Danfoss MCA 124 Operating Instructions Manual
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Danfoss MCA 124 Operating Instructions Manual

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MAKING MODERN LIVING POSSIBLE
Operating Instructions
MCA 124 EtherCAT

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Summary of Contents for Danfoss MCA 124

  • Page 1 MAKING MODERN LIVING POSSIBLE Operating Instructions MCA 124 EtherCAT...

  • Page 2: Table Of Contents

    Contents MCA 124 EtherCAT Operating Instruction Contents 1 Safety 1.1.2 Safety Note 1.1.3 Safety Regulations 1.1.4 Warning against Unintended Start ® 1.2 EtherCAT 2 Introduction 2.1.1 About this Manual 2.1.2 Assumptions 2.1.3 Hardware 2.1.4 Background Knowledge 2.1.5 Available Literature 2.1.6 Abbreviations 3 How to Install 3.1.1 How to Install Option in Frequency Converter...
  • Page 3 Contents MCA 124 EtherCAT Operating Instruction 6.2.5 Influence of the Digital Input Terminals upon FC Control Mode 6.3 Control Profile 6.4 DS 402 Control Profile 6.4.3 DSP 402 State Transitions 6.5 Danfoss FC Control Profile 7 Communication Profile Area 7.2 1000-1FFF Communication Object Area 7.3 2000-5FFF Danfoss Specific Object Area...

  • Page 4: Safety

    In no event shall Danfoss be liable for direct, indirect, Correct protective earthing or grounding of the special, incidental, or consequential damages arising out of equipment must be established.

  • Page 5: Warning Against Unintended Start

    Safety MCA 124 EtherCAT Operating Instruction 1.1.4 Warning against Unintended Start The motor can be brought to a stop with bus commands while the frequency converter is connected to mains. If personal safety consider- ations make it necessary to ensure that no unintended start occurs, these stop functions are not sufficient.

  • Page 6: Introduction

    IP21/Type 2.1.3 Hardware 1 option. The VLT AutomationDrive 24 V DC Backup This manual relates to the EtherCAT option MCA 124, type Instruction, provides information for installing the no. 130B5546 (uncoated) and 130B5646 (conformal 24 V DC Backup option.

  • Page 7: Abbreviations

    Introduction MCA 124 EtherCAT Operating Instruction 2.1.6 Abbreviations Abbreviation Definition Actual Packet Interval Control Card Control Word Discovery and Configuration Protocol DHCP Dynamic Host Configuration Protocol Configu- ration Electromagnetic Compatibility Input/Output Internet Protocol Process Data Object Local Control Panel Light Emitting Diode...

  • Page 8: How To Install

    RJ-45 connector on the option. Illustration 3.1 NOTE After installing the MCA 124 EtherCAT option, set 8-01 Control Site and 8-02 Control Word Source as follows: 8-01 Control Site: [2] Control word only or [0] Digital and ctrl.

  • Page 9: Ethercat Cables

    How to Install MCA 124 EtherCAT Operating Instruction 3.1.3 EtherCAT Cables Cable Type Specification Power OFF or State INIT Ethernet standard Standard Ethernet (in accordance with IEEE Initialisation/Bootstrap 802.3), 100Base-TX (FastEthernet) Cable Type S/FTP (Screened Foiled Twisted Pair, ISO(IEC PRE-OP State...

  • Page 10: Topology

    How to Install MCA 124 EtherCAT Operating Instruction 3.1.5 Topology that a OUT port always connects to a IN port on the next slave in the network. If this is not fulfilled the EtherCAT will go into error mode. The EtherCAT module features a built-in EtherCAT slave controller, thus having two Ethernet RJ-45 connectors.

  • Page 11: Emc Precautions

    How to Install MCA 124 EtherCAT Operating Instruction 3.1.6 EMC Precautions To achieve interference-free operation of the Ethernet, observe the following EMC precautions. Additional EMC information is available in the VLT AutomationDrive series Design Guide. NOTE The correct handling of the shield of the motor cable is vital for the overall performance of the system.

