vacon ac drives devicenet option board opte7 user manual

Transcription

1 vacon ac drives devicenet option board opte7 user manual

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3 vacon TABLE OF CONTENTS Document: DPD7A Release date : 9... Safety.... Danger.... Warnings.... Earthing and earth fault protection...4. DeviceNet option board OPTE7 - General...5. Overview DeviceNet physical layer and media...5. DeviceNet protocol description EDS (Electronic Data Sheet) file...7. DeviceNet option board OPTE7 - technical data...8. General...8. CAN cable Recommended cable OPTE7 layout and connections Layout and connections LED Indications Jumpers Installation in Vacon Prepare for use through fieldbus Commissioning Parameter view Monitor view Software info view.... Appendix A: Object dictionary.... Implemented CIP objects..... List of Object Classes..... List of..... Identity Object - Class Code x Message Router Object - Class Code x DeviceNet Object - Class Code x..... Assembly Object - Class Code x DeviceNet Connection Object - Class Code x Motor Data Object - Class Code x Control Supervisor Object - Class Code x AC/DC Drive Object - Class Code xa Vendor Parameter Object - Class Code xa hour support +58 () vacon@vacon.com

4 9.emf 9.emf 9.emf 9.emf 9.emf 9.emf 9.emf.emf 9.emf vacon Safety. SAFETY This manual contains clearly marked cautions and warnings that are intended for your personal safety and to avoid any unintentional damage to the product or connected appliances. Please read the information included in cautions and warnings carefully. The cautions and warnings are marked as follows: Table. Warning signs = DANGER! Dangerous voltage = WARNING or CAUTION = Caution! Hot surface. Danger The components of the power unit are live when the drive is connected to mains potential. Coming into contact with this voltage is extremely dangerous and may cause death or severe injury. The motor terminals U, V, W and the brake resistor terminals are live when the AC drive is connected to mains, even if the motor is not running. After disconnecting the AC drive from the mains, wait until the indicators on the keypad go out (if no keypad is attached, see the indicators on the cover). Wait 5 more minutes before doing any work on the connections of the drive. Do not open the cover before this time has expired. After expiration of this time, use a measuring equipment to absolutely ensure that no voltage is present. Always ensure absence of voltage before starting any electrical work! The control I/O-terminals are isolated from the mains potential. However, the relay outputs and other I/O-terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains. Before connecting the AC drive to mains make sure that the front and cable covers of the drive are closed. During a ramp stop (see the Application Manual), the motor is still generating voltage to the drive. Therefore, do not touch the components of the AC drive before the motor has completely stopped. Wait until the indicators on the keypad go out (if no keypad is attached, see the indicators on the cover). Wait additional 5 minutes before starting any work on the drive. Tel. +58 () Fax +58 () 5

5 .emf.emf.emf.emf.emf.emf.emf.emf.emf.emf Safety vacon. Warnings The AC drive is meant for fixed installations only. Do not perform any measurements when the AC drive is connected to the mains. The earth leakage current of the AC drives exceeds.5ma AC. According to standard EN8-5-, a reinforced protective ground connection must be ensured. See Chapter.. If the AC drive is used as a part of a machine, the machine manufacturer is responsible for providing the machine with a supply disconnecting device (EN 4-). Only spare parts delivered by Vacon can be used. At power-up, power brake or fault reset the motor will start immediately if the start signal is active, unless the pulse control for Start/Stop logic has been selected. Furthermore, the I/O functionalities (including start inputs) may change if parameters, applications or software are changed. Disconnect, therefore, the motor if an unexpected start can cause danger. The motor starts automatically after automatic fault reset if the auto restart function is activated. See the Application Manual for more detailed information. Prior to measurements on the motor or the motor cable, disconnect the motor cable from the AC drive. Do not touch the components on the circuit boards. Static voltage discharge may damage the components. Check that the EMC level of the AC drive corresponds to the requirements of your supply network. 4-hour support +58 () vacon@vacon.com

6 .emf.emf vacon 4 Safety. Earthing and earth fault protection CAUTION! The AC drive must always be earthed with an earthing conductor connected to the earthing terminal marked with. The earth leakage current of the drive exceeds.5ma AC. According to EN8-5-, one or more of the following conditions for the associated protective circuit must be satisfied: a) The protective conductor must have a cross-sectional area of at least mm Cu or mm Al, through its total run. b) Where the protective conductor has a cross-sectional area of less than mm Cu or mm Al, a second protective conductor of at least the same cross-sectional area must be provided up to a point where the protective conductor has a cross-sectional area not less than mm Cu or mm Al. c) Automatic disconnection of the supply in case of loss of continuity of the protective conductor. The cross-sectional area of every protective earthing conductor which does not form part of the supply cable or cable enclosure must, in any case, be not less than: -.5mm if mechanical protection is provided or - 4mm if mechanical protection is not provided. The earth fault protection inside the AC drive protects only the drive itself against earth faults in the motor or the motor cable. It is not intended for personal safety. Due to the high capacitive currents present in the AC drive, fault current protective switches may not function properly. Do not perform any voltage withstand tests on any part of the AC drive. There is a certain procedure according to which the tests must be performed. Ignoring this procedure can cause damage to the product. NOTE! You can download the English and French product manuals with applicable safety, warning and caution information from REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit contenant l ensemble des informations de sécurité, avertissements et mises en garde applicables sur le site Tel. +58 () Fax +58 () 5

