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Danfoss FC 300 Manual

Canopen
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Download this manual See also: Programming Manual, Operating Instructions
FC 300 CANopen
Contents
Safety note ......................................................................................................................4
Introduction .................................................................................................................... 5
About this Manual .............................................................................................................5
Technical Overview ...........................................................................................................5
Assumptions ....................................................................................................................6
Hardware.........................................................................................................................6
Background Knowledge ......................................................................................................6
FC 300-related Literature ...................................................................................................6
Abbreviations ...................................................................................................................6
Cabling............................................................................................................................9
Cable Lengths....................................................................................................
Cable Specifications....................................................................................................9
EMC Precautions ...................................................................................................... 10
Connection of the Cable Screen.................................................................................. 11
Earth Connection ..................................................................................................... 11
CANopen Connection ................................................................................................ 12
CANopen Termination ............................................................................................... 12
Installation of Option in Drive ........................................................................................... 13
Set the CANopen Address................................................................................................. 14
Set the CANopen Address via Parameter 10-02 Drive Node ID:....................................... 14
Set the CANopen Baud Rate ............................................................................................. 14
Configure the Network ..................................................................................................... 15
Network Management NMT ........................................................................................... 15
1005h, 1006h, 1007h Synchronization Object (SYNC) ................................................... 15
1017h Producer Heartbeat Time ................................................................................ 15
1014h, 1015h Emergency object (EMCY) .................................................................... 16
Configure the FC 300....................................................................................................... 17
LEDs.......................................................................................................................... 17
Device Profile ................................................................................................................. 18
Communication in CANopen.............................................................................................. 18
Communication Profile Area (1000h-1FFFh) ........................................................................ 20
Communication object overview .................................................................................... 20
1000h Device type....................................................................................................... 21
1001h Error register .................................................................................................... 21
1002h Manufacturer status register ................................................................................ 21
1003h Predefined error field .......................................................................................... 21
1005h COB-ID Sync Message object............................................................................... 22
1008h Manufacturer Device Name.................................................................................. 22
1009h Manufacturer Hardware Version ........................................................................... 22
100Ah Manufacturer Software Version ............................................................................ 22
100Ch Guard time ....................................................................................................... 22
100Dh Life time factor.................................................................................................. 22
1010h Store parameters............................................................................................... 22
1011h Restore default parameters ................................................................................. 23
1014h COB ID emergency object ................................................................................... 23
1018h Identity object................................................................................................... 23
DSP 402 Control Profile.................................................................................................... 24
Standardised Device Profile Area ....................................................................................... 27
Danfoss FC control profile................................................................................................. 28
Bus Speed Reference Value........................................................................................... 31
....................................................................................................... 17
MG.33.J1.02 VER. 050301 - VLT is a registered Danfoss trademark
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Summary of Contents for Danfoss FC 300

  • Page 1: Table Of Contents

    Status Word according to DSP 402 profile. (Par. 8-10 = DSP 402 profile) ......25 Standardised Device Profile Area ..................27 Danfoss FC control profile....................28 Bus Speed Reference Value................... 31 MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 2 SDO Abort Code ......................44 Parameters Parameter List ........................ 50 Data Types Supported by FC 300 ..................51 Object and Data Types Supported by FC 300 ..............51 Conversion index ......................51 Application Examples Error! Bookmark not defined. Example: SDO Communication..........Error! Bookmark not defined.
  • Page 3 Danfoss A/S reserves the right to revise this publication at any time and to make changes in its contents without prior notice or any obligation to notify previous users of such revisions or changes.

  • Page 4: Safety Note

    Also make sure that other voltage inputs have been disconnected, such as external 24 V DC, load sharing (linkage of DC intermediate circuit), as well as the motor connection for kinetic back up. Please refer to FC 300 Operating Instructions (MG.33.A1.02) for further safety guidelines. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 5: Introduction

    CANopen defines device profiles for devices belonging to specific classes. For other devices, a custom class must be defined in order to make it CANopen compatible. This further enhances the interchangeability and interoperability of the network. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 6: Assumptions

    Any questions pertaining to hardware or software produced by any other manufacturer is beyond the scope of these operating instructions and is of no concern to Danfoss. If you have questions about how to set up master - master communication or communication to a non-Danfoss slave, please consult the appropriate documentation.
  • Page 7 Revolutions per minutes; unit for the speed of a revolving motor Transmission request frame Service Data Object SYNC Object for synchronization of process data TPDO Transmit Process Data Object Profile torque mode velocity mode MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 8 FC 300 CANopen - I n t r o d u c t i o n - MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 9: How To Install

