Vacon NX OPTC6 User Manual
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Vacon NX OPTC6 User Manual

Vacon NX OPTC6 User Manual

Canopen option board
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Summary of Contents for Vacon Vacon NX OPTC6

  • Page 1 manual...

  • Page 2: Table Of Contents

    CanOpen option board ......................6 Bus terminal resistors ......................6 LED indications ......................... 7 Connection of CanOpen bus cable .................... 8 INSTALLATION OF VACON NX CANOPEN BOARD ............. 13 Board information sticker ...................... 15 COMMISSIONING ......................16 CANOPEN-VACON NX INTERFACE ................... 19 CanOpen message frame .......................

  • Page 3: General

    • 3 GENERAL Vacon NX frequency converters can be connected to the CanOpen system using a fieldbus board. The converter can then be controlled, monitored and programmed from the Host system. The CanOpen fieldbus board shall be installed in slot E on the control board of the frequency converter.

  • Page 4: Canopen Option Board Technical Data

    4 • vacon canopen CANOPEN OPTION BOARD TECHNICAL DATA General CanOpen Interface Open Style Connector (Pluggable connector, 5.08mm) connections Data transfer CAN (ISO 11898) method Transfer cable 2 wire twisted shielded cable Electrical isolation 500 VDC Communications CanOpen CiA DS-301...

  • Page 5: Canopen

    The operation mode defines the behaviour of the drive. The following modes are defined in this profile: Homing Mode Profile Position Mode Interpolated Position Mode Profile Velocity Mode Profile Torque Mode Velocity Mode Vacon CanOpen Option Board supports the Velocity Mode 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 6: Canopen Option Board Layout And Connections

    Table 4-1.OPT-C6 bus connector signals Bus terminal resistors If Vacon drive is the last device of the CanOpen line the bus termination must be set. Use jumper X6 (ON position see Figure 4-1), or an external resistor (120Ω) connected to terminals 2 and 4.

  • Page 7: Led Indications

    (1 blink / s) Blinking slow Module is in FAULT state (1 blink / 5s) No messages from Master within the watchdog time Bus broken, cable loose or Master off line 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 8: Connection Of Canopen Bus Cable

    8 • vacon installation Connection of CanOpen bus cable The bus cable shield can be grounded in three different ways: a) clamping the cable to the frequency converter frame b) to the frame of the frequency converter through an RC filter c) directly to the converter frame Note: Normally, the option board has already been installed in slot E of the control board.
  • Page 9 Leave no more than 1 cm of the red and green data cable outside the terminal block and strip the data cables at about 0.5 cm to fit in the terminals. See pictures below. Note: Do this for both bus cabels. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 10 10 • vacon installation Figure 4-7. Figure 4-8. Tel.+358-(0)201-21 Tel. +358 (0)201 2121 • Fax +358 (0)201 212 205...
  • Page 11 Place the CanOpen board into slot E of the control board (see board installation on page 13) and fix both the CanOpen cables on the frame with the clamp. Figure 4-10. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 12 12 • vacon installation 4.4.2.1 Grounding the bus cable shield directly to the frequency converter frame using an RC-filter We recommend you to do the grounding in this manner when the distance between the devices exceeds 50 meters (55 yds.). When the distance between the devices is long disturbances (e.g. voltage spikes) are more likely to appear.

  • Page 13: Installation Of Vacon Nx Canopen Board

    MAKE SURE THAT THE FREQUENCY CONVERTER IS SWITCHED OFF BEFORE AN OPTION OR FIELDBUS BOARD IS CHANGED OR ADDED! NOTE Vacon NX frequency converter Remove the cable cover. Open the cover of the control unit. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 14 14 • vacon installation Install CanOpen option board in slot E on the control board of the frequency converter. Make sure that the grounding plate (see below) fits tightly in the clamp. Make a sufficiently wide opening for your cable by cutting the grid as wide as necessary.

