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Vacon OPTE6 User Manual

Canopen option board
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Summary of Contents for Vacon OPTE6

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

  • Page 3: Table Of Contents

    CANopen option board OPTE6 - technical data..........30 General ..........................30 CAN cable.........................30 4.2.1 Isolated ground connection .....................31 4.2.2 Recommended cable .......................32 OPTE6 layout and connections ...............33 Layout and connections ....................33 LED Indications ........................35 Jumpers ...........................36 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 4 Prepare for use through fieldbus ..................40 Installation in Vacon® 20....................43 6.3.1 Frames MI1, MI2, MI3 ......................43 6.3.2 Frames MI4, MI5 ......................46 Installation in Vacon® 20 X and 20 CP ................49 Installation in Vacon® 100 X (Frames MM4-MM6) ............51 Commissioning ....................55 OPTE6 panel parameters....................55 7.1.1 Parameter descriptions ....................55...

  • 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)201 212 575 • 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

    REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit contenant l’ensemble des informations de sécurité, avertissements et mises en garde applicables sur le site http://drives.danfoss.com/knowledge-center/technical-documentation/ 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 8: Canopen Option Board Opte6 - General

    OPEN OPTION BOARD ENERAL Overview OPTE6 is a CANopen adapter board for Vacon-manufactured 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

    After a node starts, it will enter automatically into the pre-operational state. Always when this transition occurs, a boot-up message is sent into the bus. Table 1: Boot-up message CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 0x700 + Node ID 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 10: Node Control Protocols

    • 8 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 This also creates a boot-up event and the boot-up message is sent after the reset. Table 6: Reset communication message CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 NODE 0x82 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 12: Error Control Protocols

    RTR frames in CAN controllers. OPTE6 option board does not have a hardware-triggered automatic response to the RTR frame. RTR information is handled by software, and the response data always consists of updated information.

  • Page 13: Emcy Object

    If a drive-internal fault occurs, the MSEF field contains the drive fault code. See the application and user manual for possible fault codes. The ER field holds a bit coded value of the error type. See object 0x1001 for more details. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 14 • 12 CANopen protocol description Table 14: EMCY message CAN ID LENGTH DATA0 DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 0x80 + MSEF Node ID Table 15: EMCY message data fields Emergency error code Error register value Manufacturer-specific MSEF...

  • Page 15: Sdo Protocol

    For bigger than 4-byte object sizes, segmented transfer must be used. Optionally, block transfer is also possible with bigger data types. Block transfer is most efficient with big data sizes. Table 20: SDO-related objects in OD Index Description SDO server parameter 0x1200 object 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 16: Pdo Protocol

    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. OPTE6 board consist totally 3 receive and 3 transmit PDOs. Table 21: PDO-related objects in OD...

  • Page 17: Cob Id

    PDO does not exist / disabled Reserved Not applicable 11-bit CAN-ID valid Frame 20-bit CAN-ID valid 29-bit CAN-ID of the CAN 29-bit CAN-ID extended frame 11-bit CAN-ID of the CAN 11-bit CAN-ID base frame 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 18: Transmission Type

    Event-driven means that the PDO can be transmitted at any time based on the occurrence of the internal event of the CANopen device. An event that triggers the OPTE6 transmission occurs when the data mapped into the PDO is changed. Also, an event timer can be used to create transmit events.

  • Page 19: Pdo Parameter Mapping Record

    UNSIGNED8 0x1600 0x1601 1st object to be mapped UNSIGNED32 0x1602 2nd object to be mapped UNSIGNED32 0x1A00 0x1A01 3rd object to be mapped UNSIGNED32 0x1A02 4th object to be mapped UNSIGNED32 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 20: Sync Protocol

    • 18 CANopen protocol description SYNC protocol Sync protocol is used by PDOs when the transmission is synchronous. The sync object that is defined by COB ID in the object 0x1005 triggers the transmission of the txPDOs, or activates the previously received data of the rxPDO.
  • Page 21 1st rxPDO communication parameter record 0x1401 2nd rxPDO communication parameter record 0x1402 3rd rxPDO communication parameter record 0x1800 1st txPDO mapping parameter record 0x1801 2nd txPDO mapping parameter record 0x1802 3rd txPDO mapping parameter record 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 22: Communication Objects

    • 20 CANopen protocol description 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 31: 0x1000 Device type Index Sub-index Value...

