Danfoss MCA 124, Operating Instructions Manual

Page 1: ...MAKING MODERN LIVING POSSIBLE Operating Instructions MCA 124 EtherCAT ...

Page 2: ...EMC Precautions 10 4 How to Configure 11 4 1 1 IP Settings 11 4 1 2 EtherNet Link Parameters 11 4 2 Configure the Frequency Converter 11 4 2 1 VLT Parameters 11 4 3 Configure the EtherCAT Network 12 4 3 1 1 Setting the EtherCAT Station Alias using the Hardware Switches 12 5 Configure the Master 13 5 1 Import 13 5 1 1 Importing the XML File 13 5 2 Setting Up 13 5 2 1 Setting up the Master 13 6 How ...

Page 3: ...t 36 8 3 4 12 5 EtherCAT 38 8 4 EtherCAT specific Parameter List 40 9 Application Examples 42 9 1 Example Process Data with PDO 23 42 9 2 Example Simple Control Word Reference Status Word and Main Actual Val ue 44 10 Troubleshooting 45 10 1 1 LED Status 45 10 1 2 No Communication with the Frequency Converter 45 10 1 3 Warning 34 Appears even though Communication is Established 46 10 1 4 Frequency ...

Page 4: ...change its contents without prior notice or any obligation to notify previous users of such revisions or changes It has been assumed that all devices are sitting behind a firewall that does packet filtering and the environment has implemented restrictions on the software that can run inside the firewall All nodes are assumed to be trusted nodes 1 1 2 Safety Note WARNING HIGH VOLTAGE The voltage of...

Page 5: ...s a master to communicate to slave in a interval down to 30 microseconds The size of the network is almost unlimited since up to 65535 devices can be connected These factors do make EtherCAT to one of the fastest Ethernet based protocols in the marked The topology in EtherCAT can be made as line tree or as star This gives the user the flexibility to route the cabling in the most optimal way On the...

Page 6: ...ope of this manual and not the responsi bility of Danfoss For information regarding commissioning tools or communication to a non Danfoss node consult the appropriate manuals 2 1 5 Available Literature Available Literature for FC 301 FC 302 The VLT AutomationDrive Operating Instructions provide the necessary information for getting the frequency converter up and running The VLT AutomationDrive Des...

Page 7: ...ocess Data Object LCP Local Control Panel LED Light Emitting Diode LSB Least Significant Bit MAV Main Actual Value actual output MSB Most Significant Bit MRV Main Reference Value Reference N A Not applicable PC Personal Computer PCD Process Control Data PLC Programmable Logic Controller PNU Parameter Number REF Reference MRV SDO Service Data Object STW Status Word Table 2 1 Introduction MCA 124 Et...

Page 8: ...ame for the FC 300 into place 6 Replace the LCP and attach cable NOTE Do not strip and ground the Ethernet cable via the strain relief plate The grounding of screened Ethernet cable is done through the RJ 45 connector on the option NOTE After installing the MCA 124 EtherCAT option set 8 01 Control Site and 8 02 Control Word Source as follows 8 01 Control Site 2 Control word only or 0 Digital and c...

Page 9: ...s The three LEDs are each linked to its unique part of the EtherCAT option LED Label Description Status Module Status reflects the activity on the EtherCAT slave Link Act In Link status In reflects the activity on the IN port Link Act Out Link status In reflects the activity on the OUT port Table 3 2 Illustration 3 3 Overview of the Option Power OFF or State INIT Initialisation Bootstrap PRE OP St...

Page 10: ...herCAT device to the last port as this causes malfunction of the complete EtherCAT network 130BC178 10 Illustration 3 4 Line Topology NOTE In a line topology all frequency converters must be powered either by mains or by their 24 V DC option cards for the built in EtherCAT slave controller to work Mounting frequency converters of different power sizes in a line topology can result in unwanted powe...

Page 11: ...example regarding protective earth connection The Ethernet communication cable must be kept away from motor and brake resistor cables to avoid coupling of high frequency noise between the cables Normally a distance of 200 mm 8 inches is sufficient but maintaining the greatest possible distance between the cables is recommended especially where cables run in parallel over long distances When crossi...

