Danfoss VLT CANopen MCA 105 Betriebsanleitung

MAKING MODERN LIVING POSSIBLE

Programming Guide

VLT®CANopen MCA 105

VLT®AutomationDrive FC 301/302

vlt-drives.danfoss.com

Contents

1 Introduction 3

1.1 Purpose of the Manual 3

1.2 Additional Resources 3

1.3 Document and Software Version 3

1.4 Product Overview 3

1.5 Approvals and Certications 4

1.6 Symbols, Abbreviations, and Conventions 4

2 Safety 5

2.1 Safety Symbols 5

2.2 Qualied Personnel 5

2.3 Safety Precautions 5

3 Conguration 7

3.1 Congure the CANopen Network 7

3.2 Congure the Master 10

3.3 Congure the Frequency Converter 13

4 Control 14

4.1 PDO Communication 14

4.1.1 PDO Conguration 15

4.1.2 PDO Mapping Syntax 17

4.1.3 PDO Transmission Modes 17

4.1.4 PDO Triggering Modes 17

4.1.5 Inhibit Time 17

4.1.6 Event Timer 17

4.2 Control Prole 18

4.3 DSP 402 Control Prole 20

4.4 Danfoss FC control prole 22

4.4.1 Control Word according to FC Prole

(parameter 8-10 = FC prole) 22

4.4.2 Status Word according to FC Prole

(parameter 8-10 = FC prole) 23

4.5 Reference Handling 25

5 Parameter Access 26

5.1 Danfoss Specic Objects (2000h-5FFFh) 26

6 Parameters 27

6.1 Parameter List 35

7 Object Directory 37

Contents Programming Guide

7.1 Communication Prole Area (1000h-1FFFh) 37

7.1.1 Communication Object Overview 37

7.1.2 1000h Device Type 38

7.1.3 1001h Error Register 38

7.1.4 1002h Manufacturer Status Register 38

7.1.5 1003h Predened Error Field 38

7.1.6 1005h COB-ID Sync Message Object 38

7.1.7 1008h Manufacturer Device Name 38

7.1.8 1009h Manufacturer Hardware Version 38

7.1.9 100Ah Manufacturer Software Version 39

7.1.10 100Ch Guard Time 39

7.1.11 100Dh Life Time Factor 39

7.1.12 1010h Store Parameters 39

7.1.13 1011h Restore Default Parameters 39

7.1.14 1014h COB ID Emergency Object 39

7.1.15 1017h Producer Heartbeat Time 39

7.1.16 1018h Identity Object 39

8 Troubleshooting 40

8.1 Warnings and Alarms 40

8.2 Troubleshooting 43

Index 46

Contents VLT®CANopen MCA 105

1 Introduction

1.1 Purpose of the Manual

The VLT

CANopen MCA 105 Programming Guide provides

information about conguring the system, controlling the

frequency converter, parameter access, programming, as

well as troubleshooting.

The programming guide is intended for use by qualied

personnel who are familiar with the VLT®frequency

converter, with CANopen technology, and with the PC or

PLC that is used as a master in the system.

Read the instructions before programming and follow the

procedures in this manual.

VLT®is a registered trademark.

1.2 Additional Resources

Resources available for the frequency converters and

optional equipment:

•The VLT

AutomationDrive FC 301/FC 302

Operating Instructions provide the necessary

information for getting the frequency converter

up and running.

•The VLT

AutomationDrive FC 301/FC 302 Design

Guide provides detailed information about

capabilities and functionality to design motor

control systems.

•The VLT

AutomationDrive FC 301/FC 302

Programming Guide provides greater detail on

working with parameters and many application

examples.

•The VLT

CANopen MCA 105 Installation Guide

provides information about installing the

CANopen and troubleshooting.

•The VLT

CANopen MCA 105 Programming Guide

provides information about conguring the

system, controlling the frequency converter,

parameter access, programming, troubleshooting,

as well as some typical application examples.

Supplementary publications and manuals are available

from Danfoss. See vlt-drives.danfoss.com/Support/Technical-

Documentation/ for listings.

1.3 Document and Software Version

This manual is regularly reviewed and updated. All

suggestions for improvement are welcome. Table 1.1 shows

the document version and the corresponding software

version.

Edition Remarks Software version

MG92G1xx – –

Table 1.1 Document and Software Version

1.4 Product Overview

This programming guide relates to the CANopen interface.

Ordering number:

•130B1103 (uncoated)

•130B1205 (coated)

CANopen is a low-level network that standardises

communications between industrial devices (sensors, limit

switches, motor controls) and high-level devices

(controllers). CANopen follows the open systems intercon-

nection (OSI) model and is based on CAN technology for

media access control and physical signalling.

Congure CANopen systems to operate in a master-slave

or a distributed control architecture using peer-to-peer

communication. Up to 127 nodes in a multi-drop network

topology are supported. By using the same cable for

communication, the bus can power the communication

options directly. Nodes can be removed or inserted

without powering down the network.

