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Operating Instructions

1. 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 Warning yellow 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 cause dangerous conditions A trip Table 11 2 LED indication lock is an action when an alarm occurs that can damage the frequency converter or connected parts A Trip Lock situation can only be reset by a power cycling Trip locked yellow and red MG92A202 VLT is a registered Danfoss trademark 51 Warnings and Alarms eat MCA 124 EtherCAT Operating Instruction Bit Hex Dec Alarm Word Alarm Word 2 Warning Word Warning Extended Word 2 Status Word 0 00000001 1 Brake Check ServiceTrip Brake Check Ramping pee ee le ET TI 1 00000002 2 Pwr Card Temp _ ServiceTrip Pwr Card Temp AMA Running reserved 2 00000004 4 Earth Fault ServiceTrip Earth Fault Start CW CCW Typecode Sparepart 3 00000008 Ctrl Card Temp ServiceTrip Ctrl Card Temp Slow Down et eee 4 00000010 16 Ctrl Word TO ServiceTrip Ctrl Word TO Catch Up ect RE a Eet eg 7 00000080 128 Motor Th Over Motor Th Over Output Current rE 20 Jemen 1048576 v phase tors foer IL 21 Jee 2007152 W phase oss spedi
2. Index Sub Index Meaning Data Type 1111h 0 UNSIGNED8 1111h 1 UNSIGNED32 1111h 2 UNSIGNED32 1111h 3 UNSIGNED32 1111h 4 DNS Server UNSIGNED32 Table 7 12 1111h Virtual IP Address Info For the DNS Name the maximum string length is 97 characters where the DNS Name consist of the host name an and the DNS name separated by a 7 2 15 1C00h Sync Manager Type This object contains a list of all configured sync mangers and their types Index Sub Index Meaning 1C00h 0 Number of entries 1C00h 1 Sync Manager Type Channel 1 Mailbox Write 1C00h 2 Sync Manager Type Channel 2 Mailbox Read 1C00h 3 Sync Manager Type Channel 3 Process Data Write Outputs 1C00h 4 Sync Manager Type Channel 4 Process Data Read Inputs MCA 124 EtherCAT Operating Instruction Index Sub Index 1C00h 0 1C00h 1 Meaning Number of entries Table 7 13 1C00h Sync Manager Type 7 2 16 1C12h RxPDO Assignment Sync manager 2 is used for process output data Multiple RxPDOs can be mapped to this sync manager Object 1C12h contains the list of all RxPDOs Index Sub Index Meaning 1C00h 1 RxPDO configurable Table 7 14 1C12h RxPDO Assignment 7 2 17 1C13h TxPDO Assignment Sync manager 3 is used for process input data Multiple RxPDOs can be mapped to this sync manager Object 1C13h contains the list of all TxPDOs RxPDO configurable Table 7 15 1C13h TxPDO Assig
3. eat MCA 124 EtherCAT Operating Instruction conditions return to normal without interfering with the process Warnings A single bit within a warning word represents warnings within the frequency converter Bit status 0 FALSE means no warning while bit status 7 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 the control word the frequency converter resumes operation A single bit within an alarm word represents alarms within the frequency converter Bit status 0 FALSE means no fault while bit status 7 TRUE means fault 48 MG92A202 VLT is a registered Danfoss trademark Warnings and Alarms 11 Warnings and Alarms 11 1 Status Messages 11 1 1 Warnings Alarm Messages The LEDs on the LCP signals a warning or an alarm A code in the display is also shown A warning remains active until its cause is no longer present Under certain circumstances operation of the motor can still be continued Warning messages are not necessarily critical An alarm makes the frequency converter trip Alarms must be reset to restart operation once their cause has been rectified Three ways of resetting alarms e By pressing Reset e Via a digital input with the
4. en Communication Profile Area MCA 124 EtherCAT Operating Instruction 7 2 2 1000h Device Type The current error consist of two 16 bit word where the most significant word holds the information if a warning or This object describes the type of device and its alarm is set functionality It is composed of a 16 bit field describing the device profile used and a second 16 bit field providing Bi 1 Alarmword 1 has an active Alarm 16 90 Alarm Word additional information about optional functionality of the Bit1 1 Alarmword 2 has an active Alarm 16 91 Alarm Word device 2 Bit2 0 Reserved Additional Information Device Profile Number Bit3 1 Warningword 1 has an active Warning P 16 92 ore Bits Bit4 1 Warningword 2 has an active Warning P 16 93 Table 7 6 Table 7 2 1000h Device Type The least significant word reflects the following possible 7 2 3 1001h Error Register SES This object is the error register of the device Only bit 0 is Code hex _ Meaning supported The other information of errors is read with 0 No fault object 603Fh 1000 General fault 2130 Short circuit Bit Meaning 2213 Overcurr during startup 2310 Continuous overcurrent Table 7 3 1001h Error Register 2311 Current inside the device no 1 3100 Mains voltage 7 2 4 1002h Manufacturer Status Register 3130 Phase failure 3210 Overvoltage inside the device
5. has an active warning Bits 5 7 reserved Option Function selected in 8 05 End of Timeout Function Enabling diagnosis can cause increased Option Function bus traffic Not all fieldbus types support Do not reset Retains the set up specified in 8 04 Control Word Timeout Function following a control Diagnosis functions ofo OOS 1 Trigger on ee BS 2 Trigger alarm al o 8 08 Readout Filtering If the speed feedback value readouts on fieldbus are fluctuating word time out Do reset Returns the frequency converter to the original set up following a control word time out The frequency converter performs the reset and then immediately reverts to the 0 Do not reset setting 8 07 Diagnosis Trigger this function is used Select filtered if the function is required A This parameter enables and controls the frequency converter power cycle is required for changes to take effect 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 Option Function consists of 8 byte of data where byte 3 indicates an active alarm Motor Data Std Select 0 for normal bus Filt readouts 1 Motor Data LP Select 7 for filtered bus readouts of the following or warning Bit 0 1 Alarmword 1 has an active Alarm Bit 1 1 Alarmword 2 has an active Alarm Bit 2 reserved
6. The area 6000h to 9FFFh holds the indexes specified by the ETG ETherCAT user Group for various device profiles The Danfoss EtherCAT does support three profiles FC Profile MCO and the DS 402 profile velocity mode The profile is selected via 8 10 Control Word Profile Control Word Profile or via Index 6060h Modes of operation The MG92A202 VLT is a registered Danfoss trademark 27 Communication Profile Area profile area has up to 13 indexes depending on the selection made in 8 10 Control Word Profile Denpi MCA 124 EtherCAT Operating Instruction Table 7 17 shows the support of indexes depending on setting of 8 10 Control Word Profile Index 6060h Profile 8 10 Control Word Profile FC 8 10 Control Word 8 10 Control Word Profile DS Profile MCO 402 ee ed a Table 7 17 6000h 9FFFh Standardised Device Profile Area 7 4 2 6040h Control Word This object contains the control word in accordance with DS 402 The control word consists of 16 bit these 16 bit are used for controlling the frequency converter for example start stop reset The control word is described in 6 4 DS 402 Control Profile 7 4 3 6041h Status Word This object contains 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
7. 1048h 0 Number of sub index supported 1048h 1 Delta speed Table 7 18 6048h vi_velocity_acceleration 7 4 9 6049h vl_velocity_deceleration The vi velocity_deceleration index specifies the slope of the deceleration ramp It is generated as the quotient of the delta_speed and delta_time The Delta time is stored in 3 42 Ramp 1 Ramp Down Time and the Delta speed is stored locally in the options non volatile memory After a 28 MG92A202 VLT is a registered Danfoss trademark Communication Profile Area power down the delta speed will be generate from the frequency converter 1 25 Motor Nominal Speed This can give a different readout from the frequency converter but the slope value is maintained Index Sub Index Meaning 1049h 0 Number of sub index supported 1049h 1 Delta speed Table 7 19 6049h vi_velocity_deceleration 7 4 10 604Ch vl_dimension_factor The vi_dimension_factor configures the numerator and denominator of the factor The vl_dimension_factor serves to include gearing in calculation or serves to scale specific units of the user It influences the vl_target_velocity vi_velocity_indexes Index Sub Index Meaning 104Ch 0 Number of sub index supported Table 7 20 604Ch vi_dimension_factor 7 4 11 6060h Modes of Operation This index is used for selection the DanfossFC profile MCO profile or the DS 402 profile The index links directly to 8 10 Control Word Profile If t
8. Bit 3 1 Filter parameters 16 10 Power kW 16 11 Power hp 16 12 Motor Voltage 16 14 Motor Current 16 16 Torque Nm 16 17 Speed RPM 16 22 Torque 16 25 Torque Nm High Warningword 1 has an active warning Bit 4 1 Warningword 2 has an active warning Bits 5 7 reserved Option Function NOTE The following is only valid for Profibus and EtherCAT 0 Disable Do not send extended diagnosis emergency data even if they appear in the 8 10 Control Word Profile 32 frequency converter 1 Trigger on alarms Send extended diagnosis emergency data when one or more alarms appear in alarm 16 90 Alarm Word or 9 53 Profibus Warning Word 2 Trigger alarms warn Send extended diagnosis emergency data if one or more alarms or warnings appear in alarm 16 90 Alarm Word 9 53 Profibus Warning Word or warning 16 92 Warning Word Select the interpretation of the control and status words corresponding to the installed fieldbus Only the selections valid for the fieldbus installed in slot A are visible in the LCP display If the parameter is changed while the frequency converter is in operation mode the frequency converter goes to error state and the control of the frequency converter is lost FC Profile CANopen DSP 402 Option Function MG92A202 VLT is a registered Danfoss trademark Parameters MCA 124 EtherCAT Operating Instruction Dafoe 8 13 Configurable Status Wor
9. Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 EMCY code Vendor specific information See Reserv Reserv Reserv below ed ed ed Table 7 23 Communication Object Overview Object 1003h sub index 1 Reserv ed MG92A202 VLT is a registered Danfoss trademark 29 Communication Profile Area MCA 124 EtherCAT Operating Instruction Code hex Meaning 0 No fault 1000 General fault 2130 Short Circuit 2213 Overcurr during startup 2240 Short to earth 2310 Continuous overcurrent 2311 Current inside the device No 1 3100 Mains voltage 3130 Phase failure 3210 Overvoltage inside the device 3220 Undervoltage inside the device 3300 Output voltage 4210 Exceed device temperature 4310 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 8302 Torque limiting Table 7 24 Byte 0 and 1 0 No errors Table 7 25 Byte 2 Bito 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 has an active Warning P 16 93 Bit5 15 0 Reserved Table 7 26 Byte 3 Reserved Table 7 27 Byte 4 to byte 7 30 MG92A202 VLT is a registe
10. MCA 124 EtherCAT Operating Instruction 7 2 11 1018h Identity Object This object contains general information about the device The Vendor ID sub index 1h contains a unique value allocated to each manufacturer The manufacturer specific Product code sub index 2h identifies a specific device version The manufacturer specific Revision number sub index 3h consists of a major revision number and a minor revision number 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 Table 7 10 1018h Identity Object 7 2 12 1100h EtherCAT Address This object contains the EtherCAT address of the device assigned by the master 7 2 13 1110h Virtual MAC Address This object contains the virtual MAC address for the EoE communication Index Sub Index Meaning 1110h 0 Number sub index supported 1110h 1 Byte 0 of MAC address LSB 1110h 2 Byte 1 of MAC address 1110h 3 Byte 2 of MAC address 1110h 4 Byte 3 of MAC address 1110h 5 Byte 4 of MAC address 1110h 6 Byte 5 of MAC address MSB Table 7 11 1110h Virtual MAC Address 26 MG92A202 VLT is a registered Danfoss trademark Communication Profile Area 7 2 14 1111h Virtual IP Address Info This object contains the virtual IP Info objects about Ip addresses gateways DNS etc
