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Vacon CANopen OPTE6 User Manual

Vacon CANopen OPTE6 User Manual

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  • Page 1 ® ac drives canopen option board opte6 user manual...

  • Page 3: Table Of Contents

    • 3 ABLE OF ONTENTS Document: DPD01091C Release date : 13092017 Safety .......................5 Danger..........................5 Warnings ..........................6 Earthing and earth fault protection ...................7 CANopen option board OPTE6 - General ............8 Overview ..........................8 Software ..........................8 2.2.1 CAN.............................8 2.2.2 CANopen..........................8 CANopen protocol description .................9 NMT ............................9...
  • Page 4 Prepare for use through fieldbus ..................37 Installation in VACON® 20....................40 6.3.1 Frames MI1, MI2, MI3 ......................40 6.3.2 Frames MI4, MI5 ......................43 Installation in VACON® 20 X and 20 CP ................47 Installation in VACON® 100 X (Frames MM4-MM6)............49 Commissioning ....................53 OPTE6 panel parameters....................53 7.1.1 OPTE6 additional panel parameters................54...

  • Page 5: Safety

    Safety vacon • 5 AFETY This manual contains clearly marked cautions and warnings that are intended for your personal safety and to avoid any unintentional damage to the product or connected appliances. Please read the information included in cautions and warnings carefully.

  • Page 6: Warnings

    • 6 Safety Warnings The AC drive is meant for fixed installations only. 13006.emf Do not perform any measurements when the AC drive is connected to the mains. 13006.emf The earth leakage current of the AC drives exceeds 3.5mA AC. According to standard EN61800-5-1, a reinforced protective ground connection must be 13006.emf...

  • Page 7: Earthing And Earth Fault Protection

    Safety vacon • 7 Earthing and earth fault protection CAUTION! 13006.emf The AC drive must always be earthed with an earthing conductor connected to the earthing terminal marked with The earth leakage current of the drive exceeds 3.5mA AC. According to EN61800-5-1, one or more...

  • Page 8: Canopen Option Board Opte6 - General

    OPEN OPTION BOARD ENERAL Overview ® OPTE6 is a CANopen adapter board for VACON AC drives. The board allows the AC drive to be controlled by using the CANopen protocol. The board implements the AC drive profile with the velocity mode.

  • Page 9: Canopen Protocol Description

    CANopen protocol description vacon • 9 OPEN PROTOCOL DESCRIPTION NMT network management manages CANopen, and is a mandatory, common feature for all devices. The protocol describes several node control services and the state machine. Power on or hardware reset Initialisation...

  • Page 10: Node Control Protocols

    • 10 CANopen protocol description Node control protocols Protocol start remote node The start remote node message sets the node(s) into operational state. See Figure 1. NMT state machine. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast).

  • Page 11: Error Control Protocols

    CANopen protocol description vacon • 11 Protocol reset communication The reset communication message makes the node(s) apply communication reset. See Figure 1. NMT state machine. Communication reset does not affect the object dictionary values. If the node ID in the message is set to ‘0’, the message affects all nodes (broadcast). After the node has made the communication reset, it will enter the pre-operational state automatically from the initialising state.

  • Page 12: Node Guarding Protocol

    • 12 CANopen protocol description 3.3.2 Node guarding protocol Node guarding protocol is a NMT master driver protocol, where the master sends a remote transmission request, which is answered by the slave. The slave response includes one data byte that consists of a NMT slave state, and a toggle bit that toggles every response.
  • Page 13 CANopen protocol description vacon • 13 always the first sub-index on the error field list. When all active errors are cleared, an empty EMCY object is transmitted. If a drive-internal fault occurs, the MSEF field contains the drive fault code. See the application and user manual for possible fault codes.

  • Page 14: Sdo Protocol

    • 14 CANopen protocol description Table 17: Description and behavior of different error situations EMCY is sent after CAN driver goes back to active state. This 0x8140 Recovered from Bus-Off also clears the fault. Quadruple 0x8250 PDO timer expired Error is cleared when a PDO is received (in expired PDO).

  • Page 15: Pdo Protocol

    CANopen protocol description vacon • 15 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.