  • Page 12: How To Configure

    • 8-10 Control Word Profile. Choose between the information on the link status, per port. Danfoss FC Profile and the DS 402 profile. 12-10 Link Status displays Link or No Link according to the • 8-50 Coasting Select to 8-56 Preset Reference Select.

  • Page 13: Configure The Ethercat Network

    How to Configure MCA 124 EtherCAT Operating Instruction • The TwinCAT under the EtherCAT⇒advance setting⇒ESC⇒E2PROM⇒Configured station alias 4.3 Configure the EtherCAT Network setting All EtherCAT stations that are connected to the same bus If 12-50 Configured Station Alias, can only be set if all network must have a unique station alias number.

  • Page 14: Configure The Master

    TwinCAT Tool. For tools from other vendors, consult their relevant manuals. Copy the XML file from the Danfoss Web page to the location: C:\TwinCAT\Io\EtherCAT, and restart the TwinCAT System Manager. This will update the Device Description library of TwinCAT.
  • Page 15 Configure the Master MCA 124 EtherCAT Operating Instruction Danfoss FC-300 is inserted into the EtherCAT master In the following example, the status word is linked to the system. variable STW. Illustration 5.5 Illustration 5.3 The status word is now linked to the variable STW in the To function properly, each of the four process data must PLC.

  • Page 16: How To Control The Frequency Converter

    PDO containing process status PCD write data. In the Danfoss EtherCAT interface all PDOs are free selectable. The first two words of the process data area Table 6.1 (PCD 0 and PCD1) are set to a default value at factory, but can be changed.

  • Page 17: Reference Handling

    How to Control the Frequenc... MCA 124 EtherCAT Operating Instruction 6.2.3 Reference Handling MRV/MAV Integer in hex Integer in decimal 100% 4000 16.384 The reference handling in FC 301/FC 302 is an advanced 3000 12.288 mechanism that sums up references from different sources.

  • Page 18: Influence Of The Digital Input Terminals Upon Fc Control Mode

    Jog 1 ON Reserved The frequency converter can be controlled according to Setup select (LSB) the DS 402 profile, or the Danfoss FC profile. Select the Setup select (MSB) desired control profile in 8-10 Control Word Profile. The Forward Reversing choice of profile affects the control and status word only.
  • Page 19 How to Control the Frequenc... MCA 124 EtherCAT Operating Instruction 6.4.2 Status Word According to DS 402 Bit 04, Quick-stop/ramp Profile Bit 04="0" - executes transition 7 or 11, Quick stop. Bit 04="1" - enables ramp. Slave-master Bit 05, Freeze output frequency/run enable Output freq.
  • Page 20 How to Control the Frequenc... MCA 124 EtherCAT Operating Instruction Bit 05, Quick stop/Run Bit 11, Speed limit not active/speed limit active Bit 05="0" - control word bit 02="1". Bit 11="0" - the output frequency is out of the range set in Bit 05="1"...
  • Page 21 How to Control the Frequenc... MCA 124 EtherCAT Operating Instruction Illustration 6.6 DSP 402 State Machine ® MG92A302 - VLT is a registered Danfoss trademark...

  • Page 22: Dsp 402 State Transitions

    How to Control the Frequenc... MCA 124 EtherCAT Operating Instruction 6.4.3 DSP 402 State Transitions Transition State Control word Status word Action Start condition 0000 0000 Start-up ⇒Not ready to switch on 0000 0200 Switch On Disabled⇒Switch On Disabled 0000, 0001 0240 Not Ready to Switch On⇒Switched On...

  • Page 23: Danfoss Fc Control Profile

    (CTW) Braking Time. Bit 02=“1” - leads to ramping. To select Danfoss FC protocol in the control word, 8-10 Control Word Profile must be set to [0] FC##profile . Bit 03, Coasting The control word is used to send commands from a master Bit 03=“0”...