11. Reset function e Via serial communication optional fieldbus NOTE After a manual reset pressing Reset the Auto On key must be pressed to restart the motor If an alarm cannot be reset the reason could be that its cause has not been rectified or the alarm is trip locked see also Table 11 1 11 1 2 Alarm List MCA 124 EtherCAT Operating Instruction Alarms that are trip locked offer additional protection meaning that the mains supply must be switched off before the alarm can be reset After being switched back on the frequency converter is no longer blocked and can be reset as described once the cause has been rectified Alarms that are not trip locked can also be reset using 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 motor carries on coasting and the alarm and warning flash Once the problem has been rectified only the alarm continues flashing until the frequency converter is reset 9 Inverter overloaded X 10 Motor ETR over temperature X 11 Motor thermistor over temperature X E E id 13 fovere xd a fenta 15 Rerdvare geg
12. 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 converter stops the motor if the EtherCAT cable is broken the master has a system failure or the PLC is in stop mode Recieve PDO s PLC Drive 12 H a PCD 0 PCD 1 18e _ _ Sensor g cw REF ue S 1304 Transmit PDO s Drive PLC ae Revers PCDO PCD 1 PCD 2 PCD3 sTw MAV Torque Nm Digital Inputs Relay l t Device 230Vac Illustration 9 1 40 MG92A202 VLT is a registered Danfoss trademark Application Examples MCA 124 EtherCAT Operating Instruction Program the frequency converter as follows Parameter 4 10 Motor Speed Direction 5 10 Terminal 18 Digital Input 5 11 Terminal 19 Digital Input 5 40 Function Relay Setting 2 Both directions 0 No operation 10 Reversing 36 37 Control word bit 11 12 8 03 Control Word Timeout Time 8 04 Control Word Timeout Function 8 10 Control Word Profile 8 50 Coasting Select 8 51 Quick Stop Select 8 52 DC Brake Select 8 53 Start Select 8 54 Reversing Select 8 55 Set up Select 8 56 Preset Reference Select 12 21 Process Data Config Write 12 22 Process Data Config Read 12 23 Process Data Config Write Size 12 24 Process Data Config Read Size Table 9 2 1s 2 Stop 0
13. 23 00800000 8388608 24 V Supply Low 24V Supply Low Unused 30 40000000 1073741824 Safe Stop A68 PTC 1 Safe Stop Safe Stop W68 PTC 1 Safe Unused poe eee ee 31 80000000 2147483648 Mech brake low Dangerous Extended Status Word Unused Table 11 3 Description of Alarm Word Warning Word and Extended Status Word The alarm words warning words and extended status words can be read out via serial bus or optional fieldb for diagnose See also 16 94 Ext Status Word 52 us MG92A202 VLT is a registered Danfoss trademark Index Index A Abbrevtatlong aseene Eeer ERC 6 Alarm MOSS AGES E 49 WO BE 46 ASSUIMPCIOMS asierea aa ai 5 B Background kKnowledge EENEG 5 C Cl D Configuration Control e 16 Word According To FC Profile CTWIL EE 21 D Ree AT EE 5 D vi c Ne EE 5 E EMC Precautionsssssissscssssssssssssoseissssosnsssacsiioscptiesessiassesessessonndnseesosessessies 10 Eer AT eebe 5 ERR GPO vscccccvscsccsssicsseteasceccscasssseecsarviasssasussessasieceseesiees 10 11 35 36 37 F Frequency Converter Does Not Respond To Control Signals 44 H Hardware ue Ee 3 5 l Oren a R NE AON G A EEAO RNE 6 Influence Of The Digital Input Terminals Upon FC Control Mode 16 red VE 3 5 7 ln E 11 UP21 T ye linaingia E 5 L LED LED EEEE EE T 6 SEATS Ee 43 BCC 5 MCA 124 EtherCAT Operating Instruction N Network 5 10 35 7 No Communication With The Fre
14. FC Profile 1 Bus 1 Bus 1 Bus 1 Bus 2 Logic AND 1 Bus 1 Bus 0 Sub index 16 80 Fieldbus CTW 1 1 Sub index 16 85 FC Port CTW 1 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 0 Sub index 16 1 Sub index 16 0 Sub index 16 1 Sub index 16 2 Sub index 16 3 Sub index 16 MG92A202 VLT is a registered Danfoss trademark 41 Denpi Application Examples MCA 124 EtherCAT Operating Instruction 9 2 Example Simple Control Word Reference Status Word and Main Actual Value This example shows how the control word telegram relates example to demonstrate the full range of modules All the to the controller and the frequency converter using FC values shown are arbitrary and are provided for Control Profile demonstration purposes only The control word telegram is sent from the PLC to the frequency converter Standard Telegram 1 is used in the PQW 256 258 260 262 cw Bit no 31 30 29 28 27 26 25 24 23 22 21 2019s isis fiai ofs 7z 6 sT4fls T2fi ofofofofofifofofofitififitifofofofof ifofofofofofofeofofofofo o 0 Po e ya T e T a T o y o E Table 9 3 Standard Telegram 1 Example Table 9 3 indicates the bits contained within the control Table 9 4 indicates which bit functions and which word and how th
15. How to Control the Frequency Converter 6 1 PDO Communication The DS402 profile for frequency converters specifies a number of communication objects SDOs SDOs are suitable for data exchange between a process controller for example a PLC and frequency converters Some SDOs are defined for cyclic data transfer so that process data PCD can be transferred from the controller to the slave and vice versa PDOs are used for cyclic data a subset of the SDOs are PDO mappable PDO 23 is pure process data objects for applications requiring no cyclic parameter access The PLC sends out process control data and the frequency converter then responds with a transmit PDO containing process status data In the Danfoss EtherCAT interface all PDOs are free selectable The first two words of the process data area PCD 0 and PCD1 are set to a default value at factory but can be changed Select the signals for transmission from the master to the frequency converter in 12 21 Process Data Config Write request from master to the frequency converter Select the signals for transmission from the frequency converter to the master in response FC gt master The EtherCAT option has only one PDO available PDO 23 The PDO 23 is flexible in size so that it can be adjusted to fit all needs max 10 PCDs The selection is made in the master configuration and is then automatically downloaded to the frequency converter during the transition from Init t
16. MCA 124 EtherCAT Operating Instruction Bit Bit value 0 Bit value 1 01 Disable voltage Enable voltage 03 Enable operation 04 Enable ramp 05 Run enable 08 Reserved 09 Reserved 10 Reserved 12 Reserved 13 Setup select LSB 14 Setup select MSB Table 6 5 Explanation of the Control Bits Bit 00 Switch OFF ON Bits 00 Switch OFF ON Bit OO 0 executes transition 2 6 or 8 Bit 00 1 executes transition 3 Bit 01 Disable Enable Voltage Bit 01 0 executes transition 9 10 or 12 Bit 01 1 enables voltage Bit 02 Quick stop Run Bit 0O2 0 executes transition 7 10 or 11 Bit 02 1 quick stop not active Bit 03 Disable enable Operation Bit 03 0 executes transition 5 Bit 03 1 enables operation Bit 04 Quick stop ramp Bit 04 0 executes transition 7 or 11 Quick stop Bit 04 1 enables ramp Bit 05 Freeze output frequency run enable Bit 05 0 the given output frequency is maintained even if the reference is changed Bit 05 1 the frequency converter is again able to regulate and the given reference is followed Bit 06 Ramp stop start Bit 06 0 the frequency converter controls the motor down to stop Bit 01 1 gives a start command to the frequency converter 16 MG92A202 VLT is a registered Danfoss trademark Denpi How to Control the Frequenc MCA 124 EtherCAT Operating Instruc
17. Speed and 12 12 Auto Negotiation 12 13 Link Speed displays sets the link speed for each port If no link is present 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 MCA 124 EtherCAT Operating Instruction 4 2 Configure the Frequency Converter 4 2 1 VLT Parameters Pay particular attention to the following parameters when configuring the frequency converter with an EtherCAT interface e 0 40 Hand on Key on LCP If the Hand on key on the frequency converter is activated control of the frequency converter via the EtherCAT interface is disabled e After an initial power up the frequency converter automatically detects whether a fieldbus option is installed in slot A and set 8 02 Control Word Source to Option A Adding changing or removing an option from an already commis sioned frequency converter does not change 8 02 Control Word Source However it causes a Trip Mode and the frequency converter displays an error e 8 10 Control Word Profile Choose between the Danfoss FC Profile and the DS 402 profile e 8 50 Coasting Select to 8 56 Preset Reference Select Selection of how to gate EtherCAT control commands with digital input command of the control card NOTE When 8 01 Control Site
18. V Exclude same Image Show Tooltips 130BC196 11 ow Variable Types Matching Type Matching Size All Types Offsets Continuous Show Dialog riable Name Hand over Take over Cancel 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 Danfoss tsm TwinCAT System Manager ES N File Edit Actions View Options Help ron Deo H SV HO ng EEY D SYSTEM Configuration oO BA PLC Configuration Variable Flags Online 9 1 0 Configuration S 1 0 Devices Name 1603 Status Word SH Device 1 EtherCAT Tipe INT amp Device 1 Image a Device 1 Image Info Group Transmit PDO mapping Size a SI Inputs eme 4 o l Outputs Address 027 User ID E InfoData r Linked t STW Inputs Task 1 Additional Task i IL Drive 1 FC 302 VLT Automation Drive z GT Transmit PDO mapping Comment object 0x2643 0 DN Status word OT 1605 Main Actual Value Ta e l Receive PDO mapping E G Westate InfoData g Mappings Illustration 5 6 After a successfully integrating the frequency converter to the TwinCAT system the frequency converter is now ready for operation MG92A202 VLT is a registered Danfoss trademark 13 How to Control the Frequenc MCA 124 EtherCAT Operating Instruction 6
19. X 46 Pwr card supply 47 24 V supply low 48 49 50 AMA calibration failed 51 52 AMA low Inom 53 54 55 AMA parameter out of range 56 AMA interrupted by user gt gt gt Cl Ee EES EES z EK gt gt gt gt gt lt JEJEJE 3 3 re ole gt E q 3 SE D 5 ie e ler A 3 3164 ES ze FJZ SAT ale c SR zb Olio 3 E En Gol SS 3 ion ou 316 S E 2 ES D 3 x x Ka Ka 57 SR 58 59 Current limit 61 Tracking Error X 4 30 Motor Feedback Loss Function 62 Output Frequency at Maximum Limit 63 Mechanical Brake Low 2 20 Release Brake Current 3 64 65 Control Board Over temperature 67 Option Configuration has Changed X op Safe Stop w 5i Terminal 37 Safe Stop x lt o a w Q D Les 3 3 Ka x x Ka Ka 71 PTC 1 Safe Stop vi 5 19 Terminal 37 Safe Stop 72 Dangerous Failure 5 19 Terminal 37 Safe Stop 50 MG92A202 VLT is a registered Danfoss trademark Darfi Warnings and Alarms MCA 124 EtherCAT Operating Instruction No Description Warning Alarm Trip Alarm Trip Lock Parameter Reference 73 Safe Stop Auto Restart 2 77 Reduced power mode X a 14 59 Actual Number of Inverter Units z5 20 orive naized o Bu x ooo C a S e eege O S SSS 25 _ Profbus Pofsafe ror OO Sid SSS 100 See Operating Instructions for MCO 305 199 MG33KYXX 251 New Type Code X X
20. angle of 90 Illustration 3 5 10 MG92A202 VLT is a registered Danfoss trademark How to Configure 4 How to Configure 4 1 1 IP Settings All IP related parameters are located in parameter group 12 0 The parameters are all set to EtherCAT standard values so no setting is needed The EtherCAT option offers several ways of IP address assignment 4 1 2 Ethernet Link Parameters Parameter group 12 1 holds Ethernet Link information 12 10 Link Status 12 11 Link Duration 12 12 Auto Negotiation 12 13 Link Speed 12 14 Link Duplex Each port has unique Ethernet Link Parameters 12 10 Link Status and 12 11 Link Duration displays information on the link status per port 12 10 Link Status displays Link or No Link according to the status of the present port 12 11 Link Duration displays the duration of the link on the present port If the link is broken the counter is reset 12 12 Auto Negotiation is a feature that enables two connected Ethernet devices to choose common transmission parameters such as speed and duplex mode In this process the connected devices first share their capabilities and then choose the fastest transmission mode they both support Incapability between the connected devices could lead to decreased communication performance To prevent this Auto Negotiation can be disabled If 12 12 Auto Negotiation is set to OFF link speed and duplex mode can be configured manually in 12 13 Link