  • Page 16: Cob Id

    • 16 CANopen protocol description 3.5.2 COB ID COB ID determines whether the PDO is valid (active) and using 11-bit or 29-bit frames. Table 23: COB ID 0x00000 11-bit CAN-ID Valid Reserved Frame 29-bit CAN-ID Table 24: COB ID data fields...

  • Page 17: Transmission Type

    CANopen protocol description vacon • 17 3.5.3 Transmission type Table 25: PDO transmission types Receive Transmit Value Description Synchronous (acyclic) 0x00 Synchronous (cyclic every sync) 0x01 Synchronous (cyclic every 2 sync) 0x02 Synchronous (cyclic every 3 sync) 0x03 0x04 Synchronous (cyclic every 4...

  • Page 18: Pdo Parameter Mapping Record

    • 18 CANopen protocol description Event timer For a transmit PDO event, the timer defines the maximum interval between the transmissions, if the transmission type is set to 0xFE or 0xFF. For a receive PDO event, the timer activates the deadline monitoring. The deadline monitoring is activated at the first received PDO.

  • Page 19: Sync Protocol

    CANopen protocol description vacon • 19 To data map the PDOs, first disable the related PDO COB ID in the pre-operational state. In the mapping structure, write the sub-index 0 to zero (number of mapped objects). Then write the mapping structures on the mapping parameter record, starting from the sub-index 1. When you have written all the necessary structures, write the sub-index 0 to correspond to the mapped objects.
  • Page 20 • 20 CANopen protocol description (1) (2) (3) (4) (5) (6) (7) (8) SYNC time txPDO Figure 2. txPDO responses to SYNC messages Table 31: Sync-related object in OD Index Description 0x1005 COB ID SYNC 0x1019 Synchronous counter 0x1014...

  • Page 21: Communication Objects

    CANopen protocol description vacon • 21 Communication objects 3.7.1 0X1000 - Device Type The device type object indicates basic information about the device, including the supported device profile and the profile settings. Table 32: 0x1000 Device type Index Sub-index Value...

  • Page 22: 0X1003 - Pre-Defined Error Field

    • 22 CANopen protocol description 3.7.3 0X1003 - Pre-defined Error Field Pre-defined error field is a list of errors signaled with an EMCY object, listing the error history of up to 9 error entries. Sub-index 1 contains the latest error.

  • Page 23: 0X1014 - Cob Id Emcy

    CANopen protocol description vacon • 23 3.7.7 0X1014 - COB ID EMCY The object defines the emergency message COB ID. Table 39: 0x1014 COB ID EMCY Index Sub-index Value Name Data type Access 0x00000080+ 0x1014 COB ID EMCY UNSIGNED32 node id Setting MSB (bit 31) to 1 will disable sending of EMCY messages.

  • Page 24: 0X1017 - Producer Heartbeat Time

    • 24 CANopen protocol description 3.7.9 0X1017 - Producer Heartbeat Time Heartbeat producer object consists of the time in milliseconds (ms) that it takes to transmit the heartbeat message into the network. If the value is zero, the heartbeat is not used.

  • Page 25: 0X1029 - Error Behaviour

    CANopen protocol description vacon • 25 3.7.12 0X1029 - Error behaviour Error behaviour allows a change in the default error behaviour if there is a communication error. Table 46: 0x1029 Error behaviour Index Sub-index Value Name Data type Access 0x01...
  • Page 26 • 26 CANopen protocol description To restore parameters, write 0x64616F6C (ASCII "load") into the sub-index by using the SDO protocol. Default object values are selected after reset. Restore all default parameter restores CiA- 402 default parameters (refer to Chapter 8.2.2.2). Bypass parameter set is described in Chapter 8.3.

  • Page 27: Canopen Option Board Opte6 - Technical Data

    CANopen option board OPTE6 - technical data vacon • 27 OPTE6 - OPEN OPTION BOARD TECHNICAL DATA General Table 50. Technical data of CANopen option board CAN bus electrical 500 VDC isolation Ambient As specified in drive specification (-10°C … 40°C)

  • Page 28: Isolated Ground Connection

    • 28 CANopen option board OPTE6 - technical 4.2.1 Isolated ground connection The OPTE6 option board is galvanically isolated. In CANopen networks that are completely galvan- ically isolated the CAN ground signal is carried in the cable line. It is connected at only one point into common ground potential.

