Danfoss MG07E102 Frequency Converter User Guide

User Guide for Danfoss models including: MG07E102 Frequency Converter, MG07E102, Frequency Converter, Converter

CANopen

8.4 MB

VLT Fieldbus options | Danfoss

File Info : application/pdf, 46 Pages, 3.35MB

AU361182736117en-000201

Programming Guide CANopen®
VLT® Midi Drive FC 280
vlt-drives.danfoss.com

Contents

Programming Guide

Contents
1 Introduction
1.1 Purpose of the Manual 1.2 Additional Resources 1.3 Document and Software Version 1.4 Product Overview 1.5 Approvals and Certifications 1.6 Symbols, Abbreviations, and Conventions
2 Safety
2.1 Safety Symbols 2.2 Qualified Personnel 2.3 Safety Precautions
3 Configuration
3.1 Configure the CANopen Network 3.2 Configure the Master 3.3 Configure the Frequency Converter
4 Control
4.1 PDO Communication 4.1.1 PDO Configuration 4.1.2 PDO Transmission Modes 4.1.3 PDO Triggering Modes 4.1.4 Inhibit Time 4.1.5 Event Timer
4.2 Control Profile 4.3 DSP 402 Control Profile
4.3.1 Objects in DSP 402 Profile 4.4 Danfoss FC Control Profile
4.4.1 Objects in FC Profile 4.4.2 Control Word according to FC Profile (Object 2690h) 4.4.3 Status Word according to FC Profile (Object 2643h)
5 Parameter Access
5.1 Danfoss Specific Objects (2000h-5FFFh)
6 Parameters
6.1 Parameter List
7 Object Directory
7.1 Communication Profile Area (1000h-1FFFh)

MG07E102

3 3 3 3 3 4 4
5 5 5 5
7 7 11 14
15 15 16 17 17 17 17 17 17 17 22 22 22 24
26 26
27 31
33 33
1

Contents

CANopen®

7.1.1 Communication Object Overview

7.1.2 1000h Device Type

7.1.3 1001h Error Register

7.1.4 1005h COB-ID Sync Message Object

7.1.5 1008h Manufacturer Device Name

7.1.6 100Ah Manufacturer Software Version

7.1.7 100Ch Guard Time

7.1.8 100Dh Life Time Factor

7.1.9 1010h Store Parameters

7.1.10 1011h Restore Default Parameters

7.1.11 1014h COB ID Emergency Object

7.1.12 1017h Producer Heartbeat Time

7.1.13 1018h Identity Object

7.1.14 1020h Verify Configuration

8 Troubleshooting

8.1 Warnings and Alarms

8.2 Troubleshooting

Index

MG07E102

Introduction
1 Introduction

Programming Guide

1.1 Purpose of the Manual
The VLT® CANopen® Programming Guide provides information about configuring the system, controlling the frequency converter, accessing parameters, programming, and troubleshooting. The programming guide is intended for use by qualified personnel who are familiar with the VLT® frequency converter, with CANopen technology, and with the PC or PLC that is used as a master in the system. Read the instructions before programming and follow the procedures in this manual.
CANopen® is a registered trademark for CAN IN AUTOMATION international users and manufacturers group e. V.
VLT® is a registered trademark.
1.2 Additional Resources
Additional documentation available for the product:
· VLT® Midi Drive FC 280 Operating Guide provides
the necessary information for getting the frequency converter up and running.
· VLT® Midi Drive FC 280 Design Guide provides
detailed information about capabilities and functionality to design motor control systems.
· VLT® Midi Drive FC 280 Programming Guide
provides greater detail on working with parameters and many application examples.
· VLT® CANopen Programming Guide provides
information about configuring the system, controlling the frequency converter, accessing parameters, programming, troubleshooting, and some typical application examples.
· VLT® Midi Drive FC 280 Control Cassettes Instal-
lation Instruction describes how to install a control cassette.
Supplementary publications and manuals are available from Danfoss. See vlt-drives.danfoss.com/Support/TechnicalDocumentation/.
1.3 Document and Software Version
This manual is regularly reviewed and updated. All suggestions for improvement are welcome. Table 1.1 shows the document version and the corresponding software version.

Edition MG07E1xx

Remarks New manual

Software version 1.1 or later

Table 1.1 Document and Software Version

1.4 Product Overview
This programming guide relates to the CANopen interface.

CANopen is a low-level network that standardizes communications between industrial devices (sensors, limit switches, motor controls) and high-level devices (controllers). CANopen follows the open systems interconnection (OSI) model and is based on CAN technology for media access control and physical signaling. Configure CANopen systems to operate in a master/slave or a distributed control architecture using peer-to-peer communication. Up to 127 nodes in a multi-drop network topology are supported. Nodes can be removed or inserted without powering down the network. Each node on the network has its own unique node ID to distinguish it on the network. The access control is based on the carrier sense multiple access/collision avoidance (CSMA/CA) principle, meaning that all nodes may have access to the network at the same time. When 2 nodes attempt to get control of the network bus simultaneously, the CAN protocol resolves the issue by arbitration. This allows to avoid collisions on the network. CANopen defines device profiles for devices belonging to specific classes. For other devices, define a custom class to make it CANopen compatible. All of the above enhances the interchangeability and interoperability of the network.

Trunk line RT

RT 1
1

Drop lines 1 RT=Termination resistors
Illustration 1.1 Topology

130BE886.10

MG07E102

Introduction

CANopen®

1 1 1.5 Approvals and Certifications

More approvals and certifications are available. For more information, contact a local Danfoss partner.
1.6 Symbols, Abbreviations, and Conventions

Abbreviation CAN CiA COB COB-ID CTW EDS EMC EMCY I/O LCP LED LOP LSB MAV MRV MSB NMT N/A OD PCD PDO PLC PNU REC RPDO RPM
RTR RX STW SDO SYNC TEC TPDO TX

Definition Controller area network CAN in automation Communication object Communication object identifier Control word Electronic datasheet Electromagnetic compatibility Emergency message Input/output Local control panel Light emitting diode Local operation pad Least significant bit Main actual value (actual output) Main reference value Most significant bit Network management Not applicable Object directory Process data Process data object Programmable logic controller Parameter number Receive error counter Receive process data object Revolutions per minute; unit for the speed of a revolving motor Remote transmission request frame Receive data Status word Service data object Object for synchronization of process data Transmit error counter Transmit process data object Transmit data

Table 1.2 Symbols and Abbreviations

Conventions Numbered lists indicate procedures. Bullet lists indicate other information and description of illustrations.
Italicized text indicates:
· Cross-reference. · Link. · Parameter name. · Footnote. · Parameter group. · Parameter option. · Alarms/warnings.

MG07E102

Safety

Programming Guide

2 Safety
2.1 Safety Symbols
The following symbols are used in this guide:
WARNING
Indicates a potentially hazardous situation that could result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation that could result in minor or moderate injury. It can also be used to alert against unsafe practices.
NOTICE
Indicates important information, including situations that can result in damage to equipment or property.
2.2 Qualified Personnel
Correct and reliable transport, storage, installation, operation, and maintenance are required for the troublefree and safe operation of the frequency converter. Only qualified personnel are allowed to install and operate this equipment.
Qualified personnel are defined as trained staff, who are authorized to install, commission, and maintain equipment, systems, and circuits in accordance with pertinent laws and regulations. Also, the qualified personnel must be familiar with the instructions and safety measures described in this manual.
2.3 Safety Precautions
WARNING
HIGH VOLTAGE
Frequency converters contain high voltage when connected to AC mains input, DC supply, or load sharing. Failure to perform installation, start-up, and maintenance by qualified personnel can result in death or serious injury.
· Only qualified personnel must perform instal-
lation, start-up, and maintenance.

WARNING
UNINTENDED START
When the frequency converter is connected to AC mains, DC supply, or load sharing, the motor may start at any time. Unintended start during programming, service, or repair work can result in death, serious injury, or property damage. The motor can start with an external switch, a fieldbus command, an input reference signal from the LCP or LOP, via remote operation using MCT 10 Set-up Software, or after a cleared fault condition.
To prevent unintended motor start:
· Press [Off/Reset] on the LCP before
programming parameters.
· Disconnect the frequency converter from the
mains.
· Completely wire and assemble the frequency
converter, motor, and any driven equipment before connecting the frequency converter to AC mains, DC supply, or load sharing.
WARNING
DISCHARGE TIME
The frequency converter contains DC-link capacitors, which can remain charged even when the frequency converter is not powered. High voltage can be present even when the warning LED indicator lights are off. Failure to wait the specified time after power has been removed before performing service or repair work can result in death or serious injury.
· Stop the motor. · Disconnect AC mains and remote DC-link
supplies, including battery back-ups, UPS, and DC-link connections to other frequency converters.
· Disconnect or lock PM motor. · Wait for the capacitors to discharge fully. The
minimum waiting time is specified in Table 2.1.
· Before performing any service or repair work,
use an appropriate voltage measuring device to make sure that the capacitors are fully discharged.

