Vacon NX OPTC7 DeviceNet Board User Manual DPD0089
Vacon NX OPTC7 DeviceNet Board User Manual DPD0089
Vacon NX OPTC7 DeviceNet Board User Manual DPD0089
ac drives
optc7
user manual
INDEX
Document code: DPD00897A
Date: 19.01.2012
1.
GENERAL ........................................................................................................................... 3
2.
3.
General ..................................................................................................................................... 4
DeviceNet features and functionality ....................................................................................... 4
DEVICENET......................................................................................................................... 5
3.1
3.2
4.
Introduction .............................................................................................................................. 5
DeviceNet physical layer and media ........................................................................................ 5
DEVICENET OPTION BOARD LAYOUT AND CONNECTIONS ................................................ 6
4.1
4.2
4.3
5.
5.1
6.
6.1
6.2
7.
7.1
8.
GENERAL
1.
vacon 3
GENERAL
Instead of sending and receiving information to and from frequency converters through I/O, you can
connect them to a fieldbus.
Vacon NX frequency converters can be connected to the DeviceNet using a fieldbus board. The
converter can then be controlled, monitored and programmed from the Host system.
If you purchase your DeviceNet Option Board separately, please note that the it shall be installed in
slot E on the control board of the frequency converter.
WARNING!
Internal components and circuit boards are at high potential when the frequency
converter is connected to the power source. This voltage is extremely dangerous
and may cause death or severe injury if you come into contact with it.
NOTE! You can download the English and French product manuals with applicable safety,
warning and caution information from www.vacon.com/downloads.
REMARQUE Vous pouvez tlcharger les versions anglaise et franaise des manuels produit
contenant lensemble des informations de scurit, avertissements et mises en garde
applicables sur le site www.vacon.com/downloads.
4 vacon
2.
2.1
General
DeviceNet
connections
Communications
Electrical
Interface
Data transfer method
Transfer cable
Electrical isolation
ODVA 2.0
Compliant
Baud rate
Product code
Product Type
Vendor ID
DeviceNet
Other
Environment
Ambient operating
temperature
Storing temperature
Humidity
Altitude
Vibration
Safety
2.2
Network size
Up to 64 nodes
Network length
Distance
125 Kbps
500 m
250 Kbps
250 m
500 Kbps
100 m
Data packets
0-8 bytes
Bus topology
Bus addressing
System features
DEVICENET
vacon 5
3.
DEVICENET
3.1
Introduction
DeviceNet is an open network based on CAN that is designed to connect low cost industrial control
devices (such as limit switches, photoelectric sensors, motor starters, process sensors, frequency
converters, panel displays and operator interfaces) to a network and eliminate expensive hardwiring.
The direct connectivity provides improved communication between devices as well as important
device-level diagnostics not easily accessible or available through hardwired I/O interfaces.
The DeviceNet Model is application independent; it provides the communication services needed by
various types of applications.
Many of todays lower level industrial control devices must retain their low cost/low resource
characteristics even when directly connected to a network. DeviceNet takes this into consideration by
defining a specific instance of the Model for communications typically seen in a Master/Slave
application. This is referred to as the Predefined Master/Slave Connection Set.
DeviceNet allows the interchangeability of simple devices while making interconnectivity for more
complex devices possible. In addition to reading the state of discrete devices, DeviceNet provides the
capability to report temperatures, to read the load current in a motor starter, to change the
deceleration rate of drives, or to count the number of packages that have passed on a conveyor in the
previous hour.
3.2
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 amps. 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.
Tap
Terminator
Terminator
Trunk line
Node
Node
Node
Drop line
Node
Node
Node
Node
Node
Node
Node
Node
Zero drop
Short drops
Figure 3- 1. Thick or thin cable can be used for either trunklines or droplines
Node
Node
6 vacon
4.
Vacon DeviceNet Board is connected to the fieldbus through a 5-pin pluggable bus connector (board
OPTC7).
The communication with the control board of the frequency converter takes place through the standard Vacon Interface Board Connector.
4.1
N
A
M
1
2
3
4
5
X1
Bus connector
Jumper
Grounding plate
Signal
Connector
Description
V1
Communication power supply, Ground
CAN_L
2
Communication signal, Low
Drain
3
Cable shield (bare)
CAN_H
4
Communication signal, High
V+
5
Communication power supply, +24V
Table 4-1. OPTC7 bus connector signals
vacon 7
LED indications
The DeviceNet Option Board includes three LED status indicators next to the connector: Network
status (N), Node address (A) and Module status (M). Network status provides information on the
network connection status, Node address blinks the MAC ID of the unit while it is powered and
Module status provides information on the DeviceNet module.