7 DeviceNet option board OPTE7 - General vacon 5. DEVICENET OPTION BOARD OPTE7 - GENERAL. Overview OPTE7 is a DeviceNet option board for Vacon frequency converters. It allows the frequency converter to be controlled using the DeviceNet protocol. The option board implements the AC Drive device profile as defined by CIP (see later). The OPTE7 option board connects a drive into the DeviceNet network. There can be 4 nodes in one network. The baud rate is up to 5 kbit/s. The DeviceNet master can control and monitor the drives. Figure. Typical DeviceNet network structure Slave Slave Slave Slave Slave DeviceNet master 99.emf.. DeviceNet physical layer and media The basic trunkline-dropline topology provides separate twisted pair busses for both signal and power distribution. Thick or thin cable can be used for either trunklines or droplines. End-to-end network distance varies with data rate and cable size. Devices can be powered directly from the bus and communicate with each other using the same cable. Nodes can be removed or inserted from the network without powering down the network. Power taps can be added at any point in the network which makes redundant power supplies possible. The trunkline current rating is 8 amperes. An opto-isolated design option allows externally powered devices (e.g. AC drives starters and solenoid valves) to share the same bus cable. Other CAN-based networks allow only a single power supply (if at all) for the entire network. 4-hour support +58 () vacon@vacon.com

8 vacon DeviceNet option board OPTE7 - General Terminator Figure. Thick or thin cable for either trunklines or droplines Tap Terminator Trunk Line Node Node Node Node Drop line Node Node Node Node Node Node Node Node Node Zero drop Short drops 99.emf Tel. +58 () Fax +58 () 5

9 DeviceNet option board OPTE7 - General vacon 7. DeviceNet protocol description DeviceNet is a communication protocol which is managed by the ODVA (Open DeviceNet Vendors Association). It uses CAN (Controller Area Network) as the backbone technology and at the higher level it implements CIP (Common Industrial Protocol). CIP is used by the following protocols: DeviceNet EtherNet/IP ControlNet CompoNet CIP ensures high integrity/interoperability between all of these, especially from the end user perspective. CIP is object oriented. It defines objects with its attributes and supported services. The objects can have multiple instances. Instance zero indicates object s class itself. Depending on the implemented profile, some objects are mandatory and have to be implemented. Additionally, each vendor can implement vendor-specific objects. The following objects are implemented by the OPTE7 option board: Class Object x Identity x Message Router Required by DeviceNet x DeviceNet x4 Assembly x5 DeviceNet Connection x8 Motor Data Required by Drive Profile x9 Control Supervisor xa AC/DC Drive Vendor Specific xa Vendor Parameter Physical / Data link layer Application layer Profiles Configuration file CAN - Controller Area Network CIP - Common Industrial Protocol AC/DC Drives EDS - Electronic Data Sheet Baudrates Bus length Max nodes 4 5 kbit/s, 5 kbit/s, and 5 kbit/s Trunk length is inversely proportional to the speed, i.e. 5, 5 and meters respectively.. EDS (Electronic Data Sheet) file EDS is a configuration file which describes the capabilities of the DeviceNet node. It can be used by the configuration tool to simplify the process of commissioning. EDS is actually a simple text file which follows the rules specified by the ODVA in the DeviceNet specification. Therefore, it could be opened and viewed with a simple text editor e.g. Notepad. The EDS file for the OPTE7 option card can be downloaded from 4-hour support +58 () vacon@vacon.com

10 vacon 8 DeviceNet option board OPTE7 - technical. DEVICENET OPTION BOARD OPTE7 - TECHNICAL DATA. General CAN bus electrical isolation Ambient temperature Storing temperature 5 VDC As specified in drive specification (- C 4 C) As specified in drive specification (-4 C 7 C) Humidity Vibration and electrical safety -95%, non-condensing, corrosive EN 8-5- (7) 5 5,8 Hz mm (peak) 5,8...5 Hz G Emission C level, EN 8- (4) Immunity C level, EN 8- (4) CAN Interface Isolation Protection 5 V rms isolation with a less than -ns propagation delay ±8kV ESD IEC -4- Contact Discharge ±8V Fault Protection greater than ±V common Mode Range Table. Technical data of OPTE7 option board. CAN cable The recommended cables for installations are 4 wires twisted and a shielded cable with an impedance of Ohm. The network topology is a -wire bus line that is terminated at both ends by resistors representing the characteristic impedance of the bus line. The typical CAN cable impedance is Ohm, and so for the termination resistors of ~ Ohm must be used. For long networks a higher resistor value must be used (5- Ohm). Cable length Max bit rate [kbit/s] m 5 5 m 5 5 m Table. Bus parameter relation to cable length Tel. +58 () Fax +58 () 5

11 DeviceNet option board OPTE7 - technical data vacon 9.. Recommended cable For all DeviceNet installations the use of 4-wire cable is recommended. Vacon recommends the following cable: UNITRONIC BUS CAN FD P Colour-coded in accordance with DIN 47 Figure. Recommended cable Bit rate Table 4. Cable thickness, length and baud rate relation Min cable thickness [mm] 5 kbit/s 5 kbit/s 5 kbit/s Cable length hour support +58 () vacon@vacon.com