MG07E102

Safety

CANopen®

Voltage [V]
200240 380480

Power range [kW (hp)] 0.373.7 (0.55) 0.377.5 (0.510) 1122 (1530)

Table 2.1 Discharge Time

Minimum waiting time (minutes) 4 4 15

WARNING
LEAKAGE CURRENT HAZARD
Leakage currents exceed 3.5 mA. Failure to ground the frequency converter properly can result in death or serious injury.
· Ensure the correct grounding of the equipment
by a certified electrical installer.

WARNING
EQUIPMENT HAZARD
Contact with rotating shafts and electrical equipment can result in death or serious injury.
· Ensure that only trained and qualified personnel
perform installation, start-up, and maintenance.
· Ensure that electrical work conforms to national
and local electrical codes.
· Follow the procedures in this guide.

CAUTION
INTERNAL FAILURE HAZARD
An internal failure in the frequency converter can result in serious injury when the frequency converter is not properly closed.
· Ensure that all safety covers are in place and
securely fastened before applying power.

MG07E102

Configuration

Programming Guide

3 Configuration

3.1 Configure the CANopen Network 3.1.1 Object Model

CAN-bus

Communication unit

Object directory

Application unit

33
Processing unit

130BA929.10

Illustration 3.1 Functional Principle of CANopen Nodes

All information accessible via the CAN bus is stored in the object directory (OD). The contents of the OD are organized in Table 3.1.

Object directory index range 0000h 0001h025Fh 0260h0FFFh 1000h1FFFh 2000h5FFFh 6000h9FFFh A000hFFFFh

Object type
Not used Data types Reserved Communication object area Manufacturer-specific area Standardized device profile area Reserved

Table 3.1 Contents of the OD

For a complete overview of the objects supported in the OD, refer to chapter 7 Object Directory.

3.1.2 Communication in CANopen
In CANopen protocol, the communication is done via service data objects (SDOs), process data objects (PDOs), and network management (NMT).
PDOs are real-time process data with high priority. PDOs are only available if the node is in operational state.
SDOs are non-time-critical data and are used to configure the frequency converter. SDOs are only available if the node is in both operational and pre-operational state.
NMT functions monitor the network stability and include synchronization, detection of faults, and emergency message transmission.
COB identifiers (ID) Each communication object has a unique identity (COB-ID) containing the function code and the node ID (node address), see Illustration 3.2.

Illustration 3.2 COB-ID

MG07E102

Configuration

CANopen®

Object

Function code (binary)

NMT SYNC Time stamp EMERGENCY

0000 0001 0010 0001

PDO1 (tx)

0011

PDO1 (rx)

0100

PDO2 (tx)

0101

PDO2 (rx)

0110

PDO3 (tx)

0111

PDO3 (rx)

1000

PDO4 (tx)

1001

PDO4 (rx)

1010

SDO (tx)

1011

SDO (rx)

1100

NMT error control (node guarding)

1110

Resulting COB-ID Communi-

cation

parameter in

125

(1005h)

256

129 (81h)255 1014h

(FFh)

385 (181h)511 1800h

(1FFh)

513 (201h)

1400h

639(27Fh)

641 (281h)

1801h

767(2FFh)

769 (301h)895 1401h

(37Fh)

897 (381h)1023 1802h

(3FFh)

1025 (401h)1151 1402h

(47Fh)

1153 (481h)1279 1803h

(4FFh)

1281 (501h)1407 1403h

(57Fh)

1409 (581h)1535 1200h ...

(5FFh)

1537 (601h)1663 1200h ...

(67Fh)

1793 (701h)1919 1016h, 1017h

(77Fh)

(100Eh)

Table 3.2 Communication Object

Transmit and receive is always seen from the point of view of a node:
· RX: Nodes receiving data (controller to node). · TX: Nodes transmitting data (node to controller).
Example:
· COB-ID 383 stands for PDO3 transmit from node
address 3.
· COB-ID 185 stands for PDO1 transmit from node
address 5.
· COB-ID 604 stands for SDO receive to node
address 4.

3.1.3 Controlling the Network

In each CANopen node, a state machine controls the different states of the node. After power-up, the node transmits a boot-up message with the COB-ID value 700h+node ID, and goes from initialization to pre-operational state.

In the pre-operational state, SDO communication is possible, but not PDO communication. The node must receive a start network command from an NMT master to enter the operational state. In operational state, both SDO and PDO communications are possible.
The NMT state of the node is shown with the green indicator light:
· Blinking: Pre-operational. · On: Operational. · Single flash: Stopped.
A node reset, or communication reset command from the NMT master puts the node to the initialization state. When the initialization is finished, the node enters preoperational state automatically.
NOTICE
It may take several seconds to reset a frequency converter with the NMT node reset command. The reset time depends on the power size of the frequency converter. Greater power size may require a longer reset time.
Illustration 3.3 Controlling the Network
3.1.4 Error Control
CANopen has 2 types of error control: Node guarding and heartbeat.
In node guarding, the NMT master sends a remote frame (RTR) signal cyclically with the following COB-ID: 700h +node ID. The node replies with its actual status. The frequency converter monitors the reception of the RTR frames, and the presence of the NMT master.

MG07E102

Configuration

Programming Guide

Configure the monitoring of the NMT master via the following OD:
· 100C: Guard time in [ms]. · 100D: Life time factor.
If the time equal to (guard time) x (life time factor) has expired, the action selected in parameter 8-04 Control Word Timeout Function is executed.

The frequency converter can also be configured as heartbeat producer via object 1017h (producer heartbeat time). The frequency converter continuously transmits heartbeats that can be monitored by, for example, an NMT master.

NOTICE
The CANopen control card does not support the heartbeat consumer function.

Emergency object (EMCY) The emergency object communicates error states, and it is sent automatically if an alarm in the frequency converter occurs. If the alarm ceases, another emergency telegram is sent out with the content 0, indicating the end of the alarm state.
Configure the behavior of the EMCY object via parameter 8-07 Diagnosis Trigger.
OD 1014h contains the COB-ID of the node's EMCY message, the COB-ID value is set to 80h+node ID.
The EMCY always consists of 8 bytes with the full data as described in Table 3.3.

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

EMCY code1) OD: (OD: 1003 [1]) 1001h

Vendor-specific information

Table 3.3 EMCY Consists of 8 Bytes with the Full Data 1) For more information on EMCY codes, refer to chapter 8 Troubleshooting.

Bit 0 1, alarm word 1 has an active alarm (parameter 16-90 Alarm Word).
Bit 1 1, alarm word 2 has an active alarm (parameter 16-91 Alarm Word 2).
Bit 2 1, alarm word 3 has an active alarm (parameter 16-97 Alarm Word 3).
Bit 3 1, warning word 1 has an active warning (parameter 16-92 Warning Word).
Bit 4 1, warning word 2 has an active warning (parameter 16-93 Warning Word 2).
Bit 57 0, reserved.

Table 3.4 Byte 3 Description

Bus error counters The frequency converter contains 2 CAN bus error counters:
· Parameter 10-05 Readout Transmit Error Counter
(TEC).
· Parameter 10-06 Readout Receive Error Counter
(REC). These counters determine the error-state of the CANopen node.
Illustration 3.4 Bus Error Counters
TEC is incremented with 8 if a transmit error occurs, and decremented with 1 if a transmission is successful. REC is incremented with 1 if a receive error occurs or with 8 if the transmitting node is in error-active state, and decremented with 1 if a reception is successful. In normal operation, the node is in error-active state. If TEC or REC exceeds the value 127, the node enters errorpassive state. In error-passive state, the error flag is transmitted recessively. This means that an error-passive node, as a receiver, cannot block communication for other nodes. A node in the error-passive state has a lower-prioritized access to the bus. If TEC exceeds 255 (248+8), the node enters the bus-off state. In bus-off state, the Err indicator light turns solid red, and the frequency converter issues warning 34, Fieldbus communication fault. Power cycle the frequency converter to cancel the bus-off state.

MG07E102

Configuration

CANopen®

3.1.5 SDO Communication

All CANopen objects and frequency converter parameters can be accessed via service data objects (SDO). For a description of supported SDO abort codes, refer to chapter 8 Troubleshooting.

Transmit SDO Receive SDO

COB-ID 1409 (581h)1535 (5FFh) 1537 (601h)1663 (67Fh)

580h+Node ID 600h+Node ID

Table 3.5 COB-IDs for SDO Communication

COB-ID CS

OD index Subindex

Data

600+ID See following text 01 20 00

00 00 00 00

Table 3.6 Structure of a SDO-message (Request)

The CS field contains the command and response specifiers. See Table 3.7 and Table 3.8.

Command

Write request 4 bytes

23h

Write request 2 bytes

2Bh

Write request 1 byte

2Fh

Read request (any)

40h

Table 3.7 Command

Response

Write response (any)

60h

Read response 4 bytes

43h

Read response 2 bytes

4Bh

Read response 1 byte

4Fh

Error response

80h

Table 3.8 Response

Saving OD entries In a standard configuration, all parameters and OD entries are stored in volatile (RAM) memory only. To store current network configuration in non-volatile memory, use OD with index 1010h.
To save parameters, write the value 65766173 (save) to the following subindex in OD: 1010h.