    Cable Specifications The cable used should be according to the pecifications. Be aware that the “Flat Cable” is an unscreened cable type, and is not suited for use with frequency converters. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 10: Emc Precautions

    - H o w t o I n s t a l l - EMC Precautions The following EMC precautions are recommended in order to achieve interference-free operation of the CANopen network. Additional EMC information is available in the FC 300 series Operating Instructions and FC 300 Design Guide. NB!: Relevant national and local regulations, for example regarding protective earth connection, must be observed.

  • Page 11: Connection Of The Cable Screen

    - H o w t o I n s t a l l - Connection of the Cable Screen Danfoss recommends connection of the screen of the CANopen cable to ground at both ends of the cable at every CANopen station (see Danfoss recommendation for further details). Low impedance ground connection of the screen is very important, also at high frequencies.

  • Page 12: Canopen Connection

    Termination resistors should be installed at each end of the bus line. The resistors must be mounted between terminal 2 (CAN_L) and terminal 4 (CAN_H) and should have the following specification: 120 Ohm, 1 % Metal film, 1/4 Watt MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 13: Installation Of Option In Drive

    To install a fieldbus option in the drive you will need: The fieldbus option Fieldbus option adaptor frame for the FC 300. This frame is deeper than the standard frame, to allow space for the fieldbus option beneath. Cable holders Instructions: Remove the LCD panel from the FC 300.

  • Page 14: How To Configure The System

    Set the CANopen Address All CANopen stations that are connected to the same bus network must have a unique station address. The CANopen address of a FC 300 can be selected via: Parameter 10-02 Drive Node ID (default 127) NB!: Switch off the power supply before changing the hardware switches.

  • Page 15: Configure The Network

    The producer heartbeat time defines the cycle time of the heartbeat. The producer heartbeat time remains at default 0 if it is not used. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 16: 1014H, 1015H Emergency Object (Emcy)

    1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 EMCY code vendor specific info (OBJ 1003h/SI 1) 1001h drive alarm word drive warning word reserved MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 17: Configure The Fc 300

    Parameter 0-40 [Hand on] key on LCP. If the Hand button on the FC 300 is activated, control of the drive via the CANopen interface is disabled. After initial power-up the FC 300 will automatically detect whether a fieldbus option is installed in slot A, and set parameter 8-02 Control word source to [Option A].

  • Page 18: How To Control The Fc300

    A000-FFFF Reserved for further use Communication in CANopen Communication with the frequency converter in CANopen is achieved via Service Data Objects (SDOs), Process Data Objects (PDOs) and Network Management (NMT). MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 19 Broadcast functions Node functions EMCY SYNC PDO1 (write), PDO1 (read) TIME STAMP PDO2 (write), PDO2 (read) PDO3 (write), PDO3 (read) PDO4 (write), PDO4 (read) SDO (write), SDO (read) NMT Error Control MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 20: Communication Profile Area (1000H-1Fffh)

    ::::: ::::: ::::: 1805 RECORD transmit PDO description for PDO CommPar (20h) 1806- RECORD Reserved for transmit PDO Parameter 19FF 1A00 RECORD transmit PDO status word PDO Mapping (21h) value MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 21: 1000H Device Type

    Holds the error that has occurred on the drive. Setting index 0 to 0 will erase the field. Index Meaning 1003h 0 Number of stored errors 1003h 1 Current error 1003h 2 Last error MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 22: 1005H Cob-Id Sync Message Object

    - H o w t o C o n t r o l t h e F C 3 0 0 - Please refer to the section SDO Abort Codes in the chapter How to Access FC 300 Parameters for a list of error codes that can be recorded in this object.