  • Page 23: 0X1003 - Pre-Defined Error Field

    Index Sub-index Value Name Data type Access 0x100D 0x00 Guard time UNSIGNED8 Node life time = life time factor x guard time. If node life time is zero, guarding is disabled. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 24: 0X1014 - Cob Id Emcy

    • 22 CANopen protocol description 3.7.7 0X1014 - COB ID EMCY The object defines the emergency message COB ID. Table 38: 0x1014 COB ID EMCY Index Sub-index Value Name Data type Access 0x00000080+ 0x1014 COB ID EMCY UNSIGNED32 node id 3.7.8...

  • Page 25: 0X1017 - Producer Heartbeat Time

    The synchronous counter defines whether a counter is mapped into the SYNC message, as well as the highest value the counter can reach. 0 disables the sync counter. Table 44: 0x1019 Synchronous counter Index Sub-index Value Name Data type Access Synchronous 0x1019 0x00 UNSIGNED8 counter 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 26: 0X1029 - Error Behaviour

    • 24 CANopen protocol description 3.7.12 0X1029 - Error behaviour Error behaviour allows a change in the default error behaviour if there is a communication error. Table 45: 0x1029 Error behaviour Index Sub-index Value Name Data type Access 0x01...

  • Page 27: Saving And Restoring The Object Dictionary

    Bypass parameter set can be restored to activate direct communication with the application. The CIA-402 state machine and the related objects are bypassed. The bypass set is used with special drive applications. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 28 • 26 CANopen protocol description NOTE! When the bypass parameter set is restored, the COB IDs are calculated according to the table below. After the bypass parameter set is used, the node ID change does not affect the COB IDs.
  • Page 29 Table 55: Receive PDO 2 communication parameter record Index Sub-index Value Name Data type Access Highest sub-index UNSIGNED8 0x00000300+id COB-ID UNSIGNED32 0xFE Transmission type UNSIGNED8 0x1401 0x03E8 Inhibit time UNSIGNED16 Reserved UNSIGNED8 Event timer UNSIGNED16 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 30 • 28 CANopen protocol description Table 56: Receive PDO 3 communication parameter record Index Sub-index Value Name Data type Access Highest sub-index UNSIGNED8 0x00000400+id COB-ID UNSIGNED32 0xFE Transmission type UNSIGNED8 0x1402 0x03E8 Inhibit time UNSIGNED16 Reserved UNSIGNED8 Event timer...
  • Page 31 Index Sub-index Value Name Data type Access Highest sub-index UNSIGNED8 0x00000400+id COB-ID UNSIGNED32 0xFE Transmission type UNSIGNED8 0x1802 0x03E8 Inhibit time UNSIGNED16 Reserved UNSIGNED8 Event timer UNSIGNED16 Sync start value UNSIGNED8 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 32: Canopen Option Board Opte6 - Technical Data

    • 30 CANopen option board OPTE6 - technical OPTE6 - OPEN OPTION BOARD TECHNICAL DATA General Table 63. Technical data of CANopen option board CAN bus electrical 500 VDC isolation Ambient As specified in drive specification (-10°C … 40°C)

  • Page 33: Isolated Ground Connection

    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. If one CAN device with not galvanically isolated interface is connect- ed to the network, the potential for isolated CAN ground is given.

  • Page 34: Recommended Cable

    CANopen option board OPTE6 - technical 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: UNITRONIC® BUS CAN FD P Colour-coded in accordance with DIN 47100 Figure 5.

  • Page 35: Opte6 Layout And Connections

    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 36 • 34 OPTE6 layout and connections CAN connector pinout Pin out CAN GND, isolated digital ground reference CAN LO Shield connector CAN HI No connection Tel. +358 (0) 201 2121 • Fax +358 (0)201 212 205...