  • Page 29: Recommended Cable

    CANopen option board OPTE6 - technical data vacon • 29 4.2.2 Recommended cable For all OPTE6 installations the use of 4-wire cable is recommended. 4 wires enable the connection of isolated digital grounds with nodes. ® VACON recommends the following cable: ®...

  • Page 30: Opte6 Layout And Connections

    • 30 OPTE6 layout and connections OPTE6 LAYOUT AND CONNECTIONS Layout and connections OPTE6 has two different hardware revisions with slightly different layout. Layout is different in LED arrangement and termination resistor orientation. 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).
  • Page 31 OPTE6 layout and connections vacon • 31 CAN connector pinout Pin out CAN GND, isolated digital ground reference CAN LO Shield connector CAN HI No connection Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/...

  • Page 32: Led Indications

    • 32 OPTE6 layout and connections LED Indications M A N N A M 70CVB01605 70CVB01124 9339A_00 Figure 8. LED indicators M = CANopen run led A = CANopen err led N = Board status CANopen run led (green)

  • Page 33: Jumpers

    OPTE6 layout and connections vacon • 33 Jumpers The termination resistor jumper location differs on used hardware version. The jumper locations can be seen from figure below. 70CVB01605 70CVB01124 11653_00 Figure 9. Jumper locations The jumper (7) settings for the CAN bus termination resistor are shown in the figure below.
  • Page 34 • 34 OPTE6 layout and connections 9342.emf Figure 11. CAN shield grounding option A = CAN connector 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.

  • Page 35: Installation

    Installation vacon • 35 NSTALLATION Installation in VACON® 100 Open the cover of the AC drive. M4x55 9174.emf The relay outputs and other I/O-terminals may have a dangerous control voltage present even when AC drive is disconnected from mains. DANGER...
  • Page 36 • 36 Installation Open the inner cover to reveal the option board slots (C,D,E). See Figure below. 3023.emf 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.

  • Page 37: Prepare For Use Through Fieldbus

    Installation vacon • 37 Prepare for use through fieldbus Strip about 15 mm of the fieldbus cable (see specification in ch. 3.2) and cut off the grey cable shield. Remember to do this for both bus cables (except for the last device).
  • Page 38 • 38 Installation Using the cable clamp included in the delivery of the drive, ground the shield of the CAN cable to the frame of the AC drive. NOTE: This can be done in all drives if there is no difference in PE potential between the drives.
  • Page 39 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. Vacon 100 Vacon 100 Vacon 100 Vacon 100 Vacon 100 Termination...

  • Page 40: Installation In Vacon® 20

    • 40 Installation Installation in VACON® 20 6.3.1 Frames MI1, MI2, MI3 Remove the cable connector lid from the AC drive. 11555A_00 Select a correct grounding plate and attach it to the option board mounting frame. The grounding plate is marked with the supported enclosure size.
  • Page 41 Installation vacon • 41 ® Connect the flat cable from the option board mounting frame to VACON 11557A_00 If a cable strain relief is required, attach the parts as shown in the figure. 11558A_00 Install the option board to the option board holder.
  • Page 42 • 42 Installation Cut free a sufficiently wide opening for the option board connector. 11650_00 ® Attach the option board cover to VACON 20. Attach the strain relief cable clamp with screws if needed. 11560A_00 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/...

  • Page 43: Frames Mi4, Mi5

    Installation vacon • 43 6.3.2 Frames MI4, MI5 ® Make sure power is disconnected before opening the VACON 20 cover. 13006.emf 1a: For MI4: Open the cover. 11561_00 1b: For MI5: Open the cover and release the fan connector. 11562_00 Attach the option board support.
  • Page 44 • 44 Installation Connect the flex cable to option board connector PCB. 11564_00 Connect the option board to connector PCB. 11565_00 ® Attach the option board with connector PCB to VACON 20 and connect the flex cable. 11566_00 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/...
  • Page 45 Installation vacon • 45 ® Attach a suitable grounding plate to VACON 20. The grounding plate is marked with supported enclosure size. MI 05 MI 04 11567_00 Assemble a clamp on top of the grounding plate on both sides of the option board.
  • Page 46 • 46 Installation 8a: For MI4: Close the cover. 11569_00 8b: For MI5: Remount the fan connector and close the cover. 11570_00 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/...