N green/red
A green/red
M green/red
1
2
3
4
5
X1
Figure 6-1. LED indications on the DeviceNet board
Network status LED (N)
LED is:
OFF
Green
Blinking
green
Blinking
red
Red
Meaning:
The OPTC7 is not on-line
- The device has not completed the Dup_MAC_ID test yet
- If the Module status LED is off, the device is not
powered
The OPTC7 is on-line and allocated to a Master
The OPTC7 has passed the Dup_MAC_ID test, is on-line, but is
not allocated to a master
One or more I/O connections are in the Timed-Out state
The OPTC7 cannot communicate on the network (Duplicate
MAC ID or Bus-off)
LED is:
OFF
Green
Blinking
green
Blinking
red
Red
Meaning:
There is no power applied to the OPTC7
The OPTC7 is operating normally
The OPTC7 board is in Standby state or the device needs
commissioning due to a missing, incomplete or incorrect
configuration
The option board has detected a Recoverable Fault
The option board has detected an Unrecoverable Fault
8 vacon
This LED blinks the MAC ID of the unit while it is powered. The tens are displayed with red blinks and
the ones with green blinks. The unit plays the tens, then the ones and finally delays about 2 seconds
before repeating the sequence.
LED test
vacon 9
The following instructions lead you through the connection of the OPTC7 to the Devicenet system and
show you the power-up and grounding of the board.
Lead the DeviceNet drop-line cable through the right gridded hole on the bottom of
the Vacon NX frequency converter. Make a sufficiently wide opening for the cable by
cutting the grid as wide as necessary (see step E on page 12)
Connect the 4 coloured wires into the bus connector in the following order from the
left: black, blue, NONE, white, red.
BK
BK BL
W R
W R
BL
10 vacon
It is recommended that the bare wire is not connected to any of the terminals. If it
however has to be connected, use the terminal 3 as shown in the picture:
Note! If the bare wire is connected the
jumper X1 must be set to OFF-position.
BK BLBA W
X1
BA
BK BL W R
5.
vacon 11
NOTE! These instructions apply only to field installations. Otherwise, the board has already
been installed for you at the factory.
NOTE
Before taking any commissioning actions, carefully read the safety instructions in Vacon NX Users
Manual, Chapter 1.
12 vacon
1
2
3
4
5
X1
vacon 13
The DeviceNet option board package delivered by the factory includes a sticker (shown below). Please
mark the board type (1), the slot into which the board is mounted (2) and the mounting date (3) on the
sticker. Finally, attach the sticker on your drive.
Dr iv e m o d if ied :
Option board:
N XOPT................ Date:...................
in slot:
A B C D E
IP54 upgrade/ Collar
Date:...................
EMC level modified: H T / T H Date:...................
14 vacon
6.
COMMISSIONING
COMMISSIONING
READ FIRST CHAPTER 8 'COMMISSIONING' IN VACON NX USER'S MANUAL (Document nr. ud00701,
please visit Vacons internet site.
Note! You must select Fieldbus as the active control place, if you wish to control the frequency
converter through fieldbus. See Vacon NX Users Manual.
The recommended method for setting the DeviceNet parameters is with a DeviceNet Configuration
Tool (see chapter 6.1). However, the parameters can also be set with the control keypad (see chapter
6.2), but then it must be ensured that the parameter settings correspond to the settings in the Master
system.
6.1
Before using the OPTC7 option board, you must configure the device baud rate and node address to
the desired values. This can be done by using a DeviceNet Configuration tool (e.g. Netview or
RSNetworx for DeviceNet). The default baud rate is 125 Kbaud and node address 63. All devices must
have the same baud rate.
Since all new devices are factory set to node address 63, it is recommended that the address is
changed. You must also check or set the following attributes before use:
Monitoring Data Class (0xAA) Instance Attributes
#
Attribute Name
Services
Get_Attribute_Single,
Set_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
111 PresetDir
0x6F
Get_Attribute_Single,
Set_Attribute_Single
Default,
Minimum,
Maximum
Data
Type
71 C7
70
73
75
107
21 C7
20
23
25
101
0 C6
0
2
0 C1
0
1
Description
COMMISSIONING
vacon 15
112 PresetRPM
0x70
Get_Attribute_Single,
Set_Attribute_Single
0 C7
0
30000
113 PresetTq
0x71
Get_Attribute_Single,
Set_Attribute_Single
0 C7
0
10000
6.2
If the control keypad is used in setting the parameters of the Vacon DeviceNet board, certain values to
appropriate parameters must be given in menu M7 (for locating the expander board menu see Vacon
NX User's Manual, Chapter 7).
Note! If you use the keypad for setting the parameters, make sure that the settings correspond to the
settings in the Master system.
Expander board menu (M7)
The Expander board menu makes it possible for the user 1) to see what expander boards are
connected to the control board and 2) to reach and edit the parameters associated with the expander
board.
Enter the following menu level (G#) with the Menu button right. At this level, you can browse through
slots A to E with the Browser buttons to see what expander boards are connected. On the lowermost
line of the display you also see the number of parameter groups associated with the board.
If you still press the Menu button right once you will reach the parameter group level where there are
two groups: Editable parameters and Monitored values. A further press on the Menu button right
takes you to either of these groups.
DeviceNet parameters
To set the DeviceNet board parameters, enter the level P7.5.1.# from the Parameters group (G7.5.1).
Give desired values to all DeviceNet parameters (see Figure 6-1 and Table 6-1).
Note: The DeviceNet cable must be connected before any parameters can be edited. See page 6.
