdata Out 2001 FB Processdata Out Arr...

Страница 95: ...4h Communication Timeout 2004 0 Communication Timeout Variable UNSIGNED16 RW No 0x01 s Object 2005h Mode 2005 0 Mode Variable UNSIGNED16 RW No 0x0 Index Sub index Description Object Code Data Type Access PDO Mapping Default Value Object 6040h Controword 6040 0 Controlword Variable UNSIGNED16 RWW Yes Object 6041h Statusword 6041 0 Statusword Variable UNSIGNED16 RO Yes Object 6042h vl Target Velocit...

Страница 96: ...city Decelaration 6049 vl Velocity Deceleration Record P402_VL_VEL_ACC_T 000 NumOfEntries CONST No 0x2 001 DeltaSpeed UNSIGNED32 RW No 0x0 002 DeltaTime UNSIGNED16 RW No 0x0 Object 6060h Modes of Operation 6060 0 Modes of Operation Variable INTEGER8 RW No Object 6061h Modes of Operation Display 6061 0 Modes of Operation Display Variable INTEGER8 RO No Object 6502h Supported Drive Modes 6502 0 Supp...

Страница 97: ...he used process and profile 11 1 Fieldbus control and reference selection The following tables list some of the parameters related to fieldbus control in case of standard applications for the VACON 100 family VACON NXP VACON 20 and VACON 20X AC Drives See the application specific manuals for more detailed information and latest updates The parameters can be read and written by using the drive pane...

Страница 98: ...22 Fieldbus parametrization for VACON 20X multipurpose application Parameter name ID Value Default Panel Tree Motor control mode 600 0 Frequency 1 Speed 0 P8 1 Control place selection 125 2 Fieldbus 0 P1 11 Frequency ref sel 1819 5 Fieldbus 0 P1 12 Table 123 Fieldbus parametrization for VACON NXP multipurpose application Parameter name ID Value Default Panel Tree Motor control mode 600 0 Frequency...

Страница 99: ...standard applications see the table below Modbus TCP UDP 7 Only process data from VACON 100 family internal Modbus TCP UDP protocol is forwarded to application Bacnet IP 8 Only process data from VACON 100 family internal Bacnet IP protocol is forwarded to application Table 125 Response to fieldbus fault in VACON AC drives ID AC Drive Value Default Panel Tree 733 VACON 100 family 0 No action 1 Alar...

Страница 100: ...3 The scaling of the parameters can be checked from application manuals The status word and actual speed values cannot be changed however the values sent by the fieldbus protocol might differ if a profile is used In Bypass mode these values are given as is Figure 19 Fieldbus Datamapping Table 126 Fieldbus Process Data Selection Panel Tree for VACON AC drives Parameter name ID Panel Tree VACON 100 ...

Страница 101: ...e 4 0 1 4 Motor Torque 4 0 1 5 Motor Power 5 0 1 5 Motor Power 5 0 1 6 Motor Voltage 6 V 0 1 V 6 Motor Voltage 6 V 0 1 V 7 DC Link Voltage 7 V 1 V 7 DC Link Voltage 7 V 1 V 8 Last Active Fault Code 37 8 Last Active Fault Code 37 Table 128 Default process data mapping for VACON 20 X CP and VACON 20 VACON 20 X CP VACON 20 PD Mapped Application Data ID Unit Scale PD Mapped Application Data ID Unit Sc...

Страница 102: ...ppendix C Fieldbus Process Data Local contacts http drives danfoss com danfoss drives local contacts Table 129 Current scaling based on nominal power Nominal power Current scale 5 kW 0 01 A 5 100 kW 0 1 A 100 kW 1 A ...

Страница 103: ...Document ID DPD01091C Rev C Sales code DOC OPTE6 DLUK Vacon Ltd Member of the Danfoss Group Runsorintie 7 65380 Vaasa Finland www danfoss com ...

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