Danfoss iC7 Series Operating Manual
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Danfoss iC7 Series Operating Manual

Danfoss iC7 Series Operating Manual

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Operating Guide
iC7 Series Modbus
Modbus TCP OS7MT
drives.danfoss.com

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  • Page 1 Operating Guide iC7 Series Modbus Modbus TCP OS7MT drives.danfoss.com...

  • Page 3: Table Of Contents

    Series Modbus Operating Guide Contents Contents Introduction and Safety Purpose of this Operating Guide Additional Resources Safety Symbols Qualified Personnel Safety Precautions Abbreviations Version History Overview Modbus Features and Technical Data Communication Profiles and Objects 2.2.1 iC Speed Profile 2.2.1.1...
  • Page 4 Configuring Parallel Redundancy Protocol Configuring Modbus Unit Identifier Configuring Modbus Data Settings Troubleshooting Configuring Port Mirroring Settings Identifying a Drive Fieldbus Indicator LEDs Modbus Features Data Objects Function Codes Data Field Read Device Identity 4 | Danfoss A/S © 2023.09 AQ456329149698en-000101/136R0334...

  • Page 5: Introduction And Safety

    Other supplemental publications, drawings, and guides are available at www.danfoss.com/service-and-support/documenta- tion/. Latest versions of Danfoss product documentation are available for download at http://drives.danfoss.com/downloads/portal/. 1.3 Safety Symbols The following symbols are used in this guide: D A N G E R Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
  • Page 6 An internal failure in the drive can result in serious injury when the drive is not properly closed. Ensure that all safety covers are in place and securely fastened before applying power. 6 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 7: Abbreviations

    Series Modbus Operating Guide Introduction and Safety 1.6 Abbreviations Abbreviation Definition Address Conflict Detection BOOL Boolean Control word Discovery and configuration protocol DHCP Dynamic host configuration protocol Electromagnetic compatibility Input/Output Internet protocol Control panel Light-emitting diode LLDP Link layer discovery protocol...

  • Page 8: Overview

    Table 4: Communication Profiles and Supported Applications Product Application Software Profile iC7-Automation Industry • PROFIdrive • iC Speed Profile Motion • PROFIdrive • iC Speed Profile iC7-Hybrid Grid Converter iC Grid Converter Profile 8 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 9: Ic Speed Profile

    2.2.1 iC Speed Profile The iC Speed profile is used with the iC7 series. iC Speed profile differs from the PROFIdrive profile, because it does not have a state machine. It is only controlled by the actual state 1/0 of the control bits, not the sequence in which they are manipulated.

  • Page 10: Status Word (Stw) In Ic Speed Profile

    1 = The device is controlled and reacting to I/O and process data. tion 0 = The device does not react on commands from fieldbus, for 1 of the following reasons: 10 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 11: Profidrive - Standard Telegram

    Series Modbus Operating Guide Overview Name Description num- • CTW Bit 10 = 0. • HMI is in local mode. • MyDrive® Insight has taken control. • Control places do not include fieldbus. Frequency limit ok/Out 1 = The output frequency is within the defined motor limits.

  • Page 12: Status Word (Stw) In Profidrive Standard Telegram

    1 = Fault present. 0 = No fault. Coast stop 1 = Coast stop not activated (No OFF2). 0 = Coast stop activated (OFF2). Quick stop 1 = Quick stop not activated (No OFF3). 12 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 13: Profidrive State Machine

    Series Modbus Operating Guide Overview Name Description Num- 0 = Quick stop activated (OFF3). Switching on inhibi- 1 = Switching on inhibited. 0 = Switching on not inhibited. Warning 1 = A warning has occurred. 0 = There are no warnings.

  • Page 14: Ic Grid Converter Profile

    , and start running), or started when the rising edge is detected, it will keep the unit running. not start until a new rising edge is issued. 14 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...
  • Page 15 Series Modbus Operating Guide Overview Name Description Further information Pre-charge This bit is only used when the DC-link pre-charge 0: Stop the DC-link pre-charge, if ongoing. is controlled by the application. 1: Start or continue the DC-link pre-charge. Reserved...