21. stop Bit 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 running Bit 14 0 the motor is not running Bit 14 1 the frequency converter has a valid start signal or that the output frequency is greater than 0 Hz Bit 15 Danfoss reserved 8 10 Control Profile Option Function 0 FC profile 7 CANopen DSP 402 FC Profile is the default control profile for the frequency converter whereas CANopen DSP 402 is the CiA standardized control profile featuring the special DSP 402 transition state machine 18 MG92A202 VLT is a registered Danfoss trademark How to Control the Frequenc MCA 124 EtherCAT Operating Instruction Power Disabled Fault Reaction Active Not ready to Switch On Switch On Disabled STW 02COh Ready to Switch On STW 02B1h Power Enabled Operation enable STW 07B7 Quick stop active 130BA924 10 Illustration 6 6 DSP 402 State Machine MG92A202 VLT is a registered Danfoss trademark 19 How to Control the Frequenc MCA 124 EtherCAT Operating Instru
22. the link speed for each port in 10 Mbps or 100 Mbps If 72 72 Auto Negotiation is set to ON this parameter is read only and displays the actual link speed If no link is present None is displayed None i home SS 21 100 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 Hal Oui CS mfe SSS MCA 124 EtherCAT Operating Instruction 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 EtherCAT If no connection is active None is displayed else it displays the active PDO 12 21 Process Data Config Write Range Function i 0 9 PCD read 0 9 Configuration of readable process data NOTE For configuration of 2 word 32 bit parameter read write use two consecutive arrays in 12 21 Process Data Config Write and 12 22 Process Data Config Read 12 22 Process Data Config Read Range Function i 0 9 PCD read 0 9 Configuration of readable process data 12 23 Process Data Config Write Size Range 16 8 32 Sets the number of bits being sent from the frequency converter as process data The setting Function counts from right LSB The value 1 means that only the leas
23. time out the following configuration is required Set 0 10 Active Set up to 9 Multi set up and select the relevant link in 0 12 This Set up Linked to 8 05 End of Timeout Function Option Function Select the action after receiving a valid control word following a time out This parameter is active only when 8 04 Control Timeout Function is set to 7 Set up 1 8 Set up 2 9 Set up 3 or 10 Set up 4 Hold set up Retains the set up selected in 8 04 Control Timeout Function and displays a warning until MG92A202 VLT is a registered Danfoss trademark 31 eat Parameters MCA 124 EtherCAT Operating Instruction 8 05 End of Timeout Function 8 07 Diagnosis Trigger Function 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 8 06 Reset Control Timeout toggles Then the frequency converter resumes its original set consists of 8 byte of data where byte 3 indicates an active alarm Resume set Resumes the set up active before the time or warning Bit 0 1 Alarmword 1 has an active Alarm Bit 1 1 Alarmword 2 has an active Alarm Bit 2 reserved Bit 3 1 J Warningword 1 has an active warning Bit 4 1 Warningword 2 8 06 Reset Control Word Timeout This parameter is active only when 0 Hold set up has been
24. version 2 xx are handled via the entries FC 301 and FC 302 MCA 124 EtherCAT Operating Instruction 5 2 Setting Up 5 2 1 Setting up the Master Inserting the Danfoss EtherCAT slave to the TwinCAT Master 1 2 Right click and select EtherCAT I O master Select Append Box ce P SYSTEM Configuration BA PLC Configuration 1 0 Configuration BB 1 0 Devices Bas Append Box KN Delete Device EX Online Reset L Online Reload Config Mode only Le Online Delete Config Mode only a Export Device Illustration 5 1 Insert EtherCAT Device Search Type Select Danfoss Power Electronics in the I O Catalogue of the Insert EtherCAT Device window Select VLT FC Series Select FC 300 VLT AutomationDrive Name Drive 1 130BC192 11 ES Beckhoff Automation GmbH D Danfoss Power Electronics RT VLT FC Series foo FC 300 VLT Automation Drive fi FC 301 VLT Automation Drive IG FC 302 VLT Automation Drive Illustration 5 2 Danfoss FC 300 is inserted into the EtherCAT master system 12 MG92A202 VLT is a registered Danfoss trademark 130BC191 11 Configure the Master cH RB SYSTEM Configuration BA PLC Configuration 1 0 Configuration BY 1 0 Devices Device 1 EtherCAT Device 1 Image af Device 1 Image Info E t Inputs H l Outputs H InfoData Zb Drive 1 FC 302 YLT Automation Drive H QT Transmit PDO mapping H l Receive PDO mappin
25. vl_target_velocity The vi_target_velocity is the required velocity of the system The velocity is in RPM the value is scaled by the vl dimension factor 604Ch 7 4 5 6043h vil velochtv demand The vi velochtv demand is the velocity of the system after the ramp controller The velocity is in RPM the value is scaled by the vl dimension factor 604Ch 7 4 6 6044h vl actual value The vl_actual_value is the velocity at the motor shaft The velocity is in RPM and is obtained from 16 17 Speed RPM 6044h VI_velocity_effort 6046h a E EES EE E KKH E KKH EH KKH EH EH EH EH KH EH EH KE KE 7 4 7 6046h vl_velocity_min_max_amount The vi velocity_min_max_amount is the minimum and maximum RPM at the motor shaft The two values are obtained from 3 02 Minimum Reference and 3 03 Maximum Reference The readout values in 3 02 Minimum Reference and 3 03 Maximum Reference will be truncated 7 4 8 6048h vl_velocity_acceleration The vi velocity_acceleration index specifies the slope of the acceleration ramp It is generated as the quotient of the delta_speed and delta_time The Delta time is stored in 3 41 Ramp 1 Ramp up Time and the Delta speed is store locally in the options non volatile memory After a power down the delta speed will be generated from the frequency converter 1 25 Motor Nominal Speed This can give a different readout from the frequency converter but the slope value is maintained Index Sub Index Meaning
26. warning 30 Brake fault IGBT from the frequency converter 40 Out of ref ES REENEN 60 Comparator 0 See parameter group 13 1 If Comparator 0 is evaluated as TRUE the output goes high Otherwise it is low 61 Comparator 1 See parameter group 13 1 If Comparator 1 is evaluated as TRUE the output goes high Otherwise it is low 62 Comparator 2 See parameter group 13 1 If Comparator 2 is evaluated as TRUE the output goes high Otherwise it is low Comparator 3 See parameter group 13 1 If Comparator resistor or the thermistor Output is Logic 1 when the brake IGBT is short circuited Use this function to protect the frequency converter if there is a fault on the brake modules Use the output relay to cut out the main voltage 3 is evaluated as TRUE the output goes high Otherwise it is low Option re eg KE ee SL Digital Output A SL Digital Output B SL Digital Output C SL Digital Output D SL Digital Output E MG92A202 VLT is a registered Danfoss trademark Function See parameter group 13 1 If Comparator 4 is evaluated as TRUE the output goes high Otherwise it is low See parameter group 13 1 If Comparator 5 is evaluated as TRUE the output goes high Otherwise it is low See parameter group 13 4 If Logic Rule 0 is evaluated as TRUE the output goes high Otherwise it is low See parameter group 13 4 If Logic Rule 1 is evaluated as
27. 1 Type 1 Instruction MI33AXYY provides information for installing the IP21 Type 1 option The VLT AutomationDrive 24 V DC Backup Instruction MI33BXYY provides information for installing the 24 V DC Backup option The VLT AutomationDrive CanOpen Operating Instructions MG33JXYY The VLT AutomationDrive Modbus TCP Operating Instructions MG9OPXYY The MCA 121 Ethernet IP Operating Instructions MG90JXYY The MCA 120 PROFINET Operation Instruction MG9OUXYY Danfoss technical literature is also available online at http www danfoss com BusinessAreas DrivesSolutions Introduction MCA 124 EtherCAT Operating Instruction 2 1 6 Abbreviations Abbreviation Definition API Actual Packet Interval cc Control Card CTW Control Word DCP Discovery and Configuration Protocol DHCP Dynamic Host Configuration Protocol Configu ration EMC Electromagnetic Compatibility O nput Output P nternet Protocol PDO Process 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 6 MG92A202 VLT is a registered Danfoss tra
28. MAKING MODERN LIVING POSSIBLE Operating Instructions MCA 124 EtherCAT THE REAL DRIVE Contents MCA 124 EtherCAT Operating Instruction Contents MG92A202 VLT is a registered Danfoss trademark Contents MCA 124 EtherCAT Operating Instruction 6 4 3 DSP 402 State Transitions 20 2 MG92A202 VLT is a registered Danfoss trademark Safety MCA 124 EtherCAT Operating Instruction 1 Safety 1 1 1 Copyright Limitation of Liability and Revision Rights This publication contains information proprietary to Danfoss By accepting and using this manual the user agrees that the information contained herein is used solely for operating equipment from Danfoss or equipment from other vendors if such equipment is intended for communi cation with Danfoss equipment over a serial communication link This publication is protected under the Copyright laws of Denmark and most other countries Danfoss does not guarantee that a software program produced according to the guidelines provided in this manual functions properly in every physical hardware or software environment Although Danfoss has tested and reviewed the documen tation within this manual Danfoss gives no warranty or representation either expressed or implied with respect to this documentation This includes its quality performance or fitness for a particular purpose In no event shall Danfoss be liable for direct indirect special incidental or conseq
29. TRUE the output goes high Otherwise it is low See parameter group 13 4 If Logic Rule 2 is evaluated as TRUE the output goes high Otherwise it is low See parameter group 13 4 If Logic Rule 3 is evaluated as TRUE the output goes high Otherwise it is low See parameter group 13 4 If Logic Rule 4 is evaluated as TRUE the output goes high Otherwise it is low See parameter group 13 4 If Logic Rule 5 is evaluated as TRUE the output goes high Otherwise it is low See 13 52 SL Controller Action The output goes high whenever the Smart Logic Action 38 Set digital out A high is executed The output goes low whenever the Smart Logic Action 32 Set digital out A low is executed See 13 52 SL Controller Action The input goes high whenever the Smart Logic Action 39 Set digital out B high is executed The input goes low whenever the Smart Logic Action 33 Set digital out B low is executed See 73 52 SL Controller Action The input goes high whenever the Smart Logic Action 40 Set digital out C high is executed The input goes low whenever the Smart Logic Action 34 Set digital out C low is executed See 13 52 SL Controller Action The input goes high whenever the Smart Logic Action 41 Set digital out D high is executed The input goes low whenever the Smart Logic Action 35 Set digital out D low is executed See 13 52 SL Controller Action The input goes high whenever the Smart Logic Action 42 Set digita