  • Page 23: 1011H Restore Default Parameters

    Index, sub-index Meaning 1018h 0 Number of entries 1018h 1 Vendor ID 1018h 2 Product code 1018h 3 Revision number (major revision number and minor revision number) 1018h 4 Serial number MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 24: Dsp 402 Control Profile

    Bit 03, Disable/enable Operation: Bit 03= "0" execute transition 5. Note: In factory setting reversing is set to Bit 03 = "1" = “Enable operation“. [digital] in par. 8-54 Reversing select. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 25: Status Word According To Dsp 402 Profile. (Par. 8-10 = Dsp 402 Profile)

    Motor Speed high Limit RPM/Hz. enable”. Bit 11 = "1" means that the output frequency Bit 00 = "1" state at least = “Operation is within the mentioned range. enable”. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 26 Bit 13, DSP 402 reserved. greater than 0 Hz. Bit 14, Running/Not running: Bit 15, Danfoss reserved. Bit 14 = "0" means that the motor is not running. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 27: Standardised Device Profile Area

    All states -> Fault Reaction Active xxxx 023F Fault Reaction Active -> Fault xxxx 023F (0238 by Interbus) Fault -> Switch On Disabled 0000 0240 Quick Stop Active -> Operation Enable (not supported) MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 28: Danfoss Fc Control Profile

    • Digital input (par. 5-10 to 5-15) programmed Programmed Parameter to DC braking, Coasting stop or Reset and ref. value coasting stop. 3-10 [0] 3-10 [1] 3-10 [2] 3-10 [3] MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 29 5-40 Function relay. Bit 13/14, Selection of set-up: Bits 13 and 14 are used to choose from the four menu set-ups according to the following table: Set-up Bit 14 Bit 13 MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 30 Bit 11 = ’0’ means that the motor is not released the motor. running. Bit 02 = ’1’. The frequency converter can start the motor when a start command is given. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 31: Bus Speed Reference Value

    Parameter 3-00 = [0] Min - Max. 0% = par. 3-02 Minimum Reference. 100% = par. 3-03 Maximum Reference. Parameter 3-00 = [1] –Max - +Max. 0% = 0hex. 100% = par. 3-03 Maximum Reference. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 32: Process Data Objects (Pdo)

    The real-time data transfer is performed by means of "Process Data Objects (PDO)". PDOs are represented by CMS objects of type "Stored-Event". Hence the transfer of PDOs is performed with no protocol overhead. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 33: Pdo Transmission Modes

    The specified PDO triggering modes of the CANopen Communication Profile are modelled by services onto the CMS object type "Stored-Events". CMS objects of type Stored-Event provide event-driven and remotely requested transmission. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 34: Receive Pdo

    Comment Default Value 1400 h number of entries COB-ID used by PDO 200h + node-ID transmission type inhibit time not used 1600 h number of mapped objects controlword 60400010 h MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 35: Receive Pdo: Target Velocity

    1 from par. 10-50 index 2 process data word 2 from par. 10-50 index 3 process data word 1 from par. 10-50 index 4 process data word 2 from par. 10-50 index 5 MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 36: Transmit Pdo

    COB-ID used by PDO 280h + node -ID transmission type inhibit time not used 1A05 h number of mapped objects statusword 60400010 h vl_control_effort (RPM) 60440010 h MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 37: Transmit Pdo

    2 from VLT 1051 index 2 process data word 3 from VLT 1051 index 3 process data word 4 from VLT 1051 index 4 process data word 5 from VLT 1051 index 5 MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 38: Danfoss Specific Objects (2000H-5Fffh)

    PCD 0 read Par. 10-41 / 2 2F10h/3 PCD 1 read Par. 10-41 / 3 2F10h/4 PCD 0 read Par. 10-41 / 4 2F10h/5 PCD 1 read Par. 10-41 / 5 MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 39: How To Access Fc 300 Parameters

    FC 300 CANopen How to Access FC 300 Parameters Service Data Objects (SDO) FC 300 parameters can be accessed by Service Data Objects, SDOs. The SDOs are used for communicating non-time-critical data. Structure of SDO COB-ID entry Unsigned32 bits 28-11...