READY
READY
Expander boards
G1 G5
E:NXOPTC7
READY
Parameters
P1P4
G1 G2
READY
READY
CHANGE VALUE
Mac ID
63
Mac ID
63
enter
CONFIRM CHANGE
16 vacon
COMMISSIONING
#
1
2
Name
MAC ID
BAUD RATE
Default
63
125 kBaud
Range
063
1 - 125 kBaud
2 - 250 kBaud
3 - 500 kBaud
21/71
1 20/70
2 21/71
3 23/73
4 25/75
5 101/107
Description
Communication speed in baud
Note! If the value of this parameter is
changed, the new value will be valid after
the next power-up.
Note!
Every device that is connected to the bus must have an individual MAC ID
Before the values of these parameters can be changed, the drive must be in STOP-mode and
the communication power supply must be connected
DeviceNet status
To see the present status of the DeviceNet Fieldbus, enter the Devicenet Status page from Monitor
DeviceNet status
0
Non-existent or no bus power
1
Configuring state
3
Established
4
Time out
Table 6-2. DeviceNet status indications
7.
vacon 17
DeviceNet provides two different types of messaging. They are called I/O Messaging and Explicit
Messaging.
7.1
I/O Messaging
I/O polling messages are for time-critical, control-oriented data. The messages are transferred
between the devices all the time and they are used for continuous control of the frequency converter.
They provide a dedicated, special-purpose communication path between a producing application
(master) and one or more consuming applications (slaves). They are exchanged across single or
multi-cast connections and typically use high priority identifiers. I/O polling messages contain no
protocol in the 8-byte data field. The meaning of the message is implied by the connection ID (CAN
identifier). Before messages are sent using these IDs, both the device sending and receiving them
must be configured. The configuration contains the source and destination object attribute addresses
for the master and the slave.
Sla v e
M a ster
The contents of the data message can be chosen the following way: Monitoring Data Object (0xAA),
Instance 1; Attributes 120 (Input Assembly) and 121 (Output Assembly). See the following chapter for
the Input and Output Assemblies.
18 vacon
7.1.1
Output 20
Bit 7
Bit 6
Bit 5
Byte 0
Byte 1
Byte 2
Byte 3
Bit 4
Bit 3
Bit 2
FaultReset
Bit 1
Bit 0
RunFwd
Bit 2
FaultReset
Bit 1
RunRev
Bit 0
RunFwd
Bit 2
FaultReset
Bit 1
RunRev
Bit 0
RunFwd
Bit 2
FaultReset
Bit 1
RunRev
Bit 0
RunFwd
Bit 2
FaultReset
Bit 1
RunRev
Bit 0
RunFwd
Output 21 (Default)
Bit 7
Byte 0
Byte 1
Byte 2
Byte 3
Bit 6
NetRef
Bit 5
NetCtrl
Bit 4
Bit 3
Output 23
Bit 7
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Bit 6
NetRef
Bit 5
NetCtrl
Bit 4
Bit 3
Output 25
Bit 7
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Bit 6
NetRef
Bit 5
NetCtrl
Bit 4
Bit 3
Output 101
Bit 7
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Bit 6
NetRef
Bit 5
NetCtrl
Bit 4
Bit 3
vacon 19
Input 70
Bit 7
Bit 6
Bit 5
Bit 4
Bit 2
Running1
Bit 1
Bit 0
Faulted
Bit 4
Bit 3
Ready
Running2
Drive State
Speed Actual (Low Byte)
Speed Actual (High Byte)
Bit 2
Running1
Bit 1
Alarm
Bit 0
Faulted
Bit 4
Bit 3
Ready
Running2
Drive State
Speed Actual (Low Byte)
Speed Actual (High Byte)
Torque Actual (Low Byte)
Torque Actual (High Byte)
Byte 0
Byte 1
Byte 2
Byte 3
Bit 3
Input 71 (Default)
Byte 0
Byte 1
Byte 2
Byte 3
Bit 7
AtReference
Bit 6
RefFromNet
Bit 5
CtrlFromNet
Bit 7
AtReference
Bit 6
RefFromNet
Bit 5
CtrlFromNet
Bit 2
Running1
Bit 1
Alarm
Bit 0
Faulted
Bit 7
AtReference
Bit 6
RefFromNet
Bit 5
CtrlFromNet
Bit 2
Running1
Bit 1
Alarm
Bit 0
Faulted
Bit 7
AtReference
Bit 6
RefFromNet
Bit 2
Running1
Bit 1
Alarm
Bit 0
Faulted
Input 73
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Input 75
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Bit 4
Bit 3
Ready
Running2
Drive State
Speed Actual (Low Byte)
Speed Actual (High Byte)
Process Actual (Low Byte)
Process Actual (High Byte)
Input 107
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Bit 5
CtrlFromNet
Bit 4
Bit 3
Ready
Running2
Drive State
20 vacon
You can select with Output byte 1 what Process data you want to read in Process Actual 1 and 2.