30. The contents of this object are manufacturer specific and 3220 undervoltage inside the device inform of the state of the frequency converter 3300 Output voltage 4210 Exceed device temperature Value Meaning 4310 Excess frequency converter temperature 1 Init 5110 Low voltage power supply 2 Pre operational 5112 24 V power supply 3 Boot 5210 Measurement circuit 4 Safe operational 6100 Internal software fault 5 Operational 7110 Brake chopper 8100 Communication Table 7 4 1002h Manufacturer Status Register 8302 Torque limiting 7 2 5 1003h Predefined Error Field Table 7 7 Holds the error on the frequency converter Setting index 0 7 2 6 1008h Manufacturer Device Name to 0 erases the field Disabling the diagnosis trigger FC p807 disables the display of values in this object that is This object contains the device name as defined in they stay at 0 15 40 FC Type Index Meaning 7 2 7 1009h Manufacturer Hardware Version Table 7 5 1003h Predefined Error Field This object contains the Danfoss FC hardware version MG92A202 VLT is a registered Danfoss trademark 25 Communication Profile Area 7 2 8 100Ah Manufacturer Software Version This object contains the Danfoss software version as displayed in 15 49 SW ID Control Card 7 2 9 1010h Store Parameters In the standard configuration the contents of parameters written via fieldbus are stored in volatile memory that is the changed data will be lost after a power cycle Th
31. activated Bit 12 1 relay 04 has been activated provided Control 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 Table 6 11 NOTE In 8 55 Set up Select a selection is made to define how Bit 13 14 gates with the corresponding function on the digital inputs Bit 15 Reverse Bit 15 0 no reversing Bit 15 1 reversing eat MCA 124 EtherCAT Operating Instruction 6 5 2 Status Word according to FC Profile STW The status word is used to inform the master for example a PC of the operation mode of the slave frequency converter Refer to for an example of a status word telegram using PPO type 3 Explanation of the Status Bits Bit 00 Control not ready ready Bit 00 0 the frequency converter has tripped Bit 00 1 the frequency converter controls are ready but the power component is not necessarily receiving any power supply in case of external 24 V supply to controls Bit 01 frequency converter ready Bit 01 0 the frequency converter is not ready for operation Bit 01 1 the frequency converter is ready for operation but there is an active coasting command via the digital inputs or via serial communication Bit 02 Coasting stop Bit 02 0 the frequency conv
32. al frequency converter output 4 19 Max Output Frequency sets the final speed limit The reference and the MAV have the format which appears from Table 6 3 Denpi MCA 124 EtherCAT Operating Instruction MRV MAV Integer in hex Integer in decimal 100 16 384 75 12 288 50 8 192 25 4 096 0 0 25 4 096 50 8 192 75 12 288 100 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 Configuration Mode set to 0 Speed open loop 3 00 Reference Range set to 0 Min Max 3 02 Minimum Reference set to 100 RPM 3 03 Maximum Reference set to 3000 RPM MRV MAV Actual Speed 0 100 RPM 25 825 RPM 50 1550 RPM 75 2275 RPM 100 3000 RPM Table 6 4 6 2 4 Process Control Operation In process control operation 1 00 Configuration Mode is set to 3 Process The reference range in 3 00 Reference Range is always 0 Min Max MRV represents the process setpoint MAV expresses the actual process feedback range 200 MG92A202 VLT is a registered Danfoss trademark 15 How to Control the Frequenc 6 2 5 Influence of the Digital Input Terminals upon FC Control Mode The influence of the digital input terminals upon control of the frequency converter can
33. alarms is shown Alarm word warning word and EtherCAT warning word can also be displayed using the serial bus in 16 90 Alarm Word 16 92 Warning Word and 12 59 EtherCAT Status 46 MG92A202 VLT is a registered Danfoss trademark Troubleshooting MCA 124 EtherCAT Operating Instruction Bit Hex Unit Alarm word 76 90 Alarm Alarm no Bit Hex Unit Warning word Alarm no diagnose Word diagnose 16 92 Warning Word bit bit 00000002 49 Power card over 29 00000002 113 Power card over 29 temperature temperature 00000004 Earth fault 14 00000004 114 Earth fault 14 00000008 Control card over 65 00000008 65 00000040 rr it 12 00000080 119 Motor thermistor over 11 00000080 Motor thermistor over 11 eer 00000100 Motor ETR over 10 ae 00400000 BEE 34 00800000 103 24 V supply fault 47 00800000 SE fault 47 01000000 eee 36 40000000 e 68 80000000 95 Warning word 2 ext stat Table 10 16 FC 301 FC 302 Table 10 17 FC 301 FC 302 MG92A202 VLT is a registered Danfoss trademark 47 Troubleshooting Bit Hex Unit PROFIBUS warning word 9 53 Profibus diagnose Warning Word bit 00000001 160 Connection with DP master is not ok 00000002 161 Unused 00000004 162 FDL Fieldbus Data link Layer is not ok 00000008 Clear data command received 00000010 Actual value is no
34. ation If 2 Logic AND is selected both signals must be activated to perform the function Terminal Bit 02 03 04 Function o p oec C a no a Table 10 6 2 Logic AND If 3 Logic OR is selected activation of one signal activates the function Terminal Bit 02 03 04 Function No Coast DC brake Q Stop Table 10 7 3 Logic OR The effect of control mode upon the function of 8 53 Start Select and 8 54 Reversing Select If 0 Digital input is selected the terminals control the start and reversing functions Terminal Bit 06 15 Function Table 10 8 0 Digital input If 1 Serial communication is selected commands are activated only when given via serial communication If 2 Logic AND is selected both signals must be activated to perform the function Terminal Bit 02 03 04 Function o p Bee ooo h ____ Stopvantclockwise ooo p Tomie Il Beateder Table 10 10 2 Logic AND If 3 Logic OR is selected activation of one signal activates the function Terminal Bit 02 03 04 Function Table 10 11 3 Logic OR The effect of control 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 Lob Msb iso Preset ref Set up no o oj oj o o o jo o i i il il AJR ATALWlLWlWwlw
35. be programmed in 8 50 Coasting Select to 8 56 Preset Reference Select NOTE Note the 8 07 Control Site overrules the settings in 8 50 Coasting Select to 8 56 Preset Reference Select and Terminal 37 Coasting Stop safe overrules any parameter Each digital input signal can be programmed to logic AND logic OR or to have no relation to the corresponding bit in the control word This way fieldbus only fieldbus AND Digital Input or Ether Fieldbus OR Digital input terminal can initiate a specific control command that is stop coast ACAUTION To control the frequency converter via EtherCAT set 8 50 Coasting Select to either 1 Bus or to 2 Logic AND Then set 8 07 Control Site to 0 Digital and ctrl word or 2 control word only More detailed information and examples of logical relationship options are provided in 10 Troubleshooting 6 3 Control Profile The frequency converter can be controlled according to the DS402 profile or the Danfoss FC profile Select the desired control profile in 8 70 Control Word Profile The choice of profile affects the control and status word only 6 4 DS 402 Control Profile and 6 5 FC Control Profile provide a detailed description of control and status data 6 4 DS 402 Control Profile 6 4 1 Control Word According to DSP 402 Profile Par 8 10 DSP 402 profile Master slave CTW Speed ref 130BA274 10 Bit no 1514131211109876543210 Illustration 6 4 Darfi
36. ble when 1 10 Motor Construction is set to 1 PM non salient SPM Digital Activates Start command via a digital input input MCA 124 EtherCAT Operating Instruction 8 52 DC Brake Select Option Function 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 AND additionally via one of the digital inputs 3 Logic OR Activates Start command via the fieldbus serial communication port OR via one of the digital inputs 8 53 Start Select Function Select control of the frequency converter start function via the terminals digital input and or via the fieldbus 0 Digital Activates Start command via a digital input flee ee eer 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 AND additionally via one of the digital inputs 3 Logic OR Activates Start command via the fieldbus serial communication port OR via one of the digital inputs 8 54 Reversing Select Option Function Digital Select control of the frequency converter input reverse function via the terminals digital input and or via the fieldbus 1 Bus Activates the Reverse command via the serial communication port or fieldbus option 2 Logic AND Activates the Reverse comman
37. ction 6 4 3 DSP 402 State Transitions Transition 0 MW Rl WIN CO 13 14 15 16 Table 6 8 20 State Control word Status word Action Operation Enabled gt Switched On 0007 0233 Motor ramps to 0 RPM with programmed ramp down parameter Switched On gt Ready to Switch On 0006 0231 Ready to Switch On gt Switch On Disable 0001 0000 0240 Operation Enable gt Ready to Switch On 0006 0231 If the motor is not braked and the power section is switched off immediately the motor is free to rotate Operation Enable gt Switch 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 Switched On gt 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 Operation Enabled gt Quick Stop Active 0002 0207 Motor ramps to 0 RPM with programmed quick ramp parameter Operation Enabled gt Quick Stop Active 0003 0217 Motor ramps to 0 RPM with programmed quick ramp parameter Quick Stop Active gt Switch On Disabled 0001 0000 0240 If the motor is not braked and the power section is switched off immediately the motor is free to rotate All states gt Fault Reaction Active XXXX 023F Fault Reaction Active gt Fault XXXX 023F Fault gt Switch On Disabled 0000 0240 Quick Stop Active gt Operation Enable not S z sup
38. d STW 8 13 Configurable Status Word STW Option Function This parameter enables configuration of TI ee fi fomno Cd 1 Profile Default Function corresponds to the profile TTT E 3 Trip excl Alarm Set in case of a trip except if Alarm 68 ie ee 10 T18 DI status The bit indicates the status of terminal 18 0 indicates that the terminal is low 1 indicates that the terminal is high 11 T19 DI status 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 that the terminal is low 1 indicates that the terminal is high 13 T29 DI status The bit indicates the status of terminal 29 0 indicates that the terminal is low 1 indicates that the terminal is high 14 T32 DI status The bit indicates the status of terminal 32 0 indicates that the terminal is low 1 indicates that the terminal is high 15 T33 DI status The bit indicates the status of terminal 33 0 indicates that the terminal is low 1 indicates that the terminal is high T37 DI status The bit indicates the status of terminal 37 0 indicates T37 is low safe stop 1 indicates T37 is high normal The thermal warning turns on when the temperature exceeds the limit in the motor the frequency converter the brake 21 Thermal
39. d via the fieldbus serial communication port AND additionally via one of the digital inputs 3 Logic OR Activates the Reverse command via the fieldbus serial communication port OR via one of the digital inputs 8 55 Set up Select Option Function Select control of the frequency converter set up selection via the terminals digital input and or via the fieldbus 0 Digital Activates the set up selection via a digital input input 1 Bus Activates the set up selection via the serial communication port or fieldbus option 34 MG92A202 VLT is a registered Danfoss trademark Parameters 8 55 Set up Select Option Function 2 Logic AND Activates the set up selection via the fieldbus serial communication port AND additionally via one of the digital inputs 3 Logic OR Activate the set up selection via the fieldbus serial communication port OR via one of the digital inputs 8 90 Bus Jog 1 Speed Range Function 100 RPM 0 par 4 13 Enter the jog speed Activate this RPM fixed jog speed via the serial port or fieldbus option 8 91 Bus Jog 2 Speed Range Function 200 RPM 0 par 4 13 Enter the jog speed Activate this RPM fixed jog speed via the serial port or fieldbus option 8 3 Parameter Group 12 Ethernet 8 3 1 12 0 IP Settings 12 00 IP Address Assignment Option Function ees te Fea mae 0 MANUAL IP address can be set in 12 01 IP Address IP Address IP add