  • Page 47: Installation In Vacon® 20 X And 20 Cp

    Installation vacon • 47 Installation in VACON® 20 X and 20 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. 13006.emf Open the cover of the drive.
  • Page 48 • 48 Installation Remove the option slot cover. 7089_00 Install the option board into the slot as shown in the figure. 7090_00 Mount the option slot cover. Remove the plastic opening for the option board ter- minals. 7091_00 7091_00...

  • Page 49: Installation In Vacon® 100 X (Frames Mm4-Mm6)

    Installation vacon • 49 Installation in VACON® 100 X (Frames MM4-MM6) Open the cover of the AC drive. 11638_00 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/...
  • Page 50 • 50 Installation To get access to the option board slots, remove the screws and open the cover of the control unit. 11639_00 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/...
  • Page 51 Installation vacon • 51 Install the option board into the correct slot, D or E. 11640_00 Close the option board cover. Remove the cable entry plate. If you installed the option board in the slot D, use the cable entry plate on the right side.
  • Page 52 • 52 Installation Open the necessary holes in the cable entry plate. Do not open the other holes. ® See the VACON 100 X Installation Manual for the dimensions of the holes. Attach a cable gland on the hole in the ca- ble entry plate.

  • Page 53: Commissioning

    Commissioning vacon • 53 OMMISSIONING This chapter describes how to commission the OPTE6 board for use. For instructions on how to set- up the AC drive to be controlled over fieldbus, refer to Chapter 11 Appendix B - Fieldbus parame- trization.

  • Page 54: Opte6 Additional Panel Parameters

    Details Normal Anyparameter service behaves same ® as version 7 and earlier in VACON Pre V008 100 family devices. See Chapter 8.5 for more details. Mode: compatibility mode(s) can be activated using this parameter. This parameter is the same as object 0x2005 - Mode.
  • Page 55 Commissioning vacon • 55 Table 57. OPTE6 board CANopen object parameters under General folder Panel Code Parameter Default Reference ® VACON 5.x.3.6.1 COB-ID SYNC 0x80 3.7.4 5.x.3.6.2 Guard Time 3.7.5 5.x.3.6.3 Life Time Factor 3.7.6 5.x.3.6.4 COB-ID EMCY 0x80 + Node ID 3.7.7...
  • Page 56 • 56 Commissioning Table 57. OPTE6 board CANopen object parameters under General folder Panel Code Parameter Default Reference ® VACON 5.x.3.12.1 Number of Entries 5.x.3.12.2 Application Obj. 0x20000410 5.x.3.12.3 Application Obj. 0x20000510 3.5.4 5.x.3.12.4 Application Obj. 0x20000610 5.x.3.12.5 Application Obj.

  • Page 57: Panel Parameter Change Reaction

    Commissioning vacon • 57 Table 57. OPTE6 board CANopen object parameters under General folder Panel Code Parameter Default Reference ® VACON 5.x.3.19.1 Number of Entries 5.x.3.19.2 Application Obj. 0x20010810 5.x.3.19.3 Application Obj. 0x20010910 3.5.4 5.x.3.19.4 Application Obj. 0x20010A10 5.x.3.19.5 Application Obj.

  • Page 58: Parameter Restore

    ® From VACON 100 (INDUSTRIAL V027 and FLOW V018) and OPTE6 V009 firmware version forwards, ® storing and restoring of CANopen parameters is possible using either Keypad or VACON Live PC- tool. ® If older version of OPTE6 or VACON 100 is used, parameter restore does not restore CANopen communication parameters.

  • Page 59: Opte6 Panel Monitor Values

    Commissioning vacon • 59 OPTE6 Panel Monitor Values Different number of panel monitoring values are visible depending on the used AC drive and ver- ® sion. VACON 20 family option board monitoring values are under SYS menu. Table 58. OPTE6 Monitoring Values...

