MAKING MODERN LIVING POSSIBLE

Operating Instructions
MCA 123 POWERLINK

vlt-drives.danfoss.com
Safety Operating Instructions

Safety

This publication contains information proprietary to 1. The frequency converter must be disconnected
Danfoss. By accepting and using this manual, the user from mains before carrying out repair work.
agrees that the information contained herein is used solely Check that the mains supply has been discon-
for operating equipment from Danfoss or equipment from nected and that the necessary time has passed
other vendors if such equipment is intended for communi- before removing motor and mains plugs.
cation with Danfoss equipment over a serial 2. The off-command on the serial bus does not
communication link. This publication is protected under disconnect the equipment from mains and should
the Copyright laws of Denmark and most other countries. not be used as a safety switch.
3. Correct protective earthing or grounding of the
Danfoss does not guarantee that a software program
equipment must be established. The user must
produced according to the guidelines provided in this
be protected against supply voltage, and the
manual functions properly in every physical, hardware, or
motor must be protected against overload in
software environment.
accordance with applicable national and local
regulations.
Although Danfoss has tested and reviewed the documen-
tation within this manual, Danfoss gives no warranty or 4. The earth leakage currents are higher than 3.5
representation, either expressed or implied, with respect to mA.
this documentation. This includes its quality, performance, 5. Do not remove the plugs for the motor and
or firness for a particular purpose. mains supply while the frequency converter is
connected to mains. Check that the mains supply
In no event shall Danfoss be liable for direct, indirect, has been disconnected and that the necessary
special, incidental, or consequential damages arising out of time has passed before removing motor and
the use, or the inability to use information contained in mains plugs.
this manual, even if advised of the possibility of such
damages. In particular, Danfoss is not responsible for any
costs including, but not limited to those incurred as a
result of lost profits or revenue, loss or damage of
equipment, loss of computer programs, loss of data, the
costs to substitute these, or any claims by third parties.

Danfoss reserves the right to revise this publication at any

time and to change its contents without prior notice or
any obligation to notify previous users of such revisions or
changes.

It has been assumed that all devices are sitting behind a

firewall that does packet filtering and the environment has
implemented restrictions on the software that can run
inside the firewall. All nodes are assumed to be "trusted"
nodes.

WARNING
HIGH VOLTAGE
The voltage of the frequency converter is dangerous
whenever connected to mains. Incorrect installation of
the motor, frequency converter, or fieldbus may damage
the equipment, cause serious personal injury, or death.
Consequently, the instructions in this manual, as well as
national and local rules and safety regulations, must be
complied with.

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved.

Safety MCA 123 POWERLINK

1. The motor can be brought to a stop with bus

commands while the frequency converter is
connected to mains. These stop functions do NOT
provide protection against unintended starts.
2. While parameters are being changed, there is a
risk that motor starts.
3. Electronic faults in the frequency converter and
cease of

• temporary overload

• faults in supply mains, or

• fault in the motor connection

can cause an unintended start.

WARNING
ELECTRICAL HAZARD
Touching the electrical parts may be fatal - even after
the equipment has been disconnected from mains.

Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Contents Operating Instructions

Contents

1 Introduction 3
1.1 General Information 3
1.1.1 About this Manual 3
1.1.2 Assumptions 3
1.1.3 Hardware 3
1.1.4 Background Knowledge 3
1.1.5 Available Literature 3
1.1.6 Abbreviations 4

2 How to Install 5
2.1 Installation 5
2.1.1 How to Install Option in Frequency Converter 5
2.1.2 Network 5
2.1.3 POWERLINK Cables 6
2.1.4 LED Behaviour 6
2.1.5 Topology 7
2.1.6 EMC Precautions 8

3 How to Configure 10
3.1 Configure the Parameters 10
3.1.1 IP Settings 10
3.1.2 Ethernet Link Parameters 10
3.2 Configure the Frequency Converter 10
3.2.1 VLT Parameters 10
3.3 Configure the POWERLINK Network 10

4 Configure the Master 12

4.1 Importing the XDD File 12
4.2 Setting Up the Master 12

5 How to Control the Frequency Converter 15

5.1 PDO Communication 15
5.2 Process Data 15
5.2.1 Process Control Data 15
5.2.2 Process Status Data 15
5.2.3 Reference Handling 16
5.2.5 Influence of the Digital Input Terminals upon FC Control Mode 17
5.3 Control Profile 17
5.4 DS 402 Control Profile 17
5.4.1 Control Word According to DSP 402 Profile
(Parameter 8-10=DSP 402 profile) 17

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Contents MCA 123 POWERLINK

5.4.2 Status Word According to DS 402 Profile 18

5.4.3 DSP 402 State Transitions 21
5.5 Danfoss FC Control Profile 21

6 Communication Profile Area 25

6.1 Description - Communication Profile Area 25
6.2 1000-1FFF Communication Object Area 25
6.3 2000-5FFF Danfoss Specific Object Area 31
6.4 6000-Device profile Object Area 31

7 Parameters 34
7.1 Parameter Group 8-** Communication and Option 34
7.2 Parameter Group 12-** Ethernet 38
7.3 POWERLINK - Specific Parameter List 41

8 Application Examples 44
8.1 Example: Process Data with PDO 23 44
8.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value 46

9 Troubleshooting 48
9.1 LED Status 48
9.2 Communication Problems 49
9.2.1 No Communication with the Frequency Converter 49
9.2.2 Endless Power-down - Power-up Cycle 52
9.3 Warnings and Alarms 52
9.3.1 Alarm and Warning Words 52

Index 55

2 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Introduction Operating Instructions

1 Introduction
1 1
1.1 General Information beyond the scope of this manual, and not the responsi-
bility of Danfoss.
1.1.1 About this Manual
For information regarding commissioning tools, or
Chapters communication to a non-Danfoss node, consult the
appropriate manuals.
chapter 1 Introduction
chapter 2 How to Install 1.1.5 Available Literature
chapter 3 How to Configure
- The VLT® AutomationDrive Operating Instructions
contain essential information for quick installation and set- provide the necessary information for getting the
up. frequency converter up and running.
- The VLT® AutomationDrive Design Guide entails all
For more detailed information, including the full range of
technical information about the frequency
set-up options and diagnosis tools, refer to the chapters:
converter design and applications including
encoder, resolver, and relay options.
chapter 4 Configure the Master
- The VLT® AutomationDrive Profibus Operating
chapter 5 How to Control the Frequency Converter
Instructions provide the information required for
chapter 7 Parameters controlling, monitoring, and programming the
chapter 8 Application Examples frequency converter via a Profibus fieldbus.

chapter 9 Troubleshooting - The VLT® AutomationDrive DeviceNet Operating

Instructions provide the information required for
Terminology controlling, monitoring, and programming the
In this manual the term Ethernet is used to describe the frequency converter via a DeviceNet fieldbus.
physical layer of the network and does not relate to the
application protocol. - The MCT 10 Set-up Software Operating Instructions
provide information for installation and use of the
software on a PC.
1.1.2 Assumptions
- The VLT® AutomationDrive IP21/Type 1 Instruction
These Operating Instructions are under the conditions that provides information for installing the IP21/Type 1
the Danfoss POWERLINK option is used with a Danfoss option.
VLT® AutomationDrive FC 301/FC 302 or FCD 302 - The VLT® AutomationDrive 24 V DC Back-up
frequency converter. The installed controller must support Instruction provides information for installing the
the interfaces described in this manual. Strictly observe all 24 V DC Back-up option.
the requirements stipulated in the controller and the
frequency converter, along with all limitations herein.
- The VLT® AutomationDrive CANOpen Operating
Instructions.

1.1.3 Hardware - The VLT® AutomationDrive Modbus TCP Operating

Instructions.
This manual relates to the POWERLINK option MCA 123, - The MCA 121 Ethernet/IP Operating Instructions.
ordering number 130B5546 (uncoated) and 130B5646
- The MCA 120 PROFINET Operating Instructions.
(conformal coated).
- The MCA 124 EtherCAT Operating Instructions.
1.1.4 Background Knowledge - The MCA 122 Modbus TCP Operating Instructions.
Danfoss technical literature is also available online at
The Danfoss POWERLINK option card is designed to www.danfoss.com/BusinessAreas/DrivesSolutions/
communicate with any system complying with the
POWERLINK standard. Familiarity with this technology is
assumed. Issues regarding hardware or software produced
by other manufacturers, including commissioning tools, are

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 3

 Introduction MCA 123 POWERLINK

1.1.6 Abbreviations

Abbre- Definition
1 1 viation
API Actual Packet Interval
ASnd AsynchronousSend
CC Control card
CTW Control word
DCP Discovery and Configuration Protocol
DHCP Dynamic Host Configuration Protocol Configuration
EMC Electromagnetic Compatibility
I/O Input/Output
IP Internet Protocol
PDO Process Data Object
LCP Local Control Panel
LED Light Emitting Diode
LSB Least Significant Bit
MAV Main Actual Value (actual output)
MN Managing Node
MSB Most Significant Bit
MRV Main Reference Value
N/A Not applicable
PC Personal Computer
PCD Process Control Data
PLC Programmable Logic Controller
PNU Parameter Number
REF Reference (=MRV)
SDO Service Data Object
SoC Start Of Cycle Frame
SoA Start Of Asynchronous
STW Status Word

Table 1.1 Overview of Abbreviations

4 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

How to Install Operating Instructions

2 How to Install

2.1 Installation
2.1.1 How to Install Option in Frequency 2 2
Converter

Before installing the option, make sure that the installed

firmware revision supports the POWERLINK option.
Following minimum versions of the frequency converter
firmware are required:

POWERLINK option Frequency converter minimum

firmware version firmware version
FC 301 6.72
1.01
FC 302 6.72
1.12 FC 301 6.81 Illustration 2.2 Strain Relief for A1 and A2 Enclosures
FC 302 6.81
FCD 302 6.81

Instructions
Table 2.1 Minimum Firmware Versions
1. Remove LCP panel from the FC Series.
Items required for installing the fieldbus option in the 2. Remove the frame located beneath and discard it.
frequency converter 3. Push the option into place. The Ethernet
• Fieldbus option connectors must be facing upwards.
• Fieldbus option adaptor frame for the FC Series.
4. Remove knock-out on the fieldbus option adaptor
This frame is deeper than the standard frame to
frame.
allow space for the fieldbus option beneath.
5. Push the fieldbus option adaptor frame for the FC
• Strain relief (only for A1 and A2 enclosures)
Series into place.
6. Replace the LCP and attach cable.
130BT797.10

NOTICE
Do not strip and earth the Ethernet cable via the strain
relief-plate! The earthing of screened Ethernet cable is
done through the RJ-45 connector on the option.

NOTICE
EtherNet
MCA 121
EtherN
MS
MS1
1Port

et/IP
EtherNet
Option
130B11
A
Port2

19
After installing the MCA 123 POWERLINK option, set
MS2 MAC-00-
1B-08-00

parameter 8-01 Control Site to: [2] Control word only or [0]
SW.ver -00-22
.

Digital and ctrl. word.

parameter 8-02 Control Word Source to: [3] Option A

2.1.2 Network

It is important that the media selected for Ethernet data

transmission meets the required properties. Usually CAT 5e
and six cables are recommended for industrial applications.
Both types are available as unscreened twisted pair and
screened twisted pair. Generally, screened cables are
recommended for use in industrial environments and with
frequency converters.
Illustration 2.1 Fieldbus Option Adaption Frame A maximum cable-length of 100 m is allowed between
network devices.

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 5

 How to Install MCA 123 POWERLINK

2.1.3 POWERLINK Cables S/E LED

Cable type Specification Illustration 2.4 S/E LED Status - Power OFF or State

Ethernet standard Standard Ethernet (in accordance with IEEE

802.3), 100Base-TX (Fast Ethernet)
Cable Type S/FTP (screened foiled twisted pair, ISO (IEC
2 2 11801 or EN 50173), CAT 5e A B
Damping 23.2 dB (at 100 MHz and 100 m each)
Illustration 2.5 S/E LED Status - Green (A)/Red (B) Flash
Crosstalk 24 dB (at 100 MHz and 100 m each)
damping
Return loss 10 dB (100 m each)
Surge impedance 100 Ω
Illustration 2.6 S/E LED Status - Flickering Green
Table 2.2 Specification of POWERLINK Cables

2.1.4 LED Behaviour

The option has 3 bicolored LEDs that allow a fast and

Illustration 2.7 S/E LED Status - Solid Green
detailed diagnosis. The three LEDs are each linked to its
unique part of the POWERLINK option:

LED label Description

Status/Error Module Status, reflects the activity on the Illustration 2.8 S/E LED Status - Blinking Red
POWERLINK slave.
Link/Collision Link/Collision Port 1, reflects the activity on the
Port 1 POWERLINK port 1.
Link/Collision Link/Collision Port 2, reflects the activity on the
Port 2 POWERLINK port 2. Illustration 2.9 S/E LED Status - Single Green Flash

Table 2.3 LEDs

130BD146.11

1 2
A B

Illustration 2.10 S/E LED Status - Red (B)/Green (A) Flash

Port 1 Port 2
MCA123 Option A
3 S/E LED
POWERLINK 130B1489
4 L/C LED P1
MAC 00-1B-08-00-00-00 Illustration 2.11 S/E LED Status - Double Green Flash
5 L/C LED P2
Address
ON
SW. ver. TM. ver.
8 7 6 5 4 3 2 1 OFF

6
Illustration 2.12 S/E LED Status - Tripple Green Flash
Illustration 2.3 Overview of the Option

Item # Description
1 POWERLINK port 1
Illustration 2.13 S/E LED Status - Yellow Flash
2 POWERLINK port 2
3 Status/error
4 Link/collision port 1
5 Link/collision port 2
6 Node ID dip switches

Table 2.4 Legend to Illustration 2.3

6 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

How to Install Operating Instructions

LED flash Powerlink option state Description

pattern
Power OFF NMT_GS, No power supplied A B

or State NMT_GS_INITIALISATION to drive or

Illustration 2.16 L/C LED Status - Power-up Green (A)/Red (B)
NMT_CS_NOT_ACTIVE, Initialising
Flickering Basic Ethernet mode POWERLINK
Green interface is in basic 2 2
Ethernet mode
Solid green POWERLINK A B
interface is on
operational state Illustration 2.17 L/C LED Status - Collision Red (B)/Green (A)

Blinking NMT_CS_Stopped PLC has stopped

greed the Network
Single green NMT_CS_PRE_OPERATIONAL_1 POWERLINK
flash interface is in Pre-
operation mode Illustration 2.18 L/C LED Status - Yellow Flash
state 1
Red/green NMT_CS_PRE_OPERATIONAL_1 Communication to
flash PLC lost LED flash Powerlink option state Description
Double NMT_CS_PRE_OPERATIONAL_2 POWERLINK pattern
green flash interface is in Pre- Power OFF or NMT_GS, No power supplied to
operation mode no link NMT_GS_INITIALISATION drive or Initialising
state 2 NMT_CS_NOT_ACTIVE
Tripple NMT_CS_READY_TO_OPERATE POWERLINK Link NMT_GS_INITIALISATION Only shown once at
green flash interface is power up
Yellow flash Wink command Node Identification Power up Various states Link established
activated from Collision
MCT10 Yellow flash Wink command Node Identification
activated from MCT 10
Table 2.5 S/E LED Pattern
Set-up Software

L/C LED Table 2.6 L/C LED Pattern

Illustration 2.14 L/C LED Status - Power OFF or No Link

Illustration 2.15 L/C LED Status - Link

2.1.5 Topology

The POWERLINK module features a built-in POWERLINK controlled node and a two-port hub. This module enables the
possibility for connecting several POWERLINK options in a line topology. If more than eight frequency converters are
connected in line, it requires special attention towards the timing in the network.

