Danfoss VLT CANopen MCA 105 Programming Manual
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Danfoss VLT CANopen MCA 105 Programming Manual

Danfoss VLT CANopen MCA 105 Programming Manual

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Download this manual See also: Installation Manual
MAKING MODERN LIVING POSSIBLE
Programming Guide
®
VLT
CANopen MCA 105
®
VLT
AutomationDrive FC 301/302
vlt-drives.danfoss.com

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Summary of Contents for Danfoss VLT CANopen MCA 105

  • Page 1 MAKING MODERN LIVING POSSIBLE Programming Guide ® CANopen MCA 105 ® AutomationDrive FC 301/302 vlt-drives.danfoss.com...

  • Page 3: Table Of Contents

    (parameter 8-10 = FC profile) 4.4.2 Status Word according to FC Profile (parameter 8-10 = FC profile) 4.5 Reference Handling 5 Parameter Access 5.1 Danfoss Specific Objects (2000h-5FFFh) 6 Parameters 6.1 Parameter List 7 Object Directory MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 4 7.1.12 1010h Store Parameters 7.1.13 1011h Restore Default Parameters 7.1.14 1014h COB ID Emergency Object 7.1.15 1017h Producer Heartbeat Time 7.1.16 1018h Identity Object 8 Troubleshooting 8.1 Warnings and Alarms 8.2 Troubleshooting Index Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 5: Introduction

    Danfoss. See vlt-drives.danfoss.com/Support/Technical- specific classes. For other devices, define a custom class to Documentation/ for listings. make it CANopen compatible. All of the above enhances the interchangeability and interoperability of the network. MG92G102 Danfoss A/S © 06/2015 All rights reserved.

  • Page 6: Approvals And Certifications

    Numbered lists indicate procedures. Bullet lists indicate other information and description of illustrations. Italicised text indicates: • Cross-reference. • Link. • Parameter name. • Footnote. • Parameter group. • Parameter option. • Alarms/warnings. Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 7: Safety

    Leakage currents exceed 3.5 mA. Failure to ground the frequency converter properly can result in death or serious injury. • Ensure the correct grounding of the equipment by a certified electrical installer. MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 8 An internal failure in the frequency converter can result in serious injury, when the frequency converter is not properly closed. • Ensure that all safety covers are in place and securely fastened before applying power. Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 9: Configuration

    OD, refer to chapter 7 Object Directory. COB-Identifiers (ID) Each communication object has a unique identity (COB-ID) comprising the function code and the node ID (node address), see Illustration 3.2. Illustration 3.2 COB-ID MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 10 8-04 Control Word Timeout with the COB-ID: 700h + Node ID, and goes from initiali- Function is executed. sation to pre-operational state. In this state, SDO communication is possible, but not PDO communication. Danfoss A/S © 06/2015 All rights reserved. MG92G102...
  • Page 11 16-92) Power-cycle the frequency converter to leave the bus off Bit 4 1, warning word 2 has an active warning (parameter state. 16-93) Bit 5–7 0, reserved Table 3.4 Byte 3 Description MG92G102 Danfoss A/S © 06/2015 All rights reserved.

  • Page 12: Configure The Master

    Write response (any) 2000h–5FFFh. Read response 4 bytes Read response 2 bytes Danfoss provides a generic English EDS file covering all Read response 1 byte voltage and power sizes for off-line configuration. Error response Download the EDS file from www.danfoss.com/Busines- Table 3.8 Response...
  • Page 13 The following example shows the details in setting up the CANopen configuration on a Moeller XC-CPU201 PLC. Illustration 3.5 Setting up the Baud Rate and Node-ID on the CanMaster (CANopen Scanner) 130BA936.10 Illustration 3.6 Appending a CANopen Node, from EDS File Library, by Rght-clicking CanMaster MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 14 Illustration 3.7 Configuring the CAN Parameters like Node-ID, Node-guarding, Heartbeat, and so on, on Node Illustration 3.8 Configuring Receive and Transmit PDO-mapping. Here PDO 1402 with Parameter 3-12 Catch up/slow Down Value and Parameter 4-11 Motor Speed Low Limit [RPM] Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 15: Configure The Frequency Converter

    8-02 Control Word Source. Parameter 8-10 Control Word Profile Select between the Danfoss FC Profile and the DSP 402 profile for CANopen. Refer to chapter 4 Control. Parameter 8-01 Control Site and parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select Refer to chapter 4 Control.