Each node on the network has its own unique communi-

cation object identier (COB-ID) to distinguish it on the

network. The access control is based on the CSMA/CA

(carrier sense multiple access/collision avoidance) principle,

meaning that all nodes may have access to the network at

the same time. When 2 nodes attempt to get control of

the network bus simultaneously, the CAN protocol resolves

the issue by arbitration. In this way, collisions on the

network are avoided.

CANopen denes device proles for devices belonging to

specic classes. For other devices, dene a custom class to

make it CANopen compatible. All of the above enhances

the interchangeability and interoperability of the network.

Introduction Programming Guide

Illustration 1.1 Topology

VLT®CANopen MCA 105 is designed to communicate with

any master abiding by the DeviceNet standard. And it is

intended for use with:

•VLT®AutomationDrive FC 301.

•VLT®AutomationDrive FC 302.

1.5 Approvals and Certications

More approvals and certications are available. For more

information, contact a Danfoss local partner.

1.6 Symbols, Abbreviations, and

Conventions

Abbreviation Denition

CAN Controller area network

CiA CAN in automation

COB Communication object

COB-ID Communication object identier

CTW Control word

EDS Electronic data sheet

EMC Electromagnetic compatibility

EMCY Emergency message

I/O Input/output

LCP Local control panel

LED Light emitting diode

LSB Least signicant bit

MAV Main actual value (actual output)

MRV Main reference value

MSB Most signicant bit

NMT Network management

N/A Not applicable

OD Object directory

PCD Process data

PDO Process data object

PLC Programmable logic controller

PNU Parameter number

REC Receive error counter

RPDO Receive process data object

RPM Revolutions per minute; unit for the speed of a

revolving motor

RTR Remote transmission request frame

RX Receive data

STW Status word

SDO Service data object

SYNC Object for synchronisation of process data

TEC Transmit error counter

TPDO Transmit process data object

TX Transmit data

Table 1.2 Symbols and Abbreviations

Conventions

Numbered lists indicate procedures.

Bullet lists indicate other information and description of

illustrations.

Italicised text indicates:

•Cross-reference.

•Link.

•Parameter name.

•Footnote.

•Parameter group.

•Parameter option.

•Alarms/warnings.

Introduction VLT®CANopen MCA 105

2 Safety

2.1 Safety Symbols

The following symbols are used in this manual:

WARNING

Indicates a potentially hazardous situation that could

result in death or serious injury.

CAUTION

Indicates a potentially hazardous situation that could

result in minor or moderate injury. It can also be used to

alert against unsafe practices.

NOTICE

Indicates important information, including situations that

can result in damage to equipment or property.

2.2 Qualied Personnel

Correct and reliable transport, storage, installation,

operation, and maintenance are required for the trouble-

free and safe operation of the frequency converter. Only

qualied personnel are allowed to install and operate this

equipment.

Qualied personnel are dened as trained sta, who are

authorised to install, commission, and maintain equipment,

systems, and circuits in accordance with pertinent laws and

regulations. Additionally, the qualied personnel must be

familiar with the instructions and safety measures

described in these operating instructions.

2.3 Safety Precautions

WARNING

HIGH VOLTAGE

Frequency converters contain high voltage when

connected to AC mains input, DC supply, or load sharing.

Failure to perform installation, start-up, and maintenance

by qualied personnel can result in death or serious

injury.

•Only qualied personnel must perform instal-

lation, start-up, and maintenance.

WARNING

UNINTENDED START

When the frequency converter is connected to AC mains,

DC supply, or load sharing, the motor may start at any

time. Unintended start during programming, service, or

repair work can result in death, serious injury, or

property damage. The motor can start with an external

switch, a eldbus command, an input reference signal

from the LCP or LOP, via remote operation using MCT 10

Set-up Software, or after a cleared fault condition.

To prevent unintended motor start:

•Disconnect the frequency converter from the

mains.

•Press [O/Reset] on the LCP before

programming parameters.

•Completely wire and assemble the frequency

converter, motor, and any driven equipment

before connecting the frequency converter to

AC mains, DC supply, or load sharing.

WARNING

DISCHARGE TIME

The frequency converter contains DC-link capacitors that

can remain charged even when the frequency converter

is not powered. Failure to wait the specied time after

power has been removed before performing service or

repair work, can result in death or serious injury.

•Stop the motor.

•Disconnect the AC mains and remote DC-link

supplies, including battery back-ups, UPS, and

DC-link connections to other frequency

converters.

•Disconnect or lock the PM motor.

•Wait for the capacitors to discharge fully before

performing any service or repair work. The

duration of waiting time is specied in the

relevant frequency converter operating

instructions, Chapter 2 Safety.

WARNING

LEAKAGE CURRENT HAZARD

Leakage currents exceed 3.5 mA. Failure to ground the

frequency converter properly can result in death or

serious injury.