Output 101
Bit 7
Byte 0
Byte 1
Bit 7
Bit 6
Bit 5
NetRef
NetCtrl
Bit 6
Bit 5
Bit 4
Bit 4
Bit 3
Bit 3
Bit 2
Bit 1
Bit 0
FaultReset
RunRev
RunFwd
Bit 2
Bit 1
Bit 0
NOTE! If the value of the other 4-bit group is 0 then Process Actual is Speed Actual.
Example:
Bit 7
Byte 0
Byte 1
Bit 6
Bit 5
NetRef
NetCtrl
Bit 4
1
Bit 3
0
Bit 2
Bit 1
FaultReset
RunRev
Bit 0
RunFwd
If you set byte 1 as in the example then Process Actual 1 is Process Data 3 and Process Actual 2 is
Speed Actual.
7.1.2
vacon 21
The State Transition Diagram provides a graphical description of the states and corresponding state
transitions for the control supervisor.
Power_Off
DriveFault
Faulted
Startup
Fault_Reset
Initialization
Complete
Fault_Stop
Complete
Fault_Stop
DriveFault
Ready
Stop_Complete
Stopping
Run
ChangeDir
Stop
Enabled
DriveFault OR SafeFault
SafeChange
DriveFault
22 vacon
Results
Run2Var
IdleMode
FwdMode
RevMode
New State
Run1Var
Event
CtrlFromNet
Old State
x
x
(except
NonExist)
NonExist
x
x
x
x
x
x
x
x
x
x
x
x
Power_Off
Reset
NonExist
Startup
Power_On
Startup
Startup
Startup
x
x
x
x
x
x
x
x
x
x
x
x
Faulted
Ready
Ready
Ready
Ready
Enabled
x
1
1
x
x
1
0
x
x
0
1
x
x
0
0
x
x
x
x
x
x
x
x
x
DriveFault
Initialization
Complete
DriveFault
Run (Fwd)
Run (Rev)
DriveFault
Faulted
Enabled
Enabled
Fault_Stop
Enabled
Enabled
Enabled
Enabled
1
1
1
1
0
1
0
x
0
0
1
x
x
0
0
x
x
0
1
x
x
1
0
x
Stop
ChangeDir (Fwd)
ChangeDir (Rev)
SafeFault
Stopping
Enabled
Enabled
Fault_Stop
Enabled
SafeChange
Enabled
Stopping
DriveFault
Fault_Stop
Stopping
Stopping
Stopping
Fault_Sto
p
Faulted
1
1
x
x
1
0
0
x
0
1
0
x
0
0
x
x
x
x
x
x
x
x
x
x
Run (Fwd)
Run (Rev)
Stop_Complete
Fault_Stop Complete
Enabled
Enabled
Ready
Faulted
Fault_Reset
Ready
Action
Faulted := 0; Ready := 0
FwdMode := 0; RevMode := 0
Run1Var := 0; Run2Var := 0
Faulted := 0; Ready := 0
FwdMode := 0; RevMode := 0
Run1Var := 0; Run2Var := 0
Faulted := 1; FaultCode := x
Ready := 1
Faulted := 1; FaultCode := x; Ready := 0
FwdMode := 1 (Start Forward)
RevMode := 1 (Start Reverse)
Faulted := 1; FaultCode := x (Initiate Faulted Stop)
FwdMode := 0; RevMode := 0; Ready := 0
(Initiate Stop)
FwdMode := 1; RevMode := 0 (Change to Forward)
FwdMode := 0; RevMode := 1 (Change to Reverse)
Faulted := 1; FaultCode := x (Initiate Faulted Stop)
FwdMode := 0; RevMode := 0; Ready := 0
Run1Var := 0; Run2Var := 0
FwdMode := Run1Var := NOT PresetDir
RevMode := Run2Var := PresetDir
SpeedRef := PresetSpeed
TorqueRef := PresetTorque
Faulted := 1; FaultCode := x (Initiate Faulted Stop)
Ready := 0
FwdMode := 1 (Start Forward)
RevMode := 1 (Start Reverse)
Faulted := 0; Ready := 1
Start Forward, Start Reverse, Change to Forward, Change to Reverse, and Stop (Not Faulted Stop) are static
outputs of the Control Supervisor state machine. They are commands to the drive when CtrlFromNet=1. When
CtrlFromNet=0, control commands are from another source.
0
1
2
3
4
5
6
7
vacon 23
24 vacon
7.2
Explicit Messaging
Explicit Messaging is used in commissioning and parametrizing of the DeviceNet board. Explicit
messages provide multipurpose, point-to-point communication paths between two devices. They
provide the typical request/response-oriented network communication used to perform node
configuration and problem diagnosis. Explicit messages typically use low priority identifiers and
contain the specific meaning of the message right in the data field. This includes the service to be
performed and the specific object attribute address.