  • Page 24: Example: Process Data With Pdo

    How to Control the Frequenc... MCA 124 EtherCAT Operating Instruction NOTE Bit 07, Reset Bit 07="0" - does not cause a reset. In 8-55 Set-up Select a selection is made to define how Bit Bit 07="1" - causes the reset of a trip. Reset is activated on...
  • Page 25 How to Control the Frequenc... MCA 124 EtherCAT Operating Instruction Bit 02, Coasting stop Bit 09, Local operation/bus control Bit 02="0" - the frequency converter has released the Bit 09="0" - [Stop/Reset] is activated on the control unit, or motor.

  • Page 26: Communication Profile Area

    RECORD Sync manager type UNSIGNED8 1C12 RECORD RxPDO assign UNSIGNED16 1C13 RECORD TxPDO assign UNSIGNED16 2000-5FFF Vendor specific area See 7.3.1 2000h-5FFFh Danfoss Specific Object Area 6040 Control word UNSIGNED16 6041 Status word UNSIGNED16 6042 Vl_target_velocity SIGNED16 6043 Vl_velocity_demand SIGNED16...
  • Page 27 Communication Profile Area MCA 124 EtherCAT Operating Instruction 7.2.2 1000h Device Type Index Meaning 1003h 0 Number of stored errors This object describes the type of device and its 1003h 1 Current error functionality. It is composed of a 16-bit field describing the Table 7.5 1003h Predefined Error Field...
  • Page 28 0x08000020 is returned. The frequency converter has to be This object contains the Danfoss FC hardware version. power cycled before the changes get active. These objects execute an initialisation command in 14-22 Operation 7.2.8 100Ah Manufacturer Software Version...

  • Page 29: 2000-5Fff Danfoss Specific Object Area

    DNS name separated by a “.” The area 2000h to 5FFFh holds the indexes for accessing the Danfoss FC parameters. All parameters in the 7.2.15 1C00h Sync Manager Type frequency converter are linked to indexes in this area. The first index available is index 2001h.

  • Page 30: 6000-Device Profile Object Area

    The area 6000h to 9FFFh holds the indexes specified by the ETG (ETherCAT user Group) for various device profiles. Table 7.17 shows the support of indexes, depending on The Danfoss EtherCAT does support three profiles, FC setting of 8-10 Control Word Profile (Index 6060h) Index Name...
  • Page 31 7.4.11 6060h Modes of Operation Table 7.27 This index is used for selection the Danfoss FC profile, MCO profile or the DS 402 profile. The index links directly Table 7.23 Communication Object Overview to 8-10 Control Word Profile. If this value is changed while in operation, the option enters the “Error PREOP”...
  • Page 32 Communication Profile Area MCA 124 EtherCAT Operating Instruction Code (hex) Meaning No fault 1000 General fault 2130 Short Circuit 2213 Overcurr. during startup 2240 Short to earth 2310 Continuous overcurrent 2311 Current inside the device, No. 1 3100 Mains voltage...

  • Page 33: Parameters

    Parameters MCA 124 EtherCAT Operating Instruction 8 Parameters 8.1 Parameter Group 0-** Operation/Display 0-37 Display Text 1 8-04 Control Word Timeout Function Range: Function: Select the time-out function. The time-out function activates when the control word fails to be updated within the time...
  • Page 34 Parameters MCA 124 EtherCAT Operating Instruction 8-05 End-of-Timeout Function 8-07 Diagnosis Trigger Option: Function: This parameter enables and controls the frequency converter diagnosis/Emergency function. In Profibus, it expands the Resume set- Resumes the set-up active before the time- diagnosis data to 24 byte. In EtherCAT, it activates the out.
  • Page 35 Parameters MCA 124 EtherCAT Operating Instruction 8-13 Configurable Status Word STW 8-13 Configurable Status Word STW Option: Function: Option: Function: Trip excl. Set in case of a trip, except if Alarm 68 [70] Logic Rule 0 See parameter group 13-4*. If Logic Rule 0 is Alarm 68 executes the trip.
  • Page 36 Parameters MCA 124 EtherCAT Operating Instruction 8-14 Configurable Control Word CTW 8-52 DC Brake Select Option: Function: Option: Function: Profile Select control of the DC brake via the terminals default (digital input) and/or via the fieldbus. NOTE CTW Valid, active low...