Page 12: ...sent None is displayed 12 14 Link Duplex displays sets the duplex mode for each port Half duplex provides communication in both directions but only in one direction at a time not simultaneously Full duplex allows for simultaneous communication in both directions 4 2 Configure the Frequency Converter 4 2 1 VLT Parameters Pay particular attention to the following parameters when configuring the freq...

Page 13: ...7 6 5 4 3 2 1 Address value 128 64 32 16 8 4 2 1 Address 5 OFF OFF OFF OFF OFF ON OFF ON Address 35 OFF OFF ON OFF OFF OFF ON ON Address 82 OFF ON OFF ON OFF OFF ON OFF Address 147 ON OFF OFF ON OFF OFF ON ON Table 4 1 Address Range NOTE Switch off the power supply before changing the hardware switches The address change will come into effect at the next power up and can be read in 12 50 Configure...

Page 14: ...nager This will update the Device Description library of TwinCAT If an older version of the XML file is installed this has to be erased If the older versions are not erased it can lead to wrong identification of the Drive on the EtherCAT network The XML file contains three entrys FC 300 FC 301 and FC 302 The FC 300 is the the entry for older EtherCAT drive version 1 02 Where the EtherCAT version 2...

Page 15: ...button in the right window 130BC195 12 Illustration 5 4 In the following example the status word is linked to the variable STW 130BC196 11 Illustration 5 5 The status word is now linked to the variable STW in the PLC Remaining variables must be mapped equally to the variables in the PLC 130BC197 11 Illustration 5 6 After a successfully integrating the frequency converter to the TwinCAT system the ...

Page 16: ...tion from Init to Pre Op No manual setting of PPO types in the frequency converter is required Selection 1 Standard telegram 1 is equivalent to PDO 23 Receive PDOs PLC Drive Transmit PDOs Drive PLC PCD 9 write PDO 23 PCD 0 CTW PCD 1 REF PCD 9 read PCD 0 STW PCD 1 MAV PDO 23 130BC177 10 Illustration 6 1 6 2 Process Data Use the process data part of the PDO for controlling and monitoring the frequen...

Page 17: ...om Table 6 3 MRV MAV Integer in hex Integer in decimal 100 4000 16 384 75 3000 12 288 50 2000 8 192 25 1000 4 096 0 0 0 25 F000 4 096 50 E000 8 192 75 D000 12 288 100 C000 16 384 Table 6 3 Reference and MAV Formats NOTE Negative numbers are formed as a complement of two NOTE The data type for MRV and MAV is 16 bit standardised value which can express a range from 200 to 200 8001 to 7FFF 1 00 Confi...

Page 18: ...d e g by parameter 8 10 or object 6060 and the according process data shall be configured The easy way to change the process data is to set the frequency converter in the desired control profile and then the press the Load PDO info from device button on the Process data tab in TwinCAT This ensures that the objects for process data is matching the profile In case of mismatch between the selected co...

Page 19: ...it no Slave master 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 130BA273 10 Illustration 6 5 Bit Bit value 0 Bit value 1 00 Not ready to switch ON Ready to switch ON 01 Switched OFF Switched ON 02 Operation disabled Operation enabled 03 No malfunction Malfunction 04 Voltage disabled Voltage enabled 05 Quick stop Run 06 Switch on disable Switch on enable 07 No warning Warning 08 Reserved 09 Remote disable...

Page 20: ... 10 1 the present motor speed equals the speed reference set Bit 11 Speed limit not active speed limit active Bit 11 0 the output frequency is out of the range set in parameters 4 11 4 12 Motor Speed low Limit RPM Hz or parameters 4 13 4 14 Motor Speed high Limit RPM Hz Bit 11 1 the output frequency is within the mentioned range Bit 12 DSP 402 reserved Bit 13 DSP 402 reserved Bit 14 Running Not ru...