  • Page 60: Updating The Firmware Of Opte6 Option Board

    ® ® ® 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.
  • Page 61 Commissioning vacon • 61 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...
  • Page 62 • 62 Commissioning 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...
  • Page 63 Commissioning vacon • 63 ® Figure 16. VACON Loader: Loading is finished Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/...

  • Page 64: Quick Instructions For Controlling The Motor

    Bypass mode using SDO protocol. 1. Set the OPTE6 jumpers, refer to Chapter 5.3 2. Install OPTE6 option board in VACON® AC drive and connect the CAN cable, refer to chapter 6 and 5.1 3. Set the option board parameters to establish CANopen communication. Refer to chapter 7.1.

  • Page 65: Canopen Option Board Interface

    CANopen option board interface vacon • 65 OPEN OPTION BOARD INTERFACE By default, the CANopen option board is configured to operate in Drive Profile mode. The drive pro- file implementation is ‘Velocity Mode’ which is defined in CiA 402 specification with PDO set for the AC drive.

  • Page 66: Velocity Mode

    • 66 CANopen option board interface Velocity mode The velocity mode is one of the specific modes that CIA-402 Drive Profile defines. Common behav- iour in all modes are PDS state machine, some control and status bits and certain objects.
  • Page 67 CANopen option board interface vacon • 67 Bits of the controlword Command Transitions Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 2.6.8 Switch on Switch on + enable 3 + 4 operation (NOTE) Disable voltage 7,9,10,12 Quick stop...
  • Page 68 • 68 CANopen option board interface The table below explains the actions taken in different state transitions and which event triggers which state transition. If the used drive/application does not support different stop bits in Fixed Control Word, the stop method will always be according to set stop function.

  • Page 69: Cia-402 Objects

    CANopen option board interface vacon • 69 8.2.2 CiA-402 objects 8.2.2.1 0X6040 - Controlword Controlword is used to control the drive operation according to the PDS state machine. By default, Controlword is mapped into the first two bytes of rxPDO1.
  • Page 70 • 70 CANopen option board interface Range: -32768...32767 0x6042:vl Target Velocity Rpm request to drive 8.2.2.4 0X6043 - vl Velocity Demand The signed read-only value of the ramp generator output scaled into rpm. A negative value means that the motor is running clockwise. By default, the object is not mapped into any PDO.

  • Page 71: Pdo Configuration

    CANopen option board interface vacon • 71 Range: 0... 4294967296 0x6048.02: Delta time Time (in seconds) in which the rpm of the motor will accelerate the amount specified in Delta Speed. Range: 0... 65536 8.2.2.8 0X6049 - vl Velocity Deceleration This object indicates the configured delta speed and delta time of the slope of the deceleration ramp.
  • Page 72 • 72 CANopen option board interface Table 69. Overview of Transmit PDO configuration in CiA-402 vl mode Object COB-ID Size DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 0x180 + 0x6041, 0x6044, TPDO1 Not used Node ID Statusword vl Velocity Actual...
  • Page 73 CANopen option board interface vacon • 73 Table 73. Receive PDO Communication Parameter 1 Index Sub-index Value Name Data type Access Highest sub-index UNSIGNED8 0x200 + Node COB-ID UNSIGNED32 0xFE Transmission type UNSIGNED32 0x1400 Inhibit time UNSIGNED16 Reserved UNSIGNED8 Event timer UNSIGNED16 Table 74.
  • Page 74 • 74 CANopen option board interface Table 77. Transmit PDO Mapping Parameter 2 Index Sub-index Value Name Data type Access Number of entries UNSIGNED8 0x20001410 FB PD out 1* UNSIGNED32 0x1A01 0x20001510 FB PD out 2* UNSIGNED32 0x20001610 FB PD out 3*...