  • Page 15: Board Information Sticker

    Dr iv e m o d if ied : Option board: N XOPT ....Date:....in slot: IP54 upgrade/ Collar Date:....EMC level modified: H Ý T / T Ý H Date:....24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 16: Commissioning

    See Vacon NX User’s Manual, Chapter 7.3.3.1 The Vacon CanOpen board is commissioned with the control keypad by giving values to appropriate parameters in menu M7 (for locating the expander board menu see Vacon NX User's Manual, Chapter Expander board menu (M7)
  • Page 17 “NODE ID” and “BAUD RATE” must be the same as in the master configuration. CanOpen status CanOpen Status Monitor To see the present status of the CanOpen Fieldbus, enter the page from menu (G7.5.2) . See picture and table below. Figure 6-2. DeviceNet status 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 18 18 • vacon commissioning CanOpen status INITIALISING STOPPED OPERATIONAL PRE_OPERATIONAL RESET_APPLICATION RESET_COMM UNKNOWN Table 6-2. CANopen status indications Tel.+358-(0)201-21 Tel. +358 (0)201 2121 • Fax +358 (0)201 212 205...

  • Page 19: Canopen-Vacon Nx Interface

    This kind of identification field allows communication between a master and 127 slaves. Broadcasting is indicated by a module-id of zero. Function codes are determined with object dictionaries in device profiles. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 20 20 • vacon nx interface Predefined connection sets CanOpen option board has two different communication parameter sets. These sets can be selected via Operate Mode –parameter from panel. Both communication sets fullfils ‘Drives And Motor Control’-profile described in CiA DSP-402.

  • Page 21: Network Management (Nmt)

    (DS301). To Set Vacon CanOpen Option board to the "Operational State" the following message must be sent: Message: Start_Remote_Node Master to Slave (1)

  • Page 22: Process Data (Pdo)

    RTR only mode. Most PDOs support also Event Timer for transmitting PDOs. TPDO1 is exception which is defined for asyncronous only operation. Receive PDOs support only asyncronous transmission mode (event driven). Vacon CanOpen option board uses 8 types of PDOs as follows:...

  • Page 23: Transmission Types

    TPDO in addition to otherwise defined events. The occurence of the events set the timer. Independent of the transmission type the RPDO event timer is used recognize the expiration of the RPDO. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 24: Controlling The Drive Via Pdo Messages With Drive Profile

    24 • vacon nx interface Controlling the drive via PDO messages with Drive Profile PDO1 Rx Master to Slave (1) Header Data 0x201 controlword PDO1 Tx Slave (1) to Master Header Data 0x181 statusword PDO6 Rx Master to Slave (1)
  • Page 25 7 = 1 vl_target_velocity The vl_target_velocity is the required speed reference to the frequency converter. The unit is RPM. vl_control_effort The vl_control_effort is the actual speed of the motor. The unit is RPM. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 26 26 • vacon nx interface State Machine The state machine describes the device status and the possible control sequence of the drive. The state transitions can be generated by using “controlword”. The “status word” parameter indicates the INIT, STOP, RUN FAULT current status of state machine.

  • Page 27: Using Manufacturer Specific Pdos With Bypass Modes

    0x381 nx_status_word nx_actual_speed process_data_out1 process_data_out2 PDO22 Rx Master to Slave (1) Header Data 0x501 process_data_in3 process_data_in4 process_data_in5 process_data_in6 PDO22 Tx Slave (1) to Master Header Data 0x481 process_data_out3 process_data_out4 process_data_out5 process_data_out6 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 28 ByPass 2 mode. When ByPass mode is used, check more detailed Control Word in the application manual In Vacon applications, the three first bits of the control word are used to control the frequency converter. However, you can customise the content of the control word for your own applications because the control word is sent to the frequency converter as such.

  • Page 29: Drive Monitoring

    Not In use Not In use Table 7-4. Status word bit descriptions Processdata_out1 … Processdata_out6 These are application specific process data. See APPENDIX C for content of these process data in different applications. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 30: Anyparameter Service

    30 • vacon nx interface Anyparameter service SDO protocol can be used to read any parameter or actual value and write any parameter from drive. These parameters are read from drive with it’s ID number specified in user manual. There are three index in object dictionary as follow for anyparameter service.

  • Page 31: Service Data (Sdo)