12 vacon OPTE7 layout and connections 4. OPTE7 LAYOUT AND CONNECTIONS 4. Layout and connections PS BS FS emf Figure 4. OPTE7 board layout = V- (GND) = CAN L = SHIELD (shield connector) 4 = CAN H 5 = V+ (4V) = Cable shield grounding option 7= CAN bus termination jumper Pin Pin 5 94.emf Figure 5. CAN connector 4 Tel. +58 () Fax +58 () 5

13 OPTE7 layout and connections vacon CAN connector pinout Pin out V-, isolated digital ground CAN LO Shield connector 4 CAN HI 5 V+ (4V), communication power supply 4. LED Indications The DeviceNet Option Board includes two LED status indicators next to the connector: Network status (N), and Module status (M). Figure. OPTE7 LED indicators M N PS BS FS 8.emf Network status provides information on the network connection status, and Module status provides information on the DeviceNet module. Module status led LED is OFF Green Flashing green Flashing red Red There is no power applied to the drive. The OPTE7 is operating normally. The OPTE7 is in the Standby state, or the device needs commissioning due to missing, incomplete or incorrect configuration. The OPTE7 has detected a Recoverable Fault. The OPTE7 has detected an Unrecoverable Fault. 4-hour support +58 () vacon@vacon.com 4

14 vacon OPTE7 layout and connections Network status led LED is OPTE7 is not on line. OFF Flashing green Green Flashing red Red The device has not completed the Dup_MAC_ID test yet. If the Module Status LED is off, the device is not powered. The OPTE7 has passed the Dup_MAC_ID test, is on line, but is not allocated to a master. The OPTE7 is on line and allocated to a Master. One or more I/O Connections are in the Timed Out state. The OPTE7 cannot communicate on the network (Duplicate MAC ID, or Bus off). 4 Tel. +58 () Fax +58 () 5

15 OPTE7 layout and connections vacon 4. Jumpers The jumper settings and the ground shielding options of OPTE7 are shown in the Figures 7 and 8 below. See the jumper and shield locations on the board in Figure 4. A B C 94.emf Figure 7. CAN bus termination jumper A = Termination resistor Ohm connected (default setting) B and C = No termination resistor A B C 94.emf Figure 8. Cable shield grounding option A = Network connector pin connected to the drive chassis with a high-impedance RC circuit (default setting) B = Network connector pin connected directly into the chassis C = No connection 4-hour support +58 () vacon@vacon.com 4

16 vacon 4 OPTE7 layout and connections 4.4 Installation in vacon Open the cover of the AC drive. M4x emf DANGER The relay outputs and other I/O-terminals may have a dangerous control voltage present even when Vacon is disconnected from mains. 4 Tel. +58 () Fax +58 () 5

17 OPTE7 layout and connections vacon 5 Open the inner cover to reveal the option board slots (C,D,E). See Figure below..emf Install the fieldbus board into slot D or E. See figure below. NOTE: Incompatible boards cannot be installed on Vacon. Compatible boards have a slot coding that enable the placing of the board. D E 4.emf 4-hour support +58 () vacon@vacon.com 4

18 vacon OPTE7 layout and connections 4.5 Prepare for use through fieldbus Strip about 5 mm of the fieldbus cable (see specification in ch..) and cut off the grey cable shield. Remember to do this for both bus cables (except for the last device). Leave no more than mm of the cable outside the terminal block and strip the cables at about 5 mm to fit in the terminals. See picture below. 4 Also strip the cable now at such a distance from the terminal that you can fix it to the frame with the grounding clamp. Strip the cable at a maximum length of 5 mm. Do not strip the aluminum cable shield! 5 5 Then connect the cable to its appropriate terminals on the OPTE7 DeviceNet option board terminal block. 4 Tel. +58 () Fax +58 () 5

19 OPTE7 layout and connections vacon 7 Using the cable clamp included in the delivery of the drive, ground the shield of the CAN cable to the frame of the AC drive. NOTE: This can be done in all drives if there is no difference in PE potential between the drives. However, if there is PE potential difference then the shield should be connected to PE only at one point in the system. The shields of the cables shall be joint but not connected to several PE points with different potential. Cable clamp 7 If Vacon is the last device on the bus, the bus termination must be set with jumper X (see ch. 4..) Unless already done for the other control cables, cut free the opening on the AC drive cover for the fieldbus cable (protection class IP). NOTE: Cut the opening on the same side you have installed the board in! 8 4-hour support +58 () vacon@vacon.com 4

20 vacon 8 OPTE7 layout and connections 9 Remount the AC drive cover and run the cable as shown in picture. NOTE: When planning the cable runs, remember to keep the distance between the fieldbus cable and the motor cable at a minimum of cm. It is recommended to route the option board cables away from the power cables as shown in the picture. Fieldbus cables The bus termination must be set for the first and the last device of the fieldbus line. See picture below. See also step 7 on page 7. We recommend that the first device on the bus and, thus, terminated was the Master device. 9.emf Vacon Vacon Vacon Vacon Vacon Termination activated Fieldbus cable = Bus termination Termination deactivated Termination activated with jumper 7.emf 4 Tel. +58 () Fax +58 () 5