It is important in a POWERLINK system, that the connection is done correctly.

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 7

 How to Install MCA 123 POWERLINK

130BD147.10
2 2

Illustration 2.19 Line Topology

Take care that following design rules are followed 4. When crossing of cables is unavoidable, the
Ethernet cable must cross motor and brake
1. Do not connect any non-POWERLINK device (e.g.
a PC) to any free port as to avoid malfunction of resistor cables at an angle of 90°.
the complete POWERLINK network. 5. Always observe relevant national and local
2. In a line topology, power all frequency converters regulations, for example regarding protective
either by mains or by a 24 V DC option card, for earth connection.
the built-in POWERLINK slave controller to work.
3. To achieve interference-free operation of the
2.1.6 EMC Precautions
Ethernet, observe the following EMC precautions.
The correct handling of the motor cable screen is To achieve interference-free operation of the Ethernet,
vital for the overall performance of the system. If observe the following EMC precautions. Additional EMC
the rules are not followed, it leads to loss of the information is available in the VLT® AutomationDrive Design
control and malfunction of the system. The Guide.
Ethernet communication cable must be kept
away from motor and brake resistor cables to NOTICE
avoid coupling of high frequency noise between
The correct handling of the motor cable screen is vital
the cables. Normally, a minimum distance of 200
for the overall performance of the system. If the rules are
mm (8 inches) is sufficient, but maintaining the
not followed, it can lead to loss of the control and
greatest possible distance between the cables is
malfunction of the system.
recommended. Especially where cables run in
parallel, over long distances, or if frequency
converters with a bigger power size are installed.
More information can be found in the norm IEC
61000-5-2:1997.

8 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

How to Install Operating Instructions

130BA908.11
2 2

min. 200 mm

Ethernet Cable

90 ° crossing

Illustration 2.20 Correct Crossing of Ethernet Cable

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 9

 How to Configure MCA 123 POWERLINK

3 How to Configure

3.1 Configure the Parameters In POWERLINK, the Link Duplex is fixed to Half Duplex, and
cannot be changed.
3.1.1 IP Settings
3.2 Configure the Frequency Converter
All IP-related parameters are located in parameter group 3.2.1 VLT Parameters
3 3 12-0* IP Settings: The parameters are all set to POWERLINK
standard values, so no setting is needed. In POWERLINK, Pay particular attention to the following parameters when
the parameter 12-00 IP Address Assignment is fixed to the configuring the frequency converter with a fieldbus
option "From node ID". The IP address follows the setting interface.
in parameter 12-60 Node ID, so that the IP address is
192.168.100.xxx, where xxx is the node ID. For
parameter 12-02 Subnet Mask, the IP addres is fixed to • Parameter 0-40 [Hand on] Key on LCP. If the [Hand
on] key on the frequency converter is activated,
255.255.255.0 and cannot be changed.
control of the frequency converter via the
fieldbus interface is disabled.
The POWERLINK option offers two ways of node ID
assignment via parameter or DIP switch. • After an initial power-up, the frequency converter
automatically detects whether a fieldbus option is
installed in slot A. It then sets
3.1.2 Ethernet Link Parameters parameter 8-02 Control Word Source to [Option A].
Adding, changing, or removing an option from an
Parameter group 12-1* Ethernet Link Parameters holds
already commissioned frequency converter does
Ethernet Link information:
not change parameter 8-02 Control Word Source.
However, it causes a trip mode, and the
Parameter 12-10 Link Status frequency converter displays an error.
Parameter 12-11 Link Duration • Parameter 8-10 Control Word Profile. Select
Parameter 12-12 Auto Negotiation between the Danfoss FC Profile and the DS 402
profile. The change of parameter 8-10 Control
Parameter 12-13 Link Speed
Word Profile is active at the next power-up.
Parameter 12-14 Link Duplex
• Parameter 8-50 Coasting Select to
Each port has unique Ethernet link parameters. parameter 8-56 Preset Reference Select. Selection of
how to gate fieldbus control commands with
Parameter 12-10 Link Status displays Link or No Link digital input command of the control card.
according to the status of the present port.
NOTICE
When parameter 8-01 Control Site is set to [2] Control
Parameter 12-11 Link Duration displays the duration of the
word only, Bus-control overrules the settings in
link on the present port. If the link is broken, the counter
parameter 8-50 Coasting Select to parameter 8-56 Preset
is reset.
Reference Select.

Parameter 12-12 Auto Negotiation is a feature that enables

• Parameter 8-03 Control Word Timeout Time to
parameter 8-05 End-of-Timeout Function. The
two connected Ethernet devices to select common
reaction in the event of a bus time-out is set via
transmission parameters, such as speed and duplex mode.
these parameters.
In POWERLINK, this feature is fixed to OFF and cannot be
changed. 3.3 Configure the POWERLINK Network
All POWERLINK stations that are connected to the same
Parameter 12-13 Link Speed - displays the link speed for
bus network must have a unique node address. The node
each port. If no link is present, “None” is displayed. In
address of the frequency converter can be selected via:
POWERLINK, this feature is fixed to 100 MBaud and cannot
be changed.
• Hardware switches (from version 1.12)

Parameter 12-14 Link Duplex - displays the duplex mode for • parameter 12-60 Node ID
each port. Setting the NODE Address using the Hardware Switches
Using the hardware switches, it is possible to select an address range 0–239 (factory setting 1) according to Table 3.1:

10 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

How to Configure Operating Instructions

Switch 8 7 6 5 4 3 2 1
Address value 128 +64 +32 +16 +8 +4 +2 +1
E.g. address 5 OFF OFF OFF OFF OFF ON OFF ON
E.g. address 35 OFF OFF ON OFF OFF OFF ON ON
E.g. address 82 OFF ON OFF ON OFF OFF ON OFF
E.g. address 157 ON OFF OFF ON ON ON OFF ON

Table 3.1

NOTICE 3 3
The switches are only read during power-up. Changes are active after the next power up, and can be read in
parameter 12-60 Node ID. Note the location and sequence of the hardware switches as illustrated in Illustration 2.3.

Setting the NODE Address via parameter 12-60 Node ID

Setting the address via parameter 12-60 Node ID, is only possible if the hardware switches are set to 0 or 255 (factory
setting). The address change becomes active at the next power-up. The node address has direct influence on the IP address
in parameter 12-01 IP Address. If the hardware switch is set to an illegal number, the frequency converter immediately issues
Warning 34 in the display, and parameter 12-69 Ethernet PowerLink Status is set to 0 (zero).

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 11

 Configure the Master MCA 123 POWERLINK

4 Configure the Master

4.1 Importing the XDD File

130BD139.10
To configure a POWERLINK Master, the configuration tool
needs an XDD file for each type of slave on the network.
The XDD file is a text file containing the necessary
communications set-up data for a slave. Download the
XDD file for the FC Series frequency converters at
www.danfoss.com/BusinessAreas/DrivesSolutions/.

4 4 parameter 15-61 Option File

SW Version
1.02 FC 301: 0x0200008D_FC301_01.xdd Illustration 4.2 Selecting the XDD File
FC 302: 0x0200008D_FC302_01.xdd
1.12 FC 301: 0x0200008D_FC301_08.xdd
FC 302: 0x0200008D_FC302_08.xdd 4.2 Setting Up the Master
FCD 302: FCD 302:
0x0200008D_FCD302_08.xdd Select the POWERLINK I/O master to open the POWERLINK
interface in the Automation Studio Master.
Table 4.1 POWERLINK SW Version XDD File
1. Right click and select [Open POWERLINK].
The following steps show how to add a device to the
Automation Studio Tool. For tools from other vendors,

130BD137.10
consult their relevant manuals.

1. In the Automation Studio, select the menu [Tools]

and [Import Fieldbus Device].
130BD136.10

Illustration 4.3 Open POWERLINK

Illustration 4.1 Automation Studio 2. Right click the network icon, and select [Insert].
130BD140.10

2. Select the XDD file and the Automation studio,

imports it to its library. To save the new info,
select the [Save All] menu or the multiple floppy
disc icon.

Illustration 4.4 Physical View

12 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Configure the Master Operating Instructions

3. Select [Danfoss FC 302].

130BD141.10
130BD145.11
Illustration 4.7 Select Parameters

NOTICE 4 4
Make sure that maximum ten channels are selected in
each direction; or the PLC enters into an endless restart
of the network.
Illustration 4.5 Select Controller Module
6. The POWERLINK configuration does now contain
the Danfoss FC Series frequency converter as its
Danfoss FC Series is inserted in the POWERLINK master slave and communicates with the four words. The
system. final step is to map the I/Os to PLC variables,
which is done in the I/O mapping. Select the I/O
4. Configure the I/O configuration, right click the Mappings by right-clicking the [Danfoss FC 302]
Danfoss Icon and select [Open I/O Configuration]. icon and selecting [Open I/O Mapping].

130BD142.10
130BD142.10

Illustration 4.6 I/O Configuration Illustration 4.8 Mapping the I/Os ot the PLC Variables

5. By default the POWERLINK option does not have Now, the mapping can be done directly to previous
any process data assigned to its I/O mapping. defined variables.
Assign the process data by selecting the channels
(FC Parameter) as read or write. Selecting the [+]
sign in front of the channel menu expands the
list and the parameters can be selected. In this
example following has been selected:

• Object 2690 fieldbus control word 1

• Object 2692 fieldbus reference 1

• Object 2643 status word

• Object 2645 main actual value

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 Configure the Master MCA 123 POWERLINK

130BD143.10
Illustration 4.9 Previous Defined Variables

4 4
Variables can also be directly declared, via selecting the
Channel Name for each signal and enter the attributes
directly.
130BD144.10

Illustration 4.10 Variables Directly Declared

This inserts the Danfoss FC 302 into the B&R system, and
the frequency converter can now be controlled and
supervised via the POWERLINK.

14 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

How to Control the Frequenc... Operating Instructions

5 How to Control the Frequency Converter

5.1 PDO Communication 5.2 Process Data

The frequency converter uses the following profiles: Use the process data part of the PDO for controlling and
monitoring the frequency converter via the POWERLINK.
• Frequency converter profiles

• CANOpen DS 402 profile 5.2.1 Process Control Data

For each of the two profiles there is a set of SDO objects
The example in Table 5.1 shows control and reference sent
that is only accessible if the profile is activated in
from the PLC to the frequency converter, and status word
parameter 8-10 Control Word Profile. The change is active at
and Main Actual Value sent from the frequency converter
the next power-up. Configure the PDO communication,
to the PLC.
where a subset of SDOs can be mapped into PDOs for
cyclic communication. 5 5
Master to slave
0 1 2 ...... 9
PDO communication is reserved for high-speed cyclic
CTW MRV PCD ...... PCD
access to parameters for control and status of the
frequency converter. The PLC sends out process control
PCD write
data, and the frequency converter responds with a PDO
containing process status data. In the Danfoss POWERLINK Table 5.1 Process Control Data (PCD)
interface, both PDOs can be configured freely.
PCD 0 contains a 16-bit control word where each bit
Select the signals for transmission from the master to the controls a specific function of the frequency converter, see
frequency converter via the PLCs configuration tool. The chapter 5.3 Control Profile. PCD 1 contains a 16-bit speed
PLC sets Parameter 12-21 Process Data Config Write, setpoint in percentage format. See chapter 5.2.3 Reference
parameter 12-22EN-22 Process Data Config Read and Handling.
parameter 12-23 Process Data Config Write Size, which can
be used to control that the configuration has been sent The content of PCD 2 to PCD 9 is read only.
correctly from the PLC.

5.2.2 Process Status Data

The POWERLINK option has only one PDO available: PDO
23. The PDO 23 is flexible in size and is adjustable to fit all
Process data sent from the frequency converter contain
needs (max. 10 PCDs). The selection is made in the master
information about the current state of the frequency
configuration and is then automatically downloaded to the
converter.
frequency converter during the transition from Init to Pre-
Op. No manual setting of PPO types in the frequency
Slave to master
converter is required.
0 1 2 ...... 9
STW MAV PCD ...... PCD
Option [1] Standard telegram 1 is equivalent to PDO 23.