7.2.1
7.2.2
Object
Identity
Message Router
DeviceNet
Assembly
DeviceNet Connection
Motor Data
Control Supervisor
AC/DC Drive
Parameter
Monitoring Data
List of services
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Inst
Other Objects
Y
Y
Y
Class
Inst
AC/DC Drive
Class
Inst
Control
Supervisor
Class
Inst
Class
Inst
Motor Data
Connection
Y
Y
Y
Class
Inst
Class
Inst
Assembly
DeviceNet
Y
Y
Y
Class
Inst
Inst
Class
05
Reset (Type 0, 1)
0E
Get_Attribute_Single
10
Set_Attribute_Single
14
Error Response
18
Get Member
4B
Allocate_Master/Slave_Connection_Set
4C
Release_Master/Slave_Connection_Set
Vendor Specific Services
47
CH Get Member
Class
Message Router
Service Name
Identity
Service Code
(in hex)
Y
Y
Y
7.2.3
vacon 25
The attribute list that follows includes information on the Data Type of each attribute. The following
tables explain the Data, Structure, and Array Type codes used in the Data Type column.
7.2.4
Description
Abbreviated array type encoding
Formal structure type encoding
Reset service
The following table lists the different types of resets supported by the Identity Object.
Resetting the OPTC7 interface to its out-of-box configuration will set ALL attributes to their default
values and change the response of the drive to a loss of communications with the OPTC7. The device
will have to be re-configured for your application before resuming normal operation.
Resetting the VACON inverter to its out-of-box configuration will set ALL
inverter parameters to their default values. Before restarting the
inverter, you must verify that it is properly configured for your
application.
Value:
0
Type of Reset:
Emulate as closely as possible the cycling of power to the
OPTC7 DeviceNet Interface. This value is the default if this
parameter is omitted. The VACON drive shall be stopped if it
is running.
Return the OPTC7 DeviceNet Interface AND the VACON
Drive as closely as possible to the outofbox (factory
default) configuration, then emulate cycling of power as
closely as possible. The VACON Drive shall be stopped if it is
running.
26 vacon
8.
FAULT TRACKING
FAULT TRACKING
The table below presents the faults related to the DeviceNet option board. For more information, see
also Vacon NX User's Manual, Chapter 9.
The DeviceNet option board status LEDs have been described in more detail in Chapter 4.2
Fault
code
37
38
39
40
Fault
Possible cause
Correcting measures
Reset
Reset
Reset
53
Device change
Device added
Device removed
Device
unknown
Fieldbus fault
54
Slot fault
You can define with parameters how the frequency converter shall react to certain faults:
Code
Parameter
Min
Max
P2.7.22
Response to fieldbus
fault
P2.7.23
Response to slot
fault
Step
Default
ID
733
734
Unit
Note
0=No response
1=Alarm
2=Fault,stop acc. to 2.4.7
3=Fault,stop by coasting
0=No response
1=Alarm
2=Fault,stop acc. to 2.4.7
3=Fault,stop by coasting
FAULT TRACKING
vacon 27
APPENDIX 1
Event Code
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09
0x0C
0x0E
0x0F
0x10
0x11
0x12
0x14
0x15
0x16
0x17
0x18
0x19
0x1A
0x1B
0x1C
Event Description
Default value in EventList
entries.
Inverter interface communication
error with the drive.
Control Supervisor transitions to Fault_Stop.
Control Supervisor remains in Enabled State.
Hold last speed
Control Supervisor remains in Enabled State.
Run at preset direction and speed.
Control Supervisor transitions to Fault_Stop.
Control Supervisor remains in Enabled State.
Hold last speed
Control Supervisor remains in Enabled State.
Run at preset direction and speed.
Connection timeout may occur next.
Connection timeout may occur next.
Connection timeout may occur next.
The devices configuration is incorrect or
incomplete. Major Recoverable Fault. An
Identity Reset type 1 is needed for recovery.
The device detected a serious problem with
itself. Major Unrecoverable Fault.
Message is ignored.
Message is ignored.
An out-of-range parameter value exists in
the drive.
Control Supervisor transitions to Fault_Stop.
Control Supervisor remains in Enabled State.
Hold last speed
Control Supervisor remains in Enabled State.
Run at preset direction and speed.
Control Supervisor transitions to Fault_Stop.
Control Supervisor remains in Enabled State.
Hold last speed
Control Supervisor remains in Enabled State.
Run at preset direction and speed.
Control Supervisor transitions to Fault_Stop.
Control Supervisor remains in Enabled State.
Hold last speed
Control Supervisor remains in Enabled State.
Run at preset direction and speed.