OD index Subindex Description

0 Number of entries.

1 Save all communication parameters and

frequency converter parameters.

1010h

2 Save all communication parameters.

3 Reserved.

4 Save all frequency converter parameters

(all set-ups).

Table 3.9 Saving OD Entries

Restoring OD entries To restore factory defaults, use OD index 1011h. To restore default parameters, write the value 64616F6C (load) to the following subindex in OD: 1011h.

OD index Subindex Description

0 Number of entries.

1 Restore all communication parameters and

frequency converter parameters1).

1011h

2 Restore all communication parameters.

3 Reserved.

4 Restore all frequency converter parameters

(all set-ups).

Table 3.10 Restoring OD Entries 1) Requires power cycle.
NOTICE
Frequency converter shows alarm 80, Drive initialized after the restore.

MG07E102

Configuration

Programming Guide

3.2 Configure the Master 3.2.1 EDS File
Electronic datasheet (EDS) files simplify the setting of most of the CANopen configurable parameters.
The EDS file contains:
· All supported communication-specific objects (OD range 1000h1FFFh). · A selected number of frequency converter parameters (OD range 2000h5FFFh). · DSP 402 profile objects (OD range 6000h6FFFh).
Danfoss provides a generic English EDS file covering all voltage and power sizes for off-line configuration.
Download the EDS file from drives.danfoss.com/services/software-downloads/.
NOTICE
An EDS file does not contain all parameters, but a selected number of parameters with generic minimum, maximum, and default values.
3.2.2 Configuring the CANopen Master
The example in this section shows how to set up the CANopen configuration on a Moeller XC-CPU201 PLC.

Illustration 3.5 Enter Baud Rate and Node-ID on the CanMaster (CANopen Scanner)

MG07E102

Configuration

CANopen®

33
Illustration 3.6 Right-click CanMaster and Append a CANopen Node from EDS File Library

130BA936.10

Illustration 3.7 Configure the CAN Parameters on the Node (Node-ID, Node-guarding, Heartbeat, and so on)

MG07E102

Configuration

Programming Guide

Illustration 3.8 Configure Receive and Transmit PDO-mapping Illustration 3.9 PLC Memory Mapping

MG07E102

Configuration

CANopen®

3.3 Configure the Frequency Converter
3.3.1 Frequency Converter Parameters
The following parameters are most important when configuring the frequency converter with a CANopen interface. Refer to chapter 6 Parameters for more details about each parameter.
Parameter 0-40 [Hand on] Key on LCP Pressing the [Hand On] key (when the key is enabled) on the LCP disables the control of the frequency converter via the CANopen interface.
Parameter 8-02 Control Word Source After initial power-up, the frequency converter automatically sets parameter 8-02 Control Source to [3] Option A, which means that the control word comes from the CANopen port.
Parameter 8-10 Control Word Profile Select between the frequency converter profile and the DSP 402 profile for CANopen. Refer to chapter 4 Control.
Parameter 8-01 Control Site, parameter 8-50 Coasting Select parameter 8-56 Preset Reference Select Select how CANopen control commands gate with digital input commands of the control card. Set parameter 8-01 Control Site to: [2] Control word only or [0] Digital and ctrl. word. For more information, refer to chapter 4 Control.
NOTICE
When parameter 8-01 Control Site is set to [2] Control word only, the settings in parameter 8-50 Coasting Select parameter 8-56 Preset Reference Select are overruled.
Parameter 8-03 Control Word Timeout Time, parameter 8-04 Control Timeout Function
Enter the timeout time and select the timeout function. The reaction in the event of a bus timeout is set in these parameters:
· Parameter 10-01 Baud Rate Select. · Parameter 10-02 Node ID.

MG07E102

Control

Programming Guide

4 Control
4.1 PDO Communication
The real-time data transfer is performed by process data objects (PDO). The PDOs correspond to entries in the device object dictionary and provide the interface to the application objects.

PDO 1 (rx) PDO 1 (tx)

CTW STW

PDO 2 (rx)

CTW

REF

PDO 2 (rx)

STW

MAV

PDO 3 (rx)

CTW

REF

PDO 3 (rx)

STW

MAV

Illustration 4.1 PDO Types

NOTICE
PDO type 13 are freely configurable.
All receive and transmit PDOs can be configured via the OD.
Map the process data:
· Receiving PDOs: OD 16001602. · Transmitting PDOs: OD 1A001A02.

CANopen 2 CANopen 2

CANopen 3 CANopen 3

130BE843.10

MG07E102

Control

CANopen®

4.1.1 PDO Configuration

Index and name 1400h 1st receive PDO (RPDO 1) 1401h 2nd receive PDO (RPDO 2) 1402h 3rd receive PDO (RPDO 3)
1600h 1st receive PDO mapping (RPDO 1) 1601h 2nd receive PDO mapping (RPDO 2) 1602h 3rd receive PDO mapping (RPDO 3)
1800h 1st transmit PDO (TPDO 1) 1801h 2nd transmit PDO (TPDO 2) 1802h 3rd transmit PDO (TPDO 3)
1A00h 1st transmit PDO mapping (TPDO 1) 1A01h 2nd transmit PDO mapping (TPDO 2) 1A02h 3rd transmit PDO mapping (TPDO 3)

Subindex

Description

Number of entries

COB ID

Transmission type

Number of entries

1st mapped object

2nd mapped object

3rd mapped object

4th mapped object

5th mapped object

6th mapped object

7th mapped object

8th mapped object

Number of entries

COB ID

Transmission type

Inhibit time

Reserved

Event timer

Number of entries

1st mapped object

2nd mapped object

3rd mapped object

4th mapped object

5th mapped object

6th mapped object

7th mapped object

8th mapped object

Table 4.1 Receive PDO Configuration

Value subindex 2 Transmission type

1240 254255
0 1240 254255

SYNC COS
SYNC, non-cyclic SYNC COS

MG07E102

Control

Programming Guide

4.1.2 PDO Transmission Modes

Subindex 2 contains the setting of the transmission mode.

The following PDO transmission modes are supported:
· Synchronous transmission. · Asynchronous transmission.
4.1.3 PDO Triggering Modes

The CANopen communication profile has 2 messagetriggering modes:
· Event driven. · Remotely requested.
Event driven An object-specific event triggers the message transmission. For synchronous PDOs, this is the expiration of the specified transmission period, synchronized by the reception of the SYNC object.
For acyclically transmitted synchronous PDOs and asynchronous PDOs, application-specific events specified in the device profile trigger the message transmission.
Remotely requested A remote device can initiate the transmission of asynchronous PDOs.

Transmission PDO transmission

type

Cyclic Acyclic Synchronous Asynchronous RTR

only

1240

241251

Reserved

252 Not supported
253

254

255

Table 4.2 PDO Transmission

4.1.4 Inhibit Time
Subindex 3 contains the inhibit time. This time defines a minimum interval for PDO transmission. The value is defined in multiples of 0.1 ms. Default value is 300 (30 ms). Minimum value is 0. Maximum value is 32767 (3.2 s). Data length is 2 bytes.
4.1.5 Event Timer
Subindex 5 contains the inhibit time for transmit PDOs. If an event timer is configured for a TPDO (value not equal to 0), the elapsed timer causes the transmission of this TPDO. The event timer can be configured in multiples of 1 ms. Default value is 0. Maximum value is 32767 (32 s). Data length is 2 bytes.
4.2 Control Profile
Select the control word profile in parameter 8-10 Control Word Profile.
4.3 DSP 402 Control Profile
4.3.1 Objects in DSP 402 Profile
Use the objects defined in DSP 402 profile to control the frequency converter. The CANopen control cassette supports the following objects in DSP 402 profile:
· Object 6040h: Control word. · Object 6041h: Status word. · Object 6042h: Vl target velocity. · Object 6042h: Vl target velocity. · Object 6043h: Vl velocity demand. · Object 6044h: Vl control effort. · Object 6046h: Vl velocity minimum/maximum
amount.
· Object 6048h: Vl velocity acceleration. · Object 6049h: Vl velocity deceleration. · Object 604Ah: Vl velocity quick stop. · Object 604Ch: Vl dimension factor. · Object 6502h: Supported frequency converter
modes.
When parameter 8-10 Control Word Profile is set to [5] CANopen DSP 402:
· Use object 6040h as control word. · Use object 6042h as reference.