40. demark How to Install 3 How to Install 3 1 1 How to Install Option in Frequency Converter Items required for installing a fieldbus option in the frequency converter e The fieldbus option e Fieldbus option adaptor frame for the FC 300 This frame is deeper than the standard frame to allow space for the fieldbus option beneath e Strain relief only for A1 and A2 enclosures 130BT797 10 Illustration 3 1 MCA 124 EtherCAT Operating Instruction 130BT798 10 Illustration 3 2 Instructions 1 Remove LCP panel from the FC 300 2 Remove the frame located beneath and discard it 3 Push the option into place The Ethernet connectors must be facing upwards 4 Remove both knock outs on the fieldbus option adaptor frame 5 Push the fieldbus option adaptor frame 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 ctrl word 8 02 Control Word Source 3 Option A 3 1 2 Network It is of high importance that the media chosen for Ethernet data transmission are suitable Usually CAT 5e and 6 cables are recommended for indust
41. e 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 Power OFF or State INIT GE BEE EEE SAFE OP State E m E lcs ERR Init Stat e 5 5 GER ES NN NS Link removed from In port NNSNNEN Table 3 3 Indication of Status LED Power OFF or NO Link Link Active Table 3 4 Link Act LED E Green Red 8 MG92A202 VLT is a registered Danfoss trademark Darfi How to Install MCA 124 EtherCAT Operating Instruction 3 1 5 Topology The EtherCAT module features a built in EtherCAT slave device Take the same precautions to connect the right controller thus having two Ethernet RJ 45 connectors This port OUT port to the IN port of the subsequent device module enables the possibility for connecting several EtherCAT options in a line topology NOTE Do not connect any non EtherCAT device to the last port The two ports are not equal and it is therefore important as this causes malfunction of the complete EtherCAT that the top left port is connected to the IN port of the 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 di
42. e fronce O No Description Warning Alarm Trip Alarm Trip Lock Parameter Reference CC fowmsow o SSS SyS Bitter o SSS S 5 Ke H H DC over voltage X 1 90 Motor Thermal Protection 1 90 Motor Thermal Protection 8 04 Control Word Timeout Function MG92A202 VLT is a registered Danfoss trademark 49 Denpi Warnings and Alarms MCA 124 EtherCAT Operating Instruction No Description Warning Alarm Trip Alarm Trip Lock Parameter Reference 22 Hoist Mech Brake 23 Internal Fan Fault 24 External Fan Fault 14 53 Fan Monitor 25 Brake resistor short circuited 26 Brake resistor power limit X oc 2 13 Brake Power Monitoring 27 Brake chopper short circuited 28 Brake check 29 Heatsink temp 2 15 Brake Check S 30 Motor phase U missing X X 4 58 Missing Motor Phase Function 31 Motor phase V missing X X 4 58 Missing Motor Phase Function 32 Motor phase W missing X X 4 58 Missing Motor Phase Function 33 Inrush Fault 34 Fieldbus communication fault 36 Mains failure 38 Internal Fault 39 Heatsink sensor 40 Overload of Digital Output Terminal 27 X 5 00 Digital I O Mode 5 01 Terminal 27 Mode 5 00 Digital UO Mode 5 02 Terminal 29 Mode 5 32 Term X30 6 Digi Out MCB 101 5 33 Term X30 7 Digi Out MCB 101 41 Overload of Digital Output Terminal 29 42 Overload of Digital Output On X30 6 42 Overload of Digital Output On X30 7
43. en fulfilled NOTE In 8 53 Start Select a selection is made to define how Bit 06 Ramp stop start gates with the corresponding function on a digital input Bit 07 Reset Bit 07 0 does not cause a reset Bit 07 1 causes the reset of a trip Reset is activated on the signals leading edge that is when changing from logic 0 to logic 1 MG92A202 VLT is a registered Danfoss trademark 21 How to Control the Frequenc Bit 08 Jog Bit O8 0 no function Bit O8 1 3 19 Jog Speed RPM determines the output frequency Bit 09 Selection of ramp 1 2 Bit 09 0 ramp 1 is active 3 40 Ramp 1 Type to 3 47 Ramp 1 S ramp Ratio at Decel Start Bit 09 1 ramp 2 3 50 Ramp 2 Type to 3 57 Ramp 2 S ramp Ratio at Decel Start is active Bit 10 Data not valid Data valid Is used to tell the frequency converter whether it should use or ignore the control word Bit 10 0 the control word is ignored Bit 10 1 the control word is used This function is relevant because the control word is always contained in the telegram regardless of which type of telegram is used Thus it is possible to turn off the control word if you do not wish to use it when updating or reading parameters Bit 11 Relay 01 Bit 11 0 relay 01 not activated Bit 11 1 relay 01 activated provided Control word bit 11 has been chosen in 5 40 Function Relay Bit 12 Relay 04 Bit 12 0 relay 04 has not been
44. erter has released the motor Bit 02 1 the frequency converter can start the motor when a start command is given Bit Bit 0 Bit 1 00 Control not ready Control ready 01 Frequency converter Frequency converter ready not ready 02 Coasting Enable 03 No error Trip 04 No error 05 Reserved 06 No error Error no trip Triplock 07 No warning Warning 08 Speed reference Speed reference 09 Local operation Bus control 10 Out of frequency limit Frequency limit ok 11 No operation In operation 12 Frequency converter OK Stopped autostart 13 Voltage OK 14 Torque OK 15 Timer OK Voltage exceeded Torque exceeded Timer exceeded Table 6 12 22 MG92A202 VLT is a registered Danfoss trademark How to Control the Frequenc Bit 03 No error trip Bit 03 0 the frequency converter is not in fault mode Bit 03 1 the frequency converter is tripped and that a reset signal is required to re establish operation Bit 04 No error error no trip Bit 04 0 the frequency converter is not in fault mode Bit 04 1 there is a frequency converter error but no trip Bit 05 Not used Bit 05 is not used in the status word Bit 06 No error triplock Bit 06 0 the frequency converter is not in fault mode Bit 06 1 the frequency converter is tripped and locked Bit 07 No warning warning Bit 07 0 there are no warnings Bit 07 1 a warning has occur
45. ey are presented as process data in corresponding bit values are active for this example Standard Telegram 1 for this example Cal reference value External selecion sb o or reference vae Exeral selection mso o o ems O ose o O Co _Nofunetion ee o Cd a E a EE Data not valid Valid Le le SS a P14 Parametersetup ___Selecionmsb o el _Nofuncton Reverss STS Table 9 4 Bit Functions 42 MG92A202 VLT is a registered Danfoss trademark Troubleshooting MCA 124 EtherCAT Operating Instruction 10 Troubleshooting 10 1 1 LED Status EtherCAT In Port EtherCAT Out Port x CO a a IN OUT Status LED p gt PL status MCA124 Option A Link Activity gt bl Linksactin PhertA 13085546 LEDs Link Act OUT MAC 00 1B 08 00 00 00 H SW ver xx xx TM ver X xx Illustration 10 1 Power OFF or State INIT EE DRRRRRRR SAFE OP State a E a ae ERR Init State lt j 3 S S ES N E Link removed from In port NNSNNEN Table 10 1 Indication of Status LED Power OFF or NO Link one mel eee TTT TTT TTT Table 10 2 Link Act LED Green Red MG92A202 VLT is a registered Danfoss trademark 43 Troubleshooting 10 1 2 No Communication with the Frequency Converter If there is no communication with t
46. fferent power sizes in a line topology can result in unwanted power off behavior while using control word timeout 8 02 Control Word Source to 8 06 Reset Control Word Timeout Mount the frequency converters with the longest discharge time first in the line topology MG92A202 VLT is a registered Danfoss trademark 9 How to Install MCA 124 EtherCAT Operating Instruction 3 1 6 EMC Precautions To achieve interference free operation of the Ethernet observe the following EMC precautions Additional EMC information is available in the VLT AutomationDrive series Design Guide MG33BXYY NOTE The correct handling of the shield of the motor cable is vital for the overall performance of the system If the rules are not followed it can lead to loss of the control and mall function of the system min 200 mm NOTE 130BA908 11 Ethernet Cable Always observe relevant national and local regulations for example regarding protective earth connection 90 crossing 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 crossing is unavoidable the Ethernet cable must cross motor and brake resistor cables at an
47. fore removing motor and mains plugs 2 The off command on the serial bus does not disconnect the equipment from mains and should not be used as a safety switch 3 Correct protective earthing or grounding of the equipment must be established The user must be protected against supply voltage and the motor must be protected against overload in accordance with applicable national and local regulations 4 The earth leakage currents are higher than 3 5 mA 5 Do not remove the plugs for the motor and mains supply while the frequency converter is connected to mains Check that the mains supply has been disconnected and that the necessary time has passed before removing motor and mains plugs 1 1 4 Warning against Unintended Start 1 The motor can be brought to a stop with bus commands while the frequency converter is connected to mains If personal safety consider ations make it necessary to ensure that no unintended start occurs these stop functions are not sufficient 2 While parameters are being changed there is a risk that motor starts 3 A motor that has been stopped can start if faults occur in the electronics of the frequency MG92A202 VLT is a registered Danfoss trademark 3 Safety MCA 124 EtherCAT Operating Instruction converter or if a temporary overload or a fault in the supply mains or the motor connection ceases AWARNING ELECTRICAL HAZARD Touching the electrical parts may be fatal even after t
48. g HQ WeState HQ InfoData 130BC193 11 Illustration 5 3 To function properly each of the four process data must be linked to variables inside the PLC In this example two transmit variables and two receive variables have been inserted in the PLC memory To see a list of matching data 1 Select the variable 2 Click the Linked to button in the right window Danfoss tsm TwinCAT System Manager File Edit Actions Yiew Options Help D gaa S 8 a BBM SYSTEM Configuration BA PLC Configuration S A 1 0 Configuration 130BC195 11 Janay OO ORS Variable Flags Online W I 1 0 Devices Name 1603 Status Word B S Device 1 EtherCAT Type INT af Device 1 Image e Device 1 Image Info Group Transmit PDO mapping o QT Inputs 7 Eae o l Outputs Address 0x27 e EB InfoData e e S Zi Drive 1 FC 302 YLT Automation Drive reis en Q Transmit POO mapping Comment object 25430 oT EG tus Word QT 1605 Main Actual Value H Wl Receive PDO mapping WeState E InfoData ef Mappings Illustration 5 4 In the following example the status word is linked to the variable STW MCA 124 EtherCAT Operating Instruction Attach Variable 1603 Status Word Input D I SYSTEM Configuration 2 Additional Tasks fe Task 1 aSTW gt B WORD 20 OT MAV gt IB 20 WORD 2 0 Show Variables Unused Used and unused Exclude disabled Y Exclude other Devices
49. he equipment has been disconnected from mains 4 MG92A202 VLT is a registered Danfoss trademark Introduction 2 Introduction 2 1 1 About this Manual First time users can obtain the most essential information for quick installation and set up in these chapters 2 Introduction 3 How to Install 4 How to Configure For more detailed information including the full range of set up options and diagnosis tools refer to the chapters 5 Configure the Master 6 How to Control the Frequency Converter 8 Parameters 9 Application Examples 10 Troubleshooting Terminology In this manual several terms for Ethernet are used EtherCAT is the term used to describe the EtherCAT protocol Ethernet is a common term used to describe the physical layer of the network and does not relate to the application protocol 2 1 2 Assumptions These operating instructions are under the conditions that the Danfoss EtherCAT option is used with a Danfoss FC 301 FC 302 frequency converter The installed controller must support the interfaces described in this document Strictly observe all the requirements stipulated in the controller and the frequency converter along with all limitations herein 2 1 3 Hardware This manual relates to the EtherCAT option MCA 124 type no 130B5546 uncoated and 130B5646 conformal coated 2 1 4 Background Knowledge The Danfoss EtherCAT Option Card is designed to communicate with any system comply