PCD read
Receive PDOs (PLC Drive)
130BC177.10

Table 5.2 Process Status Data

PCD 0 PCD 1 PCD 9
PDO 23
CTW REF write PCD 0 contains a 16-bit status word where each bit
contains information regarding a possible state of the
frequency converter.
Transmit PDOs (Drive PLC)
PCD 1 contains per default the value of the current speed
PCD 0 PCD 1 PCD 9 of the frequency converter in percentage format (see
PDO 23
STW MAV read chapter 5.2.3 Reference Handling).
Illustration 5.1 Standard Telegram

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 How to Control the Frequenc... MCA 123 POWERLINK

5.2.3 Reference Handling Limit [Hz] and parameter 4-14 Motor Speed High Limit [Hz]
limit the actual frequency converter output.
The reference handling in FC Series is an advanced
mechanism that sums up references from different sources. parameter 4-19 Max Output Frequency limits the maximum
output and can also influence the maximum speed of the
For more information on reference handling, refer to the motor.
VLT® AutomationDrive Design Guide.
For reference and MAV formats, see Table 5.3.

MRV/MAV Integer in hex Integer in decimal

100% 4000 16.384
75% 3000 12.288
50% 2000 8.192
25% 1000 4.096

5 5 0%
-25%
0
F000
0
-4.096
-50% E000 -8.192
-75% D000 -12.288
Illustration 5.2 Reference Handling -100% C000 -16.384

Table 5.3 Reference and MAV Formats

The reference, or speed setpoint (MRV, sent via

POWERLINK), is always transmitted to the frequency
NOTICE
converter in percentage format as integers represented in Negative numbers are formed as a complement of two.
hexadecimal (0-4000 hex).
NOTICE
Depending on the setting of parameter 3-00 Reference The data type for MRV and MAV is 16-bit standardise
Range the reference and MAV are scaled accordingly: value, which can express a range from -200% to +200%
(8001 to 7FFF).

Parameter 1-00 Configuration Mode set to [0] Speed open

loop.
Parameter 3-00 Reference Range set to [0] Min - Max.
Parameter 3-02 Minimum Reference set to 100 RPM.
Parameter 3-03 Maximum Reference set to 3000 RPM.

MRV/MAV Actual speed

0% 0 hex 100 RPM
25% 1000 hex 825 RPM
50% 2000 hex 1550 RPM
Illustration 5.3 Scaling of MAV and Reference 75% 3000 hex 2275 RPM
100% 4000 hex 3000 RPM

Table 5.4
NOTICE
If parameter 3-00 Reference Range is set to [0] Min - Max,
5.2.4 Process Control Operation
a negative reference is handled as 0%.

In process control operation parameter 1-00 Configuration

The speed limit settings depend on parameter 0-02 Motor
Mode is set to [3] Process.
Speed Unit and can be set to RPM or Hz. If
The reference range in parameter 3-00 Reference Range is
parameter 0-02 Motor Speed Unit is set to RPM,
always [0] Min-Max.
parameter 4-11 Motor Speed Low Limit [RPM] and
- MRV represents the process setpoint.
parameter 4-13 Motor Speed High Limit [RPM] limit the
- MAV expresses the actual process feedback (range
actual frequency converter output. If parameter 0-02 Motor
±200%).
Speed Unit is set to Hz, parameter 4-12 Motor Speed Low

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How to Control the Frequenc... Operating Instructions

5.2.5 Influence of the Digital Input 5.4 DS 402 Control Profile

Terminals upon FC Control Mode
5.4.1 Control Word According to DSP 402
The influence of the digital input terminals upon control of Profile
the frequency converter can be programmed in (Parameter 8-10=DSP 402 profile)
parameter 8-50 Coasting Select to parameter 8-56 Preset

130BA274.11
Reference Select. Master-follower

CTW Speed ref.

NOTICE
The parameter 8-01 Control Site overrules the settings in Bit
parameter 8-50 Coasting Select to parameter 8-56 Preset no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Reference Select, and terminal 37 Coasting Stop (safe) Illustration 5.4 Control Word Profile
overrules any parameter.

Each digital input signal can be programmed to logic AND,

logic OR, or to have no relation to the corresponding bit in
Bit Bit value=0 Bit value=1 5 5
00 Switch off Switch on
the control word. This way, fieldbus only, fieldbus AND 01 Disable voltage Enable voltage
Digital Input, or Ether Fieldbus OR Digital input terminal 02 Quick stop Run
can initiate a specific control command, that is stop/coast. 03 Disable operation Enable operation
04 Disable ramp Enable ramp
CAUTION 05 Freeze Run enable
06 Ramp stop Start
To control the frequency converter via POWERLINK, set
parameter 8-50 Coasting Select to either [1] Bus, or to [2] 07 No function Reset
Logic AND. Then set parameter 8-01 Control Site to [0] 08 Reserved
Digital and ctrl.word or [2] control word only. 09 Reserved
10 Reserved
11 Jog 1 OFF Jog 1 ON
5.3 Control Profile
12 Reserved
The frequency converter can be controlled according to 13 Setup select (LSB)
the DS 402 profile, or the Danfoss FC profile. Select the 14 Setup select (MSB)
desired control profile in parameter 8-10 Control Word 15 Forward Reversing
Profile. The choice of profile affects the control and status
word only. The change of parameter 8-10 Control Word Table 5.5 Definition of Control Bits
Profile is activated at the next power-up.
Explanation of the control bits
Object 6060 Modes of operation can also control the
desired control profile which can be readout by object Bit 00, Switch OFF/ON
6061 Modes of operation display. Value -1 indicates Bits 00, Switch OFF/ON
frequency converter profile. Value 2 indicates DS 402 Bit 00=“0” - executes transition 2, 6 or 8.
Velocity mode. If the frequency converter is run in DS 402 Bit 00=“1” - executes transition 3.
profile, the DS 402 profile must be selected (for example,
by parameter 8-10 Control Word Profile or object 6060). The Bit 01, Disable/Enable Voltage
four process data Control Word, Reference, Status Word Bit 01=“0” - executes transition 9, 10 or 12.
and Main Actual Value will the information in according to Bit 01=“1” - enables voltage.
the specification. Make sure that the profile selected is also
the profile used in the PLC. Bit 02, Quick stop/Run
Bit 02="0" - executes transition 7, 10 or 11.
Bit 02="1" - quick stop not active.

Bit 03, Disable/enable Operation

Bit 03="0" - executes transition 5.
Bit 03="1" - enables operation.

Bit 04, Quick-stop/ramp

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 How to Control the Frequenc... MCA 123 POWERLINK

Bit 04="0" - executes transition 7 or 11, Quick stop. 5.4.2 Status Word According to DS 402
Bit 04="1" - enables ramp. Profile

Bit 05, Freeze output frequency/run enable

130BA273.11
Follower-master
Bit 05="0" - the given output frequency is maintained even
if the reference is changed. STW Output freq.

Bit 05="1" - the frequency converter is again able to

regulate, and the given reference is followed.
Bit
no.: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit 06, Ramp stop/start Illustration 5.5 Status Word Profile
Bit 06="0" - the frequency converter controls the motor
down to stop.
Bit 01="1" - gives a start command to the frequency Bit Bit value=0 Bit value=1
converter. 00 Not ready to switch ON Ready to switch ON

5 5 Bit 07, No function/reset

01
02
Switched OFF
Operation disabled
Switched ON
Operation enabled
Reset of trip. 03 No malfunction Malfunction
Bit 07="0" - there is no reset. 04 Voltage disabled Voltage enabled
Bit 07="1" - a trip is reset.
05 Quick stop Run
06 Switch on disable Switch on enable
Bit 08, 09 and 10 07 No warning Warning
DSP402 reserved.
08 Not running Running
09 Remote disabled Remote enabled
Bit 11, Jog 1 OFF/ON 10 Set point not reached Set point reached
Activation of pre-programmed speed in parameter 8-90 Bus
11 Speed limit not active Speed limit active
Jog 1 Speed
12 Reserved
JOG 1 is only possible if Bit 04="0", and bit 00-03="1".
13 Reserved
14 Reserved
Bit 12
15 Reserved
Danfoss reserved.
Table 5.7 Definition of Status Bits
Bits 13/14, Selection of Setup
Bits 13 and 14 are used for selecting among the four menu Explanation of the status bits
set-ups in accordance with Table 5.6:
Bit 00, Not ready to switch on/Ready to switch on
Set-up Bit 14 Bit 13 Bit 00="0" - state less than “Ready to switch on”.
0 0 1 Bit 00="1" - state at least = “Ready to Switch on”.
0 1 2
1 0 3 Bit 01, Switch off/Switch on
1 1 4 Bit 00="0" - state less than “Switched on”.
Bit 00="1" - state at least = “Switched on”.
Table 5.6 Set-up Selection Table

Bit 02, Operation disable/Operation enable

Bit 15, Forward/reversing
Bit 00="0" - state less than “Operation enable”.
Bit 15="0" - no reversing.
Bit 00="1" - state at least = “Operation enable”.
Bit 15="1" - reversing.

Bit 03, No fault/trip

NOTICE Bit 03="0" - the frequency converter is not in a fault
In factory setting reversing is set to [digital] in condition.
parameter 8-54 Reversing Select. 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".

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How to Control the Frequenc... Operating Instructions

Bit 05, Quick stop/Run Bit 11, Speed limit not active/speed limit active
Bit 05="0" - control word bit 02="1". Bit 11="0" - the output frequency is out of the range set in
Bit 05="1" - control word bit 02="0". parameters 4-11/4-12 Motor Speed low Limit RPM/Hz or
parameters 4-13/4-14 Motor Speed high Limit RPM/Hz.
Bit 06, Start enable/Start disable Bit 11="1" - the output frequency is within the mentioned
Bit 06="0" - state is not “Switch on disable”. range.
Bit 06="1" - state = “Switch on enable”.
Bit 12, DSP 402 reserved
Bit 07, No warning/Warning
Bit 07="0" - no warning situation. Bit 13, DSP 402 reserved
Bit 07="1" - a warning has occurred.
Bit 14, Running/Not running
Bit 08, Bit 14="0" - the motor is not running.
Danfoss reserved Bit 14="1" - the frequency converter has a valid start signal
or that the output frequency is greater than 0 Hz.
Bit 09, Remote disable/Remote enable
5 5
Bit 09="0" - the frequency converter has been stopped Bit 15, Danfoss reserved
with the stop key on the LCP, or [Local] has been selected
8-10 Control Profile
in parameter 3-13 Reference Site.
Bit 09="1" - it is possible to control the frequency Option: Function:
converter via the serial port. [0] * FC profile
[7] CANOpen DSP 402
Bit 10, setpoint not reached/Set point reached FC Profile is the default control profile for the frequency
Bit 10="0" - the actual motor speed is different from the converter, whereas CANOpen DSP 402 is the CiA
speed reference set. This situation can occur while the standardized control profile, featuring the special DSP 402
speed is ramped up/down during start/stop. transition state machine.
Bit 10="1" - the present motor speed equals the speed
reference set.

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 How to Control the Frequenc... MCA 123 POWERLINK

5 5

Illustration 5.6 DSP 402 State Machine

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How to Control the Frequenc... Operating Instructions

5.4.3 DSP 402 State Transitions

Transition State Control Status Action

word word
- Start condition 0000 0000 -
0 Start-up⇒Not ready to switch on 0000 0200 -
1 Switch On Disabled⇒Switch On Disabled 0000, 0001 0240 -
2 Not Ready to Switch On⇒Switched On 0006 0231 -
3 Ready to Switch On⇒Switched On 0007 0233 -
4 Switched On⇒Ready to Switch On 000F 0237 -
5 Operation Enabled⇒Switched On 0007 0233 Motor ramps to 0 RPM with programmed ramp down
parameter.
6 Switched On⇒Ready to Switch On 0006 0231 -
7 Ready to Switch On⇒Switch On Disable 0001, 0000 0240 -
8 Operation Enable⇒Ready to Switch On 0006 0231 If the motor is not braked, and the power section is
switched off immediately, the motor is free to rotate.
5 5
9 Operation Enable⇒Switch On Disable 0001, 0000 0240 If the motor is not braked, and the power section is
switched off immediately, the motor is free to rotate.

