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Vacon 100 User Manual

Ethernet/ip
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  • Page 1 100 ® ac drives ethernet/ip user manual...

  • Page 3: Table Of Contents

    AC/DC Drive Profile ..................... 15 6.1.3 EDS file......................... 15 6.1.4 Explicit Messaging ....................16 Common industrial objects implemented by the Vacon® 100........18 6.2.1 CIP Common Required Objects ................18 6.2.2 Objects Present in an AC/DC Drive ..............32 6.2.3 Vendor Specific Objects ..................
  • Page 4 • 2 Tel. +358 (0) 201 2121 • Fax +358 (0)201 212 205...

  • Page 5: Safety

    Wait until the indicators on the keypad 9000.emf go out (if no keypad is attached see the indicators on the cover). Wait additional 5 minutes before starting any work on the drive. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 6: Warnings

    (EN 60204-1). 13006.emf Only spare parts delivered by Vacon can be used. 13006.emf At power-up, power brake or fault reset the motor will start immediately if the start signal is active, unless the pulse control for Start/Stop logic has been selected.

  • Page 7: Earthing And Earth Fault Protection

    Do not perform any voltage withstand tests on any part of the AC drive. There is a certain procedure according to which the tests shall be performed. Ignoring this 13006.emf procedure may result in damaged product. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 8: Ethernet/Ip - General Info

    ® The Vacon 100 drive supports 10/100Mb speeds in both Full and Half-duplex modes. The drive must be connected to the Ethernet network with a shielded 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 direct- ly to the master appliance.

  • Page 9: Ethernet Installation

    Locate the components that you will need on the AC drive to connect and run the Ethernet cables. Be sure not to plug the Ethernet cable to the terminal under the keypad! This might harm your personal computer. 13006.emf 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 10: Prepare For Use Through Ethernet

    • 8 Ethernet installation Prepare for use through Ethernet Connect the Ethernet cable to its terminal and run the cable through the conduit as shown in Figure 2. Ethernet cable 9316.emf Figure 2. Protection class IP21: Cut free the opening on the AC drive cover for the Ether- net cable.
  • Page 11 Remount the AC drive cover. NOTE: When planning the cable runs, remember to keep the distance between the Ethernet cable and the motor cable at a minimum of 30 cm. Ethernet cable 9056.emf Figure 4. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 12: Commissioning

    In addition to settings below, EtherNet/IP uses common network settings (i.e. IP address, network mask, etc.). In the EtherNet/IP master, the configuration assembly for the Vacon 100 drive must be configured as instance number 103 with a byte size of 0.

  • Page 13: Parameters

    Please notice that if protocol is stopped (for example protocol is set to zero from panel) and com- munications have been open, it might be that stack cannot be reinitialized during the next few min- 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 14: Output Instance

    When communication timeout is set to zero, only “Requested Packet Interval” (RPI) and a “Connection Timeout Multiplier” (CTM) are used for timeout. If the Ethernet LINK is lost then the Vacon 100 drive generates a fieldbus fault immediately. Monitoring Menu Table 3.
  • Page 15 2432 This monitoring value reveals the latest status word sent to the network. Fieldbus Protocol Sta- Initializing, 2433 This monitoring value reveals the status of Stopped, the protocol. Opera- tional, Faulted 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 16: Programming

    Programming ROGRAMMING ® Basic information on how to use the control keypad you will find in the Vacon 100 Drive Appli- cation Manual (publication DPD00927). The navigation path to the fieldbus parameters may differ from application to application. The exemplary paths below apply to the Vacon100 drive.

  • Page 17: Communications

    This information matches the information provided by instances of the Parameter Object Class. The CIP Object Library describes the Parameter Object Class in detail. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 18: Explicit Messaging

    • 16 Communications EDS can be downloaded from Vacon web site www.vacon.com 6.1.4 Explicit Messaging Explicit Messaging is used in commissioning and parameterizing of the EtherNet/IP device. Explicit messages provide multipurpose, point-to-point communication paths between two devices. They provide the typical request/response-oriented network communication used to perform nodecon- figuration and problem diagnosis.
  • Page 19 Character String (1 octet per char., 1 octet lenght indicator BYTE Bit string (8 bits) WORD Bit string (16 bits) DWORD Bit string (32 bits) LWORD Bit string (64 bits) Note 1: ISO/IEC-8859-1 encoding. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 20: Common Industrial Objects Implemented By The Vacon® 100