  • Page 16: Control

    Map process data into receive and transmit PDOs via parameter 10-50 Process Data Config Write. and parameter 10-51 Process Data Config Read. or via OD: 1600–1603 for receive PDOs and OD: 1A00–1A03 for transmit PDOs. Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 17: Pdo Configuration

    COB-ID 501h–57Fh mapped object (2000h + parameter number) (parameter 10-50 Process Data Config Write. [6]) mapped object (2000h + parameter number) (parameter 10-50 Process Data Config Write. [7]) Table 4.1 Receive PDO Configuration MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 18 COB-ID 481h–4FFh mapped object (2000h + parameter number) (parameter 10-51 Process Data Config Read. [6]) mapped object (2000h + parameter number) (parameter 10-51 Process Data Config Read. [7]) Table 4.2 Transmit PDO Configuration Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 19: Pdo Mapping Syntax

    SYNC object. For acyclically transmitted synchronous PDOs and asynchronous PDO’s, the triggering of a message transmission is an application-specific event specified in the device profile. MG92G102 Danfoss A/S © 06/2015 All rights reserved.

  • Page 20: Control Profile

    [5] CANopen DSP 402 is the CiA Option: Function: standardised control profile, featuring the special DSP 402 FC profile transition state machine. 4.2.2 DSP 402 State Transitions Illustration 4.2 DSP 402 State Machine Danfoss A/S © 06/2015 All rights reserved. MG92G102...
  • Page 21 All states⇒Fault reaction active xxxx 023F Fault reaction active⇒Fault 023F (0238 xxxx by InterBus) 0000 0240 Fault⇒Switch on disabled Quick stop active⇒Operation enable (not supported) Table 4.4 DSP 402 State Transitions MG92G102 Danfoss A/S © 06/2015 All rights reserved.

  • Page 22: Dsp 402 Control Profile

    Bit 03 = 0 executes transition 5. Bit 03 = 1 Enables operation. Bit 04, Quick-stop/ramp: Bit 04 = 0 executes transition 7 or 11, Quick stop. Bit 04 = 1 Enables ramp. Danfoss A/S © 06/2015 All rights reserved. MG92G102...
  • Page 23 Bit 04 = 1 means that control word bit 01 = 0. Bit 05, Quick stop/run: Bit 05 = 0 means that control word bit 02 = 1. Bit 05 = 1 means that control word bit 02 = 0. MG92G102 Danfoss A/S © 06/2015 All rights reserved.

  • Page 24: Danfoss Fc Control Profile

    00/01 gates with the In parameter 8-53 Start Select a selection, is made to corresponding function on the digital inputs. define how bit 06 Ramp stop/start gates with the corresponding function on a digital input. Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 25: Status Word According To Fc Profile (Parameter 8-10 = Fc Profile)

    Torque ok Torque exceeded Timer ok Timer exceeded Table 4.10 Selection of Set-up Table 4.11 Status Bits The function is only possible when [9] Multi set-ups are selected in parameter 0-10 Active Set-up MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 26 3-13 Reference Site is selected. It is not possible to control the frequency converter via serial communi- cation. Bit 09 = 1 means that it is possible to control the frequency converter via the fieldbus/ serial communication. Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 27: Reference Handling

    If the bus speed reference is negative, and the control word contains a run reverse signal, the frequency converter runs clockwise (- - is +). MAV is scaled in the same way as the reference. MG92G102 Danfoss A/S © 06/2015 All rights reserved.

  • Page 28: Parameter Access

    0-11 200Bh 1-00 2064h 1-01 2065h 10-00 23E8h 10-01 23E9h Table 5.1 Example of Converting of Frequency Converter Parameters Access the indexed parameters by accessing the appropriate subindex of the OD index. Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 29: Parameters

    [ 0.1 - Enter the maximum time expected to pass Select setup See [7] Select set-up 1. 18000 s] between the reception of 2 consecutive telegrams. If this time is exceeded, it indicates MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 30 24 Warning Word byte. NOTICE Table 6.1 This is only valid for Profibus. Enabling diagnosis may cause increased bus traffic. Diagnosis functions are not supported by all fieldbus types. Disable Danfoss A/S © 06/2015 All rights reserved. MG92G102...
  • Page 31 [64] Comparator 4 See parameter group 13-1* Comparators. If No function comparator 4 is evaluated as TRUE, the Profile Default Function corresponds to the profile default output goes high. Otherwise, it is low. selected in parameter 8-10 Control Profile. MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 32 See parameter 13-52 SL Controller Action. The DC link voltage high warning Output F input goes high whenever the smart logic DC link voltage low warning action [43] Set digital out F high is executed. DC overvoltage warning Danfoss A/S © 06/2015 All rights reserved. MG92G102...
  • Page 33 Live zero error alarm [10166] ATEX ETR freq limit alarm [10004] Mains phase loss alarm [10007] DC overvoltage alarm [10008] DC undervoltage alarm [10009] Inverter overload alarm [10010] ETR overtemperature alarm [10011] Thermistor overtemp alarm MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 34 Option: Function: [3] Logic OR Activates the reverse command via the fieldbus/ Digital input serial communication port, or via 1 of the digital inputs. Logic AND Logic OR Danfoss A/S © 06/2015 All rights reserved. MG92G102...
  • Page 35 3-80 Jog Ramp Time [11] 3-81 Quick Stop RampTime [0] CANopen [12] 4-11 Motor Speed Low Limit (RPM) [1] DeviceNet View the active CAN protocol. [13] 4-13 Motor Speed High Limit (RPM) MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 36 Pulse Output #29 (Hz) 16-84 Comm. Option STW 16-85 FC Port CTW 1 16-09 Custom Readout Table 6.2 Parameter List 15-60 Option Mounted Range: Function: [0 - 30 ] View the installed option type. Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 37: Parameter List