28 vacon
FAULT TRACKING
0x21
0x22
0x23
0x24
0x25
0x26
0x27
0x31
0x34
0x35
0x36
0x37
Error detected by
Error detected by
Error detected by
Error detected by
Error detected by
FAULT TRACKING
vacon 29
APPENDIX 2
Attribute Name
Services
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Default,
Minimum,
Maximum
1
1
1
1
1
1
1
1
1
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"Identity"
"Identity"
"Identity"
N/A
N/A
N/A
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
N/A
N/A
N/A
Get Member,
CH_Get_Member
N/A
N/A
N/A
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
30 vacon
FAULT TRACKING
Attribute Name
Services
1 Vendor Id
0x01
Get_Attribute_Single
2 Device Type
0x02
Get_Attribute_Single
3 Product Code
0x03
Get_Attribute_Single
4 0x04 Revision
Get_Attribute_Single
5 Status
0x05
Get_Attribute_Single
6 Serial Number
0x06
Get_Attribute_Single
7 Product Name
0x07
Get_Attribute_Single
8 State
0x08
Get_Attribute_Single
9 0x09 Configuration
Consistency Value
176 User Label
0xB0
Default,
Minimum,
Maximum
Data
Type
443 C7
443
443
2 C7
2
2
1 C7
1
1
{1,11} A2 02 C6 C6
{1,11}
{1,11}
N/A D2
0
255
N/A C8
0x30940000
0x37FFFFFF
"OPTC7" DA
"OPTC7"
"OPTC7"
N/A C6
0
5
Get_Attribute_Single
N/A C7
0
65535
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
Description
FAULT TRACKING
vacon 31
Attribute Name
Services
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Default,
Minimum,
Maximum
1
1
1
1
1
1
1
1
1
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"Message
Router"
"Message
Router"
"Message
Router"
N/A
N/A
N/A
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
N/A
N/A
N/A
Get Member,
CH_Get_Member
N/A
N/A
N/A
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
Attribute Name
Services
Get_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
Default,
Minimum,
Maximum
Data
Type
N/A A2 04 C7 A1
N/A 01 C7
N/A
N/A DA
N/A
N/A
Description
32 vacon
FAULT TRACKING
DeviceNet Object
Class Code 0x03
DeviceNet Class (3) - Class Attributes (0)
#
Attribute Name
Services
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Default,
Minimum,
Maximum
2
2
2
1
1
1
1
1
1
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"DeviceNet"
"DeviceNet"
"DeviceNet"
N/A
N/A
N/A
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
Get_Attribute_Single
A2 04 C7 A1
01 C7
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
N/A A1 01 C7
N/A
N/A
C7
C7
DA
FAULT TRACKING
vacon 33
Attribute Name
Services
1 MAC ID
0x01
Get_Attribute_Single,
Set_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
4 Bus-off Counter
0x04
Get_Attribute_Single,
Set_Attribute_Single
5 Allocation
0x05 Information
Get_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
Default,
Minimum,
Maximum
Data
Type
63 C6
0
63
0 C6
0
2
1 C1
0
1
0 C6
0
255
N/A A2 02 D1 C6
N/A
N/A
50 C6
0
255
N/A DA
N/A
N/A
Description
Node Address.
The baud rate of the device.
00 = 125K
01 = 250K
02 = 500K
34 vacon
FAULT TRACKING
Assembly Object
Class Code 0x04
Assembly Class (4) - Class Attributes (0)
#
Attribute Name
Services
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
Default,
Minimum,
Maximum
2
2
2
75
75
75
8
8
8
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"Assembly"
"Assembly"
"Assembly"
N/A
N/A
N/A
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
N/A
N/A
N/A
Get Member,
CH_Get_Member
N/A
N/A
N/A
190
0xBE
Instance ID List
3 0x03 Data
Default,
Minimum,
Maximum
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
Data
Type
Get_Attribute_Single
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
Description
FAULT TRACKING
vacon 35
3 0x03 Data
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A, DA
N/A,
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
Default,
Minimum,
Maximum
Data
Type
Get_Attribute_Single
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
Default,
Minimum,
Maximum
Data
Type
Get_Attribute_Single
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
3 0x03 Data
Data
Type
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
3 0x03 Data
Default,
Minimum,
Maximum
Get_Attribute_Single
3 0x03 Data
Data
Type
Get_Attribute_Single
3 0x03 Data
Default,
Minimum,
Maximum
Get_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
Default,
Minimum,
Maximum
Data
Type
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
N/A DA
N/A
N/A
Description
Description
Description