  • Page 16: Status Word (Stw) In Ic Grid Converter

    0: Run enable signal from dedicated input is missing 1: Run enable signal from dedicated input is present Reserved Reserved Reserved Watchdog Bit used for the fieldbus watchdog. Mirroring control word bit 11. 16 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 17: Ic Dc/Dc Converter Profile

    Series Modbus Operating Guide Overview 2.2.4 iC DC/DC Converter Profile 2.2.4.1 Control Word (CTW) in iC DC/DC Converter Table 11: Fieldbus Control Word Name Description Further Information Switch On Enable 0: Running is prevented or interrupted 1: Running is not prevented or interrupted...

  • Page 18: Status Word (Stw) In Ic Dc/Dc Converter

    0: Run enable from the dedicated input signal is missing 1: Run enable from the dedicated input signal is present Reserved Reserved Reserved Watchdog Outgoing fieldbus watchdog bit 2.3 Network Topologies Communication interface X1/X2 is used for fieldbus connection. 18 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 19: Line Topology

    Overview The iC7 series communication interface has 2 Ethernet ports (X1 and X2) and an embedded switch with 2 Ethernet RJ45 connectors. It has 1 MAC and IP address, and is considered a single device in the network. The communication interface supports 3 network topologies: •...

  • Page 20: Star Topology

    Modbus uses the parallel redundancy protocol (PRP). PRP is a layer 2 network protocol that enables a redundant topology in an Ethernet network. PRP provides uninterrupted switchovers in failure situations, and is independent of the application. For more information on configuring parallel redundancy protocol (PRP), see 5.4 Configuring Parallel Redundancy Protocol. 20 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...
  • Page 21 Series Modbus Operating Guide Overview Illustration 4: Example of Ring Topology Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334 | 21...

  • Page 22: Modbus Data Mapping

    Watchdog1: Process data timeout watchdog Timeout time is configured in parameter 10.3.1.6 Process Data Timeout Time. The Watchdog timer is (re)triggered when writing to the mapped coil or register. Watchdog2: Not used 22 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 23: Mapping Modbus Holding Registers

    Series Modbus Operating Guide Modbus Data Mapping 3.2 Mapping Modbus Holding Registers A Modbus holding register is a bit binary data item which can be both read and written. Registers can be mapped to a specific parameter by using the customization feature in MyDrive® Insight.
  • Page 24 Events from the device event log can be mapped into holding registers, starting from the most recent event. Each Event results in six consecutive register mappings. Table 17: Example of an Event Register Mapping Register Description Format Timestamp Seconds/milliseconds [SS.SSS] Hours/Minutes [HHMM] 24 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 25: Mapping Modbus Input Registers

    Series Modbus Operating Guide Modbus Data Mapping Register Description Format Month/Day [MMDD] Year [YYYY] Event Type MSB: 0 = Inactive event. MSB: 1 = Active event. LSB: 010 = Info. LSB: 011 = Warning. LSB: 100 = Fault. Event Code See the relevant application guide.

  • Page 26: Setting Permissions

    To deploy the configuration directly into a device, click the Download icon to create and save an export package (*.vpkg). After exporting the configuration, update and power-cycle the device with the exported software package. Package name (Default: Fully Qualified Domain Name) Package version (Default: 1.0.0) 26 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 27: Fieldbus Cable Connections

    Series Modbus Operating Guide Fieldbus Cable Connections 4 Fieldbus Cable Connections 4.1 Prerequisites for Installation Communication interfaces are integrated in the control board in iC7 drives. The position of the connections differs based on the control board concept and frame, for example. For more information on the location of the connections, cabling, and shielding, refer to the drive design guide.