10 Switched On⇒Switched On Disable 0001, 0000 0240 If the motor is not braked, and the power section is
switched off immediately, the motor is free to rotate.
11 Operation Enabled⇒Quick Stop Active 0002 0207 Motor ramps to 0 RPM with programmed quick ramp
parameter.
11 Operation Enabled⇒Quick Stop Active 0003 0217 Motor ramps to 0 RPM with programmed quick ramp
parameter.
12 Quick Stop Active⇒Switch On Disabled 0001, 0000 0240 If the motor is not braked, and the power section is
switched off immediately, the motor is free to rotate.
13 All states⇒Fault Reaction Active xxxx 023F -
14 Fault Reaction Active⇒Fault xxxx 023F -
15 Fault⇒Switch On Disabled 0000 0240 -
16 Quick Stop Active⇒Operation Enable (not - - -
supported)

Table 5.8 DSP 402 State Transitions

5.5 Danfoss FC Control Profile Bit Bit value=0 Bit value=1

00 Reference value external selection lsb
5.5.1 Control Word according to FC Profile 01 Reference value external selection msb
(CTW) 02 DC brake Ramp
03 Coasting No coasting
To select Danfoss FC protocol in the control word, 04 Quick stop Ramp
parameter 8-10 Control Word Profile must be set to [0] 05 Hold output frequency Use ramp
frequency converter profile. The control word is used to 06 Ramp stop Start
send commands from a master (PLC or PC) to a slave 07 No function Reset
(frequency converter).
08 No function Jog
09 Ramp 1 Ramp 2
10 Data invalid Data valid
11 No function Relay 01 active
12 No function Relay 04 active
13 Parameter set-up selection lsb
14 Parameter set-up selection msb
15 No function Reverse

Table 5.9 Bit Values for FC Control Word

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 How to Control the Frequenc... MCA 123 POWERLINK

Explanation of the control bits NOTICE

Bits 00/01 Reference value
If Freeze output is active, stop the frequency converter
Bits 00 and 01 are used to choose between the four
with
reference values, which are pre-programmed in
parameter 3-10 Preset Reference according to Table 5.10. • Bit 03 Coasting stop

NOTICE • Bit 02 DC braking

In parameter 8-56 Preset Reference Select a selection is • Digital input (parameter 5-10 Terminal 18 Digital
made to define how Bit 00/01 gates with the Input to parameter 5-15 Terminal 33 Digital
corresponding function on the digital inputs. Input) programmed to DC braking, Coasting
stop, or Reset and coasting stop.
Bit 01 Bit 00 Programmed Parameter
ref. value Bit 06, Ramp stop/start
0 0 1 [0] Bit 06=“0” - causes a stop, in which the motor speed is
Parameter 3-10 Preset ramped down to stop via the selected ramp down
5 5 Reference parameter.
0 1 2 [1] Bit 06=“1" - permits the frequency converter to start the
Parameter 3-10 Preset motor, if the other starting conditions have been fulfilled.
Reference
1 0 3 [2]
NOTICE
Parameter 3-10 Preset In parameter 8-53 Start Select a selection is made to
Reference define how Bit 06 Ramp stop/start gates with the
1 1 4 [3] corresponding function on a digital input.
Parameter 3-10 Preset
Reference Bit 07, Reset
Bit 07="0" - does not cause a reset.
Table 5.10 Programmed Reference Values for Bits Bit 07="1" - causes the reset of a trip. Reset is activated on
the signals leading edge, that is, when changing from logic
Bit 02, DC brake "0" to logic "1".
Bit 02=“0” - leads to DC braking and stop. Braking current
Bit 08, Jog
and duration are set in parameter 2-01 DC Brake Current
Bit 08="0" - no function.
and parameter 2-02 DC Braking Time.
Bit 08="1" - parameter 3-19 Jog Speed [RPM] determines the
Bit 02=“1” - leads to ramping.
output frequency.
Bit 03, Coasting
Bit 09, Selection of ramp 1/2
Bit 03=“0” - causes the frequency converter to immediately
Bit 09="0" - ramp 1 is active (parameter 3-40 Ramp 1 Type
coast the motor to a standstill.
to parameter 3-47 Ramp 1 S-ramp Ratio at Decel. Start).
Bit 03=“1” - enables the frequency converter to start the
Bit 09="1" - ramp 2 (parameter 3-50 Ramp 2 Type to
motor if the other starting conditions have been fulfilled.
parameter 3-57 Ramp 2 S-ramp Ratio at Decel. Start) is
NOTICE active.
In parameter 8-50 Coasting Select a selection is made to Bit 10, Data not valid/Data valid
define how Bit 03 gates with the corresponding function Is used to tell the frequency converter whether it should
on a digital input. use or ignore the control word.
Bit 10="0" - the control word is ignored.
Bit 04, Quick stop Bit 10="1" - the control word is used. This function is
Bit 04=“0” - causes a quick stop, ramping the motor speed relevant, because the control word is always contained in
down to stop via parameter 3-81 Quick Stop Ramp Time. the telegram, regardless of which type of telegram is used.
Bit 04=“1” - the frequency converter ramps the motor Thus, it is possible to turn off the control word, if it is not
speed down to stop via parameter 3-81 Quick Stop Ramp wished to use it when updating or reading parameters.
Time. Bit 11, Relay 01
Bit 05, Hold output frequency Bit 11="0" - relay 01 not activated.
Bit 05=“0” - causes the present output frequency (in Hz) to Bit 11="1" - relay 01 activated, provided Control word bit
freeze. The frozen output frequency can only be changed 11 has been chosen in parameter 5-40 Function Relay.
with the digital inputs (parameter 5-10 Terminal 18 Digital Bit 12, Relay 04
Input to parameter 5-15 Terminal 33 Digital Input) Bit 12="0" - relay 04 has not been activated.
programmed to Speed up and Speed down.
Bit 05=“1” - use ramp.

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How to Control the Frequenc... Operating Instructions

Bit 12="1" - relay 04 has been activated, provided Control Bit Bit=0 Bit=1
word bit 12 has been chosen in parameter 5-40 Function 00 Control not ready Control ready
Relay. 01 Frequency converter not Frequency converter ready
Bit 13/14, Selection of set-up ready
Bits 13 and 14 are used to choose from the four menu set- 02 Coasting Enable
ups according to Table 5.11: 03 No error Trip
04 No error Error (no trip)
The function is only possible when [9] Multi-Set-up is
05 Reserved -
selected in parameter 0-10 Active Set-up.
06 No error Triplock
Set-up Bit 14 Bit 13 07 No warning Warning
1 0 0 08 Speed reference Speed=reference
2 0 1 09 Local operation Bus control
3 1 0 10 Out of frequency limit Frequency limit ok
4 1 1 11 No operation In operation

Table 5.11 Selection of Set-up

12
13
Frequency converter OK Stopped, autostart
Voltage OK Voltage exceeded
5 5
14 Torque OK Torque exceeded
NOTICE 15 Timer OK Timer exceeded
In parameter 8-55 Set-up Select a selection is made to
define how Bit 13/14 gates with the corresponding Table 5.12 Definition of Status Bits
function on the digital inputs.
Explanation of the status bits
Bit 00, Control not ready/ready
Bit 15 Reverse
Bit 00="0" - the frequency converter has tripped.
Bit 15="0" - no reversing.
Bit 00="1" - the frequency converter controls are ready, but
Bit 15="1" - reversing.
the power component is not necessarily receiving any
power supply (in case of 24 V external supply to controls).
5.5.2 Status Word according to FC Profile
(STW) Bit 01, frequency converter ready
Bit 01="0" - the frequency converter is not ready for
operation.
The status word is used to inform the master (for example,
Bit 01="1" - the frequency converter is ready for operation,
a PC) of the operation mode of the slave (frequency
but there is an active coasting command via the digital
converter).
inputs or via serial communication.

Refer to chapter 8 Application Examples for an example of a Bit 02, Coasting stop
status word telegram using PPO type 3. Bit 02="0" - the frequency converter has released the
motor.
Bit 02="1" - the frequency converter can start the motor
when a start command is given.
Bit 03, No error/trip
Bit 03="0" - the frequency converter is not in fault mode.
Bit 03="1" - the frequency converter is tripped, and that a
reset signal is required to re-establish operation.
Bit 04, No error/error (no trip)
Bit 04="0" - the frequency converter is not in fault mode.
Bit 04=“1” - there is a frequency converter error but no
trip.
Bit 05, Not used
Bit 05 is not used in the status word.
Bit 06, No error/triplock
Bit 06="0" - the frequency converter is not in fault mode.
Bit 06=“1” - the frequency converter is tripped, and locked.
Bit 07, No warning/warning
Bit 07="0" - there are no warnings.
Bit 07="1" - a warning has occurred.

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 How to Control the Frequenc... MCA 123 POWERLINK

Bit 08, Speed reference/speed = reference

Bit 08="0" - the motor is running, but that the present
speed is different from the preset speed reference. It could,
for example, be the case while the speed is being ramped
up/down during start/stop.
Bit 08="1" - the present motor present speed matches the
preset speed reference.
Bit 09, Local operation/bus control
Bit 09="0" - [Stop/Reset] is activated on the control unit, or
that Local control in parameter 3-13 Reference Site is
selected. It is not possible to control the frequency
converter via serial communication.
Bit 09="1" - it is possible to control the frequency
converter via the fieldbus/serial communication.

5 5 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 has 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 over temperature on the
frequency converter.
Bit 12="1" - the frequency converter has stopped because
of over temperature, but the unit has not tripped and
resumes operation once the over temperature stops.
Bit 13, Voltage OK/limit exceeded
Bit 13="0" - there are no voltage warnings.
Bit 13="1" - the DC voltage in the frequency converters
intermediate circuit is too low or too high.
Bit 14, Torque OK/limit exceeded
Bit 14="0" - the motor current is lower than the torque
limit selected in parameter 4-16 Torque Limit Motor Mode or
parameter 4-17 Torque Limit Generator Mode.
Bit 14="1" - the torque limits in parameter 4-16 Torque Limit
Motor Mode and parameter 4-17 Torque Limit Generator
Mode have been exceeded.
Bit 15, Timer OK/limit exceeded
Bit 15="0" - the timers for motor thermal protection and
VLT thermal protection, respectively, have not exceeded
100%.
Bit 15="1" - one of the timers has exceeded 100%.

24 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Communication Profile Area Operating Instructions

6 Communication Profile Area

6.1 Description - Communication Profile Area

This chapter describes the general layout of the supported POWERLINK communication area. The process data objects are
defined in this area.

6.2 1000-1FFF Communication Object Area

Index [hex] Object (symbolic name) Name Type Read/write
1000 VAR Device type UNSIGNED32 ro
1001 VAR Error register UNSIGNED8 ro
1006 VAR Communication cycle period UNSIGNED32 rw

1008 VAR Manufacturer device name VISIBLE_STRING ro

1009 VAR Manufacturer hardware version VISIBLE_STRING ro
100A VAR Manufacturer software version VISIBLE_STRING ro
1010 ARRAY Store parameters UNSIGNED32 rw 6 6
1011 ARRAY Restore default parameters UNSIGNED32 rw

0x1C14 VAR DLL_CNLossOfSocTolerance_U32 UNSIGNED32 rw

0x1E40 RECORD NWL_IpAddrTable_1_REC NWL_IpAddrTable_TYPE ro/rw
0x1E4A RECORD RECORD NWL_IpGroup_REC NWL_IpGroup_TYPE ro/rw

1018 RECORD Identity object Identity (23h) ro

1020 RECORD CFM_VerifyConfiguration_REC CFM_VerifyConfiguration_TYPE ro
1030 RECORD NMT_InterfaceGroup_0h_REC NMT_InterfaceGroup_0h_TYPE ro
1031 RECORD NMT_InterfaceGroup_1h_REC NMT_InterfaceGroup_0h_TYPE ro

1300 VAR SDO_SequLayerTimeout_U32 UNSIGNED32 rw

1400 RECORD PDO_RxCommParam_16h_REC UNSIGNED8 ro
1600 ARRAY PDO_RxMappParam_00h_AU64 UNSIGNED64 rw
1800 ARRAY PDO_TxCommParam_16h_REC UNSIGNED8 ro
1A00 ARRAY PDO_TxMappParam_00h_AU64 UNSIGNED64 rw

1C0A RECORD DLL_CNCollision_REC UNSIGNED32 rw

1C0B RECORD DLL_CNLossSoC_REC UNSIGNED32 rw
1C0F RECORD DLL_CNCRCError_REC UNSIGNED32 rw
1C14 VAR DLL_CNLossOfSocTolerance_U32 UNSIGNED32 rw
1E40 RECORD NWL_IPAddrTable_1_REC NWL_IpAddrTable_TYPE ro/rw
1E4A RECORD RECORD NWL_IpGroup_REC NWL_IpGroup_TYPE ro/rw
1F81 VAR NMT_NodeAssignment_AU32
1F82 VAR NMT_FeatureFlags_U32 UNSIGNED32 ro
1F83 VAR NMT_EPLVersion_U8 UNSIGNED8 ro
1F8C VAR NMT_CurrNMTState_U8 UNSIGNED8 ro
1F93 RECORD NMT_EPLNodeID_REC UNSIGNED8 ro
1F98 VAR NMT_CycleTiming_REC UNSIGNED32 ro
1F99 VAR NMT_CNBasicEthernetTimeout_U32 UNSIGNED32 rw
1F9A VAR NMT_HostName_VSTR VISIBLE_STRING32 rw
1F9B VAR NMT_MultiplCycleAssign_AU8 UNSIGNED8 rw
1F9E VAR NMT_ResetCmd_U8 UNSIGNED8 rw

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 Communication Profile Area MCA 123 POWERLINK

Index [hex] Object (symbolic name) Name Type Read/write

2000-5FFF Vendor specific area See chapter 6.3 2000-5FFF Danfoss Specific Object
Area

603F VAR Error Code UNSIGNED16 ro

6040 VAR Control word UNSIGNED16 rw
6041 VAR Status word UNSIGNED16 ro
6042 VAR vl_target_velocity SIGNED16 rw
6043 VAR vl_velocity_demand SIGNED16 ro
6044 VAR vl_velocity_actual_value SIGNED16 ro
6046 ARRAY vl_velocity_min_max_amount UNSIGNED32 ro
6048 RECORD vl_velocity_acceleration See description ro
6049 RECORD vl_velocity_deceleration See description ro
6060 VAR Modes of operation SIGNED8 rw
6061 VAR Modes of operation display SIGNED8 ro
6502 VAR Supported drive mode UNSIGNED32 ro
6504 VAR Drive manufacture VISIBLE_STRING ro

6 6 Table 6.1 Communication Object Overview

6.2.1 1000h Device Type 6.2.3 1006h Communication Cycle Period

This object describes the type of device and its This object defines the communication cycle time interval
functionality. It is composed of a 16-bit field describing the in μs. This object is reset to its default value by object
device profile used, and a second 16-bit field providing 1011h. This object is set from the MN.
additional information about optional functionality of the
device. 6.2.4 1008h Manufacturer Device Name
Additional information Device profile number This object contains the device name as defined in
Mode bits Type bits Bits parameter 15-40 FC Type.
31.. 24 23.. 16 15.. 0
0 1 (frequency converters) 0=FC Profile Index Meaning
402=DS 402 1008h for example, FC 302

Table 6.2 1000h Device Type Table 6.4 1008h Manufacturer Device Name

6.2.2 1001h Error Register 6.2.5 1009h Manufacturer Hardware

Version
This object is the error register of the device. Only bit 0
and bit 5 is supported. The two bits are active (high) if an This object contains the hardware version for the
alarm is active in alarm word 1 or alarm word 2. POWERLINK interface.