21 Commissioning vacon 9 5. COMMISSIONING 5. Parameter view Table 5. Parameter view Range MAC ID... Baud rate Output assembly Input assembly 5 kbit/s 7 5 kbit/s 5 kbit/s 5 kbit/s Slave address. Valid device addresses are in the range of to decimal. Communication speed Output assembly used by the polled connection Input assembly used by the polled connection 5. Monitor view Table. Monitor view Range DeviceNet Status Y.X Y = Message counter X = DeviceNet status Table 7. DeviceNet status DeviceNet Status Non-existent Configuring Established 4 Timeout 4-hour support +58 () vacon@vacon.com 5

22 vacon Commissioning 5. Software info view Table 8. Software info view Number Range Version number Version number of the software in the option board Board status Shows the status of the option board 5 Tel. +58 () Fax +58 () 5

23 Appendix A: Object dictionary vacon. APPENDIX A: OBJECT DICTIONARY. Implemented CIP objects In the following list, the attributes shown in bold are stored in the non-volatile memory of the OPTE7 or VACON drive and maintain their values after a power loss. All other settable attributes will power up at their default values... List of Object Classes The Communication Interface supports the following object classes. Table 9. Implemented Object Classes Class Object x Identity x Message Router Required by DeviceNet x DeviceNet x4 Assembly x5 DeviceNet Connection x8 Motor Data Required by Drive Profile x9 Control Supervisor xa AC/DC Drive Vendor Specific xa Vendor Parameter 4-hour support +58 () vacon@vacon.com

24 4-hour support +58 () List of The following table shows the services supported by these object classes. Service Code (in hex) Service * ) Supports reset type and Identity Message Router DeviceNet Assembly Class Inst Class Inst Class Inst Class Inst. Class Connection Inst. (Expli cit) Inst. (Poll ed) Motor Data Control Supervisor AC/DC Drive Vendor Parameter Class Inst. Class Inst. Class Inst. Class Inst. x5 Reset Y* Y Y x9 Delete Y Y xe Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y x Y Y Y Y Y Y Y Y Y Y x4b Allocate_Master/ Slave_Connection_Set Y x4c Release_Master/ Slave_Connection_Set Y Appendix A: Object dictionary vacon

25 Appendix A: Object dictionary vacon.. Identity Object - Class Code x... Instance x x x 4 x4 5 x5 x 7 x7 7 xb Revision Max Instance Number of Instances Optional attribute list Optional service list Max Class Attribute ID Max Instance Attribute ID x5 xe STRUCT OF: - : number of attributes - ARRAY of : optional attributes STRUCT OF: - : number of services - ARRAY of : optional services 7 9 Object Identity Identity Identity SHORT_STRING Revision of this object ASCII for the Object Class 4-hour support +58 () vacon@vacon.com

26 vacon 4 Appendix A: Object dictionary... Instance x x x 4 x4 5 x5 x 7 x7 8 x8 9 x9 xa Vendor Id Device Type Product Code Revision STRUCT OF: - USINT: major revision - USINT: minor revision Status 555 Serial Number Product x xffffff FF OPTE7 OPTE7 OPTE7 State 5 Configuration Consistency Value Heartbeat Interval WORD UDINT SHORT_STRING USINT USINT Identification of each vendor by number Indication of the general type of product This is a code assigned by the vendor to describe the device. Product code determined by interrogating the connected drive. Revision of the item the Identity Object represents. Summary Status of the Device. Defined in ODVA DeviceNet specification. Bit 5 = User fault Bit = Node fault Bit 7 = System fault Serial Number of the device Human readable identification Present state of the device as represented by the state transition diagram. = Nonexistent = Device Self-Testing = Standby = Operational 4 = Major Recoverable Fault 5 = Major Unrecoverable Fault Contents identify configuration of the device The default value is. Zero disables the transmission of the heartbeat message. Tel. +58 () Fax +58 () 5

27 Appendix A: Object dictionary vacon 5..4 Message Router Object - Class Code x..4. Instance x x x 4 x4 5 x5 x 7 x7 7 xb Revision Max Instance Number of Instances Optional attribute list Optional service list Max Class Attribute ID Max Instance Attribute ID STRUCT OF: - : number of attributes - ARRAY of : optional attributes xe STRUCT OF: - : number of services - ARRAY of : optional services 7 Object Message Router Message Router Message Router SHORT_STRING Revision of this object ASCII for the Object Class..4. Instance x Object List STRUCT OF: - : number of classes - ARRAY of : classes Structure with an array of object class codes supported by the device 4-hour support +58 () vacon@vacon.com

28 vacon Appendix A: Object dictionary..5 DeviceNet Object - Class Code x..5. Instance x x x 4 x4 5 x5 x 7 x7 7 xb Revision Max Instance Number of Instances Optional attribute list Optional service list Max Class Attribute ID Max Instance Attribute ID STRUCT OF: - : number of attributes - ARRAY of : optional attributes xe STRUCT OF: - : number of services - ARRAY of : optional services 7 x4 Object Device- Net Device- Net Device- Net SHORT_STRING Revision of this object ASCII for the Object Class Tel. +58 () Fax +58 () 5