    . This attribute reveals the vendor ID number which is assigned to the device. This number is assigned to vendors of CIP devices by the ODVA user organisation. The data type of the attribute is UINT (16-bit). The vendor ID for Vacon Plc is 01BB (443 Instance Attribute “Device Type”...
  • Page 21 Two products shall have different product codes if their configuration and/or runtime options re dif- ferent. The data type of the attribute is UINT (16-bit). In Vacon 100, the Product Code is 100 Instance Attribute “Revision” The Identity Object has an instance attribute named “Revision” which has the Attribute Identifier This attribute, which consists of Major and Minor Revision fields, identifies the revision of the item/ device that the Identity Object is representing.
  • Page 22 12-15 Extended Device Status 2 Reserved, is zero. Vacon 100 drive implements bits 0, 2, and 4-11 according to the specification. The bits 8-11 shall be set according to the faults occurring in the drive. Instance Attribute “Serial Number” The Identity Object has an instance attribute named “Serial Number” which has the Attribute Iden- tifier 06 .
  • Page 23 Client may address a service to any object class or instance in a target device. Although the object is mandatory, there are no mandatory attributes or services. Vacon 100 drive does not currently implement any of the objects services or attributes. Table 9. Class Name...
  • Page 24 • 22 Communications Table 10. Class Name Connection Manager Object Class Identifier Class Attributes Name Data Type Access Rule Revision Unsigned16 Read-Only Max Instance Unsigned16 Read-Only Number Of Instances Unsigned16 Read-Only Class Services Name Get_Attributes_All Get_Attributes_Single Instance Attributes Id...
  • Page 25 Instance Service “Forward Close” The Forward Close service is used to close a connection between two devices (and all nodes in the connection path). The service code for the Forward Close service is 54 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 26 • 24 Communications 6.2.1.4 TCP/IP Interface Object, Class 0xF5 TCP/IP Interface Object provides interface to configure device’s TCP/IP settings. With this object, user is able to configure, for example, device’s IP address, network mask etc. Table 11. Class Name...
  • Page 27 Attribute Identifier 02h. This attribute presents the capability flags (i.e. support for optional network configuration capability) of the TCP/IP network interface. The attribute has data type DWORD (32-bit). Vacon 100 drive supports DHCP and configuration is settable. Table 13.
  • Page 28 Path Size, which reveals the number of UINT values in the path, and the Path itself. In Vacon 100 the path points to an instance of the EtherNet Link Object. The value of Path Size is 2 of the...
  • Page 29 Server2 server address has been configured. Otherwise, the name server address shall be set to a valid Class A, B, or C address. In Vacon 100 this value is not supported and is always 0. Domain STRING Default domain ASCII characters. Maximum length is 48 charac-...
  • Page 30 Identifier 01 . The attribute reveals the currently used speed in the interface. The speed is announced as an integer number, with the unit Mbps, e.g. 0, 10, 100 etc. The attribute is of type UDINT (32-bit). The attribute is read-only.
  • Page 31 The Ethernet Link Object has an instance attribute named “Interface Counters” which has the At- tribute Identifier 04 . The attribute is a collection of counters related to the Ethernet physical inter- face. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 32 • 30 Communications Table 18. Field name Field data type Description In Octets Unsigned32 The number of octets received on the interface (including framing characters). In Unicast Packets Unsigned32 The number of unicast packets received on the interface. In NonUnicast Packets...
  • Page 33 Identifier 09 . The attribute indicates the ability to use the Ethernet interface for administration e.g. changing settings. Vacon 100 drives support this attribute with the value 01 (administration enabled). An attempt to disable the administration (by writing value 02 ) will result in an error.