MG07E102

Control

CANopen®

4.3.2 DSP 402 State Transitions

Illustration 4.2 DSP 402 State Machine

MG07E102

Control

Programming Guide

Transition State

Start condition

Start-upNot ready to switch on

Not ready to switch onSwitch on disabled

Switch on disableReady to switched on

Ready to switch onSwitched on

Switched onOperation enabled

Operation enabledSwitched on

Switched onReady to switch on

Ready to switch onSwitch on disable

Operation enableReady to switch on

Operation enableSwitch on disable

Switched onSwitched on disable

Operation enabledQuick stop active

Quick stop activeSwitch on disabled

All statesFault reaction active

Fault reaction activeFault

FaultSwitch on disabled

Quick stop activeOperation enable (not

supported)

Table 4.3 DSP 402 State Transitions

Control word Status word

0000

0200

0000, 0001 0240

0006

0231

0007

0233

000F

0237

0007

0233

0006

0231

0001, 0000 0240

0006

0231

0001, 0000 0240

0002

0207

0001, 0000 xxxx xxxx 0000

0240
023F 023F (0238 by InterBus) 0240

Action Motor ramps to 0 RPM with programmed rampdown parameter. The power section is switched off immediately, and the motor is free to rotate if unbraked. The power section is switched off immediately, and the motor is free to rotate if unbraked. The power section is switched off immediately, and the motor is free to rotate if unbraked. The motor ramps to 0 RPM with the programmed quick-ramp parameter. The power section is switched off immediately, and the motor is free to rotate if unbraked.

MG07E102

Control

CANopen®

4.3.3 Control Word According to DSP 402 Profile (Object 6040h)

Master-follower CTW

Speed ref.

Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 4.3 Control Word

Bit

Bit value = 0

Bit value = 1

Switch off

Switch on

Disable voltage

Enable voltage

Quick stop

Run

Disable operation

Enable operation

Disable ramp

Enable ramp

Freeze

Run enable

Ramp stop

Start

No function

Reset

Reserved

Jog 1 OFF

Jog 1 ON

Reserved

Set-up select (LSB)

Set-up select (MSB)

Forward

Reversing

Table 4.4 Control Bits

Explanation of the control bits:

Bit 00, Switch off/on Bit 00 = 0: Execute transition 2, 6, or 8. Bit 00 = 1: Execute transition 3.
Bit 01, Disable/enable voltage Bit 01 = 0: Execute transition 9, 10, or 12. Bit 01 = 1: Enable voltage.
Bit 02, Quick stop/run Bit 02 = 0: Execute 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: Execute transition 7, 11, or quick stop. Bit 04 = 1: Enable 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 functions normally, and maintains the given reference.

130BA274.11

Bit 06, Ramp stop/start Bit 06 = 0: The frequency converter ramps the motor down to a stop. Bit 01 = 1: A start command to the frequency converter is given.
Bit 07, No function/reset Reset of trip. Bit 07 = 0: No reset. Bit 07 = 1: A trip is reset.
Bit 08, 09, and 10 Reserved for DSP 402.
Bit 11, Jog 1 OFF/ON Activation of pre-programmed speed in parameter 8-90 Bus Jog 1 Speed. Jog 1 is only possible if bit 04 = 0, and bits 0003 = 1.
Bit 12 Reserved for the frequency converter.
Bits 13/14, Selection of setup Bits 13 and 14 are used for selecting among the 4 menu set-ups in accordance with Table 4.5.

Set-up 0 0 1 1

Bit 14 0 1 0 1

Bit 13 1 2 3 4

Table 4.5 4 Menu Set-ups

Bit 15, Forward/reversing Bit 15 = 0: No reversing. Bit 15 = 1: Reversing.
NOTICE
In factory setting, reversing is set to [0] Digital input in parameter 8-54 Reversing Select.

MG07E102

Control

Programming Guide

130BA273.11

4.3.4 Status Word According to DSP402 Profile (Object 6041h)

Follower-master STW

Output freq.

Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 4.4 Status Word

Bit

Bit value = 0

Bit value = 1

Not ready to switch

Ready to switch ON

Switched OFF

Switched ON

Operation disabled

Operation enabled

No malfunction

Malfunction

Voltage disabled

Voltage enabled

Quick stop

Run

Switch on disable

Switch on enable

No warning

Warning

Speed reference

Speed = reference

Remote disabled

Remote enabled

Setpoint not reached

Setpoint reached

Speed limit not

Speed limit active

active

13 Reserved
14

Table 4.6 Status Bits

Explanation of the status bits:

Bit 00, Not ready to switch on/ready to switch on Bit 00 = 0: The state is less than ready to switch on. Bit 00 = 1: The state is at least equal to ready to switch on.
Bit 01, Switch off/switch on Bit 00 = 0: The state is less than switched on. Bit 00 = 1: The state is at least equal to switched on.
Bit 02, Operation disable/operation enable Bit 00 = 0: The state is less than operation enable. Bit 00 = 1: The state is at least equal to 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: The state is not switch on disable. Bit 06 = 1: The state is switch on disable.
Bit 07, No warning/warning Bit 07 = 0: There is a no-warning situation. Bit 07 = 1: A warning has occurred.
Bit 08, Speed reference/speed = reference Bit 08 = 0: The motor is running, but the current speed is different from the speed reference. This is the case when, for example, the speed is being ramped up or down. Bit 08 = 1: The current speed matches the speed reference.
Bit 09, Remote disable/remote enable Bit 09 = 0: The frequency converter is stopped with the [Stop] key on the LCP, or [Local] is selected in parameter 3-13 Reference Site. Bit 09 = 1: It is possible to control the frequency converter via the serial port.
Bit 10, Setpoint not reached/setpoint reached Bit 10 = 0: The actual motor speed is different from the speed reference. This is the case when, for example, the speed is being ramped up or down. Bit 10 = 1: The present motor speed equals the speed reference.
Bit 11, Speed limit not active/speed limit active Bit 11 = 0: The output frequency is outside the range set in parameter 4-11 Motor Speed Low Limit [RPM]/ parameter 4-12 Motor Speed Low Limit [Hz] or parameter 4-13 Motor Speed High Limit [RPM]/ parameter 4-14 Motor Speed High Limit [Hz]. Bit 11 = 1: The output frequency is within the limits.
Bit 12 Reserved for DSP 402.
Bit 13 Reserved for DSP 402.
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 the output frequency is greater than 0 Hz.
Bit 15 Reserved for the frequency converter.
4.3.5 Reference Handling
In DSP 402 profile, the reference (object 6042h) is in RPM by default. To use a different unit, set the vl dimension factor (object 604Ch) to a value other than 1. Refer to the DSP 402 standard for details.

MG07E102

Control

CANopen®

4.4 Danfoss FC Control Profile
4.4.1 Objects in FC Profile
In FC profile, DSP 402 profile objects (6000h to 6FFFh) cannot be used. When parameter 8-10 Control Word Profile is set to [0] FC Profile:
· Use object 2690h as control word, which is
parameter 16-80 Fieldbus CTW 1.
· Use object 2692h as reference, which is
parameter 16-82 Fieldbus REF 1.
4.4.2 Control Word according to FC Profile (Object 2690h)

Master-follower CTW

Speed ref.

Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 4.5 Control Word

Bit

Bit value = 0

Reference value

DC brake

Coasting

Quick stop

Hold output

frequency

Ramp stop

No function

Ramp 1

Data invalid

No function

13 Parameter set-up

14 Parameter set-up

No function

Table 4.7 Control Bits

Bit value = 1 External selection lsb External selection msb
Ramp No coasting
Ramp Use ramp
Start Reset Jog Ramp 2 Data valid Relay 01 active Relay 04 active Selection lsb Selection msb Reverse

Explanation of the control bits

Bits 00/01 Use bits 00 and 01 to select between the 4 reference values, which are programmed in parameter 3-10 Preset Reference according to Table 4.8.

130BA274.11

Set-up 1 2 3 4

Bit 14 0 0 1 1

Bit 13 0 1 0 1

Table 4.8 Set-up

NOTICE
In parameter 8-56 Preset Reference Select, select how bit 00/01 gates with the corresponding function on the digital inputs.

Bit 02, DC brake Bit 02 = 0: Apply DC brake and stop. The braking current and braking duration are set in parameter 2-01 DC Brake Current and parameter 2-02 DC Braking Time. Bit 02 = 1: Perform ramping.
Bit 03, Coasting Bit 03 = 0: The frequency converter releases the motor immediately (the output transistors are shut off), so that it coasts to a standstill. Bit 03 = 1: Enables the frequency converter to start the motor, if the other starting conditions are fulfilled.
NOTICE
In parameter 8-50 Coasting Select, select how bit 03 gates with the corresponding function on a digital input.

Bit 04, Quick stop Bit 04 = 0: The frequency converter ramps the motor speed down to a stop using parameter 3-81 Quick Stop Ramp Time.
Bit 05, Hold output frequency Bit 05 = 0: Freezes the current output frequency (in Hz). The frozen output frequency can then be changed only with digital inputs (parameter 5-10 Terminal 18 Digital Input to parameter 5-15 Terminal 33 Digital Input) programmed to [21] Speed up and [22] Speed down.
NOTICE
If hold output frequency is active, the frequency converter can only be stopped by the following:
· Bit 03, Coasting. · Bit 02, DC braking. · A signal on a digital input
(parameter 5-10 Terminal 18 Digital Input to parameter 5-15 Terminal 33 Digital Input) programmed to [5] DC-brake inverse, [2] Coast inverse, or [3] Coast and reset inverse.