29 Appendix A: Object dictionary vacon Instance x x x 4 x4 5 x5 x4 MAC ID Baud Rate BOI (Buss OFF Interrupt) Bus-off Counter Allocation Information Bus-off Separation 55 USINT USINT BOOL USINT STRUCT OF: - BYTE: Allocation Choise Byte (bit = explicit messaging; bit = Polled I/O) - USINT: Master s MAC ID (- valid; 55 = unallocated) 7 USINT Node Address. The baud rate of the device. = 5 K = 5 K = 5 K = Hold the CAN chip in its bus-off state upon detection of a bus-off indication = If possible, fully reset the CAN chip and continue communication upon detection of a bus-off indication. Number of times CAN went to bus-off state. Received data is not used. Counter always reset to. Allocation Choise Master s Mac ID 4-hour support +58 () vacon@vacon.com

30 vacon 8 Appendix A: Object dictionary.. Assembly Object - Class Code x4... Instance x x x 4 x4 5 x5 x 7 x7 7 xb Revision Max Instance 7 Number of Instances Optional attribute list Optional service list Max Class Attribute ID Max Instance Attribute ID STRUCT OF: - : number of attributes - ARRAY of : optional attributes xe STRUCT OF: - : number of services - ARRAY of : optional services 7 Object Assembly Assembly Assembly SHORT_STRING Revision of this object ASCII for the Object Class Tel. +58 () Fax +58 () 5

31 Appendix A: Object dictionary vacon 9... Instance x Data ARRAY Table. Instance - Basic speed control - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit BYTE FaultReset RunFwd BYTE BYTE Speed Reference (Low Byte) rpm BYTE Speed Reference (High Byte) rpm... Instance x Data ARRAY Table. Instance - speed control - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit BYTE NetRef NetCtrl FaultReset RunRev RunFwd BYTE BYTE Speed Reference (Low Byte) rpm BYTE Speed Reference (High Byte) rpm...4 Instance x Data ARRAY 4-hour support +58 () vacon@vacon.com

32 vacon Appendix A: Object dictionary Table. Instance - Torque control - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit BYTE NetRef NetCtrl FaultReset RunRev RunFwd BYTE BYTE Speed Reference (Low Byte) rpm BYTE Speed Reference (High Byte) rpm BYTE 4 Torque Reference (Low Byte) BYTE 5 Torque Reference (High Byte)...5 Instance 5 x Data ARRAY Table. Instance 5 - Process control - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit BYTE NetRef NetCtrl FaultReset RunRev RunFwd BYTE BYTE Speed Reference (Low Byte) rpm BYTE Speed Reference (High Byte) rpm BYTE 4 Process Reference (Low Byte) BYTE 5 Process Reference (High Byte)... Instance x Data ARRAY Tel. +58 () Fax +58 () 5

33 Appendix A: Object dictionary vacon Table 4. Instance - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit BYTE NetRef NetCtrl FaultReset RunRev RunFwd BYTE Process Data Selector (bits 4-7) Process Data Selector (bits -) BYTE Speed Reference (Low Byte) % BYTE Speed Reference (High Byte) % BYTE 4 ProcessDataIn (Low Byte) BYTE 5 ProcessDataIn (High Byte) BYTE ProcessDataIn (Low Byte) BYTE 7 ProcessDataIn (High Byte) Table 5. Process Data Selector VALUE Content for bytes 4 and 5 of the instance7 * Speed Actual % ProcessDataOut ProcessDataOut ProcessDataOut 4 ProcessDataOut4 5 ProcessDataOut5 ProcessDataOut 7 ProcessDataOut7 8 ProcessDataOut8 OTHER ProcessDataOut VALUE Content for bytes and 7 of the instance7 * Speed Actual % ProcessDataOut ProcessDataOut ProcessDataOut 4 ProcessDataOut4 5 ProcessDataOut5 ProcessDataOut 7 ProcessDataOut7 8 ProcessDataOut8 OTHER ProcessDataOut Table. Process Data Selector *) If both Process Data Selectors are, the bytes 4 and 5 are ProcessDataOut and bytes and 7 are ProcessDataOut. 4-hour support +58 () vacon@vacon.com

34 vacon Appendix A: Object dictionary...7 Instance x Data ARRAY Table 7. Instance - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit BYTE Controlword (Low Byte) BYTE Controlword (Low Byte) BYTE Speed Reference (Low Byte) % BYTE Speed Reference (High Byte) % BYTE 4 ProcessDataIn (Low Byte) BYTE 5 ProcessDataIn (High Byte) BYTE ProcessDataIn (Low Byte) BYTE 7 ProcessDataIn (High Byte) BYTE 8 ProcessDataIn (Low Byte) BYTE 9 ProcessDataIn (High Byte) BYTE ProcessDataIn4 (Low Byte) BYTE ProcessDataIn4 (High Byte) BYTE ProcessDataIn5 (Low Byte) BYTE ProcessDataIn5 (High Byte) BYTE 4 ProcessDataIn (Low Byte) BYTE 5 ProcessDataIn (High Byte) BYTE ProcessDataIn7 (Low Byte) BYTE 7 ProcessDataIn7 (High Byte) BYTE 8 ProcessDataIn8 (Low Byte) BYTE 9 ProcessDataIn8 (High Byte)...8 Instance 7 x Data ARRAY Tel. +58 () Fax +58 () 5