  • Page 28: Installation In System Modules

    Illustration 7: Communication Port X0, X1, and X2 Locations in FK09–FK12 Frames 4.3 Installation in System Modules 4.3.1 Communication Interface X1/X2 in System Modules The position of the communication interface ports in the system modules is shown in Illustration 28 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 29: Emc-Compliant Installation

    Series Modbus Operating Guide Fieldbus Cable Connections Illustration 8: Communication Port X0, X1, and X2 Locations in System Modules Ethernet port (X0) Ethernet port (X2) Ethernet port (X1) 4.4 EMC-compliant Installation To obtain an EMC-compliant installation, follow the instructions provided in the drive-specific design guide and the installation guide included in the shipment.
  • Page 30 When the fieldbus cable intersects a motor cable or a brake resistor cable, ensure that the cables intersect at an angle of 90°. Illustration 9: Cable Routing Fieldbus cable ≥200 mm (7.9 in) (≥ 500 mm (20 in) for power sizes >315 kW (450 hp)) 90° intersection 30 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 31: Modbus Configuration

    Series Modbus Operating Guide Modbus Configuration 5 Modbus Configuration 5.1 General Connectivity Settings General connectivity settings are in parameter group 10 Connectivity → Integrated Communication → Protocols → General Settings. Table 19: General Connectivity Parameters Menu in- Parameter Param-...

  • Page 32: Ic7-Automation Reference Handling

    The X1 and X2 interfaces are internally connected with an Ethernet switch and share the same physical MAC layer, and the same IP settings apply to both interfaces. IPv4 settings are configured in MyDrive Insight or in the control panel. ® 32 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...
  • Page 33 Series Modbus Operating Guide Modbus Configuration Configure IPv4 settings. In MyDrive Insight, go to Setup and Service → Interface configuration → Interface X1/X2 → IPv4 settings. ® In the control panel, navigate to parameter group 10.2 Communication Interfaces. Table 23: IPv4 Settings...

  • Page 34: Configuring Parallel Redundancy Protocol

    The counter is incremented if wrong frames or no PRP frames are received on LAN A. Warning count on LAN A The counter is incremented if wrong frames or no PRP frames are received on LAN B. 34 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 35: Configuring Modbus Unit Identifier

    Series Modbus Operating Guide Modbus Configuration N O T I C E When configuring PRP, it is important to notice the assignment of the Ethernet ports: X1 = LAN A X2 = LAN B LAN B LAN A Illustration 11: Example of Parallel Redundancy 5.5 Configuring Modbus Unit Identifier...

  • Page 36: Configuring Modbus Data Settings

    Byte order of holding register. 10.3.3.2.3 Byte Order Little Endian Big Endian (default) 10.3.3.2.4 Word Order Word order when mapping parameters (for example, 32-bit Little Endian (default) REAL) in multiple registers. Big Endian 36 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 37: Troubleshooting

    Series Modbus Operating Guide Troubleshooting 6 Troubleshooting 6.1 Configuring Port Mirroring Settings Enable/disable the port-mirroring function for network troubleshooting with a network analyzer tool. In MyDrive Insight, go to Setup and Service → Interface Configuration → Port Mirroring Settings.
  • Page 38 The LED labeled X2 shows the network status on Ethernet port X2. Table 27: Fieldbus Indicator LED Functions LED label Status LED pattern Description Standby Flashing green No active Modbus TCP connections. I/O connection ok Solid green Modbus TCP connection active. 38 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...
  • Page 39 Series Modbus Operating Guide Troubleshooting LED label Status LED pattern Description Lost Modbus connection Flashing red A Modbus TCP connection has failed, but 1 is still active (loss of I/O connection). Lost all Modbus connections Steady red Modbus TCP connections have failed (no I/O connection).

  • Page 40: Modbus Features

    It can include items such as coil, or register addresses, the quantity of items to be handled, and the count of actual data bytes in the field. 40 | Danfoss A/S © 2023.09 AQ456329149698en-000101 / 136R0334...

  • Page 41: Read Device Identity

    Series Modbus Operating Guide Modbus Features 7.4 Read Device Identity The Read Device Identity function code is for reading the device manifest data via Modbus Encapsulated Interface transport. Table 30: Request Structure Function code 0x2B MEI Type 0x0E MEI type specific data...
  • Page 42 Danfoss reserves the right to alter its products without notice. This also applies to products ordered but not delivered provided that such alterations can be made without changes to form, fit or function of the product. All trademarks in this material are property of Danfoss A/S or Danfoss group companies.

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