MG07E102

Control

Programming Guide

Bit 06, Ramp stop/start Bit 06 = 0: Causes a stop, in which the motor speed is ramped down to a stop via the selected ramp-down parameter. Bit 06 = 1: Allows the frequency converter to start the motor, if all other starting conditions are fulfilled.
In parameter 8-53 Start Select, select how bit 06 gates with the corresponding function on a digital input.
Bit 07, Reset Bit 07 = 0: No reset. Bit 07 = 1: Reset a trip. Reset is activated on the signal's leading edge, for example, when changing from logic 0 to logic 1.
Bit 08, Jog Bit 08 = 1: The output frequency is determined by parameter 3-19 Jog Speed [RPM].
Bit 09, Selection of ramp 1/2 Bit 09 = 0: Ramp 1 is active (parameter 3-40 Ramp 1 Type to parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start). Bit 09 = 1: Ramp 2 is active (parameter 3-50 Ramp 2 Type to parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start).
Bit 10, Data not valid/data valid This bit defines whether the control word is to be used or ignored. Bit 10 = 0: The control word is ignored. Bit 10 = 1: The control word is used. This function is relevant, because the telegram always contains a control word, regardless of the type of telegram. For example, it is possible to turn off the control word if it should not be used when updating or reading parameters.
Bit 11, Relay 01 Bit 11 = 0: Relay 01 is not activated. Bit 11 = 1: Relay 01 is activated, provided that control word bit 11 is selected in parameter 5-40 Function Relay.
Bit 12, Relay 04 Bit 12 = 0: Relay 04 is not activated. Bit 12 = 1: Relay 04 is activated, provided control word bit 12 is selected in parameter 5-40 Function Relay.
Bit 13/14, Selection of set-up Use bits 13 and 14 to select from the 4 menu set-ups according to Table 4.9.

Set-up 1 2 3 4

Bit 14 0 0 1 1

Bit 13 0 1 0 1

Table 4.9 Selection of Set-up

The function is only available when parameter 0-10 Active Set-up is set to [9] Multi set-ups.

NOTICE
In parameter 8-55 Set-up Select, select how bit 13/14 gates with the corresponding function on digital inputs.
Bit 15, Reverse Bit 15 = 0: No reversing. Bit 15 = 1: Reversing.
NOTICE
By default, parameter 8-54 Reversing Select is set to [0] Digital input. Bit 15 initiates reversing only when the parameter is set to [1] Bus, [2] Logic AND, or [3] Logic OR.

MG07E102

Control

CANopen®

4.4.3 Status Word according to FC Profile (Object 2643h)

Follower-master STW

Output freq.

Bit no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Illustration 4.6 Status Word

Bit

Bit value = 0

00 Control not ready

01 Frequency converter

not ready

Coasting

No error

Reserved

No error

No warning

08 Speed reference

Local operation

10 Out of frequency

limit

No operation

12 Frequency converter

Voltage OK

Torque OK

Timer OK

Table 4.10 Status Bits

Bit value = 1 Control ready Frequency converter ready
Enable Trip
Error (no trip)
Trip lock Warning Speed = reference Bus control Frequency limit OK
In operation Stopped, auto start
Voltage exceeded Torque exceeded Timer exceeded

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 (if there is a 24 V external supply to controls).
Bit 01, Frequency converter ready Bit 01 = 1: The frequency converter is ready for operation, but there is an active coasting command on a digital input or on serial communication.
Bit 02, Coasting stop Bit 02 = 0: The frequency converter released the motor. Bit 02 = 1: The frequency converter can start the motor when it receives a start command.
Bit 03, No error/trip Bit 03 = 0: The frequency converter is not in a fault mode. Bit 03 = 1: The frequency converter is tripped, and a reset signal is required to restart operation.

130BA273.11

Bit 04, No error/error (no trip) Bit 04 = 0: The frequency converter is not in a 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 a 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 occurred.
Bit 08, Speed reference/speed = reference Bit 08 = 0: The motor is running, but the speed is different from the speed reference. This is the case when, for example, the speed is being ramped up or down. Bit 08 = 1: The current speed matches the speed reference.
Bit 09, Local operation/bus control Bit 09 = 0: [OFF/RESET] is pressed on the LCP, or parameter 3-13 Reference Site is set to [2] Local. 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 or serial communication.
Bit 10, Out of frequency limit Bit 10 = 0: The output frequency has reached the value in parameter 4-11 Motor Speed Low Limit [RPM] or parameter 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 received a start signal, or the output frequency is greater than 0 Hz.
Bit 12, Frequency converter OK/stopped, auto start Bit 12 = 0: There is no temporary overtemperature on the inverter. Bit 12 = 1: The inverter stopped because of overtemperature, but the frequency converter did not trip and resumes operation once the overtemperature ceases.
Bit 13, Voltage OK/limit exceeded Bit 13 = 0: There are no voltage warnings. Bit 13 = 1: The DC voltage in the DC link 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 parameter 4-18 Current Limit. Bit 14 = 1: The torque exceeds the limit in parameter 4-18 Current Limit.
Bit 15, Timer OK/limit exceeded Bit 15 = 0: The timers for motor thermal protection and frequency converter thermal protection have not elapsed. Bit 15 = 1: 1 of the timers has elapsed.

MG07E102

Control

Programming Guide

4.4.4 Reference Handling
In the frequency converter profile, the reference is scaled as a normalized relative value in percent. The value is transmitted in hexadecimal:
· 0% = 0 hex. · 100% = 4000 hex. · -100% = C000 hex.
Depending on the setting in parameter 3-00 Reference Range, the reference is scaled from -maximum to +maximum or from minimum to maximum.

Illustration 4.7 Reference Handling

The actual reference in the frequency converter depends on the settings in the following parameters:
· Parameter 1-23 Motor Frequency. · Parameter 1-25 Motor Nominal Speed. · Parameter 3-02 Minimum Reference. · Parameter 3-03 Maximum Reference.
All references provided to the frequency converter are added to the total reference value. If a reference should be controlled by the fieldbus only, ensure that all other reference inputs are 0. This means that digital and analog input terminals should not be used for reference signals.
Maintain the default setting (0 %) for preset references in parameter 3-10 Preset Reference.

If the bus speed reference is negative, and the control word contains a run-reverse signal, the frequency converter runs clockwise (-x- gives +).
MAV is scaled in the same way as the reference.

MG07E102

Parameter Access

CANopen®

5 Parameter Access

5.1 Danfoss Specific Objects (2000h-5FFFh)
All frequency converter parameters are accessible as OD entries: OD index = frequency converter parameter + 2000h.

Frequency converter parameter Parameter 0-01 Language Parameter 0-10 Active Set-up Parameter 0-11 Programming Set-up Parameter 1-00 Configuration Mode Parameter 1-01 Motor Control Principle Parameter 10-01 Baud Rate Select

CANopen OD index 2001h 200Ah 200Bh 2064h 2065h 23E9h

Table 5.1 Converting Frequency Converter Parameters

Access the indexed parameters by accessing the appropriate subindex of the OD index.

MG07E102

Parameters

Programming Guide

6 Parameters

8-01 Control Site

Option:

Function:

The setting in this parameter overrides the settings in parameter 8-50 Coasting Select to parameter 8-56 Preset Reference Select.

[0] Digital and ctrl.word
[1] Digital only

Use both digital input and control word. Use digital inputs only.

[2] Controlword only

Use control word only.

8-02 Control Source
Option: Function:
NOTICE
This parameter cannot be adjusted while the motor is running.

Select the source of the control word.
[0] None [1] FC Port [2] FC USB [3] Option A

8-03 Control Word Timeout Time

Range:

Function:

1 s* [ 0.1 18000 s]

Enter the maximum time expected to pass between the reception of 2 consecutive telegrams. If this time is exceeded, it indicates that the telegram communication has stopped. The function selected in parameter 8-04 Control Word Timeout Function is then carried out. A valid control word triggers the timeout counter.

8-04 Control Timeout Function

Select the timeout function. The timeout function activates when the control word is not updated within the time period specified in parameter 8-03 Control Word Timeout Time.

Option:

Function:

[0] * Off

Resumes control via fieldbus (fieldbus or standard), using the most recent control word.

[1] Freeze output Freezes output frequency until communication resumes.

[2] Stop

Stops with auto restart when communication resumes.

[3] Jogging

Runs the motor at jog frequency until communication resumes.

[4] Max. speed

Runs the motor at maximum frequency until communication resumes.

8-04 Control Timeout Function

Select the timeout function. The timeout function activates when the control word is not updated within the time period specified in parameter 8-03 Control Word Timeout Time.

Option:

Function:

[5] Stop and trip Stops the motor, then resets the frequency
converter:
· Via the fieldbus.

· Via the [Reset] key.

· Via a digital input.

8-07 Diagnosis Trigger

Option:

Function:

Select the frequency converter diagnosis function.

[0] Disable *

Do not send extended diagnosis data even if alarms or warnings occur in the frequency converter.

[1] Trigger on alarms

Send extended diagnosis data when 1 or more of the following alarms occur:
· Parameter 16-90 Alarm Word. · Parameter 16-91 Alarm Word 2. · Parameter 16-97 Alarm Word 3.

[2] Trigger alarm/ warn.