Bit Meaning
6.2.6 100Ah Manufacturer Software Version
0 Generic error
1 Current This object contains the Danfoss software version as
2 Voltage displayed in parameter 15-49 SW ID Control Card.
3 Temperature
4 Communications error (overrun, error state)
6.2.7 1010h Store Parameters
5 Device profile specific
6 Reserved (always zero)
In the standard configuration, the contents of parameters
7 Manufacturer specific written via fieldbus are stored in volatile memory. The
changed data will be lost after a power cycle. This index
Table 6.3 1001h Error Register
permits non-volatile storage of all frequency converter
parameters which have been changed. Writing to one of
the indexes will set parameter 12-28 Store Data Values.

26 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Communication Profile Area Operating Instructions

Index, sub-index Meaning Index, sub-index Meaning

1010h 0 Number sub-index supported 1018h 0 Number of entries
1010h 1 Save option parameters 1018h 1 Vendor ID
1010h 2 All 1018h 2 Product code
1010h 3 Not supported 1018h 3 Revision number (major revision number and
minor revision number)
Table 6.5 1010h Store Parameters 1018h 4 Serial number

Writing the value “save” (0x65766173) to sub-index 1, Table 6.7 1018h Identity Object
stores all frequency converter parameters of all set-ups into
non-volatile memory, all other values are rejected.
6.2.10 1020h CFM_VerifyConfiguration_REC
6.2.8 1011h Restore Default Parameters This object contains the devices local configuration date
and time. The object values are set by managing node or
To restore factory default settings: configuration tool.

1. Write the value “load” to sub-index 1. Index, sub- Meaning

index
2. Initiate the next power cycle manually.
1020h 0 Number of entries 6 6
The default value is restored.
1020h 1 ConfDate_U32, Days since January 1, 1984
1020h 2 ConfTime_U32, milliseconds after midnight
Index, sub-index Meaning
1020h 3 ConfId_U32, assigned by the configuration tool
1011h 0 Number of sub-index supported
1020h 4 VerifyConfInvalid_BOOL, Value False indicates
1011h 1 Restore all default parameters and restart
that configuration was not modified since last
storage of ConfId_U32
Table 6.6 1011h Restore Default Parameters

Table 6.8 1020h CFM_VerifyConfiguration_REC

Writing the value “load” (0x64616F6C) restores all
frequency converter parameters of all set-ups to factory
values, except the communications parameters. All other 6.2.11 1030h NMT_InterfaceGroup_0h_REC
values are rejected, and abort code 0x08000020 is
returned. The frequency converter has to be power cycled This object is used to configure and retrieve parameters of
before the changes get active and the motor must be in the network interfaces (physical or virtual) via SDO.
the state coast or stopped.
Index, sub-index Meaning
6.2.9 1018h Identity Object 1030h 0 Number of entries
1030h 1 InterfaceIndex_U16
This object contains general information about the device. 1030h 2 InterfaceDescription_VSTR t
1030h 3 InterfaceType_U8

The vendor ID (sub-index 1h) contains a unique value 1030h 4 InterfaceMtu_U16

allocated to each manufacturer. 1030h 5 InterfacePhysAddress_OSTR
1030h 6 InterfaceName_VSTR

The manufacturer-specific product code (sub-index 2h) 1030h 7 InterfaceOperStatus_U8

identifies a specific device version. 1030h 8 InterfaceAdminState_U8
1030h 9 Valid_BOOL

The manufacturer-specific revision number (sub-index 3h) Table 6.9 1030h NMT_InterfaceGroup_0h_REC
consists of a major revision number and a minor revision
number.
6.2.12 1031h NMT_InterfaceGroup_1h_REC

This object is used to configure and retrieve parameters of

the network interfaces (physical or virtual) via SDO.

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 27

 Communication Profile Area MCA 123 POWERLINK

Index, sub-index Meaning Index, sub- Meaning

1031h 0 Number of entries index
1031h 1 InterfaceIndex_U16 1600h 0 Number of sub-index supported
1031h 2 InterfaceDescription_VSTR t 1600h 1 parameter 12-21 Process Data Config Write, [0]
1031h 3 InterfaceType_U8 Index
1031h 4 InterfaceMtu_U16 1600h 2 parameter 12-21 Process Data Config Write, [1]
1031h 5 InterfacePhysAddress_OSTR Index
1031h 6 InterfaceName_VSTR 1600h 3 parameter 12-21 Process Data Config Write, [2]
1031h 7 InterfaceOperStatus_U8 Index
1031h 8 InterfaceAdminState_U8 1600h 4 parameter 12-21 Process Data Config Write, [3]
1031h 9 Valid_BOOL Index
1600h 5 parameter 12-21 Process Data Config Write, [4]
Table 6.10 1031h NMT_InterfaceGroup_1h_REC Index
1600h 6 parameter 12-21 Process Data Config Write, [5]
6.2.13 1300h SDO_SequLayerTimeout_U32 Index
1600h 7 parameter 12-21 Process Data Config Write, [6]
This object provides a timeout value in [ms] for the Index
connection abort recognition of the SDO sequence Layer. 1600h 8 parameter 12-21 Process Data Config Write, [7]
6 6 Default value is 30000. This object is linked to Index
parameter 12-62 SDO Timeout. 1600h 9 parameter 12-21 Process Data Config Write, [8]
Index
1600h 10 parameter 12-21 Process Data Config Write, [9]
6.2.14 1400h
Index
PDO_RxCommParam_16h_REC
Table 6.13 1600h PDO_RxCommParam_00h _AU64
This object describes attributes of PDO Communication for
RPDO. Object indices describe the Node ID and PDO For every PDO channel up to ten objects can be mapped.
Mapping Version. Mapping Version must be set by configu-
ration tool depending on PDO mapping.
The offset related to the start address of the PDO payload
and the length of data is provided for every mapped
High Nibble Low Nibble object.
Main version Sub version

Octet Name Description

Table 6.11 Mapping Version Structure
offset
PDOs differing main version will be rejected. PDOs 0-1 Index Index of the object to be mapped
differing sub version is accepted. Mapping version 0 2 Sub-index Sub-index of the object to be mapped
indicates that no mapping version is available. 3 reserved
4-5 Offset Offset related to start of PDO payload (Bit
Index, sub-index Meaning count)
1400h 0 Number of sub-index supported 6-7 Length Length of the mapped object (Bit count)
1400h 1 NodeID_U8
Table 6.14 Description of Octet Offset
1400h 2 MappingVersion_U8

MSB
Table 6.12 1400h PDO_RxCommParam_16h_REC
Bits 63 .. 48 47 .. 32 31 .. 24 23 .. 16
Name Length Offset Reserved Sub-index
6.2.15 1600h PDO_RxCommParam_00h Encoding UNSIGNED16 UNSIGNED16 - UNSIGNED8
_AU64
LSB
Bits 15 .. 0
This objects indices describe mapping of object contained
Name Index
in RPDO payload to object dictionary entries.
Encoding UNSIGNED16

Table 6.15 Internal Mapping of PDO Mapping Entry

28 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Communication Profile Area Operating Instructions

6.2.16 1800h Octet Name Description

PDO_TxCommParam_16h_REC offset
0-1 Index Index of the object to be mapped
This object describes attributes of PDO Communication for 2 Sub-index Sub-index of the object to be mapped
RPDO. Object indices describe the Node ID and PDO 3 Reserved
Mapping Version. Mapping Version must be set by configu- 4-5 Offset Offset related to start of PDO payload (Bit
ration tool depending on PDO mapping. Access is read/ count)
write. Mapping version 0 indicates that no mapping 6-7 Length Length of the mapped object (Bit count)
version is available.
Table 6.18 Description of Octet Offset
Index, sub-index Meaning
MSB
1400h 0 Number of sub-index supported
Bits 63 .. 48 47 .. 32 31 .. 24 23 .. 16
1400h 1 NodeID_U8
Name Length Offset Reserved Sub-index
1400h 2 MappingVersion_U8
Encoding UNSIGNED16 UNSIGNED16 - UNSIGNED8
Table 6.16 1800h PDO_TxCommParam_16h_REC LSB
15 .. 0
6.2.17 1A00h Index
PDO_TxMappParam_00h_AU64 UNSIGNED16 6 6
Table 6.19 Internal Mapping of PDO Mapping Entry
This objects indices describe mapping of object contained
in RPDO payload to object dictionary entries.
6.2.18 1C0Ah DLL_CNCollision_REC
Index, sub- Meaning
index This object contains information regarding collisions on the
1A00h0 Number of sub-index supported
network.
1A00h1 parameter 12-22EN-22 Process Data Config Read, [0]
Index Index, sub-index Meaning
1A00h2 parameter 12-22EN-22 Process Data Config Read, [1] 1C0Ah 0 Number of entries
Index 1C0Ah 1 CumulativeCnt_U32
1A00h3 parameter 12-22EN-22 Process Data Config Read, [2] 1C0Ah 2 parameter 12-68 Cumulative Counters
Index 1C0Ah 3 parameter 12-68 Cumulative Counters
1A00h4 parameter 12-22EN-22 Process Data Config Read, [3]
Table 6.20 1C0Ah DLL_CNCollision_REC
Index
1A00h5 parameter 12-22EN-22 Process Data Config Read, [4]
Index 6.2.19 1C0Bh DLL_CNLossSoC_REC
1A00h6 parameter 12-22EN-22 Process Data Config Read, [5]
Index This object contains information regarding loss of SoC on
1A00h7 parameter 12-22EN-22 Process Data Config Read, [6] the network.
Index
1A00h8 parameter 12-22EN-22 Process Data Config Read, [7] Index, sub-index Meaning
Index 1C0Bh 0 Number of entries
1A00h9 parameter 12-22EN-22 Process Data Config Read, [8] 1C0Bh 1 CumulativeCnt_U32, [2]
Index parameter 12-68 Cumulative Counters
1A00h10 parameter 12-22EN-22 Process Data Config Read, [9] 1C0Bh 2 ThresholdCnt_U32, [2]
Index parameter 12-67 Threshold Counters
1C0Bh 3 Threshold_U32, [2] parameter 12-66 Threshold
Table 6.17 1A00h PDO_TxMappParam_00h_AU64
Table 6.21 1C0Bh DLL_CNLossSoC_REC
Map up to ten objects for every PDO channel.
6.2.20 1C0Fh DLL_CNCRCError_REC
The offset related to the start address of the PDO payload
and the length of data is provided for every mapped This object contains information regarding “CRC Errors” on
object. the network. CumulativeCnt_U32 increases with one each
time a CRC error occurs. CumulativeCnt_U32 decrements

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 29

 Communication Profile Area MCA 123 POWERLINK

with one for each cycle without an error. When Cumula- Binary value NMT state
tiveCnt_U32 is equal or larger than ThresholdCnt_U32, the 0001 1100 NMT_CS_NOT_ACTIVE (Default)
drive issues Warning 34 in the display. 0001 1101 NMT_CS_PRE_OPERATIONAL_1
0101 1101 NMT_CS_PRE_OPERATIONAL_2
Index, sub-index Meaning 0110 1101 NMT_CS_READY_TO_OPERATE
1C0Fh 0 Number of entries 1111 1101 NMT_CS_OPERATIONAL
1C0Fh 1 CumulativeCnt_U32, [5] 0100 1101 NMT_CS_STOPPED
parameter 12-68 Cumulative Counters 0001 1110 NMT_CS_BASIC_ETHERNET
1C0Fh 2 ThresholdCnt_U32, [5]
parameter 12-67 Threshold Counters Table 6.25 NMS State
1C0Fh 3 Threshold_U32, [5] parameter 12-66 Threshold
6.2.24 1F93h NMT_EPLNodeID_REC
Table 6.22 1C0Fh DLL_CNCRCError_REC

This object contains the POWERLINK NodeID.

6.2.21 1F82 NMT_FeatureFlags_U32
Index, sub-index Meaning
Feature flags indicate communication profile specific 1F93h 0 Number of entries
properties of the frequency converter.
6 6 1F93h 1 NodeID_U8, [5] parameter 12-68 Cumulative
Counters
Bit Name Remark 1F93h 2 NodeIDByHW_BOOL, DIP switch reading
0 Isochronous
1 SDO by UDP/IP Not supported Table 6.26 1F93h NMT_EPLNodeID_REC
2 SDO by ASnd
3 SDO by PDO Not supported 6.2.25 1F98h NMT_CycleTiming_REC
4 NMT Info Services Not supported
5 Extended NMT State Commands Not supported This object contains node-specific timing parameters which
6 Dynamic PDO Mapping influence the POWERLINK cycle timing.
7 NMT Service by UDP/IP Not supported
8 Configuration Manager Not supported Index, sub- Meaning Remark
9 Multiplexed Access index
10 NodeID setup by SW Not supported 1F98h 0 Number of entries
11 MN Basic Ethernet Mode Not supported 1F98h 1 IsochrTxMax- Number of transmit bits,
12 Routing Type 1 Support Not supported Payload_U16 320=10 signals, 32 bit each
13 Routing Type 2 Support Not supported 1F98h 2 IsochrRxMax- Number of receive bits,
14 SDO Read/Write All by Index Not supported Payload_U16 320=10 signals, 32 bit each
15 SDO Read/Write Multiple Parameter by Not supported 1F98h 3 PResMaxLatency_U32 Latency, fixed to 10 (nS)
Index 1F98h 4 PReqActPayloa- Set by MN during configu-
16..31 Reserved dLimit_U16 ration
1F98h 5 PResActPayloa- Set by MN during configu-
Table 6.23 Bit Description dLimit_U16 ration
1F98h 6 ASndMaxLatency_U32 Latency, fixed to 10 (nS)
6.2.22 1F83h NMT_ EPLVersion_U8 1F98h 7 MultiplCycleCnt_U8 Set by MN during configu-
ration
The object holds the POWERLINK communication profile 1F98h 8 AsyncMTU_U16 Configurable in the range
version that is implemented. of 300 to 1500

Table 6.27 Node-specific Timing Parameters

High nibble Low nibble
POWERLINK Main Version POWERLINK Sub Version
6.2.26 1F99h
Table 6.24 Implemented Communication Profile NMT_CNBasicEthernetTimeout_U32

6.2.23 1F8C NMT_CurrNMTState_U8 This object specifies the time in µs for which the option
must wait for SoC before switching to basic Ethernet
This object holds the node‘s current NMT state. mode.