  • Page 75: Bypass Mode

    CANopen option board interface vacon • 75 Table 81. Transmit PDO Communication Parameter 3 Index Sub-index Value Name Data type Access Highest sub-index UNSIGNED8 0x80000380 + COB-ID UNSIGNED32 Node ID 0xFE Transmission type UNSIGNED32 0x1802 1000 Inhibit time UNSIGNED16 Reserved...
  • Page 76 • 76 CANopen option board interface Table 83. Overview of Transmit PDO configuration in Bypass mode Object COB-ID Size DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 0x2001,2 0x180 + 0x2001,1 0x2001,3 Not used TPDO1 FB General Node ID...
  • Page 77 CANopen option board interface vacon • 77 Table 87. Receive PDO Communication Parameter 1 Index Sub-index Value Name Data type Access Highest sub-index UNSIGNED8 0x200 + Node COB-ID UNSIGNED32 0xFE Transmission type UNSIGNED32 0x1400 1000 Inhibit time UNSIGNED16 Reserved UNSIGNED8...
  • Page 78 • 78 CANopen option board interface Table 90. Transmit PDO Mapping Parameter 1 Index Sub-index Value Name Data type Access Number of entries UNSIGNED8 0x20010110 FB Status Word UNSIGNED32 0x1A00 0x20010210 FB General Status Word UNSIGNED32 0x20010310 FB Actual Speed UNSIGNED32 Table 91.

  • Page 79: Default Process Data Application Mapping

    CANopen option board interface vacon • 79 Table 94. Transmit PDO Communication Parameter 2 Index Sub-index Value Name Data type Access Highest sub-index UNSIGNED8 0x280 + Node COB-ID UNSIGNED32 0xFE Transmission type UNSIGNED32 0x1801 1000 Inhibit time UNSIGNED16 Reserved UNSIGNED8...

  • Page 80: Fb Control Word

    • 80 CANopen option board interface Table 97. Process data out Sub-index Mapped Application data Out Offset 0 FB Status Word Out Offset 1 FB Status Word Extension Out Offset 2 FB Actual Speed Out Offset 3 FB Process data out 01...

  • Page 81: Fb Speed Reference

    CANopen option board interface vacon • 81 Table 101. FB Control Word extension description Name Description BSTAT2 Bus status Informs bus status into application Status of option board BSTAT1 Bus status Informs bus status into application BFLT Bus fault Request fieldbus fault Generate field bus fault 8.4.3...

  • Page 82: Fb Status Word

    • 82 CANopen option board interface 8.4.6 FB Status Word Mapped into FB PD out offset 0. Table 106. FB Status Word FRDY ZSPD ATREF ALARM Table 107. FB Status word description Name Description FRDY Flux ready Motor magnetization is ready...

  • Page 83: Fb Processdata Output 1

    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 ® ® INDUSTRIAL application, VACON...
  • Page 84 • 84 CANopen option board interface ® ® Table 113. Process data output mapping defaults for VACON 100 GP and VACON PD Out Application Mapped Application Data Unit Scale ® Output Frequency 0.01Hz VACON 100 INDUSTRIAL ® Output Current 0.1 A...

  • Page 85: Vacon Anyparameter Service

    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.
  • Page 86 • 86 CANopen option board interface Table 116. Example 1: Reading values from different AC drives Read command Response AC drive Mode Index Length Hex (LSB) Dec (MSB) Actual value ® 0x2166 88 13 5000 50.00 Hz VACON 20 family Pre V008 ®...

  • Page 87: Fault Tracing

    Fault tracing vacon • 87 AULT TRACING When the option board or the AC drive control diagnostics detect an unusual operating condition, the drive opens a notification, for example, on the keypad. The keypad shows the ordinal number of the fault, the fault code and a short fault description.

  • Page 88: Fieldbus Timeout Fault (F53)

    • 88 Fault tracing Fieldbus timeout fault (F53) ® VACON fieldbuses create a fieldbus timeout fault (F53) when a fault has occurred in the fieldbus protocol and the AC drive is set to fieldbus control. If the control place is set to e.g. I/O, no fieldbus fault is triggered even if a fault condition is met.

  • Page 89: Detailed Fault Code

    Fault tracing vacon • 89 Detailed fault code ® In VACON 100 family a detailed fault code for fieldbuses is "Source3" in the fault history. This fea- ture is available from firmware version V026 (INDUSTRIAL) and V018 (FLOW). This information can be read with: •...

