Danfoss VLT CANopen MCA 105, Programming Manual

Page 1: ...MAKING MODERN LIVING POSSIBLE Programming Guide VLT CANopen MCA 105 VLT AutomationDrive FC 301 302 vlt drives danfoss com...

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Page 3: ...PDO Communication 14 4 1 1 PDO Configuration 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 Profile...

Page 4: ...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...

Page 5: ...ularly 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...

Page 6: ...ue actual output MRV Main reference value MSB Most significant bit NMT Network management N A Not applicable OD Object directory PCD Process data PDO Process data object PLC Programmable logic control...

Page 7: ...d 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...

Page 8: ...ctrical 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 i...

Page 9: ...n 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...

Page 10: ...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...

Page 11: ...refer to chapter 8 Troubleshooting Bit 0 1 alarm word 1 has an active alarm parameter 16 90 Bit 1 1 alarm word 2 has an active alarm parameter 16 91 Bit 2 0 Reserved Bit 3 1 warning word 1 has an acti...

Page 12: ...entries 3 Reserved 4 Save edit set up Danfoss specific Table 3 9 Saving OD Entries Restoring OD entries To restore factory defaults use OD index 1011h To restore default parameters the value 64616F6C...

Page 13: ...ation on a Moeller XC CPU201 PLC Illustration 3 5 Setting up the Baud Rate and Node ID on the CanMaster CANopen Scanner 130BA936 10 Illustration 3 6 Appending a CANopen Node from EDS File Library by R...

Page 14: ...tbeat and so on on Node Illustration 3 8 Configuring Receive and Transmit PDO mapping Here PDO 1402 with Parameter 3 12 Catch up slow Down Value and Parameter 4 11 Motor Speed Low Limit RPM Configurat...

Page 15: ...2 Control Word Source Parameter 8 10 Control Word Profile Select between the Danfoss FC Profile and the DSP 402 profile for CANopen Refer to chapter 4 Control Parameter 8 01 Control Site and parameter...

Page 16: ...status word STW reference REF and Main Actual Value MAV are fixed in PDO type 1 3 PDO type 4 is free configurable All receive and transmit PDOs can be configured via the OD Map process data into recei...

Page 17: ...apping PDO 3 COB ID 401h 47Fh 0 Number of entries 1 1st mapped object 60400010h control word fixed parameter 10 50 Process Data Config Write 0 2 2nd mapped object 60420010h target velocity fixed param...

Page 18: ...ad 1 1A02h 3rd transmit PDO mapping PDO 3 COB ID 381h 3FFh 0 Number of entries 1 1st mapped object 60410010h status word fixed parameter 10 51 Process Data Config Read 0 2 2nd mapped object 60440010h...

Page 19: ...is is the expiration of the specified transmission period synchronised by the reception of the SYNC object For acyclically transmitted synchronous PDOs and asynchronous PDO s the triggering of a messa...

Page 20: ...rd Profile it is possible to select Option Function 5 CANopen DSP 0 FC Profile is the default control profile for VLT frequency converters whereas 5 CANopen DSP 402 is the CiA standardised control pro...

Page 21: ...9 Operation enable Switch on disable 0001 0000 0240 The power section is switched off immediately and the motor is free to rotate if unbraked 10 Switched on Switched on disable 0001 0000 0240 The powe...

Page 22: ...04 0 executes transition 7 or 11 Quick stop Bit 04 1 Enables ramp Bit 05 Freeze output frequency run enable Bit 05 0 means that the given output frequency is maintained even if the reference is change...

Page 23: ...0 means that control word bit 02 1 Bit 05 1 means that control word bit 02 0 Bit 06 Start enable start disable Bit 06 0 state is not switch on disable Bit 06 1 state is switch on enable Bit 07 No warn...

Page 24: ...ter to immediately release the motor the output transistors are shut off so that it coasts to a standstill Bit 03 1 enables the frequency converter to start the motor if the other starting conditions...

Page 25: ...40 Function Relay Bit 13 14 Selection of set up Bits 13 and 14 are used to select from the four menu set ups according to Table 4 10 Set up Bit 14 Bit 13 1 0 0 2 0 1 3 1 0 4 1 1 Table 4 10 Selection...

Page 26: ...matches the preset speed reference Bit 09 Local operation bus control Bit 09 0 means that STOP RESET is pressed on the control unit or that local control in parameter 3 13 Reference Site is selected...

Page 27: ...5 Motor Nominal Speed Parameter 3 02 Minimum Reference Parameter 3 03 Maximum Reference All references provided to the frequency converter are added to the total reference value If a reference is to b...

Page 28: ...equency converter parameter CANopen OD index 1 2001h 2 2002h 0 10 200Ah 0 11 200Bh 1 00 2064h 1 01 2065h 10 00 23E8h 10 01 23E9h Table 5 1 Example of Converting of Frequency Converter Parameters Acces...