  • Page 34: Objects Present In An Ac/Dc Drive

    • 32 Communications 6.2.2 Objects Present in an AC/DC Drive 6.2.2.1 Assembly Object, Class 0x04 Assembly object groups (or assembles) attribute values into single block of data. Table 20. Class Name Assembly Object Class Identifier Class Attributes Name Data Type...
  • Page 35 Vacon 100 drives support values 3 (Permanent Magnet Synchronous Motor) and 7 (Squirrel Cage Induction Motor) Instance Attribute “RatedCurrent” This attribute allows reading and writing of the motor rated current. The unit of the attribute is 100 milliamperes. Instance Attribute “RatedVoltage”...
  • Page 36 • 34 Communications Table 22. Class Name Control Supervisor Object Class Identifier Class Attributes Name Data Type Access Rule Class Services Name Instance Attributes Name Data Type Access Rule Run1 Boolean Read-write Run2 Boolean Read-write NetCtrl Boolean Read-write State...
  • Page 37 The value of the attribute is 1 if a fault has occurred and has not been acknowledged. Otherwise, the attribute has the value 0 in- dicating that no faults are present. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 38 • 36 Communications Instance Attribute “Warning” The data type of this attribute is BOOL. The Attribute Identifier of this attribute is 11 . This attribute is used 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.
  • Page 39 Main Power Off Reset Faulted Startup Fault Reset Initialization Complete Fault_Stop Complete Fault Detected Not_Ready Main Power Off Main power On Fault_Stop Fault Ready Detected Stop Complete Stopping Stop Enabled 9332.emf Figure 7. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 40 • 38 Communications 6.2.2.4 AC/DC Drive Object, Class 0x2A AC/DC Drive Object models functions specific to an AC or DC drive. Table 24. Class Name AC/DC Drive Object Class Identifier Class Attributes Name Data Type Access Rule Class Services...
  • Page 41 • 5 = Position control The Vacon 100 drive supports the drive mode options 1 and 3. If mode 1 is written through the EtherNet/IP interface, the motor control mode of the drive is to “Speed OL”. If mode 3 is written the motor control mode of the drive is set to “Torque OL”.

  • Page 42: Vendor Specific Objects

    The default value is 0 The largest allowed value for this attribute in the Vacon 100 drive is 7 (allowing resolution of 0.0078 Nm) and the minimum allowed value is -8 (allowing resolution of 256 Nm). The maximum torque value that can be input/output to the Vacon 100 drive is thus ca 8.4 MNm.
  • Page 43 Get_Attribute_Single service request is targeted at the Vendor Parameters class, instance 08 attribute F3 The Vacon 100 integrated EtherNet/IP implementation supports the above mechanism from OPTCQ for backwards compatibility reasons. It shall also support the use of a 16-bit attribute identifier, in which case the request shall always be targeted to instance #1 of the class.
  • Page 44 Assembly Instance Selector Object, Class 0xBE The Assembly Instance Selector Object is a vendor-specific object available in the OPTCQ option board and the Vacon 100 drive which allows the user to get and set the input and output instances used.
  • Page 45 Motor Control Mode Object, Class 0xA1 The Motor Control Mode Object is a vendor-specific object available in the Vacon 100 drive which more clearly indicates to the user which motor control mode is used, and allows the user to config- ure this mode.
  • Page 46 The values allowed for this attribute are: Table 37. FeedbackMode value Description Open Loop ControlMode and FeedbackMode combinations The following combinations of ControlMode and FeedbackMode are supported by the Vacon 100 drive: Tel. +358 (0) 201 2121 • Fax +358 (0)201 212 205...
  • Page 47 In the Vacon 100 drive, when the following values are set to the AC/DC Drive Object “DriveMode” attribute, the Motor Control Mode Object attributes shall be set to the following values: Table 41.
  • Page 48 • 46 Communications In the Vacon 100 drive, when the following values are set to the Motor Control Mode Object “ControlMode” and “FeedbackMode” attributes, the AC/DC Drive Object “DriveMode” attribute is set as follows: Table 42. Set Motor control Mode Object values...
  • Page 49 The object has an instance attribute named “FaultMillisAfterMidnight” which has the Attribute Identifier 06 . The data type is UDINT (32-bit). The value returns the number of milliseconds after midnight when the fault is time stamped. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 50: Assembly Instances Implemented By Vacon® 100

    Assembly Instances Implemented By Vacon 6.3.1 ODVA I/O Assembly instances for AC/DC Drive The Vacon 100 drive supports the Output Assembly Instances 20, 21 and 23, and the Input Assembly Instances 70, 71 and 73. 6.3.1.1 Output Assembly Instance 20 Table 44.
  • Page 51 • The fifth octet of the assembly is the low-octet of “Torque Reference”, while the sixth octet is the high-octet of “Torque Reference”. The combined 16-bit reference of these fields is 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 52 • 50 Communications mapped to the “TorqueRef” attribute (Attribute ID = 12d) in the AC/DC Drive Object (Class number 2Ah). See 7.2.4.7. Torque Reference is not send to the Drive if Motor Control Mode is set to values others than: •...
  • Page 53 • Bit 4 in the first octet of the assembly is “Ready” , which is mapped to the “Ready” attribute (Attribute ID = 9d) in the Control Supervisor Object (Class number 29h). See 7.2.3.7. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 54: Vendor-Specific I/O Assembly Instances