50. he frequency converter proceed with the following checks Check 1 Is the cabling correct Check that the cable is mounted correctly Check if the corresponding Network LED shows link activity Link Act Check 2 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 Check 4 What is the value of parameter 12 59 The 12 59 EtherCAT Status does contain 32 bits which each is linked to internal information The different bits will give a good overview over possible errors 130BT797 10 Illustration 10 2 Darfi MCA 124 EtherCAT Operating Instruction 15 61 Option SW Version XML File 1 x Danfoss_FC_series_ ECAT_00 1 XML 1 x or 2 x Danfoss_FC_series_ ECAT_00 20 XML Table 10 3 10 1 3 Warning 34 Appears even though Communication is Established If the master is in stop mode Warning 34 appears Check that the master is in run mode 10 1 4 Frequency Converter Does Not Respond to Control Signals Check 1 Is the Control word valid If bit 10 0 in the Control word the frequency converter does not accept the Control word Check 2 Is the relationship between bits in the Control word and the terminal I Os correct Check the logical
51. he function selected in 8 04 Control Word Timeout Functionis then carried out A valid control word triggers the time out counter MCA 124 EtherCAT Operating Instruction 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 0 Off Resumes control via serial bus fieldbus or standard using the most recent control word 1 Freeze output Freezes output frequency until communi cation resumes 2 Stop Stops with auto restart when communi cation resumes 3 Jogging Runs the motor at JOG frequency until communication resumes 4 Max speed Runs the motor at maximum frequency until communication resumes 5 Stop and trip Stops the motor then resets the frequency converter to restart via the fieldbus via the reset button on the LCP or via a digital input 7 Select setup 1 Changes the set up upon reestablishment of communication following a control word time out If communication resumes after a time out 8 05 End of Timeout Function defines whether to resume the set up used before the time out or to retain the set up endorsed by the time out function Select setup 2 See 7 Select setup 1 Select setup 3 See 7 Select setup 1 10 Select setup 4 See 7 Select setup 1 NOTE To change the set up after a
52. his value is changed while in operation the option enters the Error PREOP state Index 6060h Value Meaning 2 MCO profile only possible if MCO305 is mounted 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 Default display operation Table 7 22 6061h Modes of Operation Display Denpi MCA 124 EtherCAT Operating Instruction 7 4 13 6502h Supported Frequency Converter Mode This index informs the user of which operating mode the frequency converter is capable of Bit 1 is set indicating that the frequency converter can run DS 402 velocity mode bit 16 FC profile and 17 indicates MCO profile 7 4 14 6504h Frequency Converter Manufacturer The data is coded as a string Emergency Object This section describes the general layout of the EtherCAT emergency object The emergency object is used to signal error states in the frequency converters to the master The frequency converter can be programmed automatically to send the EMCY object if an alarm or warning is activated The frequency converter resends the EMCY object if one of the alarms or warnings is removed Communication Object Overview The EMCY object always consists of 8 bytes data see Table 7 23 Byte 0 Byte 1 Byte 2
53. imit exceeded Bit 13 0 there are no voltage warnings Bit 13 1 the DC voltage in the frequency converters intermediate circuit is too low or too high Bit 14 Torque OK limit exceeded Bit 14 0 the motor current is lower than the torque limit selected in 4 16 Torque Limit Motor Mode or 4 17 Torque Limit Generator Mode Bit 14 1 the torque limits in 4 16 Torque Limit Motor Mode and 4 17 Torque Limit Generator Mode have been exceeded Bit 15 Timer OK limit exceeded Bit 15 0 the timers for motor thermal protection and VLT thermal protection respectively have not exceeded 100 Bit 15 1 one of the timers has exceeded 100 MG92A202 VLT is a registered Danfoss trademark 23 Communication Profile Area MCA 124 EtherCAT Operating Instruction 7 Communication Profile Area The section describes the general layout of the EtherCAT communication area which is supported The process data objects are defined in this area 7 2 1000 1FFF Communication Object Area 7 2 1 1000 1FFF Communication Object Overview Index hex Object Symbolic Name Name Type Read Write 1100 VAR EtherCAT address UNSIGNED 16 ro 604C VI dimension factor UNSIGNED32 rw 6502 VAR UNSIGNED32 ro 6504 VAR Frequency converter manufacture VISIBLE_STRING ro Table 7 1 Communication Object Overview 24 MG92A202 VLT is a registered Danfoss trademark
54. ing Instruction Bit 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 a quick stop ramping the motor speed down to stop via 3 87 Quick Stop Ramp Time Bit 04 1 the frequency converter ramps the motor speed down to stop via 3 87 Quick Stop Ramp Time Bit 05 Hold output frequency Bit 05 0 causes the present output frequency in Hz to freeze The frozen output frequency can only be changed with the digital inputs 5 70 Terminal 18 Digital Input to 5 15 Terminal 33 Digital Input programmed to Speed up and Speed down Bit 05 1 use ramp NOTE If Freeze output is active stop the frequency converter with e Bit 03 Coasting stop e Bit 02 DC braking e Digital input 5 70 Terminal 18 Digital Input to 5 15 Terminal 33 Digital Input programmed to DC braking Coasting stop or Reset and coasting stop Bit 06 Ramp stop start Bit 06 0 causes a stop in which the motor speed is ramped down to stop via the selected ramp down parameter Bit 06 1 permits the frequency converter to start the motor if the other starting conditions have be
55. ing with the EtherCAT standard Familiarity with this technology is assumed Issues regarding hardware or software produced by other manufacturers including commissioning tools are MG92A202 VLT is a registered Danfoss trademark MCA 124 EtherCAT Operating Instruction beyond the scope 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 MG33AXYY provide the necessary information for getting the frequency converter up and running The VLT AutomationDrive Design Guide MG33BXYY entails all technical information about the frequency converter design and applications including encoder resolver and relay options The VLT AutomationDrive Profibus Operating Instructions MG33CXYY provide the information required for controlling monitoring and programming the frequency converter via a Profibus fieldbus The VLT AutomationDrive DeviceNet Operating Instructions MG33DXYY provide the information required for controlling monitoring and programming the frequency converter via a DeviceNet fieldbus The VLT AutomationDrive MCT 10 Set up Software Operating Instructions MG10RXYY provide information for installation and use of the software on a PC The VLT AutomationDrive IP2
56. is index permits non volatile storage of all frequency converter parameters which have been changed Index Sub Index Meaning 1010h 0 Number sub index supported 1010h 1 Save option parameters 1010h 2 Save communication option parameters 1010h 3 Reserved 1010h 4 Save edit setup 1010h 5 Save frequency converter parameters all set ups Table 7 8 1010h Store Parameters Writing the value save 0x65766c173 to sub index 1 stores all frequency converter parameters of all set ups into non volatile memory all other values are rejected Sub index 4 does the same for the Edit Set up This function is handled via 12 28 Store Data Values 7 2 10 1011h Restore Default Parameters To restore factory default settings 1 Write the value load to sub index 1 2 Initiate the next power cycle manually 3 The default value is restored Index Sub Index Meaning 1011h 0 Number of sub index supported 1011h 1 Restore all default parameters and restart 1011h 2 Restore communication related parameters 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 eat
57. is set to DI Control word only the settings in 8 50 Coasting Select to 8 56 Preset Reference Select are overruled and all act on Bus control e 8 03 Control Word Timeout Time to 8 05 End of Timeout Function The reaction in the event of a bus time out is set via these parameters MG92A202 VLT is a registered Danfoss trademark 11 Configure the Master 5 Configure the Master 5 1 Import 5 1 1 Importing the XML File To configure an EtherCAT Master the configuration tool needs an XML file for each type of slave on the network The XML file is a text file containing the necessary communications set up data for a slave Download the XML file for the FC 300 at http Avww danfoss com drives Option version File Danfoss_FC_series_ECAT_013 XML Table 5 1 The steps outlined in 5 2 7 Setting up the Master shows how to add a new device to the TwinCAT Tool For tools from other vendors consult their relevant manuals Copy the XML file from the Danfoss Web page to the location C TwinCAT lo EtherCAT and restart the TwinCAT System Manager 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
58. it 00 1 state at least Switched on Bit 02 Operation disable Operation enable Bit 00 0 state less than Operation enable Bit 00 1 state at least Operation enable Bit 03 No fault trip Bit 03 0 the frequency converter is not in a fault condition Bit 03 1 the frequency converter has tripped and needs a reset signal to run Bit 04 Voltage disable Voltage enable Bit 04 0 control word bit 01 1 Bit 04 1 control word bit 01 0 Bit 05 Quick stop Run Bit 05 0 control word bit 02 1 Bit 05 1 control word bit 02 0 Bit 06 Start enable Start disable Bit 06 0 state is not Switch on disable Bit 06 1 state Switch on enable Bit 07 No warning Warning Bit 07 0 no warning situation Bit 07 1 a warning has occurred MG92A202 VLT is a registered Danfoss trademark 17 How to Control the Frequenc MCA 124 EtherCAT Operating Instruction Bit 08 Danfoss reserved Bit 09 Remote disable Remote enable Bit 09 0 the frequency converter has been stopped with the stop key on the LCP or Local has been selected in 3 13 Reference Site Bit 09 1 it is possible to control the frequency converter via the serial port Bit 10 Set point not reached Set point reached Bit 10 0 the actual motor speed is different from the speed reference set This situation can occur while the speed is ramped up down during start
59. k 37 Parameters MCA 124 EtherCAT Operating Instruction 12 91 Auto Cross Over 12 93 Cable Error Length Range Function If Cable Diagnostics is enabled in 12 90 Cable Option Function Disabled Disables the auto cross over function Enabled Enables the auto cross over function 8 4 EtherCAT specific Parameter List N A 0 0 N A 65535 Diagnostic the built in switch is possible via Time Domain Reflectometry TDR This measurement technique detects common cabling problems such as open circuits short circuits and impedance mismatches or breaks in transmission cables The distance from the option to the error is displayed in meters with an accuracy of 2 m The value 0 means no errors detected Parameter 8 01 Control Site 8 02 Control Word Source 8 03 Control Word Timeout Time 8 04 Control Word Timeout Function 8 05 End of Timeout Function 8 06 Reset Control Word Timeout 8 07 Diagnosis Trigger 8 10 Control Word Profile 8 13 Configurable Status Word STW 8 50 Coasting Select Default value Dig amp ctrl word FC RS485 ei CO ES Hold set up Do not reset Disable FC profile nlala EH Ww Logic OR Range 0 2 0 4 0 1 18000 0 10 0 1 0 1 0 3 WE 0 3 Conver sion index Data type Uint8 Uint8 Uint32 Uint8 Uint8 Uint8 Uint8 Uint8 Uint8 8 51 Quick Stop Select Pa w Logic OR 0 3 8 52 DC Brake Select 0 3 Ui