30 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Communication Profile Area Operating Instructions

Index, Meaning Remark 2001h. This index is linked to the frequency converters
sub- parameter 0-01 Language. The rest of the POWERLINK index
index follows the same rule, where the frequency converters
1F99 NMT_CNBasicEthernet- Time in microseconds before parameter number plus 2000h gives the POWERLINK index.
Timeout_U32 switching to basic Ethernet For example, reading the running hours in
mode. Default 5000000 (5 s) parameter 15-01 Running Hours, is calculated by 2000h +
Mapped to parameter number in hex number=2000h+5DD=index
parameter 12-63 Basic Ethernet 25DDh. The XDD file only contains a subset of the
Timeout frequency converters parameters. This subset has the
indexes that are required for setting up the PDO communi-
Table 6.28 Basic Ethernet Timeout cation. All parameters can be read or written via SDO
communication from the PLC. Table 6.31 shows a few
6.2.27 1F9Ah NMT_HostName_VSTR _U32 indexes and their mapping.

Index, sub- Meaning Meaning Index Parameter

index 2001h parameter 0-01 Language
1F9A NMT_HostName_VSTR Mapped to 2002h parameter 0-02 Motor Speed Unit
parameter 12-08 Host Name 2003h parameter 0-03 Regional Settings

Table 6.29 DNS Host Name

.. 6 6
2078h parameter 1-20 Motor Power [kW]
2079h parameter 1-22 Motor Voltage
6.2.28 1F9E NMT_ResetCmd_U8 ..
24B1h parameter 12-01 IP Address
This object is used to reset the frequency converter, 24B2h parameter 12-02 Subnet Mask
communication or configuration.
Table 6.31 2000h-5FFFh Vendor Specific Object Area
Hex value NMT service
FFh NMTInvalidService 6.4 6000-Device profile Object Area
2Bh NMTSwReset
28h NMTResetNode 6.4.1 6000h–9FFFh Standardised Device
2Ah NMTResetConfiguration
Profile Area
29h NMTResetCommunication
The area 6000h to 9FFFh holds the indexes specified by
Table 6.30 Reset Command the IEC for various device profiles. The Danfoss POWERLINK
does support three profiles, FC Profile, MCO, and the DS
6.3 2000-5FFF Danfoss Specific Object Area 402 profile, velocity mode. The profile is selected via
parameter 8-10 Control Word Profile, Control Word Profile, or
6.3.1 2000h–5FFFh Vendor Specific Object via Index 6060h Modes of operation. The profile area has
Area up to 13 indexes depending on the selection made in
parameter 8-10 Control Word Profile.
The area 2000h to 5FFFh holds the indexes for accessing
the Danfoss frequency converter parameters. All Table 6.32 shows the support of indexes, depending on
parameters in the frequency converter are linked to setting of parameter 8-10 Control Word Profile (Index 6060h)
indexes in this area. The first index available is index

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 31

 Communication Profile Area MCA 123 POWERLINK

Index Name parameter 8-10 Control parameter 8-10 Control parameter 8-10 Control
Word Profile Word Profile= Word Profile=
=FC Profile MCO DS 402
603Fh Error code - - √
6040h Control word - - √
6041h Status word - - √
6042h Vl_target_velocity - - √
6043h Vl_velocity_demand - - √
6044h Vl_velocity_actual_value - - √
6046h Vl_velocity_min_max_amount - - √
6048h Vl_velocity_acceleration - - √
6049h Vl_velocity_deceleration - - √
6060h Modes of operation √ √ √
6061h Modes of operation display √ √ √
6502h Supported frequency converter mode √ √ √
6504h Frequency converter manufacture √ √ √

Table 6.32 6000h-9FFFh Standardised Device Profile Area

6 6
6.4.2 603Fh Error Code 6.4.6 6043h vl_velocity_demand

Error signaling mechanism is used to signal alarms and The vl_velocity_demand is the velocity of the system after
events generated on the frequency converter to the MN. the ramp controller. The velocity is in RPM.
The error code consist of 8 byte of data, where: Byte 0
(zero) is a copy of object 1001h. Byte 1 & 2, not used. Byte 6.4.7 6044h vl_actual_velocity_value
3 contains: Bit 0=1, Alarmword 1 has an active Alarm
(parameter 16-90 Alarm Word). Bit 1=1, Alarmword 2 has an The vl_actual_velocity_value is the velocity at the motor
active Alarm (Future ext. parameter 16-91 Alarm Word 2). Bit shaft. The velocity is in RPM, and is obtained from
2=0, Reserved. Bit 3=1, Warningword 1 has an active parameter 16-17 Speed [RPM]. The velocity is in RPM.
Warning (parameter 16-92 Warning Word). Bit 4=1,
Warningword 2 has an active Warning (Future ext.
parameter 16-93 Warning Word 2). Bit 5-7=0, Reserved. Byte 6.4.8 6046h vl_velocity_min_max_amount
4 and 5, Profile specific. Byte 6 and 7, reserved.
The vl_ velocity_min_max_amount is the minimum and
maximum RPM at the motor shaft. The two values are
6.4.3 6040h Control Word obtained from parameter 3-02 Minimum Reference and
parameter 3-03 Maximum Reference. The readout values in
This object contains the control word in accordance with parameter 3-02 Minimum Reference and
DS 402. The control word consists of 16 bit, these 16 bit parameter 3-03 Maximum Reference will be truncated.
are used for controlling the frequency converter (for
example, start, stop, reset). The control word is described
Index, sub-index Meaning
in chapter 5.4 DS 402 Control Profile.
1046h 0 Number of sub-index supported
1046h 1 vl_velocity_min_max_amount
6.4.4 6041h Status Word 1046h 2 vl_velocity_min_amount

This object contains the Status word in accordance to DS Table 6.33 Minimum/Maximum RPM at Motor Shaft
402. The status word consists of 16 bit. The 16 bits show
the state and status of the frequency converter (for
6.4.9 6048h vl_velocity_acceleration
example, running, ramping, on speed). The Status word is
described in chapter 5.4 DS 402 Control Profile.
The vl_ velocity_acceleration index specifies the slope of
the acceleration ramp. It is generated as the quotient of
6.4.5 6042h vl_target_velocity the delta_speed and delta_time. The Delta time is stored in
parameter 3-41 Ramp 1 Ramp Up Time, and the Delta speed
The vl_target_velocity is the required velocity of the is store locally in the options non volatile memory. After a
system. The velocity is in RPM. power down the delta speed will be generated from the
frequency converter parameter 1-25 Motor Nominal Speed.

32 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Communication Profile Area Operating Instructions

This can give a different readout from the frequency Index, 6061h Meaning
converter, but the slope value is maintained. value
-2 MCO profile (only possible if MCO305 is
Index, sub-index Meaning mounted)
1048h 0 Number of sub-index supported -1 FC Profile
1048h 1 Delta speed 2 DS 402 profile
1048h 2 Delta time
Table 6.37 6061h Modes of Operation Display
Table 6.34 6048h vl_velocity_acceleration
6.4.13 6502h Supported Frequency
6.4.10 6049h vl_velocity_deceleration Converter Mode

The vl_ velocity_deceleration index specifies the slope of This index informs the user of which operating mode the
the deceleration ramp. It is generated as the quotient of frequency converter is capable of. Bit 1 is set, indicating
the delta_speed and delta_time. The Delta time is stored in that the frequency converter can run DS 402 velocity
parameter 3-42 Ramp 1 Ramp Down Time, and the Delta mode, bit 16 FC profile and 17 indicates MCO profile.
speed is stored locally in the options non volatile memory.
After a power down, the delta speed is generated from the 6.4.14 6504h Frequency Converter
frequency converter parameter 1-25 Motor Nominal Speed. Manufacturer 6 6
This can give a different readout from the frequency
converter, but the slope value is maintained. This index does readout the name of the frequency
converter manufacturer. Data is coded as a string.
Index, sub-index Meaning
1049h 0 Number of sub-index supported Index, sub-index Meaning
1049h 1 Delta speed 6504Ch 0 Manufacturer “DANFOSS DRIVES”
1049h 2 Delta time
Table 6.38 6504h Drive Manufacturer (read only)
Table 6.35 6049h vl_velocity_deceleration

6.4.11 6060h Modes of Operation

This index is used for selection the Danfoss FC profile,

MCO profile, or the DS 402 profile. The index links directly
to parameter 8-10 Control Word Profile. If this value is
changed while in operation, the option enters the “Error
PREOP” state.

Index, 6060h Meaning

value
-2 MCO profile (only possible if MCO305 is
mounted)
-1 FC Profile
2 DS 402 profile

Table 6.36 6060h Modes of Operation

6.4.12 6061h Modes of Operation Display

This index is used to display which mode the frequency

converter is in. The mode can be changed via index 6060.
The values are the same as used for index 6060.

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 33

 Parameters MCA 123 POWERLINK

7 Parameters

7.1 Parameter Group 8-** Communication 8-03 Control Word Timeout Time
and Option Range: Function:
1 s* [ 0.1 - Enter the maximum time expected to pass
8-01 Control Site 18000 s] between the reception of 2 consecutive
Option: Function: telegrams. If this time is exceeded, it indicates
The setting in this parameter overrides the that the telegram communication has stopped.
settings in parameter 8-50 Coasting Select to The function selected in parameter 8-04 Control
parameter 8-56 Preset Reference Select. Word Timeout Function is then carried out. A
valid control word triggers the timeout counter.
[0] Digital and Control by using both digital input and
ctrl.word control word.
8-04 Control Word Timeout Function
[1] Digital only Control by using digital inputs only. Select the timeout function. The timeout function activates when
[2] Controlword Control by using control word only. the control word fails to be updated within the time period
only specified in parameter 8-03 Control Word Timeout Time.
Option: Function:
8-02 Control Word Source
[0] Off Resumes control via fieldbus (fieldbus or
Option: Function:
7 7 NOTICE
standard) using the most recent control
word.
This parameter cannot be adjusted [1] Freeze output Freezes output frequency until communi-
while the motor runs. cation resumes.

[2] Stop Stops with auto restart when communi-

Select the source of the control word: 1 of 2
cation resumes.
serial interfaces or 4 installed options. During
initial power-up, the frequency converter [3] Jogging Runs the motor at jog frequency until
automatically sets this parameter to [3] Option communication resumes.
A, if it detects a valid fieldbus option installed [4] Max. speed Runs the motor at maximum frequency until
in slot A. When the option is removed, the communication resumes.
frequency converter detects a configuration
[5] Stop and trip Stops the motor, then resets the frequency
change, sets parameter 8-02 Control Word
converter to restart:
Source to default setting RS485, and trips. If
an option is installed after initial power-up, • Via the fieldbus.
the setting of parameter 8-02 Control Word
• Via [Reset].
Source does not change, but the frequency
converter trips and shows: Alarm 67, Option • Via a digital input.

Changed. [7] Select setup Changes the set-up after reestablishment of

When retrofitting a bus option into a 1 communication following a control word
frequency converter that did not have a bus timeout. If communication resumes after a
option installed earlier, change the control to timeout, parameter 8-05 End-of-Timeout
bus-based. This change is required for safety Function defines whether to resume the set-
reasons to avoid an unintended change. up used before the timeout, or to retain the
set-up endorsed by the timeout function.
[0] None
[1] FC RS485 NOTICE
[2] FC USB To change the set-up after a timeout,
[3] Option A configure as follows:
[4] Option B Set parameter 0-10 Active Set-up to [9]
[5] Option C0 Multi set-up and select the relevant
[6] Option C1 link in parameter 0-12 This Set-up
[30] External Can Linked to.

[8] Select setup See [7] Select set-up 1.

2

34 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Parameters Operating Instructions

8-04 Control Word Timeout Function 8-07 Diagnosis Trigger

Select the timeout function. The timeout function activates when This parameter enables and controls the frequency converter
the control word fails to be updated within the time period diagnosis/Emergency function. In Profibus, it expands the
specified in parameter 8-03 Control Word Timeout Time. diagnosis data to 24 byte. In EtherCAT, it activates the
Option: Function: transmission of the Emergency object. In POWERLINK, it enables
the Error signaling. The Emergency/Error signaling object consists
[9] Select setup See [7] Select set-up 1.
of 8 byte of data, where byte 3 indicates an active alarm or
3
warning. Bit 0=1 Alarmword 1 has an active Alarm. Bit 1=1
[10] Select setup See [7] Select set-up 1.
Alarmword 2 has an active Alarm. Bit 2, reserved, Bit 3=1
4
Warningword 1 has an active warning. Bit 4=1 Warningword 2
[26] Trip
has an active warning. Bits 5-7, reserved.
8-05 End-of-Timeout Function Option: Function:
Option: Function: [0] Disable
Select the action after receiving a valid control [1] Trigger on alarms
word following a timeout. This parameter is [2] Trigger alarm/warn.
active only when parameter 8-04 Control Timeout
Function is set to: NOTICE
The following is only valid for Profibus and EtherCAT.
• [7] Set-up 1.

• [8] Set-up 2.
- [0] Disable: Do not send extended diagnosis/
• [9] Set-up 3. emergency data even if they appear in the
frequency converter.
7 7
• [10] Set-up 4.