  • Page 37: Led Indications

    Option board is in initialization state, waiting activation com- mand from the AC drive. Blinking (once/ Option board is activated and in RUN state. Option board is ready for external communication. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 38: Jumpers

    • 36 OPTE6 layout and connections 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. LED indicators The jumper settings for the CAN bus termination resistor are shown in the figure below.
  • Page 39 B = CAN connector pin 3 (shield) connected directly into the drive chassis. Recommended option when equipotential bonding is good. (Factory default setting) C = CAN connector pin 3 is not connected. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 40: Installation

    • 38 Installation 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 41 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. 3024.emf 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 42: Prepare For Use Through Fieldbus

    Strip the cable at a maximum length of 15 mm. Do not strip the aluminum cable shield! Then connect the cable to its appropriate terminals on the OPTE6 CANopen option board terminal block. Tel. +358 (0) 201 2121 • Fax +358 (0)201 212 205...
  • Page 43 Unless already done for the other control cables, cut free the opening on the AC drive cover for the fieldbus cable (protection class IP21). NOTE: Cut the opening on the same side you have installed the board in! 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 44 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 41. 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 45: Installation In Vacon® 20

    Select a correct grounding plate and attach it to the option board mounting frame. The grounding plate is marked with the supported enclosure size. 11649_00 Attach an option board mounting frame to the AC drive. 11556A_0 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 46 • 44 Installation Connect the flat cable from the option board mounting frame to V20. 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 47 • 45 Cut free a sufficiently wide opening for the option board connector. 11650_00 Attach the option board cover to V20. Attach the strain relief cable clamp with screws if needed. 11560A_00 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 48: Frames Mi4, Mi5

    • 46 Installation 6.3.2 Frames MI4, MI5 Make sure power is disconnected before opening the V20 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 49 Attach the option board with connector PCB to V20 and connect the flex cable. 11566_00 Attach a suitable grounding plate to V20. The grounding plate is marked with sup- ported enclosure size. MI 05 MI 04 11567_00 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 50 • 48 Installation Assemble a clamp on top of the grounding plate on both sides of the option board. 11568_00 8a: For MI4: Close the cover. 11569_00 8b: For MI5: Remount the fan connector and close the cover. 11570_00...

  • Page 51: Installation In Vacon® 20 X And 20 Cp

    Open the cover of the drive. 11643_00 MU3 example The relay outputs and other I/O-terminals may have a dangerous control voltage present even when the drive is disconnected from mains. 13006.emf 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 52 • 50 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 53: Installation In Vacon® 100 X (Frames Mm4-Mm6)

    Installation vacon • 51 Installation in Vacon® 100 X (Frames MM4-MM6) Open the cover of the AC drive. 11638_00 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 54 • 52 Installation To get access to the option board slots, remove the screws and open the cover of the control unit. 11639_00 Tel. +358 (0) 201 2121 • Fax +358 (0)201 212 205...
  • Page 55 E, use the cable en- try plate on the left side. NOTE! The cable entry plate at the bottom of the drive is used only for mains and motor cables. 11641_00 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 56 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. Pull the fieldbus cable through the hole.

  • Page 57: Commissioning

    OMMISSIONING OPTE6 panel parameters When OPTE6 board is attached to a drive, 3 basic communication parameters will appear on the panel menu. The parameters are saved automatically when changed. NOTE! Parameters 1-2 are saved into the memory of the AC drive. Remember this if the board is moved into another drive.
  • Page 58 • 56 Commissioning Table 69: Operate mode Value Name Description CIA-402 drive profile, velocity Drive Profile mode active Manufacturer-specific bypass Bypass mode active Figure 12 and Figure 13 describe the outputs when you change the parameter. Drive Profile related objects are no more valid...

  • Page 59: Canopen Option Board Interface

    The drive profile state machine and the related objects become invalid. Table 73. Operating mode related objects Index Description 0x6060 Modes of Operation 0x6061 Modes of Operation Display 0x6502 Supported Drive Modes 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 60: Velocity Mode

    • 58 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 61 1111 Switched on xxxx xxxx x01x 0011 Power-off or reset Quick stop active Operation enabled xxxx xxxx x00x 0111 xxxx xxxx x01x 0111 9401.emf Figure 15. Power Drive System state machine 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 62 • 60 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 63: 0X6040 - Controlword

    Voltage is enabled Fault PDS Fault (indicates fault condition) Operation enabled PDS operation enabled (drive is running) Switched on PDS switched on rtso Ready to switch on PDS ready to switch on 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 64: 0X6042 - Vl Target Velocity

    • 62 CANopen option board interface 8.2.4 0X6042 - vl Target Velocity The signed value of motor rpm speed request to drive. A negative value means that the motor is run- ning clockwise. By default, the object is mapped into the last two bytes of rxPDO1.

