Danfoss iC7 Operating Manual
Automation ethercat
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Summary of Contents for Danfoss iC7
- Page 1 Operating Guide iC7-Automation EtherCAT EtherCAT OS7EC drives.danfoss.com |...
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Page 3: Table Of Contents
Operating Guide | iC7-Automation EtherCAT Contents Contents Introduction and Safety Purpose of the Operating Guide Additional Resources Safety Symbols Qualified Personnel Safety Precautions Abbreviations Trademarks Version History Product Overview EtherCAT Features and Technical Data Communication Profiles and Objects iC Speed Profile iC Motion Profile CiA 402 –... -
Page 4: Troubleshooting
Operating Guide | iC7-Automation EtherCAT Contents Troubleshooting Fieldbus Indicator LEDs | Danfoss A/S © 2024.07 AQ481922104455en-000101 / 136R0350... -
Page 5: Introduction And Safety
The operating guide is intended for use by qualified personnel, who are familiar with the iC7 drives and power converters, EtherCAT technology, and the PC or PLC that is used as a master in the system. -
Page 6: Qualified Personnel
Operating Guide | iC7-Automation EtherCAT Introduction and Safety ISO warning symbol for hot surfaces and burn hazard ISO warning symbol for high voltage and electrical shock ISO action symbol for referring to the instructions Qualified Personnel Correct and reliable transport, storage, installation, operation, and maintenance are required for the trouble-free and safe operation of the product. -
Page 7: Abbreviations
Operating Guide | iC7-Automation EtherCAT Introduction and Safety WARNING DISCHARGE TIME The drive or power converter contains DC-link capacitors, which can remain charged even when the drive or power converter is not powered. High voltage can be present even when the warning indicator lights are off. Failure to wait the specified time after power has been removed before performing service or repair work can result in death or serious injury. -
Page 8: Trademarks
Operating Guide | iC7-Automation EtherCAT Introduction and Safety Table 1: Abbreviations (continued) Abbreviation Definition EtherCAT® Slave Controller EtherCAT® slave information EtherCAT® State Machine EtherCAT® technology group EtherCAT Ethernet for Control Automation Technology Firmware Software in the unit. Firmware runs on the control board. -
Page 9: Version History
This guide is regularly reviewed and updated. All suggestions for improvement are welcome. The original language of this guide is English. Table 2: Version History Version Remarks AQ481922104455, version 0101 First release. The information in this version applies to iC7-Automation frequency converters (1.3– 1260 A). Danfoss A/S © 2024.07 AQ481922104455en-000101 / 136R0350 |... -
Page 10: Product Overview
EtherCAT Features and Technical Data Fieldbus options for iC7 are integrated in the control board. Fieldbuses are enabled on communication interfaces X1 and X2 only. Modbus TCP is offered as standard, and other protocols such as EtherCAT can be selected in the configurator when ordering a drive, or alternatively, they can be activated later by a proof-of-purchase token. -
Page 11: Ic Speed Profile
2.3.1 The iC Speed profile is used with the iC7 series. The iC Speed profile differs from the CiA 402 profile because it does not have a State Machine. It is only controlled by the actual state 1/0 of the control bits, not the sequence in which they are manipulated. - Page 12 Operating Guide | iC7-Automation EtherCAT Product Overview Table 6: iC Speed Profile Control Word Bits (continued) Bit number Name Description Data valid 1: Use process data (control by PLC). 0: Ignore the current process data. This is linked to the submodule where the CTW is present.
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Page 13: Ic Motion Profile
Overview of iC Motion Profile 2.4.1 The iC Motion profile is used with the motion features of iC7-Automation and consists of: Motion-specific control word, speed reference, and position reference for controlling the drive. Motion-specific status word, actual speed, and actual position as status. - Page 14 Operating Guide | iC7-Automation EtherCAT Product Overview Fieldbus reference is the default selection as the source for speed and position reference in the 5.5 Control Places parameters but the references can be ignored if the Control Places settings are modified.
- Page 15 Operating Guide | iC7-Automation EtherCAT Product Overview Table 9: Control Word (continued) Name Description Enable Home 1 = Execute homing function 0 = Abort homing function User defined These bits are reserved for application-specific advanced control. For more information, refer to the Parameter Descriptions chapter in the ap- User defined plication guide.
- Page 16 Operating Guide | iC7-Automation EtherCAT Product Overview Table 10: Status Word (continued) Name Description Bus control 1 = The device is controlled and reacting to I/O and process data. 0 = The device does not react on commands from the fieldbus, for 1 of the following reasons: •...
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Page 17: Cia 402 - Velocity Mode
Operating Guide | iC7-Automation EtherCAT Product Overview Position Reference and Actual Position 2.4.4 Position values are expressed in 32 bit signed position units. The units are scaled by parameters 5.13.4.4 Position Unit Numerator and 5.13.4.5 Position Unit Denominator. CiA 402 – Velocity Mode Overview 2.5.1... -
Page 18: Status Word
Operating Guide | iC7-Automation EtherCAT Product Overview Status Word 2.5.3 Table 13: Status Word Bits in CiA 402 – Velocity Mode Bit number Name Description Ready to switch on 1= Ready to switch on. 0= Not ready to switch on. - Page 19 Operating Guide | iC7-Automation EtherCAT Product Overview Table 13: Status Word Bits in CiA 402 – Velocity Mode (continued) Bit number Name Description Manufacturer-specific (reserved) Reserved for future use. Manufacturer-specific (reserved) Reserved for future use. 2.5.4 CiA 402 State Machine In the CiA 402 control profile, the control bits perform different functions: Transition 0–3 and 6-7 perform the basic startup and power-down functions.