    Process data in4 Interger16 27D8 10200 Process data in5 Interger16 27D9 10201 Process data in6 Interger16 2836 10294 NX status word Interger16 2838 10296 NX actual speed Interger16 2839 10297 Process data out1 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 32 32 • vacon service data (sdo) Interger16 283A 10298 Process data out2 Interger16 283B 10299 Process data out3 Interger16 283C 10300 Process data out4 Interger16 283D 10301 Process data out5 Interger16 283E 10302 Process data out6 Unsigned16 6040 24640 controlword...
  • Page 33 Standard Error Field 0x00000000 u32 ro 0x00000000 0xFFFFFFFF Standard Error Field 0x00000000 u32 ro 0x00000000 0xFFFFFFFF Standard Error Field 0x00000000 u32 ro 0x00000000 0xFFFFFFFF Standard Error Field 0x00000000 u32 ro 0x00000000 0xFFFFFFFF 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 34 34 • vacon service data (sdo) Standard Error Field 0x00000000 u32 ro 0x00000000 0xFFFFFFFF 1005 cob-id sync message 0x80000080 u32 ro cob-id used for syncronize PDO messages 0x00000001 0xFFFFFFFF 100C Guard Time 0x03E8 u16 rw This entry contains the guard time in 0x0000 milliseconds.
  • Page 35 0x00000000 0xFFFFFFFF 1615 Receive PDO 22 It contains the mapping parameters of the PDO6 the Mapping Parameter device is able to receive. Sub-index 0 contains the number of the mapped data 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 36 36 • vacon service data (sdo) objects. All further entries define the data by it's index, sub-index and length. Number of Entries 0x04 0x00 0x40 PDO Mapping Entry 0x27D60010 u32 ro 0x00000000 0xFFFFFFFF PDO Mapping Entry 0x27D70010 u32 ro 0x00000000...
  • Page 37 The structure of a mapping entry is: index, subindex, length Number of Entries 0x02 0x40 PDO Mapping Entry 0x60410010 u32 ro 0x00000000 0xFFFFFFFF PDO Mapping Entry 0x60440010 u32 ro 0x00000000 0xFFFFFFFF 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 38 38 • vacon service data (sdo) 1A14 Transmit PDO 21 It contains the mapping parameter for the PDOs the Mapping Parameter device is able to transmit. Sub-index 0 contains the number of the mapped data objects. All further entries define the data by it's index, sub-index and length.
  • Page 39 0x0000 i16 ro Speed reference after ramp function. 0x8000 Unit: RPM 0x7FFF 6044 vl control effort 0x0000 i16 ro Actual speed of the motor. 0x8000 Unit: RPM 0x7FFF 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 40 40 • vacon service data (sdo) 6046 vl velocity min max Defines speed limits of the drive in rpm. The parameter amount consist of a minimum and a maximum speed. Number of Entries 0x02 u8 ro 0x00 0x02 Minimum Speed...
  • Page 41 • 41 6060 modes of operation 0x02 0x80 This parameter switches the actually choosen operation 0x7F mode. 6061 modes of operation 0x02 0x80 This parameter shows current mode of operation. display 0x7F 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 42: Node Guarding Protocol

    Node Guarding message was received from MNT master. After that if slave (=drive) don’t receive any Node Guarding messages during “life time” it will generate “Fieldbus Fault”. Vacon CanOpen option board has following items for guarding purposes: Index...

  • Page 43: 10. Electronic Data Sheet, Eds-File

    Tools, this document defines a standardised file format – called Electronic Data Sheet EDS. The EDS-file for Vacon CanOpen Option Board can be found from vacon web-site 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 44: Appendices

    44 • vacon appendices APPENDICES appendix a - device profile for drives Vacon CanOpen option board follows the Drive device profile DSP-402. The Velocity mode is supported. Basic Device Control and Device Data Interface Drive Interface RUN/STOP, FAULT State controlword (6040h)

  • Page 45: Appendix B - Sdo Messages

    Slave (1) to Master Header Data 0x581 Reply Object Index Sub- Index Reply = 0x60 Reply aaabbbbb (= 0110 0000) = 010 Initiate download response bbbbb = 0 0000 not used 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...

  • Page 46: Appendix C - Process Data Contents

    46 • vacon appendices appendix c – process data contents Process Data OUT (Slave  Master) The fieldbus master can read the frequency converter’s actual values using process data variables. Basic, Standard, Local/Remote, Multi-Step, PID control and Pump and fan control...

  • Page 47: Appendix D

    0.01% controller PD4–PD6 Not Used appendix d Version 8 of the C6 Option board doesn’t work the same way than the others. Some changes are required at end of the PLC. 24-hour support +358 (0)40 837 1150 • Email: vacon@vacon.com...
  • Page 48 Find your nearest Vacon service centre Find your nearest Vacon office on the Extranet at: on the Internet at: www.extra.vacon.com www.vacon.com Manual authoring: documentation@vacon.com Document ID: Vacon Plc. Runsorintie 7 65380 Vaasa Finland Subject to change without prior notice © 2012 Vacon Plc.

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