35 Appendix A: Object dictionary vacon Table 8. Instance 7 - Basic speed status - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit BYTE Running Faulted BYTE BYTE Speed Actual (Low Byte) rpm BYTE Speed Actual (High Byte) rpm...9 Instance 7 x Data ARRAY BYTE BYTE BYTE BYTE Table 9. Instance 7 - speed status - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit AtReference RefFrom- Net CtrlFrom- Net Ready Running Running Warning Faulted Drive State Speed Actual (Low Byte) rpm Speed Actual (High Byte) rpm... Instance 7 x Data ARRAY BYTE BYTE BYTE BYTE BYTE 4 BYTE 5 Table. Instance 7 - Torque status - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit AtReference RefFrom- Net CtrlFrom- Net Ready Running Running Warning Faulted Drive State Speed Actual (Low Byte) rpm Speed Actual (High Byte) rpm Torque Actual (Low Byte) Torque Actual (High Byte) 4-hour support +58 () vacon@vacon.com

36 vacon 4 Appendix A: Object dictionary... Instance 75 x Data ARRAY BYTE BYTE BYTE BYTE BYTE 4 BYTE 5 Table. Instance 75 - Process status - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit AtReference RefFrom- Net CtrlFrom- Net Ready Running Running Warning Faulted Drive State Speed Actual (Low Byte) rpm Speed Actual (High Byte) rpm Process Actual (Low Byte) Process Actual (High Byte)... Instance 7 x Data ARRAY BYTE BYTE BYTE BYTE BYTE 4* BYTE 5* BYTE * BYTE 7* Table. Instance 7 - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit AtReference RefFrom- Net CtrlFrom- Net Ready Running Running Warning Faulted Drive State Speed Actual (Low Byte) rpm Speed Actual (High Byte) rpm ProcessDataOut (Low Byte) ProcessDataOut (High Byte) ProcessDataOut (Low Byte) ProcessDataOut (High Byte) *) Content of the bytes depends on the Process Data Selectors in Instance. When both selectors are set to, the default content of the bytes is used (one presented above). Tel. +58 () Fax +58 () 5

37 Appendix A: Object dictionary vacon 5... Instance 7 x Data ARRAY 4-hour support +58 () vacon@vacon.com

38 vacon Appendix A: Object dictionary Table. Instance 7 - Data structure Bit 7 Bit Bit 5 Bit 4 Bit Bit Bit Bit BYTE Statusword (Low Byte) BYTE Statusword (Low Byte) BYTE % Speed Actual (Low Byte) % BYTE % Speed Actual (High Byte) % BYTE 4 RPM Speed Actual (Low Byte) BYTE 5 RPM Speed Actual (High Byte) BYTE RPM with Slip Speed Actual (Low Byte) BYTE 7 RPM with Slip Speed Actual (High Byte) BYTE 8 Reserved BYTE 9 Reserved BYTE Reserved BYTE Reserved BYTE Reserved BYTE Reserved BYTE 4 Reserved BYTE 5 Reserved BYTE Reserved BYTE 7 Reserved BYTE 8 ProcessDataOut (Low Byte) BYTE 9 ProcessDataOut (High Byte) BYTE ProcessDataOut (Low Byte) BYTE ProcessDataOut (High Byte) BYTE ProcessDataOut (Low Byte) BYTE ProcessDataOut (High Byte) BYTE 4 ProcessDataOut4 (Low Byte) BYTE 5 ProcessDataOut4 (High Byte) BYTE ProcessDataOut5 (Low Byte) BYTE 7 ProcessDataOut5 (High Byte) BYTE 8 ProcessDataOut (Low Byte) BYTE 9 ProcessDataOut (High Byte) BYTE ProcessDataOut7 (Low Byte) BYTE ProcessDataOut7 (High Byte) BYTE ProcessDataOut8 (Low Byte) BYTE ProcessDataOut8 (High Byte) Tel. +58 () Fax +58 () 5

39 Appendix A: Object dictionary vacon 7..7 DeviceNet Connection Object - Class Code x5..7. Instance x x x 4 x4 5 x5 x 7 x7 7 xb Revision Max Instance Number of Instances Optional attribute list Optional service list Max Class Attribute ID Max Instance Attribute ID STRUCT OF: - : number of attributes - ARRAY of : optional attributes xe STRUCT OF: - : number of services - ARRAY of : optional services 7 7 x Object Device- Net Connection Device- Net Connection Device- Net Connection SHORT_STRING Revision of this object ASCII for the Object Class 4-hour support +58 () vacon@vacon.com