[0] Hold set- Retains the set-up selected in - [1] Trigger on alarms: Send extended diagnosis/
up parameter 8-04 Control Timeout Function and emergency data when one or more alarms
displays a warning until parameter 8-06 Reset appear in alarm parameter 16-90 Alarm Word or
Control Timeout toggles. Then the frequency parameter 9-53 Profibus Warning Word.
converter resumes its original set-up. - [2] Trigger alarms/warn.: Send extended diagnosis/
[1] Resume Resumes the set-up active before the timeout. emergency data if one or more alarms or
set-up warnings appear in alarm parameter 16-90 Alarm
Word, parameter 9-53 Profibus Warning Word, or
8-06 Reset Control Word Timeout warning parameter 16-92 Warning Word.
This parameter is active only when [0] Hold set-up has been
Enabling diagnosis can cause increased bus traffic. Not all
selected in parameter 8-05 End-of-Timeout Function.
fieldbus types support Diagnosis functions.
Option: Function:
8-08 Readout Filtering
[0] Do not reset Retains the set-up specified in
If the speed feedback value readouts on fieldbus are fluctuating,
parameter 8-04 Control Word Timeout Function,
this function is used. Select filtered, if the function is required. A
following a control word timeout.
power cycle is required for changes to take effect.
[1] Do reset Returns the frequency converter to the original
Option: Function:
set-up following a control word timeout. The
[0] Motor Data Normal fieldbus readouts.
frequency converter performs the reset and
Std-Filt.
then immediately reverts to the [0] Do not reset
setting. [1] Motor Data LP- Filtered fieldbus readouts of the
Filter following parameters:
Parameter 16-10 Power [kW].
Parameter 16-11 Power [hp].
Parameter 16-12 Motor Voltage.
Parameter 16-14 Motor current.
Parameter 16-16 Torque [Nm].
Parameter 16-17 Speed [RPM].
Parameter 16-22 Torque [%].
Parameter 16-25 Torque [Nm] High.

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 35

 Parameters MCA 123 POWERLINK

8-10 Control Word Profile 8-13 Configurable Status Word STW

Select the interpretation of the control and status words Option: Function:
corresponding to the installed fieldbus. Only the selections valid [40] Out of ref.
for the fieldbus installed in slot A are visible in the LCP display. If range
the parameter is changed while the frequency converter is in [60] Comparator 0 See parameter group 13-1* Comparators. If
operation mode, the frequency converter goes to error state, and comparator 0 is evaluated as TRUE, the
the control of the frequency converter is lost. This parameter output goes high. Otherwise, it is low.
should not be changed while the motor is running, since it can [61] Comparator 1 See parameter group 13-1* Comparators. If
lead to a unknown state of the profile. comparator 1 is evaluated as TRUE, the
Option: Function: output goes high. Otherwise, it is low.
[0] * FC Profile [62] Comparator 2 See parameter group 13-1* Comparators. If
[7] CANopen DSP 402 comparator 2 is evaluated as TRUE, the
output goes high. Otherwise, it is low.
8-13 Configurable Status Word STW [63] Comparator 3 See parameter group 13-1* Comparators. If
Option: Function: comparator 3 is evaluated as TRUE, the
This parameter enables configuration of bits output goes high. Otherwise, it is low.
12–15 in the status word. [64] Comparator 4 See parameter group 13-1* Comparators. If
[0] No function comparator 4 is evaluated as TRUE, the
[1] * Profile Default Function corresponds to the profile default output goes high. Otherwise, it is low.
selected in parameter 8-10 Control Profile. [65] Comparator 5 See parameter group 13-1* Comparators. If

7 7 [2] Alarm 68
Only
Only set in case of an Alarm 68. comparator 5 is evaluated as TRUE, the
output goes high. Otherwise, it is low.
[3] Trip excl. Set in case of a trip, except if Alarm 68 [70] Logic Rule 0 See parameter group 13-4* Logic Rules. If
Alarm 68 executes the trip. logic rule 0 is evaluated as TRUE, the output
[10] T18 DI status. The bit indicates the status of terminal 18. goes high. Otherwise, it is low.
0 indicates that the terminal is low. [71] Logic Rule 1 See parameter group 13-4* Logic Rules. If
1 indicates that the terminal is high. logic rule 1 is evaluated as TRUE, the output
[11] T19 DI status. The bit indicates the status of terminal 19. goes high. Otherwise, it is low.
0 indicates that the terminal is low. [72] Logic Rule 2 See parameter group 13-4* Logic Rules. If
1 indicates that the terminal is high. logic rule 2 is evaluated as TRUE, the output
[12] T27 DI status. The bit indicates the status of terminal 27. goes high. Otherwise, it is low.
0 indicates that the terminal is low. [73] Logic Rule 3 See parameter group 13-4* Logic Rules. If
1 indicates that the terminal is high. logic rule 3 is evaluated as TRUE, the output
[13] T29 DI status. The bit indicates the status of terminal 29. goes high. Otherwise, it is low.
0 indicates that the terminal is low. [74] Logic Rule 4 See parameter group 13-4* Logic Rules. If
1 indicates that the terminal is high. logic rule 4 is evaluated as TRUE, the output
[14] T32 DI status. The bit indicates the status of terminal 32. goes high. Otherwise, it is low.
0 indicates that the terminal is low. [75] Logic Rule 5 See parameter group 13-4* Logic Rules. If
1 indicates that the terminal is high. logic rule 5 is evaluated as TRUE, the output
[15] T33 DI status. The bit indicates the status of terminal 33. goes high. Otherwise, it is low.
0 indicates that the terminal is low. [80] SL Digital See parameter 13-52 SL Controller Action. The
1 indicates that the terminal is high. Output A output goes high whenever the smart logic
[16] T37 DI status The bit indicates the status of terminal 37. action [38] Set digital out A high is executed.
0 indicates terminal 37 is low (Safe Torque The output goes low whenever the smart
stop). logic action [32] Set digital out A low is
1 indicates terminal 37 is high (normal). executed.
[21] Thermal The thermal warning turns on when the [81] SL Digital See parameter 13-52 SL Controller Action. The
warning temperature exceeds the limit in the motor, Output B input goes high whenever the smart logic
the frequency converter, the brake resistor, action [39] Set digital out B high is executed.
or the thermistor. The input goes low whenever the smart
[30] Brake fault Output is logic 1 when the brake IGBT is logic action [33] Set digital out B low is
(IGBT) short-circuited. Use this function to protect executed.
the frequency converter if there is a fault [82] SL Digital See parameter 13-52 SL Controller Action. The
on the brake modules. Use the output/relay Output C input goes high whenever the smart logic
to cut out the main voltage from the action [40] Set digital out C high is executed.
frequency converter. The input goes low whenever the smart

36 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Parameters Operating Instructions

8-13 Configurable Status Word STW 8-14 Configurable Control Word CTW
Option: Function: Option: Function:
logic action [34] Set digital out C low is parameter 1-00 Configuration Mode is set to [6]
executed. Surface Winder, [7] Extended PID Speed OL or [8]
[83] SL Digital See parameter 13-52 SL Controller Action. The Extended PID Speed CL.
Output D input goes high whenever the smart logic
action [41] Set digital out D high is executed. 8-50 Coasting Select
The input goes low whenever the smart Option: Function:
logic action [35] Set digital out D low is Select control of the coasting function via the
executed. terminals (digital input) and/or via the bus.
[84] SL Digital See parameter 13-52 SL Controller Action. The
[0] Digital Activates start command via a digital input.
Output E input goes high whenever the smart logic
input
action [42] Set digital out E high is executed.
The input goes low whenever the smart [1] Bus Activates start command via the serial communi-
logic action [36] Set digital out E low is cation port or fieldbus option.
executed. [2] Logic AND Activates start command via the fieldbus/serial
[85] SL Digital See parameter 13-52 SL Controller Action. The communication port, and 1 extra digital input.
Output F input goes high whenever the smart logic
[3] Logic OR Activates start command via the fieldbus/serial
action [43] Set digital out F high is executed.
communication port, or via 1 of the digital
The input goes low whenever the smart
inputs.
logic action [37] Set digital out F low is
executed.
8-51 Quick Stop Select
7 7
8-14 Configurable Control Word CTW Select control of the quick stop function via the terminals (digital
Option: Function: input) and/or via the bus.

This parameter is not valid in software versions Option: Function:

below 4.93. [0] Digital input

[0] None The information in this bit is ignored by the [1] Bus
frequency converter. [2] Logic AND
[3] Logic OR
[1] Profile The functionality of the bit is depending on the
default selection in parameter 8-10 Control Word Profile. 8-52 DC Brake Select
[2] CTW If set to 1, the frequency converter ignores the Option: Function:
Valid, remaining bits of the Control Word. Select control of the DC brake via the terminals
active (digital input) and/or via the fieldbus.
low
[3] Safe This function is only available in bits 12-15 of the
NOTICE
Option control word, if a a safe option is mounted in the When parameter 1-10 Motor Construction is
Reset frequency converter. The reset is executed on a 0- set to [1] PM non-salient SPM, only
>1 transition, and reset the safe option as set in selection [0] Digital input is available.
parameter 42-24.
[0] Digital Activates start command via a digital input.
[4] PID error When enabled, it inverts the resulting error from
input
inverse the process PID controller. Available only if
parameter 1-00 Configuration Mode is set to [6] 8-53 Start Select
Surface Winder, [7] Extended PID Speed OL or [8]
Option: Function:
Extended PID Speed CL.
Select control of the frequency converter start
[5] PID reset When enabled, resets the I-part of the process PID function via the terminals (digital input) and/or
I part controller. Equivalent to parameter 7-40 Process PID via the fieldbus.
I-part Reset. Available only if
parameter 1-00 Configuration Mode is set to [6] [0] Digital Activates a start command via a digital input.
Surface Winder, [7] Extended PID Speed OL or [8] input
Extended PID Speed CL. [1] Bus Activates a start command via the serial
communication port or fieldbus option.
[6] PID When enabled, enables the extended process PID
enable controller. Equivalent to parameter 7-50 Process PID
Extended PID. Available only if

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 37

 Parameters MCA 123 POWERLINK

8-53 Start Select 7.2 Parameter Group 12-** Ethernet

Option: Function:
7.2.1 12-0* IP Settings
[2] Logic Activates a start command via the fieldbus/serial
AND communication port, and additionally via 1 of the
digital inputs. 12-00 IP Address Assignment
Option: Function:
[3] Logic OR Activates a start command via the fieldbus/serial
communication port, or via 1 of the digital inputs. Selects the IP Address assignment method.

[0] MANUAL IP-address can be set in parameter 12-01 IP

8-54 Reversing Select Address IP Address.
Option: Function: [1] DHCP IP-address is assigned via DHCP server.
[0] Digital Select control of the frequency converter reverse
[2] BOOTP IP-address is assigned via BOOTP server.
input function via the terminals (digital input) and/or
via the fieldbus. [10] DCP DCP Assigned via the DCP protocol.

[1] Bus Activates the reverse command via the serial [20] From node Address is set from parameter 12-60 Node ID
communication port, or fieldbus option. ID only.

[2] Logic AND Activates the reverse command via the fieldbus/
12-01 IP Address
serial communication port, and additionally via 1
of the digital inputs. Range: Function:
0* [0 - Configure the IP address of the option.
[3] Logic OR Activates the reverse command via the fieldbus/
7 7 serial communication port, or via 1 of the digital
2147483647 ] Read-only if parameter 12-00 IP Address
Assignment set to DHCP or BOOTP. In
inputs.
POWERLINK, the IP address follows the
parameter 12-60 Node ID last byte and the
8-55 Set-up Select
first part is fixed to 192.168.100 (node ID).
Option: Function:
Select control of the frequency converter set-up 12-02 Subnet Mask
selection via the terminals (digital input) and/or
Range: Function:
via the fieldbus.
0* [0 - Configure the IP subnet mask of the
[0] Digital Activates the set-up selection via a digital input. 4244635647 ] option. Read-only if parameter 12-00 IP
input Address Assignment set to DHCP or
[1] Bus Activates the set-up selection via the serial BOOTP. In POWERLINK it is fixed to
communication port, or fieldbus option. 255.255.255.0.

[2] Logic Activates the set-up selection via the fieldbus/

AND serial communication port, and via 1 of the
12-03 Default Gateway
digital inputs. Range: Function:
0* [0 - Configure the IP default gateway of the
[3] Logic OR Activates the set-up selection via the fieldbus/
2147483647 ] option. Read-only if parameter 12-00 IP
serial communication port, or via 1 of the digital
Address Assignment set to DHCP or BOOTP.
inputs.
In a non-routed network this address is set
to the IP address of the IO Device
8-90 Bus Jog 1 Speed
Range: Function:
12-08 Host Name
100 RPM* [ 0 - par. 4-13 Enter the jog speed. Activate this
Range: Function:
RPM] fixed jog speed via the serial port
0* [0 - 2147483647 ] Logical (given) name of option.
or fieldbus option.

8-91 Bus Jog 2 Speed NOTICE

Range: Function: The display of the frequency converter only shows the
first 19 characters, but the remaining characters are
200 RPM* [ 0 - par. 4-13 Enter the jog speed. Activate this
stored in the frequency converter. If hardware switches
RPM] fixed jog speed via the serial port
are different from all ON or all OFF, the switches have
or fieldbus option.
priority.

38 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Parameters Operating Instructions

12-09 Physical Address 12-14 Link Duplex

Range: Function: Option: Function:
0* [0 - 0 ] Read-only. Displays the physical (MAC) address of Forces the duplex for each port to full or half
the option. duplex. If parameter 12-12 Auto Negotiation is
set to: [ON], this parameter is read-only.

7.2.2 12-1* Ethernet Link Parameters [0] Half Duplex

[1] Full Duplex

7.2.3 12-1* Ethernet Link Parameters NOTICE

In POWERLINK this parameter is locked to half duplex.
Applies for the whole parameter group.