60. l out E high is executed The input goes low whenever the Smart Logic Action 36 Set digital out E low is executed 33 Parameters 8 13 Configurable Status Word STW Option Function SL Digital See 13 52 SL Controller Action The input Output F goes high whenever the Smart Logic Action 43 Set digital out F high is executed The input goes low whenever the Smart Logic Action 37 Set digital out F low is executed 8 14 Configurable Control Word CTW Option Function Selection of control word bit 10 if it is active low or active high afne OS 8 50 Coasting Select Option Function Select control of the coasting function via the terminals digital input and or via the bus 0 Digital Activates Start command via a digital input IS Activates Start command via the serial communication port or fieldbus option 2 Logic AND Activates Start command via the fieldbus serial communication port AND additionally via one of the digital inputs 3 Logic OR Activates Start command via the fieldbus serial communication port OR via one of the digital inputs 8 51 Quick Stop Select Select control of the Quick Stop function via the terminals digital input and or via the bus Option Function SS EEGEN ffs wm Ce E ee fewn O y 8 52 DC Brake Select Function Select control of the DC brake via the terminals digital input and or via the fieldbus Only selection 0 Digital input is availa
61. led Enabled 7 Disabled Enabled 8 Straight Crossed 9 Straight Crossed 10 Disabled Enabled 11 Disabled Enabled 12 Disabled Enabled 15 Disabled Enabled 16 Disabled Enabled 17 Disabled Enabled 18 Disabled Enabled 19 Reserved 2 S ER Disabled Enabled 24 Disabled Enabled ele slo 27 Not active Active 28 25 30 i MCA 124 EtherCAT Operating Instruction Bit Meaning 0 1 Cole ee Table 8 1 8 3 5 12 8 Other Ethernet Services 12 80 FTP Server po bes pime e 12 81 HTTP Server EE 12 82 SMTP Service es a E 12 89 Transparent Socket Channel Port Range Function Size Configures the TCP port number for the related transparent socket channel This configu ration enables FC telegrams to be sent transparently on Ethernet via TCP Default value is 4000 0 means disabled The MCT 10 Set up Software uses this port 8 3 6 12 9 Advanced Ethernet Settings 12 90 Cable Diagnostic 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 ooe CS leen NOTE The cable diagnostics function is only issued on ports where there is no link see 12 70 Link Status Link Status MG92A202 VLT is a registered Danfoss trademar
62. lmMyl NinN wfo o a Table 10 12 0 Digital input MG92A202 VLT is a registered Danfoss trademark 45 Troubleshooting If 1 Serial communication is selected commands are activated only when given via serial communication Dafoe MCA 124 EtherCAT Operating Instruction Terminal Bit 00 01 13 14 Function Msb Lob Msb isb Preset ref Set up no Terminal Bit 00 01 13 14 Function Msb Lab Msb isb Preset ref Set up no WE SES 1 fp fo EE IS TAR STi al SToi t al Voila Toi l a vc sch Lech sch sch ls olololololololo AN OI AR Table 10 13 1 Serial communication If 2 Logic AND is selected both signals must be activated to perform the function Terminal Bit 00 01 13 14 Function Msb Lob Msb isb Preset ref Set up no olololololololo Table 10 14 2 Logic AND If 3 Logic OR is selected activation of one signal activates the function ET 1 a a a ae LE 1 fo fo 1 fo h VK j 1 Jh bh al alzalzaisalsalsatoleieeieieielc AJAJAJ RL wl RL wT RI RININITRP WIN Table 10 15 3 Logic OR 10 1 5 Alarm and Warning Words Alarm word Warning word and EtherCAT warning word are shown in the display in Hex format If there is more than one warning or alarm a sum of all warnings or
63. lt the value of the current speed of the frequency converter in percentage format see 6 2 3 Reference Handling The content of PCD 2 to PCD 9 is programmed in 12 22 Process Data Config Read 14 MG92A202 VLT is a registered Danfoss trademark How to Control the Frequenc 6 2 3 Reference Handling The reference handling in FC 301 FC 302 is an advanced mechanism that sums up references from different sources For more information on reference handling refer to the FC 301 FC 302 Design Guide MG33BXYY TEE 15U5A19 1U Digital input Analog input 2 Reference Local bus Fieldbus Illustration 6 2 The reference or speed set point MRV sent via EtherCAT is always transmitted to the frequency converter in percentage format as integers represented in hexadecimal 0 4000 hex Depending on the setting of 3 00 Reference Range the reference and MAV are scaled accordingly 130BA198 10 100 0 100 C000hex Ohex 4000hex P 3 00 set to 1 Max Max Reverse Forward P 3 03 P 3 03 Max H Max reference reference 0 100 Ohex 4000hex Letsch Sigi P 3 00 i set to 0 Min Max Le Forward keck P 3 02 P 3 03 Min Max reference reference Illustration 6 3 NOTE If 3 00 Reference Range is set to 0 Min Max a negative reference is handled as 0 The speed limit parameters in 4 11 Motor Speed Low Limit RPM to 4 14 Motor Speed High Limit Hz limits the actu
64. nment 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 first index available is index 2001h This index is linked to the frequency converters parameter 1 language The rest of the EtherCAT index follows the same rule where the frequency converters parameter number plus 2000h gives the EtherCAT index For example the reading the running hours in 15 01 Running Hours is calculated by 2000h parameter number in hex number 2000h 5DD index 25DDh The xml file does only contain a subset of the frequency converters parameters This subset has the indexes that are required for setting up the PDO communi cation If a full list is required the full list can be readout from the frequency converter This list allows access to all parameters This generates the correct information regarding option installed in the B and C slot Table 7 16 shows a few indexes and their mapping Index Parameter 2001h 0 01 Language 2002h 0 02 Motor Speed Unit 2003h 0 03 Regional Settings 2078h 1 20 Motor Power kW 2079h 1 22 Motor Voltage 24B1h 12 01 IP Address 24B2h 12 02 Subnet Mask Table 7 16 2000h 5FFFh Vendor Specific Object Area 7 4 6000 Device profile Object Area 7 4 1 6000h 9FFFh Standardised Device Profile Area
65. nt8 8 53 Start Select 0 3 Uint8 8 54 Reversing Select 3 Logic OR 0 3 Uint8 8 55 Set up Select 3 Logic OR 0 3 Uint8 8 56 Preset Reference Select 3 Logic OR 0 3 Uint8 Uint8 8 90 Bus Jog 1 Speed 100 rpm 8 91 Bus Jog 2 Speed 0 4 13 Motor Speed High Limit RPM 0 4 13 Motor Speed High Limit RPM CH Uint16 Uint16 12 00 IP Address Assignment 12 01 IP Address 12 02 Subnet Mask 12 03 Default Gateway 12 04 DHCP Server 12 05 Lease Expires 12 06 Name Servers 12 07 Domain Name 12 08 Host Name 12 09 Physical Address 00 1B 08 00 00 00 e elelelelein E o j j 8 gt lol CH 9 9 3 12 10 Link Status 0 No Link 0 1 Unsigned 8 Time diff w 12 11 Link Duration date 12 12 Auto Negotiation 1 On 0 1 Unsigned 8 12 13 Link Speed 0 None 0 2 Unsigned 8 Unsigned 8 Unsigned 32 Unsigned 32 Unsigned 32 Unsigned 32 Unsigned 32 Unsigned 32 String String Visible string 17 12 14 Link Duplex 38 1 Full Duplex 0 1 Oo 1 Unsigned 8 MG92A202 VLT is a registered Danfoss trademark Parameters MCA 124 EtherCAT Operating Instruction Darfi Parameter 12 20 Control Instance 12 21 Process Data Config Write 12 22 Process Data Config Read 12 23 Process Data Config Write Size 12 24 Process Data Config Read Size 12 27 Master Address 12 28 Store Data Values 12 29 Store Alway
66. o 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 2 N N U a PCD O PCD 1 PCD 9 E PDO 23 CTW REF aoe write Transmit PDOs Drive PLC PCDO PCD 1 PCD 9 STW MAV see read PDO 23 Illustration 6 1 6 2 Process Data Use the process data part of the PDO for controlling and monitoring the frequency converter via the EtherCAT 6 2 1 Process Control Data Process data sent from the PLC to the frequency converter are defined as Process Control Data PCD Master slave 0 1 2 tate 9 ew wav reo Poo PCD write Table 6 1 PCD 0 contains a 16 bit control word where each bit controls a specific function of the frequency converter see 6 3 Control Profile PCD 1 contains a 16 bit speed set point in percentage format See 6 2 3 Reference Handling The content of PCD 2 to PCD 9 is programmed in 12 21 Process Data Config Write and 12 22 Process Data Config Read 6 2 2 Process Status Data Process data sent from the frequency converter contain information about the current state of the frequency converter Slave master 0 1 De ade 9 Pew ww ro Poo PCD read Table 6 2 PCD 0 contains a 16 bit status word where each bit contains information regarding a possible state of the frequency converter PCD 1 contains per defau
67. ows the first 19 characters but the remaining characters are stored in the frequency converter 12 09 Physical Address Range Function 0 N A 0 0 N A Read only Displays the Physical MAC address of the option 8 3 2 12 1 Ethernet Link Parameters 12 1 Ethernet Link parameters Option Function Applies for whole parameter group EE CO MG92A202 VLT is a registered Danfoss trademark 35 Parameters 12 10 Link Status Option Function H Read only Displays the link status of the Ethernet 12 11 Link Duration Range Function 0 N A 0 0 N A Read only Displays the duration of the present link on each port in dd hh mmiss 12 12 Auto Negotiation Option Function Configures Auto Negotiation of Ethernet link parameters for each port ON or OFF 0 Off Link Speed and Link Duplex can be configured in 12 13 Link Speed and 12 14 Link Duplex fefonf NOTE It is recommended to set 12 12 Auto Negotiation to 0 Off for the EtherCAT option and for the connected port This setting ensures that the connected ports are set to an optimized Link Speed with Link Duplex setting If only one of the ports in a link is set to Auto Negotiation ON the ports can switch to half duplex which results in poor network performance Most switches today have Auto negotiation set but it can then take longer to establish a connection 12 13 Link Speed Option Function Forces
68. ported MG92A202 VLT is a registered Danfoss trademark How to Control the Frequenc 6 5 Danfoss FC Control Profile 6 5 1 Control Word according to FC Profile CTW To select Danfoss FC protocol in the control word 8 10 Control Word Profile must be set to Danfoss FC protocol 0 The control word is used to send commands from a master PLC or PC to a slave frequency converter Bit Bit value 0 Bit value 1 00 external selection Isb 01 external selection msb 03 No coasting 10 Data valid 11 Relay 01 active 12 Relay 04 active 13 selection Isb 14 Parameter set up selection msb 15 No function Reverse Table 6 9 Explanation of the Control Bits Bits 00 01 Reference value Bits 00 and 01 are used to choose between the four reference values which are pre programmed in 3 10 Preset Reference according to Table 6 10 NOTE In 8 56 Preset Reference Select a selection is made to define how Bit 00 01 gates with the corresponding function on the digital inputs Bit 01 Bit 00 Programmed Parameter ref value 0 0 3 10 Preset Reference 0 1 3 10 Preset Reference 1 2 3 10 Preset Reference 1 3 3 10 Preset Reference Table 6 10 Bit 02 DC brake Bit 0O2 0 leads to DC braking and stop Braking current and duration are set in 2 01 DC Brake Current and 2 02 DC Braking Time MCA 124 EtherCAT Operat
69. quency Converter 44 O OVEVIEW Z EEN 8 P Paramete Suninen 3 11 PDO Communication 14 Process Control Dateie EEN Control Operation Statute Data eessen Drettel E 5 R Reference EEN 6 Handling ME 15 S SIEV EE 3 T EST eier VE 9 V VET Parameters a eE RTEA RORO 11 W Warning A 46 WANING Sesa E A EAREN 49 MG92A202 VLT is a registered Danfoss trademark 53 www danfoss com drives Danfoss can accept no responsibility for possible errors in catalogues brochures and other printed material Danfoss reserves the right to alter its products without notice This also applies to products 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 respective companies Danfoss and the Danfoss logotype are trademarks of Danfoss A S All rights reserved 130R0273 MG92A202 WO A TN a as M G 9 2 A 2 8 2