40 vacon 8 Appendix A: Object dictionary..7. Instance - Explicit Connection x x x 4 x4 5 x5 x 7 x7 8 x8 9 x9 xc xd 4 xe 5 xf Mininum State 5 Instance Type Transport- ClassTrigger Produced Connection Id Consumed Connection Id Initial Comm. Characteristics Produced Connection Size Consumed Connection Size Expected Packet Rate Watchdog Timeout Action Produced Connection Path Length Produced Connection Path Consumed Connection Path Length x8 x8 x8 x4 x5fb x44 x5fc x x x USINT USINT BYTE BYTE State of the object Indicates either I/O or messaging connection =Explicit Defines Behavior of the connection Placed in CAN Identifier Field when the Connection Transmits CAN Identifier Field value that denotes message to be received Defines the Message Group(s) across which productions and consumptions associated with this Connection occur on a DeviceNet subnet. 99 number of bytes transmitted across this Connection 99 number of bytes received across this Connection USINT ARRAY of USINT Defines timing associated with this Connection Defines how to handle Inactivity/Watchdog timeouts. - Auto Delete - Defered Delete An attempt to set this attribute to the value will result in an Invalid Attribute Value error. Number of bytes in the Produced Connection Path attribute Application Obj. producing data on this connection Number of bytes in the Consumed Connection Path attribute Tel. +58 () Fax +58 () 5

41 Appendix A: Object dictionary vacon 9 x 7 x Consumed Connection Path Production Inhibit Time Mininum ARRAY of USINT Specifies the Application Object(s) that are to receive the data consumed by this Connection Object Defines the minimum time between data productions. This attribute is required for the I/O Client connections. A value zero indicates no inhibit time. Units: [ms] 4-hour support +58 () vacon@vacon.com

42 vacon 4 Appendix A: Object dictionary..7. Instance - Polled IO Connection x x x 4 x4 5 x5 x 7 x7 8 x8 9 x9 xc xd 4 xe 5 xf State 4 Instance Type Transport- ClassTrigger Produced Connection Id Consumed Connection Id Initial Comm. Characteristics Produced Connection Size Consumed Connection Size Expected Packet Rate Watchdog Timeout Action Produced Connection Path Length Produced Connection Path Consumed Connection Path Length x8 x8 x8 xco xff x45 x5fd USINT USINT BYTE BYTE State of the object Indicates either I/O or messaging connection =I/O Defines Behavior of the connection Placed in CAN Identifier Field when the Connection Transmits CAN Identifier Field value that denotes message to be received Defines the Message Group(s) across which productions and consumptions associated with this Connection occur on a DeviceNet subnet. 4 number of bytes transmitted across this Connection 4 number of bytes received across this Connection 555 USINT ARRAY of USINT Defines timing associated with this Connection Defines how to handle Inactivity/Watchdog timeouts. = Transition to Timed Out Number of bytes in the Produced Connection Path attribute Application Obj. producing data on this connection. E.g. x x4 - Assembly Object x4 x47 - Instance 7 (x47) x x - Attribute Number of bytes in the Consumed Connection Path attribute Tel. +58 () Fax +58 () 5

43 Appendix A: Object dictionary vacon 4 x Consumed Connection Path ARRAY of USINT Specifies the Application Object(s) that are to receive the data consumed by this Connection Object. E.g. x x4 - Assembly Object x4 x5 - Instance (x5) x x - Attribute 7 x Production Inhibit Time Defines the minimum time between data productions. This attribute is required for the I/O Client connections. A value zero indicates no inhibit time. Units: [ms]..8 Motor Data Object - Class Code x8..8. Instance x x x 4 x4 5 x5 x 7 x7 Revision Max Instance Number of Instances Optional attribute list Optional service list Max Class Attribute ID Max Instance Attribute ID STRUCT OF: - : number of attributes - ARRAY of : optional attributes xe STRUCT OF: - : number of services - ARRAY of : optional services 7 5 xf Revision of this object 7 xb Object Motor Data Motor Data Motor Data SHORT_STRING ASCII for the Object Class 4-hour support +58 () vacon@vacon.com

44 vacon 4 Appendix A: Object dictionary..8. Instance x x 7 x7 9 x9 xc 5 xf Motor Type 7 7 RatedCurrent[mA] RatedVoltage[V] RatedFrequency[Hz] Pole- Count[pair* ] BaseSpeed[RPM ] USINT Type of Motor Represented by This Instance - Non-standard motor - PM DC Motor - FC DC Motor - PM Synchronous Motor 4 - FC Synchronous Motor 5 - Switched Reluctance Motor - Wound Rotor Induction Motor 7 - Squirrel Cage Induction Motor 8 - Stepper Motor 9 - Sinusoidal PM BL Motor - Trapezoidal PM BL Motor Rated Stator Current Units: [ma] Rated Base Voltage Units: [V] Rated Electrical Frequency Units: [Hz] 4 Number of poles in the motor 44 Nominal speed at rated frequency from nameplate Units: [RPM] Tel. +58 () Fax +58 () 5

45 Appendix A: Object dictionary vacon 4..9 Control Supervisor Object - Class Code x9..9. Instance x x x 4 x4 5 x5 x 7 x7 Revision Max Instance Number of Instances Optional attribute list Optional service list Max Class Attribute ID Max Instance Attribute ID STRUCT OF: - : number of attributes - ARRAY of : optional attributes xe STRUCT OF: - : number of services - ARRAY of : optional services 7 5 xf Revision of this object 7 xb Object Control Supervisor Control Supervisor Control Supervisor SHORT_STRING ASCII for the Object Class 4-hour support +58 () vacon@vacon.com