  • Page 40: Initiate Download

    2: byte 6 - 7 no numbers of unspecified. data bytes for download (size 2 byte) 3: init. Download response 3: byte 5 - 7 no data, length 4-n data (size 1 byte) MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 41: Download Segment

    2: byte 6 - 7 no numbers of unspecified ccs / scs data Bytes for upload (size 2 byte) 3: - 3: byte 5 - 7 no data, length 4-n data (size 1 byte) MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 42: Upload Segment

    1: byte 7 no data 0: no more segments to be (size 6 byte) uploaded 2: - … 3: Upload seg. Request 7: byte 2 - 7 no data (size 1 byte) MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 43: Example: Initiate Upload (Read Data)

    “2”, only the last 2 bytes (6 & 7) of the 8 byte telegram contain relevant data, the other 2 (4 & 5) may contain any (useless) data. Data is left aligned. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 44: Sdo Abort Code

    0800 0023h Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error). MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 45: Parameters

    Par. 8-02 cannot be changed while the motor is Freeze output frequency: Freeze output frequency running. until communication resumes. Stop with auto restart: Stop with auto restart when communication resumes. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 46 NB! This parameter is active only when Function: par. 8-01 Control site is set to [0] Digital and control word. This parameter has no function for CANopen. 8-53 Start Select 8-10 Control Word Profile MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 47 Logic AND, you must also activate the command via one of the digital inputs. If you select Logic OR, you can also activate the Set-up command via one of the digital inputs. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 48 Only elements [2] and [3] of this array can be Function: selected ([0] and [1] are fixed). Displays the number of Bus Off events since the last power-up. 10-51 CANopen Process Data Config. Read MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 49 16-70 Pulse output #29 (Hz) 16-84 Comm. option STW 16-85 FC port CTW 1 Function: 16-09 Custom readout Returns the warning word sent via the serial communication port in hex code. Function: MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 50: Parameter List

    None [0] [0 - 48] Config. Read 15-60 Option Mounted CANopen 16-48 Com Option STW [0 - 7] 16-90 Alarm Word 0 - FFFF 16-92 Warning Word 0 – FFFF MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 51: Data Types Supported By Fc 300

    Conversion index This number refers to a conversion figure used when writing or reading to parameters. Conversion Conversion index factor 1/60 1000000 100000 10000 1000 0.01 0.001 0.0001 0.00001 0.000001 MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 52: Troubleshooting

    The CANopen control card contains two bi-colour (green/red) LEDs to indicate the state of the device and the network respectively. The upper LED (Error LED) indicates module status (MS). The lower LED (Run LED) indicates network status (NS). MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 53: Module Status (Ms) Led, Red

    Other states State MS LED NS LED COP initialize error solid red solid red wait for AOC red/green blinking red/green blinking MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 54: No Communication With The Drive

    If not, terminate the bus connection with termination resistors at the initial and final nodes, as shown in the following diagram. Termination is performed between terminal 2 (CAN_L) and 4 (CAN_H) with a resistor: 121 Ohm, 1% metal film, ¼ Watt. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 55: Drive Will Not Respond To Control Signals

    Define the desired logical relationship in par. 8-50 to 8-56 according to the following range of options. Select the FC 300 control mode, digital input and/or bus communication, using par. 8-50 to 8-56. The tables below show the effect upon the FC 300 of a coast command for the full range of par. 8-50 settings.
  • Page 56 Stop/Anti-clockwise Start/Clockwise If Logic OR [3] is selected, activation of one signal Par. 8-53/54 setting: Logic OR [3] will activate the function. Terminal Bit 02/03/04 Function Stop/Anti-clockwise Start/Clockwise Start/Clockwise Start/Clockwise MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 57 Par. 8-55/56 setting: Logic AND [2] If Logic AND [2] is selected, both signals must Terminal Bit 00/01, 13/14 Function be activated to perform the function. Preset ref., Set-up no. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...
  • Page 58 FC 300 CANopen If Logic OR [3] is selected, activation of one Par. 8-55/56 setting: Logic OR [3] signal will activate the function. Terminal Bit 00/01, 13/14 Function Preset ref., Set-up no. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 59: Alarm Word And Warning Word

    01000000 Mains failure Major Recoverable 02000000 1.8V supply fault Major Unrecoverable 04000000 Brake resistor short circuit Major Recoverable 08000000 Brake chopper fault Major Recoverable 10000000 Unused 20000000 Unused 40000000 Unused 80000000 Unused MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 60: Alarm / Warning Limits

    An alarm word is always an action parameter. Bit status FALSE [0] means no alarm, while bit status TRUE [1] means alarm. MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

  • Page 61: Index

    Drive will not respond to control signals Drop cable Earth connection EDS file EMC precautions LED status LEDs Network power consumption No communication with the drive Object and data types supported by FC 300 Polling MG.33.J1.02 VER. 050301 – VLT is a registered Danfoss trademark...

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