Send extended diagnosis data when 1 or more of the following alarms or warnings occur:
· Parameter 16-90 Alarm Word. · Parameter 16-91 Alarm Word 2. · Parameter 16-92 Warning Word. · Parameter 16-93 Warning Word 2. · Parameter 16-97 Alarm Word 3.

8-10 Control Word Profile

Select the interpretation of the control and status words corresponding to the installed fieldbus. The LCP display shows only the options valid for the fieldbus.

Option:

Function:

[0] *

FC profile

[7]

CANopen DSP 402

8-14 Configurable Control Word CTW

Array [15]

Option:

Function:

This parameter is not valid in software versions earlier than 4.93.

[0] None

The frequency converter ignores the information in this bit.

MG07E102

Parameters

CANopen®

8-14 Configurable Control Word CTW

Array [15]

Option:

Function:

[1] * Profile default

The functionality of the bit depends on the selection in parameter 8-10 Control Word Profile.

[2] CTW

If set to 1, the frequency converter ignores the

Valid,

remaining bits of the control word.

active low

[4] PID error Inverts the resulting error from the process PID

inverse controller. Available only if

parameter 1-00 Configuration Mode is set to [6]

Surface Winder, [7] Extended PID Speed OL, or [8]

Extended PID Speed CL.

[5] PID reset Resets the I-part of the process PID controller.

I part

Equivalent to parameter 7-40 Process PID I-part

Reset. Available only if parameter 1-00 Configu-

ration Mode is set to [6] Surface Winder, [7]

Extended PID Speed OL, or [8] Extended PID Speed

CL.

[6] PID enable

Enables the extended process PID controller. Equivalent to parameter 7-50 Process PID Extended PID. Available only if parameter 1-00 Configuration Mode is set to [6] Surface Winder, [7] Extended PID Speed OL, or [8] Extended PID Speed CL.

8-50 Coasting Select

Option:

Function:

Select the trigger for the coasting function.

[0] Digital input
[1] Bus

A digital input triggers the coasting function.
A serial communication port or the fieldbus triggers the coasting function.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the coasting function.

[3] * Logic OR

The fieldbus/serial communication port or a digital input trigger the coasting function.

8-51 Quick Stop Select

Select the trigger for the quick stop function.

Option:

Function:

[0]

Digital input

[1]

Bus

[2]

Logic AND

[3] *

Logic OR

8-52 DC Brake Select

Option:

Function:

Select the trigger for the DC brake function.

[0] Digital input

A digital input triggers the DC brake function.

8-52 DC Brake Select

Option:

Function:

[1] Bus

A serial communication port or the fieldbus triggers the DC brake function.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the DC brake function.

[3] * Logic OR

The fieldbus/serial communication port or a digital input trigger the DC brake function.

8-53 Start Select

Option:

Function:

Select the trigger for the start function.

[0] Digital input
[1] Bus

A digital input triggers the start function.
A serial communication port or the fieldbus triggers the start function.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the start function.

[3] * Logic OR

The fieldbus/serial communication port or a digital input trigger the start function.

8-54 Reversing Select

Option:

Function:

Select the trigger for the reversing function.

[0] Digital input
[1] Bus

A digital input triggers the reversing function.
A serial communication port or the fieldbus triggers the reversing function.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the reversing function.

[3] Logic OR

The fieldbus/serial communication port or a digital input trigger the reversing function.

8-55 Set-up Select

Option:

Function:

Select the trigger for the set-up selection.

[0] Digital input
[1] Bus

A digital input triggers the set-up selection.
A serial communication port or the fieldbus triggers the set-up selection.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the set-up selection.

[3] * Logic OR

The fieldbus/serial communication port or a digital input trigger the set-up selection.

MG07E102

Parameters

Programming Guide

8-56 Preset Reference Select

Option:

Function:

Select the trigger for the preset reference selection.

[0] Digital input

A digital input triggers the preset reference selection.

[1] Bus

A serial communication port or the fieldbus triggers the preset reference selection.

[2] Logic AND The fieldbus/serial communication port and a digital input trigger the preset reference selection.

[3] * Logic OR

The fieldbus/serial communication port or a digital input trigger the preset reference selection.

8-90 Bus Jog 1 Speed Range: 100 RPM* [ 0 - par. 4-13
RPM]

Function: Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option.

8-91 Bus Jog 2 Speed Range: 200 RPM* [ 0 - par. 4-13
RPM]

Function: Enter the jog speed. Activate this fixed jog speed via the serial port or fieldbus option.

10-01 Baud Rate Select

Select the fieldbus transmission speed. The selection must correspond to the transmission speed of the master and the other fieldbus nodes.

Option:

Function:

[16] [17] [18] [20] * [21] [22] [23] [24]

10 Kbps 20 Kbps 50 Kbps 125 Kbps 250 Kbps 500 Kbps 800 Kbps 1000 Kbps

10-02 Node ID

Range:

Function:

127* [1 - 127] Select the station address. Every station connected to the same network must have an unambiguous address.

10-05 Readout Transmit Error Counter

Range:

Function:

0* [0 - 255 ] Shows the number of CAN control transmission errors since the last power-up.

10-06 Readout Receive Error Counter

Range:

Function:

0* [0 - 255 ] Shows the number of CAN control receipt errors since the last power-up.

10-31 Store Data Values

Use this parameter to store changed parameter values at powerdown.

Option:

Function:

[0] * Off

Data values are not stored.

[2] Store all setups Store parameter values of all set-ups. The selection returns to [0] Off after parameter values are stored in memory.

[3] Store edit setup Store parameter values of the edit set-up. The selection returns to [0] Off after parameter values are stored in memory.

10-33 Store Always Option: Function: [0] * Off Deactivates non-volatile storage of data.
[1] On Stores the received parameter data in EEPROM nonvolatile memory.

15-60 Option Mounted

Array [8]

Range:

Function:

0* [0 - 30 ] Shows the type of the installed option.

16-84 Comm. Option STW

Range:

Function:

0* [0 - 65535 ] Shows the status word of the extended fieldbus communication option. For more information, refer to the relevant fieldbus manual.

16-90 Alarm Word

Range:

Function:

0* [0 - 4294967295 ] Shows the alarm word sent via the serial communication port in hex code.

16-91 Alarm Word 2

Shows the alarm word 2 sent via the serial communication port in hex code.

Range:

Function:

[0 - 0xFFFFFFFFUL]

16-92 Warning Word

Range:

Function:

0* [0 - 4294967295 ] Shows the warning word sent via the serial communication port in hex code.

MG07E102

Parameters

CANopen®

16-93 Warning Word 2

Shows warning word 2 sent via the serial communication port in hex code.

Range:

Function:

[0 - 0xFFFFFFFFUL]

16-97 Alarm Word 3

Shows the alarm word 3 sent via the serial communication port in hex code.

Range:

Function:

[0 - 0xFFFFFFFFUL]

MG07E102

Parameters

Programming Guide

6.1 Parameter List
Para- Parameter description meter number 8-0* General Settings
8-01 Control Site 8-02 Control Source 8-03 Control Timeout Time 8-04 Control Timeout Function 8-07 Diagnosis Trigger 8-1* Ctrl. Word Settings 8-10 Control Word Profile 8-14 Configurable Control Word CTW 8-5* Digital/Bus 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 8-9* Bus Feedback 8-90 Bus Jog 1 Speed 8-91 Bus Jog 2 Speed 10-** CAN Fieldbus 10-0* Common Settings 10-01 Baud Rate Select 10-02 Node ID 10-05 Readout Transmit Error Counter 10-06 Readout Receive Error Counter 10-3* Parameter Access 10-31 Store Data Values 10-33 Store Always 15-** Drive Information 15-6* Option Ident 15-60 Option Mounted 16-** Data Readouts 16-8* Fieldbus & FC Port 16-84 Comm. Option STW 16-9* Diagnosis Readouts 16-90 Alarm Word 16-91 Alarm Word 2 16-92 Warning Word 16-93 Warning Word 2 16-97 Alarm Word 3
Table 6.1 Parameter List

Default value

4 set-up

Change during operation

Conversion index

Type

[0] Digital and ctrl.word
ExpressionLimit 1 s
[0] Off [0] Disable
[0] FC profile [1] Profile default
[3] Logic OR [3] Logic OR [3] Logic OR [3] Logic OR [3] Logic OR [3] Logic OR [3] Logic OR
100 RPM 200 RPM

All set-ups All set-ups 1 set-up 1 set-up 1 set-up
All set-ups All set-ups
All set-ups All set-ups All set-ups All set-ups All set-ups All set-ups All set-ups
All set-ups All set-ups

[20] 125 Kbps 127 N/A 0 N/A 0 N/A
[0] Off [0] Off

1 set-up 1 set-up All set-ups All set-ups
All set-ups 1 set-up

ExpressionLimit

All set-ups

0 N/A
0 N/A 0 N/A 0 N/A 0 N/A 0 N/A

1 set-up
1 set-up 1 set-up 1 set-up 1 set-up 1 set-up

TRUE TRUE TRUE TRUE TRUE
TRUE TRUE
TRUE TRUE TRUE TRUE TRUE TRUE TRUE
TRUE TRUE
TRUE TRUE TRUE TRUE
TRUE TRUE
FALSE
TRUE
TRUE TRUE TRUE TRUE TRUE

Uint8

-1

Uint16

Uint8

Uint16

Uint8

uint8

Uint8

VisStr[30]

Uint16

Uint32

MG07E102

Parameters

CANopen®

6.1.1 Conversion Index

This number refers to a conversion figure used when writing or reading to parameters.