46 vacon 44 Appendix A: Object dictionary..9. Instance x 4 x4 5 x5 x 7 x7 8 x8 9 x9 xa xb xc xd 4 xe Run Run NetCtrl State 7 Running Running Ready Faulted Warning FaultRst FaultCode 555 WarnCode 555 BOOL BOOL BOOL USINT BOOL BOOL BOOL BOOL BOOL BOOL Run Forward Request Run Reverse Request Requests Run/Stop control to be local or from network State of Control Supervisor Instance = Startup = Not_Ready = Ready 4 = Enabled 5 = Stopping = Fault_Stop 7 = Faulted Running Forward Status = Other state = Running Forward Running Reverse Status = Other state = Running reverse Ready to Accept a Run Event = Other state = Ready to accept a Run Event Fault Occurred = No faults present = Fault occurred (latched) Warning Present = No warnings present = Warning present (not latched) Fault Reset Request = No action -> = Fault reset request = No action If in Faulted state, the FaultCode indicates the fault that caused the transition to Faulted state. If not in Faulted state, the FaultCode indicates the fault that caused the last transition to the Faulted state. The fault codes are listed in Vol. of CIP, section If in Enabled state, WarnCode indicates the lowest valued warning that caused the Warning bit to be TRUE. The warning codes are listed in Vol. of CIP, section Tel. +58 () Fax +58 () 5

47 Appendix A: Object dictionary vacon 45 5 xf CtrlFromNet BOOL Status of Run/Stop control source = Control is local = Control is from network 4-hour support +58 () vacon@vacon.com

48 vacon 4 Appendix A: Object dictionary.. AC/DC Drive Object - Class Code xa... Instance x x x 4 x4 5 x5 x 7 x7 7 xb Revision Max Instance Number of Instances Optional attribute list Optional service list Max Class Attribute ID Max Instance Attribute ID STRUCT OF: - : number of attributes - ARRAY of : optional attributes xe STRUCT OF: - : number of services - ARRAY of : optional services 7 xd Object AC\DC Drive AC\DC Drive AC\DC Drive SHORT_STRING Revision of this object ASCII for the Object Class Tel. +58 () Fax +58 () 5

49 Appendix A: Object dictionary vacon Instance x 4 x4 5 x5 x 7 x7 8 x8 9 x9 xa xb xc xd 4 xe 5 xf x AtReference NetRef NetProc DriveMode SpeedActual[RPM] Speed- Ref[RPM] CurrentActual[mA] Cur- rent- Limit[mA ] TorqueRef[N m] Process Actual ProcRef TorqueActual[Nm] PowerActual[W] InputVoltage[V] BOOL BOOL BOOL = Drive actual at reference (speed or torque reference) based on mode Requests torque or speed reference to be local or from the network = Set Reference not DN Control = Set Reference at DN Control Note that the actual status of torque or speed reference is reflected in attribute 9, RefFromNet. Requests process control reference to be local or from the network. = Set Process not DN Control = Set Process at DN Control or 4 USINT = Vendor specific mode 4 = Process control INT INT INT INT INT INT INT INT INT INT Actual drive speed (best approximation) Units: RPM Speed reference Units: RPM Actual motor phase current Units: ma Motor phase current limit Units: ma Actual torque Units: Nm Torque reference Units: Nm Actual process control value Process control reference set point Actual output power Units: Watts Input Voltage Units: Volts 4-hour support +58 () vacon@vacon.com

50 vacon 48 Appendix A: Object dictionary 7 x 8 x 9 x x4 x5 4 x8 9 xd OutputVoltage[V] AccelTime[ms] DecelTime[ms] LowSpd- Limit[RPM] HighSpd- Limit[RPM] TorqueScale RefFromNet INT SINT BOOL Output Voltage Units: Volts Acceleration time Units: ms / TimeScale TimeScale = Deceleration time Units: ms / TimeScale TimeScale = speed limit Units: RPM speed limit Units: RPM Torque scaling factor. Scaling is accomplished as follows: ScaledTorque = Nm / TorqueScale Status of torque/speed reference = Local torque/speed reference = DeviceNet torque/speed reference.. Vendor Parameter Object - Class Code xa... Instance NOT SINGLE ATTRIBUTE PROVIDED... Instance - Instance 55 Vendor Parameter Object is used to read vendor parameters. Desired parameter ID is constructed in the following way: Parameter ID = (InstanceNo-)<<8 Attribute Or Parameter ID (High Byte) = Instance # Parameter ID (Low Byte) = Attribute # Tel. +58 () Fax +58 () 5

51 Appendix A: Object dictionary vacon 49 Examples: -Energy Counter Parameter ID 9 (x8f) Instance ID = x9 (x + x8 high byte of ID number), Attribute ID = xf (Low byte of ID number). -Max Frequency Parameter ID (x) Instance ID = x (x + x high byte of ID number), Attribute ID = x (Low byte of ID number) 4-hour support +58 () vacon@vacon.com

52 Find your nearest Vacon office on the Internet at: Manual authoring: Vacon Plc. Runsorintie 7 58 Vaasa Finland Subject to change without prior notice Vacon Plc. Document ID: Rev. A