    MCA105 CANopen – VisibleString 30 16-** Data Readouts 16-84 Comm. Option STW 0–FF Unsigned 16 16-90 Alarm Word 0–FFFF – Unsigned 32 16-92 Warning Word 0–FFFF – Unsigned 32 Table 6.3 Parameter List MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 38 This number refers to a conversion figure used when writing or reading to parameters. Conversion index Conversion factor 1/60 1000000 100000 10000 1000 0.01 0.001 0.0001 0.00001 0.00001 Table 6.4 Conversion Index Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 39: Object Directory

    PDO mapping communi- description cation 1A03 PDO Mapping Read/write Transmit parameter PDO mapping 1401 Read/write Receive communi- Table 7.1 Communication Object Overview cation description parameter 1402 Read/write Receive communi- cation description parameter MG92G102 Danfoss A/S © 06/2015 All rights reserved.

  • Page 40: 1000H Device Type

    Table 7.4 1002h Manufacturer Status Register 7.1.7 1008h Manufacturer Device Name This object contains the device name as defined in parameter 15-40 FC Type. 7.1.8 1009h Manufacturer Hardware Version This object contains the MCB 105 hardware version. Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 41: 100Ah Manufacturer Software Version

    7.1.9 100Ah Manufacturer Software Version The parameters is set to default after the next power cycle, which has to be initiated manually. This object contains the Danfoss software version as displayed in parameter 15-49 SW ID Control Card. Sub-index Meaning Number of entries 7.1.10 100Ch Guard Time...

  • Page 42: Troubleshooting

    1.8 V supply fault 04000000 Brake resistor short circuit 08000000 Brake chopper fault 10000000 Option change 20000000 Frequency converter initialised 40000000 Safe torque off 80000000 Mech. brake low Table 8.1 Parameter 16-90 Alarm Word Danfoss A/S © 06/2015 All rights reserved. MG92G102...
  • Page 43 Reserved 20000000 Output frequency limit 40000000 PTC thermistor 40000000 Safe torque off 80000000 Dangerous failure 80000000 Extended status word Table 8.2 Parameter 16-91 Alarm Word 2 Table 8.3 Parameter 16-92 Warning Word MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 44 00100000 Reserved 00200000 Reserved 00400000 Reserved 00800000 Reserved 01000000 Reserved 02000000 Reserved 04000000 Reserved 08000000 Reserved 10000000 Reserved 20000000 Reserved 40000000 PTC thermistor 80000000 Reserved Table 8.4 Parameter 16-93 Warning Word 2 Danfoss A/S © 06/2015 All rights reserved. MG92G102...

  • Page 45: Troubleshooting

    Table 8.5 LED: Module Status (MS) State Green LED Status Stopped Single flash Device in stopped state. Pre-operational Flashing Device in pre-operational state. Operational Device in operational state. Table 8.6 LED: Network Status (NS) MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 46 Data type does not match, length of service Installed? parameter too high. 0607 0013h Data type does not match, length of service Download the correct EDS file from www.danfoss.com/ parameter too low. drives and www.danfoss.com/BusinessAreas/DrivesSolutions/ 0609 0011h Subindex does not exist.
  • Page 47 8140 Recovered from Bus Off. 8150 Transmit COB-ID collision. 8210 PDO not processed due to length error. 8220 PDO length exceeded. 8302 Torque limiting. FFxx Vendor specific. Table 8.9 EMCY Error Code MG92G102 Danfoss A/S © 06/2015 All rights reserved.

  • Page 48: Index

    Event driven.................... 17 High voltage..................... 5 Leakage current..................5 LED panel....................43 LED status....................43 Load sharing..................... 5 Object model.................... 7 OD entries....................10 Parameter list..................35 PDO configuration................15 Product overview..................4 Danfoss A/S © 06/2015 All rights reserved. MG92G102...
  • Page 49 Index Programming Guide MG92G102 Danfoss A/S © 06/2015 All rights reserved.
  • Page 50 Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed. All trademarks in this material are property of the respective companies.

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