Description
Description
36 vacon
FAULT TRACKING
3 0x03 Data
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
Data
Type
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
Default,
Minimum,
Maximum
Data
Type
Get_Attribute_Single
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
3 0x03 Data
Default,
Minimum,
Maximum
Get_Attribute_Single
3 0x03 Data
Data
Type
Get_Attribute_Single
3 0x03 Data
Default,
Minimum,
Maximum
Default,
Minimum,
Maximum
Data
Type
Get_Attribute_Single
N/A A2 05 A1 01
N/A C1 D1 C3
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
Description
Description
Description
Description
FAULT TRACKING
vacon 37
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Default,
Minimum,
Maximum
1
1
1
2
2
2
2
2
2
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"DeviceNet
Connection"
"DeviceNet
Connection"
"DeviceNet
Connection"
N/A
N/A
N/A
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
N/A
N/A
N/A
Get Member,
CH_Get_Member
N/A
N/A
N/A
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
38 vacon
FAULT TRACKING
Get_Attribute_Single
2 Instance Type
0x02
Get_Attribute_Single
3 Transport Class
0x03 Trigger
Get_Attribute_Single
Get_Attribute_Single
6 Inital Comm
0x06 Characteristics
Get_Attribute_Single
Get_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
Data
Type
Description
0
0
5
0
0
0
0x83
0x83
0x83
N/A
0x403
0x5FB
N/A
0x404
0x5FC
0x21
0x21
0x21
C6
C6
41
41
41
41
41
41
2500
0
65535
1
1
3
D1
C7
C7
D1
C7
C7
C7
C6
0 C7
0
0
N/A A1 01 C6
N/A
N/A
0 C7
0
0
15 Consumed
0x0F Connection Path
Length
Get_Attribute_Single
16 Consumed
0x10 Connection Path
Get_Attribute_Single
N/A A1 01 C7
N/A
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
FAULT TRACKING
vacon 39
Get_Attribute_Single
2 Instance Type
0x02
Get_Attribute_Single
3 Transport Class
0x03 Trigger
Get_Attribute_Single
Get_Attribute_Single
6 Inital Comm
0x06 Characteristics
Get_Attribute_Single
Get_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
Data
Type
Description
0
0
4
1
1
1
0x83
0x83
0x83
N/A
0x3C0
0x3FF
N/A
0x405
0x5FD
1
1
1
C6
C6
4
0
6
4
0
6
0
0
65535
0
0
2
D1
C7
C7
D1
C7
C7
C7
C6
6 C7
6
6
N/A A1 01 C6
N/A
N/A
6 C7
6
6
15 Consumed
0x0F Connection Path
Length
Get_Attribute_Single
16 Consumed
0x10 Connection Path
Get_Attribute_Single
N/A A1 01 C7
N/A
N/A
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
40 vacon
FAULT TRACKING
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
Default,
Minimum,
Maximum
1
1
1
1
1
1
1
1
1
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"Motor Data"
"Motor Data"
"Motor Data"
N/A
N/A
N/A
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
FAULT TRACKING
vacon 41
3 Motor Type
0x03
Default,
Minimum,
Maximum
Data
Type
Get_Attribute_Single
7 C6
7
7
6 RatedCurrent[100mA Get_Attribute_Single
]
0x06
70 C7
0
16000
Description
7 RatedVoltage[V]
0x07
Get_Attribute_Single
230 C7
180
690
9 RatedFrequency[Hz]
0x09
Get_Attribute_Single
50 C7
30
500
12 PoleCount[pair*2]
0x0C
Get_Attribute_Single
4 C7
2
16
15 BaseSpeed[RPM]
0x0F
Get_Attribute_Single
1440 C7
1
30000
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
42 vacon
FAULT TRACKING
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
0xB0
1
1
1
1
1
1
1
1
1
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
Control
Supervisor
Control
Supervisor
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
Control
Supervisor
180 Class Attribute List
0xB4
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
FAULT TRACKING
vacon 43
Data
Type
Description
3 Run1
0x03
Get_Attribute_Single,
Set_Attribute_Single
0 C1
0
1
4 Run2
0x04
Get_Attribute_Single,
Set_Attribute_Single
0 C1
0
1
5 NetCtrl
0x05
Get_Attribute_Single,
Set_Attribute_Single
6 State
0x06
Get_Attribute_Single
0 C1
0
1
N/A C6
0
7
7 Running1
0x07
Get_Attribute_Single
N/A, C1
0
1
8 Running2
0x08
Get_Attribute_Single
N/A, C1
0
1
9 Ready
0x09
Get_Attribute_Single
N/A, C1
0
1
10 Faulted
0x0A
Get_Attribute_Single
N/A, C1
0
1
Fault Occurred
0 = No faults present
1 = Fault occurred (latched)
11 Alarm
0x0B
Get_Attribute_Single
N/A, C1
0
1
Alarm Present
0 = No Alarms present
1 = Alarm present (not latched)
12 FaultRst
0x0C
Get_Attribute_Single,
Set_Attribute_Single
0 C1
0
1
13 FaultCode
0x0D
Get_Attribute_Single
N/A, C7
0,
65535
14 WarnCode
0x0E
Get_Attribute_Single
N/A, C7
0,
65535
15 CtrlFromNet
0x0F
Get_Attribute_Single