•Ensure the correct grounding of the equipment

by a certied electrical installer.

Safety Programming Guide

WARNING

EQUIPMENT HAZARD

Contact with rotating shafts and electrical equipment

can result in death or serious injury.

•Ensure that only trained and qualied personnel

perform installation, start-up, and maintenance.

•Ensure that electrical work conforms to national

and local electrical codes.

•Follow the procedures in this manual.

CAUTION

INTERNAL FAILURE HAZARD

An internal failure in the frequency converter can result

in serious injury, when the frequency converter is not

properly closed.

•Ensure that all safety covers are in place and

securely fastened before applying power.

Safety VLT®CANopen MCA 105

3Conguration

3.1 Congure the CANopen Network

3.1.1 Object Model

Illustration 3.1 Functional Principle of CANopen Nodes

All information accessible via the CAN-bus is stored in the

object directory (OD).

The contents of the OD are organised in Table 3.1.

Object directory

index range

Object type

0000h Not used

0001h–025Fh Data types

0260h–0FFFh Reserved

1000h–1FFFh Communication object area

2000h–5FFFh Manufacturer-specic area

6000h–9FFFh Standardised device prole area

A000h–FFFFh Reserved

Table 3.1 Contents of the OD

For a complete overview of the supported objects in the

OD, refer to chapter 7 Object Directory.

3.1.2 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).

PDOs represent real-time process data with high priority.

PDOs are only available if the node is in operational state.

SDOs represent non-time-critical data and are used to

congure the frequency converter. SDOs are only available

if node is in both operational and pre-operational state.

NMT functions monitor the network stability and include

synchronisation, detection of faults, and emergency

message transmission.

COB-Identiers (ID)

Each communication object has a unique identity (COB-ID)

comprising the function code and the node ID (node

address), see Illustration 3.2.

Illustration 3.2 COB-ID

Conguration Programming Guide

Object Function

code

(binary)

Resulting COB-ID Communi-

cation

parameter in

NMT 0000 0 –

SYNC 0001 125 (1005h)

Time stamp 0010 256 –

EMERGENCY 0001 129 (81h)–255

(FFh)

1014h

PDO1 (tx) 0011 385 (181h)–511

(1FFh)

1800h

PDO1 (rx) 0100 513 (201h)–

639(27Fh)

1400h

PDO2 (tx) 0101 641 (281h)–

767(2FFh)

1801h

PDO2 (rx) 0110 769 (301h)–895

(37Fh)

1401h

PDO3 (tx) 0111 897 (381h)–1023

(3FFh)

1802h

PDO3 (rx) 1000 1025 (401h)–1151

(47Fh)

1402h

PDO4 (tx) 1001 1153 (481h)–1279

(4FFh)

1803h

PDO4 (rx) 1010 1281 (501h)–1407

(57Fh)

1403h

SDO (tx) 1011 1409 (581h)–1535

(5FFh)

1200h – ...

SDO (rx) 1100 1537 (601h)–1663

(67Fh)

1200h – ...

NMT error control

(Nodeguarding)

1110 1793 (701h)–1919

(77Fh)

1016h, 1017h

(100Eh)

Table 3.2 Communication Object

Transmit and receive is always seen from the node’s point

of view:

•RX = Nodes receiving data (Controller -> node)

•TX = Nodes transmitting data (node -> controller)

Example:

•COB-ID 383 = PDO3 transmit, from node address

•COB-ID 185 = PDO1 transmit, from node address

•COB-ID 604 = SDO receive, to node address 4.

3.1.3 Controlling the Network

In each CANopen node, a state machine controls the

dierent states of the node.

After power-up, the node transmits a boot-up message

with the COB-ID: 700h + Node ID, and goes from initiali-

sation to pre-operational state.

In this state, SDO communication is possible, but not PDO

communication.

The node must have a start network-command from an

NMT-master to enter the operational state.

In operational state, both SDO and PDO communication

are possible.

The NMT-state of the node is displayed with the green NS

LED:

•Flashing = Pre-operational.

•Solid on = Operational.

•Single ash = Stopped.

A reset node or reset communication-command from the

NMT-master makes the node jump to initialisation state

and directly on to pre-operational state.

Illustration 3.3 Controlling the Network

3.1.4 Error Control

CANopen oers 2 ways of error-control: Node guarding

and Heartbeat.

In node guarding, the NMT-master sends a remote-frame

(RTR) cyclically: 700 + node ID.

The node replies with its actual status.

The node (frequency converter) monitors the reception of

the RTR-frames, and thereby monitors the presence of the

NMT-master.

Congure the monitoring of the NMT-master via:

•OD: 100C Guard time in [ms].

•OD: 100D Life time factor.

If Guard Time x Life Time Factor has expired, the action

programmed in the parameter 8-04 Control Word Timeout

Function is executed.

Conguration VLT®CANopen MCA 105

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