  • Page 65: 0X6048 - Vl Velocity Acceleration

    Maximum change of rpm the motor will accelerate during the time specified in Delta Time. Range: 0... 4294967296 0x6049.02: Delta time Time (in seconds) in which the rpm of the motor will accelerate the amount specified in Delta Speed. Range: 0... 65536 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 66: Bypass Mode

    • 64 CANopen option board interface Bypass mode In bypass mode, some data defined in the profile is invalid, and the drive control is done using raw process data. The raw process data arrays are located in the manufacturer specific objects 0x2000 and 0x2001.

  • Page 67: Exception When Using Bypass Mode

    Table 81. Objects disabled at bypass mode Index Description 0x6040 Controlword 0x6041 Statusword 0x6042 VI Target Velocity 0x6043 VI Velocity Demand 0x6044 VI Velocity Actual Value 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 68: Default Process Data Application Mapping

    CANopen option board interface Default process data application mapping This chapter describes the default mapping of the OPTE6 process data variables to the application data in the drive. It also provides a description of the application data in the drive. Supported con- trol/status word bits might differ depending on used application.

  • Page 69: Fb Control Word Extension (General Control Word)

    Table 89. FB Speed reference description Name Description FB Speed Reference Frequency reference at percentage between 10000 minimum and maximum frequency. Control (0%) (100.00%) word DIR bit is used to select rotation direc- tion. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 70: Fb Process Data Input 1

    • 68 CANopen option board interface 8.4.4 FB Process data Input 1...8 Mapped into FB PD in offset 3...11. Table 90. FB Process Data Input 1...8 FB Process data in 8.4.5 FB Processdata Input mapping in application In addition to sending control commands and speed reference values to the application, 8 process data items can be sent directly to the application to control other features via fieldbus.

  • Page 71: Fb Status Word Extension (General Status Word)

    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 100 IN- DUSTRIAL application, Vacon 20 X Multipurpose Application and Vacon 20 Standard Application.
  • Page 72 • 70 CANopen option board interface Table 99. Process data output mapping defaults for V100 GP and V20X MP PD Out Application Mapped Application Data Unit Scale V100 GP Output Frequency 0.01Hz V20X MP Output Current 0.1 A V100 GP & V20X MP...

  • Page 73: Appendix A: Object Dictionary

    Array UNSIGNED32 Number of Entries Restore all Default Parame- UNSIGNED32 ters Restore Bypass parameter set UNSIGNED32 Object 1014h: COB-ID EMCY 1014 COB-ID EMCY Variable UNSIGNED32 0x80 Object 1016h: Heartbeat Consumer Entries 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 74 • 72 Appendix A: Object dictionary Index Sub- Description Object Data Type Access Default Unit index Code Mapping value 1016 Heartbeat Consumer Entries Array UNSIGNED32 Number of Entries 0x08 Consumer Heartbeat Time 1 UNSIGNED32 0x0000000 Consumer Heartbeat Time 2...
  • Page 75 Number of Entries 0x06 COB-ID UNSIGNED32 0x180 Transmission Type UNSIGNED8 0xFE Inhibit Time UNSIGNED16 0x64 100 μs Event Timer UNSIGNED16 Sync start value UNSIGNED8 Object 1801h: Transmit PDO Communication Parameter 2 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...
  • Page 76 • 74 Appendix A: Object dictionary Index Sub- Description Object Data Type Access Default Unit index Code Mapping value 1801 Transmit PDO Communiction Record PDO_COMM_PAR Parameter 2 Number of Entries 0x06 COB-ID UNSIGNED32 0x80000280 Transmission Type UNSIGNED8 0xFE Inhibit Time...

  • Page 77: Manufacturer Segment

    Index = ID number + 2100h For example: Reading parameter acceleration time (ID 103d), has the index 2100h + 103d = 2167h. Any application ID between 1 and 3EFFh (16127d) can be read/written using this method. 24-hour support +358 (0)201 212 575 • Email: vacon@vacon.com...

  • Page 78: Device Profile Segment

    • 76 Appendix A: Object dictionary Device Profile Segment Index Sub- Description Object Data Type Access Default index Code Mapping Value Object 6040h: Controword 6040 Controlword Variable UNSIGNED16 Object 6041h: Statusword 6041 Statusword Variable UNSIGNED16 Object 6042h: vl Target Velocity...
  • Page 79 Document ID: Vacon Ltd Member of the Danfoss Group Rev. B Runsorintie 7 65380 Vaasa Sales code: DOC-OPTE6+DLUK Finland...

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