Page 21: ...Illustration 6 6 DSP 402 State Machine How to Control the Frequenc MCA 124 EtherCAT Operating Instruction 20 MG92A302 VLT is a registered Danfoss trademark 6 6 ...

Page 22: ...If the motor is not braked and the power section is switched off immediately the motor is free to rotate 10 Switched On Switched On Disable 0001 0000 0240 If the motor is not braked and the power section is switched off immediately the motor is free to rotate 11 Operation Enabled Quick Stop Active 0002 0207 Motor ramps to 0 RPM with programmed quick ramp parameter 11 Operation Enabled Quick Stop A...

Page 23: ... 02 1 leads to ramping Bit 03 Coasting Bit 03 0 causes the frequency converter to immediately coast the motor to a standstill Bit 03 1 enables the frequency converter to start the motor if the other starting conditions have been fulfilled NOTE In 8 50 Coasting Select a selection is made to define how Bit 03 gates with the corresponding function on a digital input Bit 04 Quick stop Bit 04 0 causes ...

Page 24: ...rol word bit 12 has been chosen in 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 Table 6 11 The function is only possible when Multi Set ups is selected in 0 10 Active Set up Set up Bit 14 Bit 13 1 0 0 2 0 1 3 1 0 4 1 1 Table 6 11 NOTE In 8 55 Set up Select a selection is made to define how Bit 13 14 gates with the corre...

Page 25: ... preset speed reference Bit 09 Local operation bus control Bit 09 0 Stop Reset is activated on the control unit or that Local control in 3 13 Reference Site is selected It is not possible to control the frequency converter via serial communication Bit 09 1 it is possible to control the frequency converter via the fieldbus serial communication Bit 10 Out of frequency limit Bit 10 0 the output frequ...

Page 26: ...AY Virtual IP address info UNSIGNED8 rw 1616 ARRAY Receive PDO parameter UNSIGNED32 rw 1A16 ARRAY Transmit PDO parameter UNSIGNED32 rw 1C00 RECORD Sync manager type UNSIGNED8 ro 1C12 RECORD RxPDO assign UNSIGNED16 rw 1C13 RECORD TxPDO assign UNSIGNED16 rw 2000 5FFF Vendor specific area See 7 3 1 2000h 5FFFh Danfoss Specific Object Area 6040 VAR Control word UNSIGNED16 rw 6041 VAR Status word UNSIG...

Page 27: ...s the display of values in this object that is they stay at 0 Index Meaning 1003h 0 Number of stored errors 1003h 1 Current error Table 7 5 1003h Predefined Error Field The current error consist of two 16 bit word where the most significant word holds the information if a warning or alarm is set Bit0 1 Alarmword 1 has an active Alarm 16 90 Alarm Word Bit1 1 Alarmword 2 has an active Alarm 16 91 Al...

Page 28: ...ameters Table 7 9 1011h Restore Default Parameters Writing the value load 0x64616F6C stores all frequency converter parameters of all set ups into non volatile memory all other values are rejected and errors code 0x08000020 is returned The frequency converter has to be power cycled before the changes get active These objects execute an initialisation command in 14 22 Operation Mode 7 2 11 1018h Id...

Page 29: ...contains the list of all TxPDOs Index Sub Index Meaning 1C00h 0 Number of entries 1C00h 1 RxPDO configurable Table 7 15 1C13h TxPDO Assignment 7 3 2000 5FFF Danfoss Specific Object Area 7 3 1 2000h 5FFFh Danfoss Specific Object Area The area 2000h to 5FFFh holds the indexes for accessing the Danfoss FC parameters All parameters in the frequency converter are linked to indexes in this area The firs...

Page 30: ...tains the Status word in accordance to DS 402 The status word consists of 16 bit The 16 bits shows the state and status of the frequency converter for example running ramping on speed The Status word is described in 6 4 DS 402 Control Profile 7 4 4 6042h vl_target_velocity The vl_target_velocity is the required velocity of the system The velocity is in RPM the value is scaled by the vl dimension f...