Page 29: ...2 consecutive telegrams If this time is exceeded it indicates 8 03 Control Word Timeout Time Range Function that the telegram communication has stopped The function selected in parameter 8 04 Control...

Page 30: ...is Trigger Option Function This parameter enables and controls the frequency converter diagnosis function and permits expansion of the diagnosis data to 24 byte NOTICE This is only valid for Profibus...

Page 31: ...tatus The bit indicates the status of terminal 19 0 indicates that the terminal is low 1 indicates that the terminal is high 12 T27 DI status The bit indicates the status of terminal 27 0 indicates th...

Page 32: ...42 Set digital out E high is executed The input goes low whenever the smart logic action 36 Set digital out E low is executed 85 SL Digital Output F See parameter 13 52 SL Controller Action The input...

Page 33: ...oss alarm 10007 DC overvoltage alarm 10008 DC undervoltage alarm 10009 Inverter overload alarm 10010 ETR overtemperature alarm 10011 Thermistor overtemp alarm 8 17 Configurable Alarm and Warningword T...

Page 34: ...the fieldbus NOTICE When parameter 1 10 Motor Construction is set to 1 PM non salient SPM only selection 0 Digital input is available 0 Digital input Activates start command via a digital input 1 Bus...

Page 35: ...ort or fieldbus option 10 00 CAN Protocol Option Function NOTICE The options depend on installed option 0 CANopen 1 DeviceNet View the active CAN protocol 10 01 Baud Rate Select Select the fieldbus tr...

Page 36: ...rmal 16 38 SL Controller State 16 39 Control Card Temp 16 50 External Reference 16 51 Pulse Reference 16 52 Feedback Unit 16 53 Digi Pot Reference 16 60 Digital Input 16 61 Terminal 53 Switch Setting...

Page 37: ...50 Coasting Select Logic OR 3 0 3 Unsigned 8 8 51 Quick Stop Select Logic OR 3 0 3 Unsigned 8 8 52 DC Brake Select Logic OR 3 0 3 Unsigned 8 8 53 Start Select Logic OR 3 0 3 Unsigned 8 8 54 Reversing...

Page 38: ...reading to parameters Conversion index Conversion factor 100 1 67 1 60 6 1000000 5 100000 4 10000 3 1000 2 100 1 10 0 1 1 0 1 2 0 01 3 0 001 4 0 0001 5 0 00001 6 0 00001 Table 6 4 Conversion Index Pa...

Page 39: ...nly 1400 1st Receive PDO description PDO communi cation parameter Read write 1401 2nd Receive PDO description PDO communi cation parameter Read write 1402 3rd Receive PDO description PDO communi catio...

Page 40: ...er 8 07 Diagnosis Trigger also disables the display of values in this object Sub index Meaning 0 Number of stored errors 1 Current error 2 Last error Table 7 5 1003h Predefined Error Field Byte 3 Byte...

Page 41: ...tore Data Values 7 1 13 1011h Restore Default Parameters Use this object to set the frequency converter to factory default by writing the value load 0x64616F6C to subindexes The parameters is set to d...

Page 42: ...overtemperature 00000010 Control word timeout 00000020 Overcurrent 00000040 Torque limit 00000080 Motor thermistor overtemperature 00000100 Motor ETR overtemperature 00000200 Inverter overloaded 0000...

Page 43: ...rake check 00000002 Power card overtemperature 00000004 Ground fault 00000008 Control card overtemperature 00000010 Control word timeout 00000020 Overcurrent 00000040 Torque limit 00000080 Motor therm...

Page 44: ...d 00001000 Reserved 00002000 Reserved 00004000 Reserved 00008000 Reserved 00010000 Reserved 00020000 KTY error 00040000 Fans warning 00080000 ECB error 00100000 Reserved 00200000 Reserved 00400000 Res...

Page 45: ...r has reached exceeded warning level Error control event Double flash Node guard event has occurred Sync error Triple flash Sync message has not been received within configured timeout object 0x1006 B...

Page 46: ...ror block mode only 0504 0005h Out of memory 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object...

Page 47: ...310 Excess frequency converter temperature 5110 Low voltage power supply 5112 24 V power supply 5210 Measurement circuit 6100 Internal software fault 7110 Brake chopper 8100 Communication 8110 CAN ove...

Page 48: ...ency object 9 Error control 8 Event driven 17 H High voltage 5 L Leakage current 5 LED panel 43 LED status 43 Load sharing 5 O Object model 7 OD entries 10 P Parameter list 35 PDO configuration 15 Pro...

Page 49: ...Index Programming Guide MG92G102 Danfoss A S 06 2015 All rights reserved 47...

Page 50: ...ucts already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed All trademarks in this material are property of the resp...