N/A, C1
0
1
44 vacon
FAULT TRACKING
16 DNFaultMode
0x10
Get_Attribute_Single,
Set_Attribute_Single
0 C6
0
2
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
FAULT TRACKING
vacon 45
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
Get Member,
CH_Get_Member
Default,
Minimum,
Maximum
1
1
1
1
1
1
1
1
1
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"AC\DC Drive"
"AC\DC Drive"
"AC\DC Drive"
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
Get_Attribute_Single
4 NetRef
0x04
Get_Attribute_Single,
Set_Attribute_Single
6 DriveMode
0x06
Get_Attribute_Single,
Set_Attribute_Single
N/A C1
0
1
0 C1
0
1
1 C6
1
3
Description
46 vacon
7 SpeedActual[RPM]
FAULT TRACKING
Get_Attribute_Single
0x07
N/A, C3
0
30000
Units: RPM
Get_Attribute_Single,
Set_Attribute_Single
1 C3
1
30000
Speed reference
Units: RPM
9 CurrentActual[100mA Get_Attribute_Single
]
0x09
N/A, C3
8 SpeedRef[RPM]
0x08
0
32767
Units: 100mA
10 CurrentLimit[100mA] Get_Attribute_Single
0x0A
N/A, C3
0
32767
11 TorqueActual[Nm]
0x0B
Get_Attribute_Single
N/A, C3
0
32767
Actual torque
Units: Nm
12 TorqueRef[Nm]
0x0C
Get_Attribute_Single,
Set_Attribute_Single
0 C3
0
10000
Torque reference
Units: Nm
15 PowerActual[W]
0x0F
Get_Attribute_Single
N/A, C3
0
32767
16 InputVoltage[V]
0x10
Get_Attribute_Single
N/A C3
180
690
Input Voltage
Units: Volts
17 OutputVoltage[V]
0x11
Get_Attribute_Single
N/A C3
0
690
Output Voltage
Units: Volts
20 LowSpdLimit[RPM]
0x14
Get_Attribute_Single
0 C7
0
30000
21 HighSpdLimit[RPM]
0x15
Get_Attribute_Single
1800 C7
0
30000
29 RefFromNet
0x1D
Get_Attribute_Single
N/A C1
0
1
Get_Attribute_Single,
Set_Attribute_Single
N/A DA
N/A
N/A
FAULT TRACKING
vacon 47
Parameter Object
Class Code 0xA0
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
0xB4
186 Instance Attribute
List
0xBA
190 Instance ID List
0xBE
Get Member,
Default,
Minimum,
Maximum
Data
Type
Description
Size
1
1
1
1
1
1
1
1
1
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"Parameter",
"Parameter",
"Parameter",
N/A,
C7
CH_Get_Member
N/A,
N/A
Get Member,
N/A,
CH_Get_Member
N/A,
N/A
Get Member,
N/A,
CH_Get_Member
N/A,
N/A
Get_Attribute_Single,
Set_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
A1 01 C7
Data
Type
Description
N/A C7
N/A
N/A
N/A DA
N/A
N/A
48 vacon
FAULT TRACKING
1 Revision
0x01
Get_Attribute_Single
2 Max Instance
0x02
Get_Attribute_Single
Default,
Minimum,
Maximum
1
1
65535
1
1
1
1
1
1
{1,176}
{1,176}
{1,176}
{1,16}
{1,16}
{1,16}
190
190
190
176
176
176
"Monitoring
Data"
Get_Attribute_Single
Get_Attribute_Single
7 Max Instance
0x07 Attribute ID
Get_Attribute_Single
Get_Attribute_Single
0xB0
Data
Type
Description
C7
C7
C7
A2 04 C7 A1
01 C7
A2 04 C7 A1
01 C7
C7
C7
DA
"Monitoring
Data"
"Monitoring
Data"
0xB4
186 Instance Attribute
List
0xBA
190 Instance ID List
0xBE
Get Member,
N/A,
CH_Get_Member
N/A,
N/A
Get Member,
N/A,
CH_Get_Member
N/A,
N/A
Get Member,
N/A,
CH_Get_Member
N/A,
N/A
A1 01 C7
FAULT TRACKING
vacon 49
1-99
Get_Attribute_Single
0x010x63
101 E1
0x65
Get_Attribute_Single,
Set_Attribute_Single
102 E2
0x66
Get_Attribute_Single,
Set_Attribute_Single
103 E3
0x67
Get_Attribute_Single,
Set_Attribute_Single
104 E4
0x68
Get_Attribute_Single,
Set_Attribute_Single
105 E5
0x69
Get_Attribute_Single,
Set_Attribute_Single
106 E6
0x6A
Get_Attribute_Single,
Set_Attribute_Single
107 E7
0x6B
Get_Attribute_Single,
Set_Attribute_Single
108 E8
0x6C
Get_Attribute_Single,
Set_Attribute_Single
109 EC
0x6D
Get_Attribute_Single,
Set_Attribute_Single
110 SafeStateType
0x6E
Get_Attribute_Single,
Set_Attribute_Single
111 PresetDir
0x6F
Get_Attribute_Single,
Set_Attribute_Single
Default,
Minimum,
Maximum
Data
Type
N/A C7
N/A
N/A
N/A
0
65535
N/A
0
65535
N/A
0
65535
N/A
0
65535
N/A
0
65535
N/A
0
65535
N/A
0
65535
N/A
0
65535
N/A
0
65535
0
0
2
Description
C7
C7
C7
C7
C7
C7
C7
C7
C7
C7
N/A C7
0
1
50 vacon
FAULT TRACKING
112 PresetRPM
0x70
Get_Attribute_Single,
Set_Attribute_Single
N/A C7
0
30000
113 PresetTq
0x71
Get_Attribute_Single,
Set_Attribute_Single
N/A C7
0
10000
Get_Attribute_Single
Set_Attribute_Single
Get_Attribute_Single
Set_Attribute_Single
Get_Attribute_Single,
Set_Attribute_Single
71 C7
70
73
75
107
21 C7
20
23
25
101
N/A DA
N/A
N/A
Manual authoring:
[email protected]
Vacon Plc.
Runsorintie 7
65380 Vaasa
Finland
Subject to change without prior notice
2012 Vacon Plc.
Document ID:
Rev. A