- Page 20 Operating Guide | iC7-Automation EtherCAT Product Overview Table 15: State Transition Events and Actions Transition Event(s) Action(s) Drive state Automatic transition after power-on Self-initialization is performed – or reset Automatic transition after drive status None Start Interlock is ready. 2, 6...
- Page 21 Operating Guide | iC7-Automation EtherCAT Product Overview Start Not ready to switch on xxxx xxxx x0xx 0000 Switch on disabled Fault xxxx xxxx x1xx 0000 xxxx xxxx x0xx 1000 Ready to switch on Fault reaction active xxxx xxxx x01x 0001...
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Page 22: Fieldbus Cable Connections
A combined shield/fixing plate, the Fieldbus EMC plate, is available as an accessory to strengthen the mechanical fixation of the cables. For information on ordering the EMC plate, refer to the product-specific design guide. Ethernet port X1 in the iC7-Automation frequency converter corresponds to EtherCAT Port 0 (IN), and IMPORTANT: Ethernet port X2 in the iC7-Automation frequency converter corresponds to EtherCAT Port 1 (OUT). -
Page 23: Ethercat Port Assignment
Operating Guide | iC7-Automation EtherCAT Fieldbus Cable Connections Ethernet port X1 in the iC7-Automation frequency converter corresponds to EtherCAT Port 0 (IN), and IMPORTANT: Ethernet port X2 in the iC7-Automation frequency converter corresponds to EtherCAT Port 1 (OUT). Figure 3: Communication Port X0, X1, and X2 Locations in FK06–FK08 Frames FK09–FK10... -
Page 24: Emc-Compliant Installation
Operating Guide | iC7-Automation EtherCAT Fieldbus Cable Connections EtherCAT Slave Controller Port 0 Port 1 (ESC) Figure 5: EtherCAT Port Assignment EMC-compliant Installation Overview 3.4.1 To obtain an EMC-compliant installation, follow the instructions provided in the product-specific design guide and the installation guide included in the shipment. - Page 25 Operating Guide | iC7-Automation EtherCAT Fieldbus Cable Connections Figure 6: Cable Routing Fieldbus cable 90° intersection ≥200 mm (7.9 in) (≥ 500 mm (20 in) for power sizes >315 kW (450 hp)) Danfoss A/S © 2024.07 AQ481922104455en-000101 / 136R0350 |...
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Page 26: Configuration
To configure a EtherCAT master, the configuration tool needs an EtherCAT Subdevice Information (ESI) file for each type of device in the network. The ESI file is an XML file containing the necessary device description information for a given device. Download the ESI files for the iC7 series from https://www.danfoss.com/en/service-and-support/downloads/dds/fieldbus-configuration- files/. -
Page 27: Connectivity Settings
Operating Guide | iC7-Automation EtherCAT Configuration Connectivity Settings Table 17: General Connectivity Settings for Industry and Motion Menu index Parameter Parameter number Value Description 1301 • iC Speed Profile Select the fieldbus pro- 2.8.4.1 Fieldbus profile (default) file. The selection af- fects the interpretation •... - Page 28 Operating Guide | iC7-Automation EtherCAT Configuration Table 18: Event Descriptions for Industry and Motion Value Description Info The event is logged in the event log. Warning The drive issues a warning. The motor can still be controlled, but with limited performance.
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Page 29: Parameter Access
Parameter Access Overview iC7 series supports access to parameters via SDO. The data mechanism transmits requests and replies acyclically. The requests and replies are transmitted by the Acyclic Data Exchange mechanism. For detailed instructions on how to access parameters via service data objects, refer to the documentation provided by the EtherCAT master controller manufacturer. - Page 30 Operating Guide | iC7-Automation EtherCAT Parameter Access Figure 9: Live Parameters in MyDrive® Insight A list of all available parameters in the drive is generated. In the upper right corner, select the 3 dots and Edit columns. | Danfoss A/S © 2024.07...
- Page 31 Operating Guide | iC7-Automation EtherCAT Parameter Access Figure 10: Editing Columns in MyDrive® Insight In the Choose Column dialog, select Number, and click OK. Danfoss A/S © 2024.07 AQ481922104455en-000101 / 136R0350 |...
- Page 32 Operating Guide | iC7-Automation EtherCAT Parameter Access Figure 11: Adding Columns in MyDrive® Insight The NUMBER column is added to the parameter overview. | Danfoss A/S © 2024.07 AQ481922104455en-000101 / 136R0350...
- Page 33 Operating Guide | iC7-Automation EtherCAT Parameter Access Figure 12: Parameter Overview The parameter overview includes the NUMBER column with the parameter numbers that are used to address parameters from EtherCAT. For example, index 1.1.3 L1-L2 Line Voltage (RMS) has the corresponding parameter number 9048. To address this parameter, it must be converted to a hexadecimal number first.
- Page 34 Operating Guide | iC7-Automation EtherCAT Troubleshooting Troubleshooting Fieldbus Indicator LEDs The fieldbus indicator LEDs are in the top right corner of the control panel. 1420 Speed WARN READY FAULT WARN READY FAULT Figure 14: Fieldbus Indicator LEDs on Control Panel...
- Page 35 Operating Guide | iC7-Automation EtherCAT Troubleshooting Table 19: Fieldbus Indicator LED Functions (continued) LED label Color Status LED pattern Description Green X0 link activity No link Link OK, no data Blinking Link OK, data communica- tion Orange X0 link speed...
- Page 36 Operating Guide | iC7-Automation EtherCAT Troubleshooting | Danfoss A/S © 2024.07 AQ481922104455en-000101 / 136R0350...
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- Page 38 Danfoss reserves the right to alter its products without notice. This also applies to products ordered but not delivered provided that such alterations can be made without changes to form, fit or function of the product. All trademarks in this material are property of Danfoss A/S or Danfoss group companies.
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