70. red Bit 08 Speed reference speed reference Bit O8 0 the motor is running but that the present speed is different from the preset speed reference It could for example be the case while the speed is being ramped up down during start stop Bit 08 1 the present motor present speed matches the 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 frequency has reached the value in 4 11 Motor Speed Low Limit RPM or 4 13 Motor Speed High Limit RPM Bit 10 1 the output frequency is within the defined limits Bit 11 No operation in operation Bit 11 0 the motor is not running Bit 11 1 the frequency converter has a start signal or the output frequency is greater than 0 Hz Bit 12 frequency converter OK stopped autostart Bit 12 0 there is no temporary over temperature on the frequency converter Bit 12 1 the frequency converter has stopped because of over temperature but the unit has not tripped and resumes operation once the over temperature stops Denpi MCA 124 EtherCAT Operating Instruction Bit 13 Voltage OK l
71. red Danfoss trademark Parameters 8 Parameters 8 1 Parameter Group 0 Operation Display 0 37 Display Text 1 Range Function In this parameter it is possible to write an 0 0 N A 0 N A be read via serial communication If to be displayed permanently select Display Text 1 in 0 20 Display Line 1 1 Small 0 21 Display Line 1 2 Small 0 22 Display Line 1 3 Small 0 23 Display Line individual text string for display in the LCP or to 2 Large or 0 24 Display Line 3 Large Press 4 or Y to change a character Press 4 and gt to move the cursor When a character is highlighted by the cursor it can be changed Press 4 or Y to change a character A character can be inserted by placing the cursor between two characters and pressing 4 or Y 8 2 Parameter Group 8 Communication and Option 8 01 Control Site Option 0 Digital and ctrl word Im Digital only Control by using digital inputs only DI Controlword only Control by using control word only 8 03 Control Word Timeout Time Range Function 1 0 s 0 1 Enter the maximum time expected to pass 18000 0 s Function The setting in this parameter overrides the settings in 8 50 Coasting Select to 8 56 Preset Reference Select Control by using both digital input and control word between the reception of two consecutive telegrams If this time is exceeded it indicates that the serial communication has stopped T
72. relationship in the frequency converter Define the desired logical relationship in 8 50 Coasting Select to 8 56 Preset Reference Select according to the following range of options Select the FC control mode digital input and or serial communication using 8 50 Coasting Select to 8 56 Preset Reference Select The following tables show a coast command s effect upon the frequency converter for the full range of 8 50 Coasting Select settings The effect of control mode upon the function of 8 50 Coasting Select 8 51 Quick Stop Select and 8 52 DC Brake Select is as follows If 0 Digital input is selected 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 Jo No Coast DC beet Sp No Coast DC beet Sep Table 10 4 0 Digital input 44 MG92A202 VLT is a registered Danfoss trademark Troubleshooting MCA 124 EtherCAT Operating Instruction If 1 Serial communication is selected commands are Terminal Bit 02 03 04 Function activated only when given via serial communication 0 Stop Anti clockwise 0 Start Clockwise Terminal Bit 02 03 04 Function 1 Stop Anti clockwise 0 Coast DC brake Q Stop 1 Start Clockwise 0 No Coast DC brake Q Stop 1 Coast DC brake Q Stop Table 10 9 1 Serial communication 1 No Coast DC brake Q Stop Table 10 5 1 Serial communic
73. ress is assigned via DHCP server mg lp DCP Assigned via the DCP protocol 12 01 IP Address Range Function i 0 2147483647 Configure the IP address of the option Read only if 12 00 IP Address Assignment set to DHCP or BOOTP 12 02 Subnet Mask Function Range 0 N A 0 2147483647 N A Configure the IP subnet mask of the option Read only if 12 00 IP Address Assignment set to DHCP or BOOTP MCA 124 EtherCAT Operating Instruction 12 03 Default Gateway 0 Configure the IP default gateway of the 2147483647 option Read only if 12 00 IP Address Assignment set to DHCP or BOOTP In a non routed network this address is set to the IP address of the IO Device 12 04 DHCP Server Range Function 0 2147483647 Read only Displays the IP address of the found DHCP or BOOTP server 12 05 Lease Expires Range Function 0 N A 0 0 N A Read only Displays the lease time left for the current DHCP assigned IP address 12 06 Name Servers Function 0 2147483647 N A IP addresses of Domain Name Servers Can be automatically Range 0 N A assigned when using DHCP 12 07 Domain Name Range Function 0 N A 0 0 N A Domain name of the attached network Can be automatically assigned when using DHCP network 12 08 Host Name Range Function H 0 2147483647 Logical given name of option NOTE The display of the frequency converter only sh
74. rial applications Both types are available as Unshielded Twisted Pair and Shielded Twisted Pair Generally shielded cables are recommended for use in industrial environments and with frequency converters A maximum cable length of 100 m is allowed between switches MG92A202 VLT is a registered Danfoss trademark 7 How to Install MCA 124 EtherCAT Operating Instruction 3 1 3 EtherCAT Cables Cable Type Specification EtherCAT In Port EtherCAT Out Port Ethernet standard Standard Ethernet in accordance with IEEE ES 802 3 100Base TX FastEthernet S E S Cable Type S FTP Screened Foiled Twisted Pair ISO IEC z 11801 or EN 50173 CAT 5e Damping 23 2 dB at 100 MHz and 100 m each Se SCH Crosstalk damping 24 dB at 100 MHz and 100 m each Return loss 10 dB 100 m each IN OUT Surge impedance 100 0 ee ee heen Link Activity gt p Link Act IN Table 3 1 Specification of EtherCAT Cables LEDs Link Act OUT MAC 00 1B 08 00 00 00 SW ver xx xx TM ver X xx 3 1 4 LED Behaviour Illustration 3 3 Overvi f the Opti The option has 3 bicolored LEDs that allow a fast and E ere ar ae detailed diagnosis The three LEDs are each linked to its unique part of the EtherCAT option LED Label Description Status Module Status reflects the activity on th
75. s Default value Range Application Dependent 0 255 Conver Data type sion index 12 50 Configured Station Alias lo HY Unsigned 16 12 51 Configured Station Address lo HY Unsigned 16 12 59 EtherCAT Status jo Unsigned 32 12 81 HTTP Server 0 1 Unsigned 8 12 82 SMTP Service S Disable 0 1 Unsigned 8 12 89 Transparent Socket Channel Port 0 1 Unsigned 8 12 90 Cable Diagnostic Unsigned 8 12 93 Cable Error Length 0 200 Unsigned 16 12 98 Interface Counters r Unsigned 16 Table 8 2 Refer to the relevant Operating Instructions for a comprehensive parameter list MG92A202 VLT is a registered Danfoss trademark 39 Application Examples MCA 124 EtherCAT Operating Instruction 9 Application Examples 9 1 Example Process Data with PDO 23 This example shows how to work with PDO 23 which consists of Control Word Status Word and Reference Main Actual Value The PDO contains up to ten objects which can be programmed to monitor process signals From controller From frequency converter Byte 1 2 3 4 5 6 7 8 Table 9 1 The application requires monitoring of the motor torque and digital input so PCD 2 is set up to read the current motor torque PCD 3 is 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
76. t significant bit of the signal is transferred from the frequency converter 12 24 Process Data Config Read Size Range 16 8 32 Sets the number of bits being sent to the frequency converter as process data The setting Function counts from right LSB The value 1 means that only the least significant bit of the signal is transferred to the frequency converter The preceding bits are set to zero 12 28 Store Data Values Option Function We 12 29 Store Always Option Function Activates function that always stores received parameter data in non volatile memory EEPROM ocd fm fof SSCS 36 MG92A202 VLT is a registered Danfoss trademark Parameters 8 3 4 12 5 EtherCAT 12 50 Configured Station Alias Range Function 0 65535 This parameter shows the configured EtherCAT station alias for the frequency converter Changes are active after a power cycle 12 51 Configured Station Address Range Function 0 65535 This parameter shows the configured station address The parameter can only be set by the master at power up 12 59 EtherCAT Status Range 0 4294967295 This parameter contains status information on the EtherCAT interface Each of the 32 bits are linked to a status information of the EtherCAT interface Function Bit Meaning 0 1 0 Disconnected Connected 1 Disconnected Connected 2 0 10 Mbps 100 Mbps 3 0 10 Mbps 100 Mbps 6 Disab
77. t updated 00000020 Baudrate search 00000040 166 PROFIBUS ASIC is not transmitting 00000080 nitialising of PROFIBUS is not ok 00000100 Drive is tripped 00000200 nternal CAN error 00000400 Wrong configuration data from PLC 00000800 Wrong ID sent by PLC 00001000 nternal error occurred 00002000 ot configured 00004000 Timeout active 00008000 Warning 34 active Table 10 18 FC 301 FC 302 Bit Hex Comm option STW 76 84 Comm Option STW 00000001 parameterization ok 00000002 configuration ok 00000004 clearmode active 00000008 baudrate search 00000010 waiting for parameterization 00000020 waiting for configuration 00000040 Vin data exchange 00000080 not used 00000100 not used 00000200 not used 00000400 not used 00000800 MCL2 1 connected 00001000 MCL2 2 connected 00002000 MCL2 3 connected 00004000 data transport active 00008000 not used Table 10 19 FC 301 FC 302 NOTE 16 84 Comm Option STW is not part of extended diagnosis 10 1 6 Warning and Alarm Messages There is a clear distinction between alarms and warnings When there is an alarm the frequency converter enters a fault condition After the cause for the alarm has been cleared the master will have to acknowledge the alarm message before the frequency converter can start operating again A warning on the other hand may come when a warning condition appears then disappear when
78. tion Bit 07 No function reset Reset of trip Bit 07 0 there is no reset Bit 07 1 a trip is reset Bit 08 09 and 10 DSP402 reserved Bit 11 Jog 1 OFF ON Activation of pre programmed speed in 8 90 Bus Jog 1 Speed JOG 1 is only possible if Bit 04 0 and bit 00 03 1 Bit 12 Danfoss reserved Bits 13 14 Selection of Setup Bits 13 and 14 are used for choosing among the four menu Set ups in accordance with Table 6 6 Set up Bit 14 Bit 13 Table 6 6 Set up Selection Table Bit 15 Forward reversing Bit 15 0 no reversing Bit 15 1 reversing NOTE In factory setting reversing is set to digital in 8 54 Reversing Select 6 4 2 Status Word According to DS 402 Profile Slave master STW Output freq Bit no 1514131211109876543210 Illustration 6 5 130BA273 10 Bit Bit value 0 Bit value 1 00 Ready to switch ON 01 Switched OFF Switched ON 02 Operation enabled 03 Malfunction 04 Voltage enabled 06 Switch on enable 08 Reserved 09 Remote enabled 10 Set point reached 11 Speed limit active 12 Reserved 13 Reserved 15 Reserved Table 6 7 Explanation of the Status Bits Bit 00 Not ready to switch on Ready to switch on Bit 00 0 state less than Ready to switch on Bit 00 1 state at least Ready to Switch on Bit 01 Switch off Switch on Bit 00 0 state less than Switched on B
79. uential damages arising out of the use or the inability to use information contained in this manual even if advised of the possibility of such damages In particular Danfoss is not responsible for any costs including but not limited to those incurred as a result of lost profits or revenue loss or damage of equipment loss of computer programs loss of data the costs to substitute these or any claims by third parties Danfoss reserves the right to revise this publication at any time and to 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 AWARNING HIGH VOLTAGE The voltage of the frequency converter is dangerous whenever connected to mains Incorrect installation of the motor frequency converter or fieldbus may damage the equipment cause serious personal injury or death Consequently the instructions in this manual as well as national and local rules and safety regulations must be complied with 1 1 3 Safety Regulations 1 The frequency converter must be disconnected from mains before carrying out repair work Check that the mains supply has been discon nected and that the necessary time has passed be

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