  • Page 90: Appendix A: Object Dictionary

    • 90 Appendix A: Object dictionary A: O PPENDIX BJECT DICTIONARY 10.1 Communication segment Index Sub- Description Object Data Type Access Default Unit index Code Mapping value Object 1000h: Device Type 1000 Device type Variable UNSIGNED32 CONST 0x00010192 Object 1001h: Error Register...
  • Page 91 Appendix A: Object dictionary vacon • 91 Index Sub- Description Object Data Type Access Default Unit index Code Mapping value 1016 Heartbeat Consumer Entries Array UNSIGNED32 Number of Entries UNSIGNED8 0x08 Consumer Heartbeat Time 1 UNSIGNED32 0x0000000 Consumer Heartbeat Time 2...
  • Page 92 • 92 Appendix A: Object dictionary Index Sub- Description Object Data Type Access Default Unit index Code Mapping value 1401 Receive PDO Communiction Record PDO_COMM_PAR Parameter 2 Number of Entries UNSIGNED8 0x05 COB-ID UNSIGNED32 0x80000300 Transmission Type UNSIGNED8 0xFE...
  • Page 93 Appendix A: Object dictionary vacon • 93 Index Sub- Description Object Data Type Access Default Unit index Code Mapping value 1800 Transmit PDO Communiction Record PDO_COMM_PAR Parameter 1 Number of Entries UNSIGNED8 0x06 COB-ID UNSIGNED32 0x180 Transmission Type UNSIGNED8 0xFE...

  • Page 94: Manufacturer Segment

    • 94 Appendix A: Object dictionary Index Sub- Description Object Data Type Access Default Unit index Code Mapping value Object 1A02h: Transmit PDO Mapping Parameter 3 1A02 Transmit PDO Mapping Record PDO_MAPPING Parameter 3 Number of Entries UNSIGNED8 0x04...

  • Page 95: Device Profile Segment

    Appendix A: Object dictionary vacon • 95 Index Sub- Description Object Data Type Access Default Unit index Code Mapping value Object 2002h: FB Dummy In 2002 FB Dummy In Array UNSIGNED16 Number of Entries UNSIGNED8 CONST FB Dummy In Offset 0...
  • Page 96 • 96 Appendix A: Object dictionary Index Sub- Description Object Data Type Access Default index Code Mapping Value Object 6048h: vl Velocity Acceleration 6048 vl Velocity Acceleration Record P402_VL_VEL_ACC_T NumOfEntries CONST DeltaSpeed UNSIGNED32 DeltaTime UNSIGNED16 Object 6049h:vl Velocity Decelaration...

  • Page 97: Appendix B - Fieldbus Parametrization

    The parameters can be read and written by using the drive panel, PC Tools or fieldbus protocol. For instructions on fieldbus writing, see the fieldbus specific manual. ® Table 120. Fieldbus parameterization for VACON 100 family (standard application) Parameter name...

  • Page 98: Controlling Fieldbus Parameter

    • 98 Appendix B - Fieldbus parametrization ® Table 122. Fieldbus parametrization for VACON 20X (multipurpose application) Parameter name Value Default Panel Tree 0 = Frequency Motor control mode P8.1 1 = Speed Control place selection 2 = Fieldbus P1.11...

  • Page 99: Response To Fieldbus Fault

    Always check the application specific manual for details as responses vary between used applications. For common fault responses used commonly in standard applications, see the table below. ® Table 125. Response to fieldbus fault in VACON AC drives AC Drive Value...

  • Page 100: Appendix C - Fieldbus Process Data Mapping And Scaling

    FB DataOut 1 Sel FB DataOut 8 Sel FB Speed Word 0x20000023 FB Speed Actual 32.84% 11845_uk Figure 19. Fieldbus Datamapping ® Table 126. Fieldbus Process Data Selection Panel Tree for VACON AC drives Panel Tree Parameter name ® ® ® ® VACON...
  • Page 101 Appendix C - Fieldbus Process Data mapping and scaling vacon • 101 ® Table 126. Fieldbus Process Data Selection Panel Tree for VACON AC drives Panel Tree Parameter name ® ® ® ® VACON VACON VACON VACON 100 family NXP **...
  • Page 102 • 102 Appendix C - Fieldbus Process Data 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 Local contacts: http://drives.danfoss.com/danfoss-drives/local-contacts/...
  • Page 103 Document ID: Vacon Ltd DPD01091C Member of the Danfoss Group Rev. C Runsorintie 7 65380 Vaasa Sales code: DOC-OPTE6+DLUK Finland...

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