  • Page 37: Parameter Group 12-** Ethernet

    Parameters MCA 124 EtherCAT Operating Instruction 8-55 Set-up Select 12-02 Subnet Mask Option: Function: Range: Function: Select control of the frequency converter set- [0 - 4244635647 ] Configure the IP subnet mask of the up selection via the terminals (digital input) option.
  • Page 38 Parameters MCA 124 EtherCAT Operating Instruction 8.3.2 12-1* Ethernet Link Parameters 12-14 Link Duplex Option: Function: 12-1* Ethernet Link parameters Forces the duplex for each port to Full or Half Option: Function: duplex. If 12-12 Auto Negotiation is set to: [ON], this parameter is read only.

  • Page 39: Ethercat

    Parameters MCA 124 EtherCAT Operating Instruction 12-28 Store Data Values 12-59 EtherCAT Status Option: Function: Range: Function: Meaning Pre-OP EtherCAT Store all setups Statemachine Store all setups state 12-29 Store Always Safe-OP EtherCAT Option: Function: Statemachine state Activates function that always stores received parameter data in non-volatile memory (EEPROM).
  • Page 40 Parameters MCA 124 EtherCAT Operating Instruction 12-59 EtherCAT Status 12-91 Auto Cross Over Range: Function: Option: Function: Meaning Disabled Disables the auto cross-over function. Reserved Enabled Enables the auto cross-over function. Table 8.1 Bit Interpretation 12-93 Cable Error Length Range: Function: 8.3.5 12-8* Other Ethernet Services...

  • Page 41: Ethercat-Specific Parameter List

    Parameters MCA 124 EtherCAT Operating Instruction 8.4 EtherCAT-specific Parameter List Parameter Default value Range Conver- Data type sion index 8-01 Control Site [0] Dig. & ctrl. word [0-2] Uint8 8-02 Control Word Source [0] FC RS485 [0-4] Uint8 8-03 Control Word Timeout Time 0.1-18000...
  • Page 42 Parameters MCA 124 EtherCAT Operating Instruction Parameter Default value Range Conver- Data type sion index 12-90 Cable Diagnostic [0] Disable [0-1] Unsigned 8 12-91 Auto Cross Over [0] Enable [0-1] Unsigned 8 12-93 Cable Error Length 0-200 Unsigned 16 12-98 Interface Counters...

  • Page 43: Application Examples

    Application Examples MCA 124 EtherCAT Operating Instruction 9 Application Examples 9.1 Example: Process Data with PDO 23 This example shows how to work with PDO 23, which objects, which can be programmed to monitor process consists of Control Word/Status Word and Reference/Main signals: Actual Value.
  • Page 44 Application Examples MCA 124 EtherCAT Operating Instruction Program the frequency converter as follows: Parameter Setting 4-10 Motor Speed Direction [2] Both directions 5-10 Terminal 18 Digital Input [0] No operation 5-11 Terminal 19 Digital Input [10] Reversing 5-40 Function Relay...

  • Page 45: Example: Simple Control Word, Reference, Status Word And Main Actual Value

    Application Examples MCA 124 EtherCAT Operating Instruction 9.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value This example shows how the control word telegram relates example to demonstrate the full range of modules. All the to the controller and the frequency converter, using FC values shown are arbitrary, and are provided for Control Profile.

  • Page 46: Troubleshooting

    Troubleshooting MCA 124 EtherCAT Operating Instruction 10 Troubleshooting 10.1.1 LED Status 10.1.2 No Communication with the Frequency Converter If there is no communication with the frequency converter, proceed with the following checks: Check 1: Is the cabling correct? Check that the cable is mounted correctly. Check if the corresponding Network LED shows link activity.