Page 31: ...ble if MCO305 is mounted 1 FC Profile 2 DS 402 profile Table 7 21 6060h Modes of Operation 7 4 12 6061h Modes of Operation Display This index is used to display which mode the frequency converter is in The mode can be changed via index 6060 The values are the same as used for index 6060 Index 6061h Value Meaning 1 Default display operation Table 7 22 6061h Modes of Operation Display 7 4 13 6502h S...

Page 32: ...V Power supply 5210 Measurement circuit 6100 Internal software fault 7110 Brake chopper 8100 Communication 8302 Torque limiting Table 7 25 Byte 0 and 1 0 No errors 1 Error active Table 7 26 Byte 2 Bit0 1 Alarmword 1 has an active Alarm 16 90 Alarm Word Bit1 1 Alarmword 2 has an active Alarm 16 91 Alarm Word 2 Bit2 0 Reserved Bit3 1 Warningword 1 has an active Warning P 16 92 Bit4 1 Warningword 2 h...

Page 33: ...l via serial bus fieldbus or standard using the most recent control word 8 04 Control Word Timeout Function Select the time out function The time out function activates when the control word fails to be updated within the time period specified in 8 03 Control Word Timeout Time Option Function 1 Freeze output Freezes output frequency until communi cation resumes 2 Stop Stops with auto restart when ...

Page 34: ... Disable 8 07 Diagnosis Trigger This parameter enables and controls the frequency converter diagnosis Emergency function In Profibus it expands the diagnosis data to 24 byte In EtherCAT it activates the transmission of the Emergency object The Emergency object consists of 8 byte of data where byte 3 indicates an active alarm or warning Bit 0 1 Alarmword 1 has an active Alarm Bit 1 1 Alarmword 2 ha...

Page 35: ...igurable Status Word STW Option Function 70 Logic Rule 0 See parameter group 13 4 If Logic Rule 0 is evaluated as TRUE the output goes high Otherwise it is low 71 Logic Rule 1 See parameter group 13 4 If Logic Rule 1 is evaluated as TRUE the output goes high Otherwise it is low 72 Logic Rule 2 See parameter group 13 4 If Logic Rule 2 is evaluated as TRUE the output goes high Otherwise it is low 73...

Page 36: ... the DC brake via the terminals digital input and or via the fieldbus NOTE Only selection 0 Digital input is available when 1 10 Motor Construction is set to 1 PM non salient SPM 0 Digital input Activates Start command via a digital input 1 Bus Activates Start command via the serial communication port or fieldbus option 2 Logic AND Activates Start command via the fieldbus serial communication port...

Page 37: ... Configure the IP address of the option Read only if 12 00 IP Address Assignment set to DHCP or BOOTP 12 02 Subnet Mask Range Function 0 0 4244635647 Configure the IP subnet mask of the option Read only if 12 00 IP Address Assignment set to DHCP or BOOTP 12 03 Default Gateway Range Function 0 0 2147483647 Configure the IP default gateway of the option Read only if 12 00 IP Address Assignment set t...

Page 38: ...ps 2 100 Mbps 12 14 Link Duplex Option Function Forces the duplex for each port to Full or Half duplex If 12 12 Auto Negotiation is set to ON this parameter is read only 0 Half Duplex 1 Full Duplex 8 3 3 12 2 Process Data 12 20 Control Instance Range Function None 20 21 100 101 103 Read only Displays the connection to the master In Ethernet IP If no CIP connection is present None is displayed In E...

Page 39: ...interface Bit 0 7 contains info from ESC register 0x0130 AL Status Bit 8 15 is reserved for future use Bit 16 27 contains info from ESC register 0x0110 and 0x0111 DL status Bit 28 31 is reserved for future use Bit 0 1 Meaning 0 Init State EtherCAT Statemachine state 12 59 EtherCAT Status Range Function Bit 0 1 Meaning 1 Pre OP EtherCAT Statemachine state 2 Safe OP EtherCAT Statemachine state 3 Ope...