Conversion index 100 67 6 5 4 3 2 1 0 -1 -2 -3 -4 -5 -6
Table 6.2 Conversion Index

Conversion factor 1
1/60 1000000 100000
10000 1000 100
10 1 0.1 0.01 0.001 0.0001 0.00001 0.00001

MG07E102

Object Directory

Programming Guide

7 Object Directory

7.1 Communication Profile Area (1000h-1FFFh)
This section describes the general layout of the supported CANopen communication area. The process data objects are defined in this area.
7.1.1 Communication Object Overview

OD index (hex) 1000 1001 1005 1008 100A 100C 100D 1010 1011 1014 1017 1018 1200 1400
1401
1402
1600 1601 1602 1800
1801

Name

Type

Access

Device type

UNSIGNED32 Read only

Error register UNSIGNED8 Read only

COB-ID SYNC UNSIGNED32 Read/write

Manufacturer VISIBLE_STRING Read only

device name

Manufacturer VISIBLE_STRING Read only

software version

Guard time

UNSIGNED16 Read/write

Life time factor UNSIGNED8 Read/write

Store

UNSIGNED32 Read/write

parameters

Restore default UNSIGNED32 Read/write

parameters

COB-ID EMCY UNSIGNED32 Read only

Producer

UNSIGNED16 Read/write

heartbeat time

Identity object Identity (23h) Read only

SDO server

SDO parameter Read only

parameter

record

1st Receive PDO PDO communi- Read/write

description

cation

parameter

2nd Receive PDO PDO communi- Read/write

description

cation

parameter

3rd Receive PDO PDO communi- Read/write

description

cation

parameter

1st Receive PDO PDO Mapping Read/write

mapping

2nd Receive PDO PDO Mapping Read/write

mapping

3rd Receive PDO PDO Mapping Read/write

mapping

1st Transmit

PDO communi- Read/write

PDO description cation

parameter

2nd Transmit

PDO communi- Read/write

PDO description cation

parameter

OD index (hex) 1802
1A00 1A01 1A02

Name

Type

Access

3rd Transmit

PDO communi- Read/write

PDO description cation

parameter

1st Transmit

PDO Mapping Read/write

PDO mapping

2nd Transmit

PDO Mapping Read/write

PDO mapping

3rd Transmit

PDO Mapping Read/write

PDO mapping

Table 7.1 Communication Object Overview

7.1.2 1000h Device Type

This object describes the type of device and its functionality. It consists of a 16-bit field describing the device profile used, and another 16-bit field providing additional information about the optional functionality of the device.

Additional information

Mode bits 31... 24 0

Type bits 23... 16 1 (frequency converter)

Table 7.2 1000h Device Type

Device profile number Bits 15... 0 402 (decimal)

7.1.3 1001h Error Register

This object is the error register of the device. The device can map internal errors in this byte. This entry is mandatory for all devices, and is a part of the emergency object. Each bit of the error register is reserved for a specified group of errors (alarms). Only bit 0 is supported. More error information can be read with object 603Fh, error code.

Bit

Meaning

Generic error

Table 7.3 Content of Error Register

MG07E102

Object Directory

CANopen®

7.1.4 1005h COB-ID Sync Message Object

This index defines the COB-ID of the synchronization object (SYNC). It also defines whether the device generates the SYNC.

Bit 31 (MSB) 30
29 2811
100 (LSB)

Value Meaning X This bit is ignored
0 Device does not generate SYNC message. 1 Device generates SYNC message (the frequency
converter does not support this bit). 0 11-bit ID (CAN 2.0A) 1 29-bit ID (CAN 2.0B) 0 If bit 29=0: CAN ID uses bits 010. CAN ID does X not use bits 1128 and sets them to 0.
If bit 29=1: CAN ID uses bits 2811 for higher 18 bits and bits 100 for lower 11 bits. X Bits 10-0 of COB-ID.

Table 7.4 Structure of the SYNC COB-ID

Bits 29 and 30 must be static (not changeable). If a device is not able to generate SYNC messages, an attempt to set bit 30 generates an abort message (abort code: 0609 0030h). Devices supporting only the standard CAN frame type either ignore attempts to change bit 29 or respond with an abort message (abort code: 0609 0030h). The first transmission of SYNC object starts within 1 sync cycle after setting bit 30 to 1.

7.1.5 1008h Manufacturer Device Name

This object contains the device name as defined in parameter 15-40 FC Type.
7.1.6 100Ah Manufacturer Software Version

This object contains the frequency converter software version from parameter 15-49 SW ID Control Card.
7.1.7 100Ch Guard Time

This object is used in node guarding, an error control service used in addition to the heartbeat mechanism to detect failure in the CAN network. Node guarding provides the way to verify the availability of the master on the bus, which is necessary for the timeout functionality of the frequency converter. This object contains the time between 2 master requests in ms.

7.1.8 100Dh Life Time Factor

This object contains the lifetime factor used in node guarding. This factor, multiplied by the value of 100Ch defines the time after which the node guarding function must poll the slave. If the slave does not receive a guard telegram within this time, the slave issues warning 34, Fieldbus communication fault.
7.1.9 1010h Store Parameters

In the standard configuration, the contents of parameters written via fieldbus are stored in volatile memory, and the changed data is lost after a power cycle. Use this object to store the changed frequency converter parameters in nonvolatile memory.

Subindex 0 1
2 3 4

Meaning Number of entries. Save all communication parameters and frequency converter parameters. Save all communication parameters. Reserved Save all frequency converter parameters (all set-ups).

Table 7.5 1010h Store Parameters

Writing the save value (0x65766c173) to subindex 1 saves all frequency converter parameters of all set-ups into nonvolatile memory. Subindex 4 does the same for the edit set-up. This is done via parameter 10-31 Store Data Values.

7.1.10 1011h Restore Default Parameters

Use this object to set the frequency converter to factory default settings by writing the load value (0x64616F6C) to subindexes. The parameters are set to default values after the next power cycle, which has to be initiated manually.

Subindex 0 1
2 3 4

Meaning Number of entries. Restore all communication parameters and frequency converter parameters. Restore all communication parameters. Reserved. Restore all frequency converter parameters (all set-ups).

Table 7.6 1011h Restore Default Parameters

7.1.11 1014h COB ID Emergency Object

This object defines the COB-ID under which the emergency object (EMCY) is sent.

MG07E102

Object Directory

Programming Guide

7.1.12 1017h Producer Heartbeat Time

The heartbeat acts as an error control service to detect a failure in the CAN network. A heartbeat producer cyclically transmits a message to the network. 1 or more devices in the network are aware of this heartbeat message. If the heartbeat cycle fails for the heartbeat producer, it informs the the local application about this event. The producer heartbeat time defines the cycle time of the heartbeat. If this object is not used, its value is 0 by default.
7.1.13 1018h Identity Object

This object contains general information about the device. The vendor ID (subindex 1h) contains a unique value allocated to each manufacturer.

Subindex 0 1

Meaning Number of entries. Vendor ID (200008 dec.)

Table 7.7 1018h Identity Object

7.1.14 1020h Verify Configuration

This object contains the date and time of the downloaded configuration.

Subindex 0 1 2

Meaning Number of entries. Configuration date. Configuration time.

Table 7.8 1020h Verify Configuration

MG07E102

Troubleshooting

CANopen®

8 Troubleshooting

8.1 Warnings and Alarms
NOTICE
Refer to VLT® Midi Drive FC 280 Operating Guide for an overview of warning and alarm types and for the full list of warnings and alarms.
The frequency converter display shows an alarm word, warning word, and CANopen warning word in hex format. When there is more than 1 warning or alarm, the sum of all warnings or alarms is shown. Alarm word, warning word, and CANopen warning word can also be shown using the bus in:
· Parameter 16-90 Alarm Word. · Parameter 16-91 Alarm Word 2. · Parameter 16-92 Warning Word. · Parameter 16-93 Warning Word 2. · Parameter 16-97 Alarm Word 3.