  • Page 47: Warning 34 Appears Even Though Communication Is Established

    Troubleshooting MCA 124 EtherCAT Operating Instruction If [1] Serial communication is selected, commands are 15-61 Option SW Version XML File activated only when given via serial communication. Danfoss_FC_series_ECAT_00 1.XML 1.x or 2.x Danfoss_FC_series_ECAT_00 Terminal Bit 02/03/04 Function 20.XML Coast/DC brake/Q-Stop No Coast/DC brake/Q-Stop Table 10.3...
  • Page 48 Troubleshooting MCA 124 EtherCAT Operating Instruction If [1] Serial communication is selected, commands are The effect of control mode upon the function of 8-55 Set- activated only when given via serial communication. up Select and 8-56 Preset Reference Select: If [0] Digital input is selected, the terminals control the set-...

  • Page 49: Alarm And Warning Words

    Troubleshooting MCA 124 EtherCAT Operating Instruction 10.1.5 Alarm and Warning Words If [2] Logic AND is selected, both signals must be activated to perform the function. Alarm word, Warning word, and EtherCAT warning word are shown in the display in Hex format. If there is more...
  • Page 50 Troubleshooting MCA 124 EtherCAT Operating Instruction Bit (Hex) Unit Warning word Alarm no. Bit (Hex) Unit PROFIBUS warning word (9-53 Profibus diagnose (16-92 Warning Word) diagnose Warning Word) 00000001 Brake check 00000001 Connection with DP-master is not ok 00000002 Power card over...
  • Page 51 Troubleshooting MCA 124 EtherCAT Operating Instruction 10.1.6 Warning and Alarm Messages There is a clear distinction between alarms and warnings. When there is an alarm, the frequency converter enters a fault condition. After the cause for the alarm has been...

  • Page 52: Warnings And Alarms

    Warnings and Alarms MCA 124 EtherCAT Operating Instruction 11 Warnings and Alarms 11.1 Status Messages 11.1.1 Warnings/Alarm Messages Alarms that are trip-locked offer additional protection, meaning that the mains supply must be switched off before the alarm can be reset. After being switched back The LEDs on the LCP signals a warning or an alarm.
  • Page 53 Warnings and Alarms MCA 124 EtherCAT Operating Instruction Description Warning Alarm/Trip Alarm/Trip Lock Parameter Reference Hoist Mech. Brake Internal Fan Fault External Fan Fault 14-53 Fan Monitor Brake resistor short-circuited Brake resistor power limit 2-13 Brake Power Monitoring Brake chopper short-circuited...
  • Page 54 Warnings and Alarms MCA 124 EtherCAT Operating Instruction Description Warning Alarm/Trip Alarm/Trip Lock Parameter Reference Safe Stop Auto Restart Reduced power mode 14-59 Actual Number of Inverter Units Illegal PS config Drive Initialized to Default Value CSIV corrupt CSIV parameter error...
  • Page 55 Warnings and Alarms MCA 124 EtherCAT Operating Instruction Alarm Word Alarm Word 2 Warning Word Warning Extended Word 2 Status Word 00000001 Brake Check ServiceTrip, Brake Check Ramping Read/Write 00000002 Pwr. Card Temp ServiceTrip, Pwr. Card Temp AMA Running (reserved)

  • Page 56: Index

    Index MCA 124 EtherCAT Operating Instruction Index Network..................5, 10, 36, 7 No Communication With The Frequency Converter....45 Abbreviations................... 6 Alarm Messages..................... 51 Word..................... 48 Overview....................8 Assumptions..................... 5 Parameters..................4, 11 Background Knowledge............... 5 PDO Communication................15 Process Control Data..................
  • Page 57 130R0273 MG92A302 Rev. 2012-06-27 *MG92A302*...

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