Page 40: ...iagnostic Option Function Enables disables advanced Cable diagnosis function If enabled the distance to cable errors can be read out in 12 93 Cable Error Length The parameter resumes to the default setting of Disable after the diagnostics have finished 0 Disabled 1 Enabled NOTE The cable diagnostics function is only issued on ports where there is no link see 12 10 Link Status Link Status 12 91 Aut...

Page 41: ... Unsigned 32 12 02 Subnet Mask 0 0 0 0 Unsigned 32 12 03 Default Gateway 0 0 0 0 Unsigned 32 12 04 DHCP Server 0 0 0 0 Unsigned 32 12 05 Lease Expires 0 Unsigned 32 12 06 Name Servers 0 0 0 0 Unsigned 32 12 07 Domain Name String 12 08 Host Name String 12 09 Physical Address 00 1B 08 00 00 00 Visible string 17 12 10 Link Status 0 No Link 0 1 Unsigned 8 12 11 Link Duration 00 00 00 00 Time diff w da...

Page 42: ...d 16 12 98 Interface Counters 0 0 65535 Unsigned 16 12 99 Media Counters 0 0 65535 Unsigned 16 16 84 Comm Option STW 0 0 FFFF 0 V2 16 90 Alarm Word 0 0 FFFF 0 Uint32 16 92 Warning Word 0 0 FFFF 0 Uint32 Table 8 2 Refer to the relevant Operating Instructions for a comprehensive parameter list Parameters MCA 124 EtherCAT Operating Instruction MG92A302 VLT is a registered Danfoss trademark 41 8 8 ...

Page 43: ...s set up to monitor the state of an external sensor via the process signal digital input The sensor is connected to digital input 18 An external device is also controlled via control word bit 11 and the built in relay of the frequency converter Reversing is permitted only when the reversing bit 15 in the control word and the digital input 19 are set to high For safety reasons the frequency convert...

Page 44: ...tart Select 1 Bus 8 54 Reversing Select 2 Logic AND 8 55 Set up Select 1 Bus 8 56 Preset Reference Select 1 Bus 12 21 Process Data Config Write 0 Sub index 16 80 Fieldbus CTW 1 1 Sub index 16 85 FC Port CTW 1 12 22 Process Data Config Read 0 Sub index 16 03 Status Word 1 Sub index 16 05 Main Actual Value 2 Sub index 16 16 Torque Nm 3 Sub indes 16 60 Digital Input 12 23 Process Data Config Write Si...

Page 45: ...le Table 9 3 indicates the bits contained within the control word and how they are presented as process data in Standard Telegram 1 for this example Table 9 4 indicates which bit functions and which corresponding bit values are active for this example Bit Bit value 0 Bit value 1 Bit value 00 Reference value External selection lsb 0 C 01 Reference value External selection msb 0 02 DC brake Ramp 1 0...

Page 46: ... Does the hardware configuration match Check that the Station Alias in the master matches the value in 12 50 Configured Station Alias Check 3 Is the correct XML file installed Download the correct XML file from http www danfoss com BusinessAreas DrivesSolutions EtherCAT EtherCAT files htm Check that the process data matches the active profile in the drive Check 4 What is the value of parameter 12 ...

Page 47: ...d the terminals control the Coast and DC Brake functions NOTE Coasting Quick Stop and DC brake functions are active for logic 0 Terminal Bit 02 03 04 Function 0 0 Coast DC brake Q Stop 0 1 Coast DC brake Q Stop 1 0 No Coast DC brake Q Stop 1 1 No Coast DC brake Q Stop Table 10 4 0 Digital input If 1 Serial communication is selected commands are activated only when given via serial communication Te...

Page 48: ...trol mode upon the function of 8 55 Set up Select and 8 56 Preset Reference Select If 0 Digital input is selected the terminals control the set up and preset reference functions Terminal Bit 00 01 13 14 Function Msb Lsb Msb Lsb Preset ref Set up no 0 0 0 0 1 0 0 0 1 1 0 0 1 0 1 0 0 1 1 1 0 1 0 0 2 0 1 0 1 2 0 1 1 0 2 0 1 1 1 2 1 0 0 0 3 1 0 0 1 3 1 0 1 0 3 1 0 1 1 3 1 1 0 0 4 1 1 0 1 4 1 1 1 0 4 1...