    “TorqueActual” attribute (Attribute ID = 11d) in the AC/DC Drive Object (Class number 2Ah). See 7.2.4.6. 6.3.2 Vendor-specific I/O Assembly Instances The Vacon 100 drive supports the assemblies 101, 111, 128, 131, 107, 117, 127 and 137. 6.3.2.1 Output Assembly Instance 101 Table 50.
  • Page 55 Vacon FBSpeedReference value. • The rest of the telegram is organized as eight pieces of 16-bit words (low octet first) which compose the FBProcessDataIn fields 1-8. These fields are the vendor-specific Vacon FBProcessDataIn1…8 values. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 56 • 54 Communications 6.3.2.3 Output Assembly Instance 128 Table 52. Instance Octet Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit2 Bit1 Bit 0 FBFixedControlWord (Low Octet) (length FBGeneralControlWord (High Octet) FBSpeedReference (Low Octet) in % FBSpeedReference (High Octet) in %...
  • Page 57 • The fourth word is the “FBSpeedReference” value, which is communicated low octet first. • Starting from octet 8 of the assembly are eight ProcessDataIn values (numbered 1 to 8) which are 32 bits each in length. These fields are the vendor-specific Vacon FBProcessDataIn1…8 values. They are transmitted LSB first.
  • Page 58 • The third octet of the assembly is the low-octet of “FBSpeedActual”, while the fourth octet is the high-octet of “FBSpeedActual”. The combined 16-bit value of these fields is the vendor- specific Vacon FBSpeedActual value. • The fifth octet of the assembly is the low-octet of “FBProcessDataOut1”, while the sixth octet is the high-octet of “FBProcessDataOut1”.
  • Page 59 • The third octet of the assembly is the low-octet of “FBSpeedActual”, while the fourth octet is the high-octet of “FBSpeedActual”. The combined 16-bit value of these fields is the vendor- specific Vacon FBSpeedActual value.The fourth octet of the assembly is the low-octet of “RPMSpeedActual”, while the fifth octet is the high-octet of “RPMSpeedActual”. The com- bined 16-bit value of these fields is the speed of the controlled motor in RPMs.
  • Page 60 • The octets 8 to 17 are reserved and shall always be 0. • The rest of the telegram is organized as eight pieces of 16-bit words (low octet first) which compose the FBProcessDataOut fields 1-8. These fields are the vendor-specific Vacon FBProcessDataOut1...8 values.
  • Page 61 • The fourth word is the “FBSpeedActual” value, which is communicated low octet first. • Starting from octet 8 of the assembly are eight ProcessDataOut values (numbered 1 to 8) which are 32 bits in length. These fields are the vendor-specific Vacon FBProcessDataOut1...8 values. They are transmitted LSB first.

  • Page 62: Mapping Of Standard Output Assemblies Onto Vacon Data

    • 60 Communications 6.3.3 Mapping of Standard Output Assemblies onto Vacon data This section specifies how data in the Standard Output Assemblies are mapped into Vacon data. 6.3.3.1 FBFixedControlWord Description Start/Stop Stop request from fieldbus Run request from fieldbus Direction Requested direction is "FOR-...

  • Page 63: Mapping Of Vacon Data Onto Standard Input Assemblies

    0. 6.3.3.4 Fault Reset bit in Vacon FBFixedControlWord The “Fault Reset” bit in an Output Assembly is mapped to the “Fault Reset” bit 2 in the Vacon FB- FixedControlWord. Both bits are rising-edge sensitive. 6.3.3.5 Request Fieldbus Control bit in Vacon FBFixedControlWord The “NetCtrl”...
  • Page 64 Application-Specific Application-Specific 6.3.4.2 Ready Indication bit in Vacon FBFixedStatusWord The “Ready Indication” bit 0 in the Vacon FBFixedStatusWord is mapped to the “Ready” bit in an In- put Assembly which supports this bit. 6.3.4.3 Run/Stop Indication bit in Vacon FBFixedStatusWord The “Run/Stop Indication”...
  • Page 65 Vacon 100 drive to the EtherNet/IP master. There can be up to eight ProcessDataOut variables communicated from the drive. The con- tents of these variables can be parameterised in the Vacon 100 drive using a feature known as "Fieldbus Process Data mapping".
  • Page 66 Find your nearest Vacon office on the Internet at: www.vacon.com Document ID: Manual authoring: documentation@vacon.com Vacon Plc. Runsorintie 7 65380 Vaasa Finland Subject to change without prior notice © 2012 Vacon Plc. Rev. B...

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