Bit (Hex) 00000001 00000002 00000004 00000008 00000010 00000020 00000040 00000080 00000100 00000200 00000400 00000800 00001000 00002000 00004000 00008000 00010000 00020000 00040000 00080000 00100000 00200000 00400000 00800000 01000000 02000000 04000000 08000000 10000000 20000000 40000000 80000000

Alarm word (parameter 16-90 Alarm Word) Brake check Power card overtemperature Ground fault Control card overtemperature Control word timeout Overcurrent Torque limit Motor thermistor overtemperature Motor ETR overtemperature Inverter overloaded DC-link undervoltage DC-link overvoltage Short circuit Inrush fault Mains phase loss AMA not OK Live zero error Internal fault Brake overload Motor phase U is missing Motor phase V is missing Motor phase W is missing Fieldbus fault 24 V supply fault Mains failure 1.8 V supply fault Brake resistor short circuit Brake chopper fault Option change Frequency converter initialized Safe Torque Off Mechanical brake low

Table 8.1 Parameter 16-90 Alarm Word

MG07E102

Troubleshooting

Programming Guide

Alarm word 2 (parameter 16-91 Alarm Word 2) Service trip, read/write Reserved Service trip, typecode/sparepart Reserved Reserved No flow Dry pump End of curve Broken belt Discharge high Start failed Speed limit Reserved Reserved Reserved Reserved Reserved KTY error Fans error ECB error Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved PTC thermistor Dangerous failure

Table 8.2 Parameter 16-91 Alarm Word 2

Warning word (parameter 16-92 Warning Word) Brake check Power card overtemperature Ground fault Control card overtemperature Control word timeout Overcurrent Torque limit Motor thermistor overtemperature Motor ETR overtemperature Inverter overloaded DC-link undervoltage DC-link overvoltage DC-link voltage low DC-link voltage high Mains phase loss No motor Live zero error 10 V low Brake resistor power low Brake resistor short circuit Brake chopper fault Speed limit Fieldbus communication fault 24 V supply fault Mains failure Current limit Low temperature Voltage limit Encoder loss Output frequency limit Safe Torque Off Extended status word

Table 8.3 Parameter 16-92 Warning Word

MG07E102

Troubleshooting

CANopen®

Warning word 2 (parameter 16-93 Warning Word 2) Start delayed Stop delayed Clock failure Fire mode was active Reserved No flow Dry pump End of curve Broken belt Discharge high Reserved Reserved Reserved Reserved Reserved Reserved Reserved KTY error Fans warning ECB error Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved PTC thermistor Reserved

Table 8.4 Parameter 16-93 Warning Word 2

MG07E102

130BE887.10

Troubleshooting

Programming Guide

8.2 Troubleshooting
8.2.1 Check 1: LED Status
The 2 indicator lights on the CANopen control card indicate the status of CANopen communication:
· The red indicator light (ERR) indicates error. · The green indicator light (RUN) indicates running
status.
The indicator light states comply with CiA303 part 3, version 1.4.0.

State No error

Red indicator light

Warning limit reached

Error control event

Bus off

Table 8.5 ERR Indicator Light

Illustration 8.1 Indicator Light Panel

Status

Off

The device is in working condition.

Single flash Double flash On

At least 1 of the error counters of the CAN controller has reached or exceeded the warning level. A guard event (NMT-slave or NMTmaster) or a heartbeat event has occurred. The device is in bus-off state.

MG07E102

Troubleshooting

CANopen®

State Stopped

Green indicator light

Pre-operational Operational

Status Single flash Device in stopped state.

Blinking On

Device in pre-operational state. Device in operational state.

Table 8.6 RUN Indicator Light
Indicator light flashing patterns Each indicator light has the following flashing patterns:
· Blinking: The on and off pattern with a frequency of approximately 2.5 Hz. On for approximately 200 ms followed
by off for approximately 200 ms.
· Single flash: 1 short flash (approximately 200 ms) followed by a long off phase (approximately 1000 ms). · Double flash: A sequence of 2 short flashes (approximately 200 ms each), separated by an off phase (approximately
200 ms). This sequence is followed by a long off phase (approximately 1000 ms).

8.2.2 Check 2: Error Counters

Check the values of the TEC and REC in parameter 10-05 Readout Transmit Error Counter and parameter 10-06 Readout Receive Error Counter.
8.2.3 Check 3: Is the Cabling Correct?

Check that the cables are connected to the correct terminals.

Pin number 1 2 3 4 5

Terminal CAN_L Drain CAN_H

Table 8.7 Cabling

Color Blue (bare) White

Name Reserved CAN LOW Shield CAN HIGH Reserved

8.2.5 Check 5: Is the bus connection terminated at both ends?
If the bus connection is not terminated at both ends, terminate the bus connection with termination resistors at the initial and final nodes. Termination is performed between terminal 2 (CAN_L) and 4 (CAN_H) with a resistor:
· 121 . · 1% metal film. · ¼ W.
If the frequency converter with CANopen control cassette is at the end of the fieldbus line, turn on the CAN termination switch to activate the on-board termination resistor. In this case an external resistor is not required. To see the termination switch, refer to Illustration 8.1. By default, the switch is off.

8.2.4 Check 4: Is the Correct EDS File Installed?

Download the correct EDS file from www.danfoss.com/ drives and drives.danfoss.com/services/software-downloads/.

MG07E102

Troubleshooting

Programming Guide

8.2.6 SDO Abort Codes

Table 8.8 describes the error code when an SDO generates a failure.

Abort code 0503 0000h 0504 0000h 0504 0001h
0504 0002h 0504 0003h 0504 0004h 0504 0005h 0601 0000h 0601 0001h 0601 0002h 0602 0000h 0604 0041h 0604 0042h
0604 0043h 0604 0047h 0606 0000h 0607 0010h
0607 0012h
0607 0013h
0609 0011h 0609 0030h
0609 0031h 0609 0032h 0609 0036h 0800 0000h 0800 0020h
0800 0021h
0800 0022h
0800 0023h

Description Toggle bit not alternated. SDO protocol timed out. Client/server command specifier not valid or unknown. Invalid block size (block mode only). Invalid sequence number (block mode only). CRC error (block mode only). Out of memory. Unsupported access to an object. Attempt to read a write-only object. Attempt to write a read-only object. Object does not exist in the object dictionary. Object cannot be mapped to the PDO. The number and length of the objects to be mapped would exceed PDO length. General parameter incompatibility reason. General internal incompatibility in the device. Access failed due to a hardware error. Data type does not match, length of service parameter does not match. Data type does not match, length of service parameter too high. Data type does not match, length of service parameter too low. Subindex does not exist. Value range of parameter exceeded (only for write access). Value of parameter written too high. Value of parameter written too low. Maximum value is less than minimum value. General error. Data cannot be transferred or stored to the application. Data cannot be transferred or stored to the application because of local control. Data cannot be transferred or stored to the application because of the present device state. Object dictionary dynamic generation fails or no object dictionary is present (for example, object dictionary is generated from file and generation fails because of a file error).

Table 8.8 SDO Abort Codes

8.2.7 EMCY Error Code

Code (hex) 0 1000 2130 2213 2240 2310 2311 3100 3130 3210 3220 3300 4210 4310 5110 5112 5210 6100 7110 8100 8110 8120 8130 8140 8150 8210 8220 8302 FFxx

Description No fault. General fault. Short circuit. Overcurrent during start-up. Short to ground. Continuous overcurrent. Current inside the device. Mains voltage. Phase failure. Overvoltage inside the device. Undervoltage inside the device. Output voltage. Exceed device temperature. Excess frequency converter temperature. Low voltage supply. +24 V supply. Measurement circuit. Internal software fault. Brake chopper. Communication. CAN overrun (objects lost). CAN in error (passive mode). Life Guard error or heartbeat error. Recovered from bus off. Transmit COB-ID collision. PDO not processed due to length error. PDO length exceeded. Torque limiting. Vendor specific.

Table 8.9 EMCY Error Code

MG07E102

Index

CANopen®

Index
A
Abbreviations........................................................................................... 4 Additional documentation.................................................................. 3 Alarm......................................................................................................... 36 Alarm word............................................................................................. 36 Approvals................................................................................................... 4
B
Bus error counters................................................................................... 9
C
Certifications............................................................................................. 4 COB-ID......................................................................................................... 7 Communication object overview................................................... 33 Control word.......................................................................................... 20 Conventions.............................................................................................. 4 Conversion index.................................................................................. 32
D
Discharge time......................................................................................... 5
E
EDS file...................................................................................................... 11 EMCY error code................................................................................... 41 Emergency object................................................................................... 9 Error control.............................................................................................. 8 Event driven............................................................................................ 17

P
Parameter list......................................................................................... 31 PDO configuration............................................................................... 16
Q
Qualified personnel................................................................................ 5
R
Reference handling.............................................................................. 25 Remotely requested............................................................................ 17
S
Safety........................................................................................................... 6 SDO communication........................................................................... 10 Status word............................................................................................. 21 Symbols...................................................................................................... 4
T
Topology.................................................................................................... 3
U
Unintended start..................................................................................... 5
W
Warning.................................................................................................... 36 Warning word........................................................................................ 36

H
High voltage............................................................................................. 5

I
Indicator light panel............................................................................ 39 Indicator light status........................................................................... 39

L
Leakage current....................................................................................... 6 Load sharing............................................................................................. 5

N
NMT.............................................................................................................. 7

O
Object model............................................................................................ 7 OD entries............................................................................................... 10

MG07E102

Index

Programming Guide

MG07E102

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.
Danfoss A/S Ulsnaes 1 DK-6300 Graasten vlt-drives.danfoss.com

132R0166

MG07E102
*MG07E102*

02/2016

References

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