Page 49: ... Alarm word 16 90 Alarm Word Alarm no 00000001 48 Brake check 28 00000002 49 Power card over temperature 29 00000004 50 Earth fault 14 00000008 51 Control card over temperature 65 00000010 52 Control word timeout 18 00000020 53 Over current 13 00000040 54 Torque limit 12 00000080 55 Motor thermistor over temp 11 00000100 40 Motor ETR over temperature 10 00000200 41 Inverter overloaded 9 00000400 4...

Page 50: ...e 10 17 Bit Hex Unit diagnose bit PROFIBUS warning word 9 53 Profibus Warning Word 00000001 160 Connection with DP master is not ok 00000002 161 Unused 00000004 162 FDL Fieldbus Data link Layer is not ok 00000008 163 Clear data command received 00000010 164 Actual value is not updated 00000020 165 Baudrate search 00000040 166 PROFIBUS ASIC is not transmitting 00000080 167 Initialising of PROFIBUS ...

Page 51: ...represents warnings within the frequency converter Bit status 0 FALSE means no warning while bit status 1 TRUE means warning Any bit change in the warning word is notified by a change of bit 7 in the status word Alarms Following an alarm message the frequency converter enters fault condition When the fault has been removed and the controller has acknowledged the alarm message by setting bit 7 in t...

Page 52: ...the automatic reset function in 14 20 Reset Mode Warning automatic wake up is possible If a warning or alarm ismarked against a code in Table 11 1 this means that either a warning occurs before an alarm or that it is possible to specify whether it is a warning or an alarm that is displayed for a given fault This is possible for instance in 1 90 Motor Thermal Protection After an alarm or trip the m...

Page 53: ... Digital Output On X30 6 X 5 32 Term X30 6 Digi Out MCB 101 42 Overload of Digital Output On X30 7 X 5 33 Term X30 7 Digi Out MCB 101 46 Pwr card supply X X 47 24 V supply low X X X 48 1 8 V supply low X X 49 Speed limit X 50 AMA calibration failed X 51 AMA check Unom and Inom X 52 AMA low Inom X 53 AMA motor too big X 54 AMA motor too small X 55 AMA parameter out of range X 56 AMA interrupted by ...

Page 54: ...art X 14 23 Typecode Setting 251 New Type Code X X Table 11 1 Alarm Warning Code List X Dependent on parameter 1 Cannot be Auto reset via 14 20 Reset Mode A trip is the action when an alarm has appeared The trip coasts the motor and can be reset by pressing Reset or by making a reset by a 1 digital input Parameter group 5 1 The event that caused an alarm cannot damage the frequency converter or ca...

Page 55: ...Live Zero Error AC Brake 17 00020000 131072 Internal Fault KTY error 10V Low KTY Warn Password Timelock 18 00040000 262144 Brake Overload Fans error Brake Overload Fans Warn Password Protection 19 00080000 524288 U phase Loss ECB error Brake Resistor ECB Warn 20 00100000 1048576 V phase Loss Brake IGBT 21 00200000 2097152 W phase Loss Speed Limit 22 00400000 4194304 Fieldbus Fault Fieldbus Fault U...

Page 56: ...Influence Of The Digital Input Terminals Upon FC Control Mode 17 Installation 3 5 7 IP Settings 11 IP21 Type 1 5 L LED LED 6 Status 45 Literature 5 N Network 5 10 36 7 No Communication With The Frequency Converter 45 O Overview 8 P Parameters 4 11 PDO Communication 15 Process Control Data 15 Control Operation 16 Data 15 Status Data 15 Profibus 5 R Reference Reference 6 Handling 16 S Safety 3 T Top...

Page 57: ...www danfoss com drives MG92A302 130R0273 MG92A302 Rev 2012 06 27 ...