Index [0] is used for port 1, and Index [1] is used for port
7.2.4 12-2* Process Data
2. For EtherCAT, index [0] is for the in-port and index [1] is
for the out-port. 12-20 Control Instance
Range: Function:
12-10 Link Status
[None, 20, Read-only. Displays the connection to the master.
Option: Function:
21, 23, 100, In Ethernet/IP: If no CIP connection is present,
Read-only. Displays the link status of the Ethernet 101, 103] None is displayed. In EtherCAT: If no connection
ports. is active None is displayed, else it displays the
[0] No Link
[1] Link
active PDO. In POWERLINK: If no connection is
active None is displayed, else it displays the
7 7
active PDO (23).
12-11 Link Duration
12-21 Process Data Config Write
Range: Function:
Size related* [ 0 - 0 ] Read-only. Displays the duration of the Range: Function:
present link on each port in dd:hh:mm:ss. [[0 - 9] PCD read 0 - 9] Configuration of readable process
data.
12-12 Auto Negotiation
In POWERLINK, this parameter is read-only. The same
Option: Function: applies for:
Configures auto negotiation of Ethernet link
parameters, for each port: ON or OFF.
• parameter 12-22EN-22 Process Data Config Read

[0] Off Link Speed and Link Duplex can be configured in

• parameter 12-23 Process Data Config Write Size

parameter 12-13 Link Speed and parameter 12-14 Link • parameter 12-24 Process Data Config Read Size
Duplex. 12-22 Process Data Config Read
[1] On Range: Function:
[[0 - 9] PCD read 0 - 9] Configuration of readable process
NOTICE data.
In POWERLINK, this parameter is fixed to OFF setting.
12-23 Process Data Config Write Size
12-13 Link Speed Range: Function:
Option: Function: 16 * [8 - 32 ] Sets the number of bits being sent from the
frequency converter as process data. The setting
Forces the link speed for each port in 10 Mbps or
counts from right (LSB). The value 1 means that
100 Mbps. If parameter 12-12 Auto Negotiation is
only the least significant bit of the signal is
set to: ON, this parameter is read-only and
transferred from the frequency converter.
displays the actual link speed. If no link is present,
None is displayed.
12-24 Process Data Config Read Size
[0] None
Range: Function:
[1] 10 Mbps
16 * [8 - 32 ] Sets the number of bits being sent to the
[2] 100
frequency converter as process data. The setting
Mbps
counts from right (LSB). The value 1 means that
NOTICE only the least significant bit of the signal is

In POWERLINK, this parameter is locked to 100 Mbs.

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 39

 Parameters MCA 123 POWERLINK

12-24 Process Data Config Read Size 12-66 Threshold

Range: Function: Range: Function:
transferred to the frequency converter. The 15 [0 - Parameter 12-66 Threshold holds six
preceding bits are set to zero. * 2000000000 ] threshold values. If one of these thresholds
are exceeded, the POWERLINK Interface exits
12-28 Store Data Values operational mode. The parameters are set to
Option: Function: optimal settings and should not be
changed. The actual value of the counters
[0] Off
can be read out via
[1] Store all setups
parameter 12-67 Threshold Counters.
[2] Store all setups

12-29 Store Always 12-67 Threshold Counters

Option: Function: Range: Function:
Activates function that always stores received 0 [0 - Parameter 12-67 Threshold Counters hold 6
parameter data in non-volatile memory (EEPROM). * 4294967295 ] counters. The counter reflects the actual
[0] * Off value in the POWERLINK interface. Counters
[1] On increases with a count of eight at detection
of an error and decreases with a count of
one when no errors are detected. The values
7.2.5 12-6* Ethernet PowerLink are read only.

7 7 12-60 Node ID 12-68 Cumulative Counters

Range: Function: Range: Function:
1* [1 - Enter the Node ID in this parameter or alternatively 0* [0 - 2147483647 ] Loss off SoC Cumulative. This parameter
239 ] in the hardware switch. In order to adjust the Node reflects the value in object 1C0Bh,
ID in parameter 12-60 Node ID, the hardware switch subindex 1.
must be set to 0 or 255 (i.e. all switches set to [ON]
or to [OFF]). Otherwise this parameter displays the 12-69 Ethernet PowerLink Status
actual setting of the switch. Setting this parameter
Range: Function:
will first be active at the next power up cycle.
0* [0 - 4294967295 ]

12-62 SDO Timeout

Range: Function: 7.2.6 12-8* Other Ethernet Services
30000 [0 - parameter 12-62 SDO Timeout is the
ms* 2000000000 ms] SDO Timeout in milliseconds. Value 12-80 FTP Server
of this parameter is read during Option: Function:
communication initialization into [0] Disabled Disables the built-in FTP server.
Object 1300h
12-81 HTTP Server
12-63 Basic Ethernet Timeout
Option: Function:
Range: Function: [0] Disabled
5000.000 [0 - Parameter 12-63 Basic Ethernet
ms* 2000000.000 Timeout in microseconds. This 12-82 SMTP Service
ms] parameter is mapped to Object Option: Function:
1F99h. If the POWERLINK interface [0] Disabled
does not receive a SoC frame within
the specified period of time, the 12-89 Transparent Socket Channel Port
interface shifts to standard Ethernet Range: Function:
mode. This feature is first available Size [0 - Configures the TCP port number for the
from version 2.00 of the POWERLINK related* 0] transparent socket channel. This configu-
Interface. ration enables FC telegrams to be sent
transparently on Ethernet via TCP. Default
value is 4000, 0 means disabled. The MCT
10 Set-up Software uses this port.

40 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Parameters Operating Instructions

7.2.7 12-9* Advanced Ethernet Settings 12-96 Port Config

Enables/disables port-mirroring function. For troubleshooting
12-90 Cable Diagnostic with a network analyser tool.
Option: Function: Option: Function:
Enables/disables advanced cable diagnosis [0] Normal No port-mirroring
function. If enabled, the distance to cable errors
[1] Mirror Port 1 to 2 All network traffic on port 1
can be read out in parameter 12-93 Cable Error
is mirrored to port 2.
Length. The parameter resumes to the default
setting of disable after the diagnostics have [2] Mirror Port 2 to 1 All network traffic on port 2
finished. is mirrored to port 1.

[0] Disabled [10] Port 1 disabled

[1] Enabled [11] Port 2 disabled
[254] Mirror Int. Port to 1
NOTICE [255] Mirror Int. Port to 2
The cable diagnostics function is only issued on ports
where there is no link (see parameter 12-10 Link Status,
Link Status)

12-91 Auto Cross Over

Option: Function:
[0] Disabled Disables the auto cross-over function.
7 7
[1] Enabled Enables the auto cross-over function.

12-93 Cable Error Length

Range: Function:
0* [0 - If cable diagnostics is enabled in
65535 ] parameter 12-90 Cable Diagnostic, the built-in
switch is possible via time domain reflectometry
(TDR). This measurement technique detects
common cabling problems such as open circuits,
short circuits, and impedance mismatches or
breaks in transmission cables. The distance from
the option to the error is displayed in meters with
an accuracy of ±2 m. The value 0 means that no
errors detected.

7.3 POWERLINK - Specific Parameter List

Parameter Default value Range Conversion index Data type
Parameter 8-01 Control Site [0] Dig. & ctrl. word [0-2] - Uint8
Parameter 8-02 Control Word Source [0] FC RS485 [0-4] - Uint8
Parameter 8-03 Control Word Timeout
Time 1 0.1-18000 -1 Uint32
Parameter 8-04 Control Word Timeout
Function [0] Off [0-10] - Uint8
Parameter 8-05 End-of-Timeout Function [0] Hold set-up [0-1] - Uint8
Parameter 8-06 Reset Control Word
Timeout [0] Do not reset [0-1] - Uint8
Parameter 8-07 Diagnosis Trigger [0] Disable [0-3] - Uint8
Parameter 8-10 Control Word Profile [0] FC profile [0-x] - Uint8
Parameter 8-13 Configurable Status
Word STW
Parameter 8-50 Coasting Select [3] *Logic OR [0-3] - Uint8
Parameter 8-51 Quick Stop Select [3] *Logic OR [0-3] - Uint8

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 41

 Parameters MCA 123 POWERLINK

Parameter Default value Range Conversion index Data type

Parameter 8-52 DC Brake Select [3] *Logic OR [0-3] - Uint8
Parameter 8-53 Start Select [3] *Logic OR [0-3] - Uint8
Parameter 8-54 Reversing Select [3] *Logic OR [0-3] - Uint8
Parameter 8-55 Set-up Select [3] *Logic OR [0-3] - Uint8
Parameter 8-56 Preset Reference Select [3] *Logic OR [0-3] - Uint8
0-parameter 4-13 Motor
Parameter 8-90 Bus Jog 1 Speed 100 rpm Speed High Limit [RPM] 67 Uint16
0-parameter 4-13 Motor
Parameter 8-91 Bus Jog 2 Speed 200 rpm Speed High Limit [RPM] 67 Uint16
parameter 12-00 IP Address Assignment [20] *From node ID - - Unsigned 8
parameter 12-01 IP Address 192.168.100.xxx - - Unsigned 32
parameter 12-02 Subnet Mask 255.255.255.0 - - Unsigned 32
parameter 12-03 Default Gateway 0.0.0.0 - - Unsigned 32
parameter 12-08 Host Name - - String
Parameter 12-09 Physical Address 00:1B:08:00:00:00 - - Visible string 17
Parameter 12-10 Link Status [0] No Link [0-1] - Unsigned 8
Parameter 12-11 Link Duration 00:00:00:00 - - Time diff. w/date
Parameter 12-12 Auto Negotiation [1] On [0-1] - Unsigned 8
Parameter 12-13 Link Speed [2] 100 Mbps [0-2] - Unsigned 8

7 7 Parameter 12-14 Link Duplex

parameter 12-20 Control Instance
[0] Halfl Duplex
Application Dependent
[0-1]
0-255
- Unsigned 8[

parameter 12-21 Process Data Config

Write Application Dependent
parameter 12-22EN-22 Process Data
Config Read 16 1-32
parameter 12-23 Process Data Config
Write Size 16 1-32
parameter 12-24 Process Data Config
Read Size 0 0-4294967295
parameter 12-28 Store Data Values
parameter 12-29 Store Always [0] Off
parameter 12-60 Node ID [1] [0-240] Unsigned 8
parameter 12-62 SDO Timeout 30000 [0-65535] Unsigned 16
parameter 12-63 Basic Ethernet Timeout [5000000] [0-4294967296] Unsigned 32
parameter 12-66 Threshold [15] [0-4294967296] Unsigned 32
parameter 12-67 Threshold Counters [0] [0-4294967296] Unsigned 32
parameter 12-68 Cumulative Counters [0] [0-4294967296] Unsigned 32
Parameter 12-80 FTP Server [0] Disable [0–1] - Unsigned 8
Parameter 12-81 HTTP Server [0] Disable [0–1] - Unsigned 8
Parameter 12-82 SMTP Service [0] Disable [0–1] - Unsigned 8
Parameter 12-89 Transparent Socket
Channel Port [0] Disable [0–1] - Unsigned 8
Parameter 12-90 Cable Diagnostic [0] Disable [0-1] - Unsigned 8
Parameter 12-91 Auto Cross Over [0] Enable [0-1] - Unsigned 8
Parameter 12-93 Cable Error Length 0 0-200 0 Unsigned 16
Parameter 12-98 Interface Counters 0 0-65535 - Unsigned 16
Parameter 12-99 Media Counters 0 0-65535 - Unsigned 16
Parameter 16-84 Comm. Option STW 0 0-FFFF 0 V2
Parameter 16-90 Alarm Word 0 0-FFFF 0 Uint32
Parameter 16-92 Warning Word 0 0-FFFF 0 Uint32

Table 7.1 Specific Parameters

Refer to the relevant Operating Instructions for a comprehensive parameter list.

42 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Parameters Operating Instructions

7 7

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 43

 Application Examples MCA 123 POWERLINK

8 Application Examples

8.1 Example: Process Data with PDO 23

This example shows how to work with PDO 23, which consists of Control Word/Status Word and Reference/Main Actual
Value. In the example the frequency converter is set to [0] FC profile in Parameter 8-10 Control Word Profile. The PDO contains
up to ten objects, which can be programmed to monitor process signals.

PCD
0 1 2 3
CTW MRV PCD[2] PCD
From controller 04 7C 20 00 00 00 00 00
STW MAV PCD[2] PCD[3]
From frequency 07 00
converter 0F 20 3F A6 00 08

Byte # 1 2 3 4 5 6 7 8

Table 8.1 Example of FC Profile

The application requires monitoring of the motor torque

and digital input, so PCD 2 is set up to read the current
motor torque. PCD 3 is set up to monitor the state of an
8 8 external sensor via the process signal digital input. The
sensor is connected to digital input 18.

An external device is also controlled via control word bit

11 and the built-in relay of the frequency converter.
Reversing is permitted only when the reversing bit 15 in
the control word and the digital input 19 are set to high.

For safety reasons, the frequency converter stops the

motor if the POWERLINK cable is broken, the master has a
system failure, or the PLC is in stop mode.
130BD148.10

Recieve PDO’s (PLC → Drive) 12 +

PCD 0 PCD 1 18 Sensor
CTW REF 20
-
13 +
19 Reversing
Transmit PDO’s (Drive → PLC ) 20
-
PCD 0 PCD 1 PCD 2 PCD 3 Relay
STW MAV Torque [Nm] Digital Inputs
04-05 Ext. Device

230 VAC

Illustration 8.1 Application Example

44 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Application Examples Operating Instructions

Program the frequency converter as shown in Table 8.2.

Parameter Setting
Parameter 4-10 Motor Speed Direction [2] Both directions
Parameter 5-10 Terminal 18 Digital Input [0] No operation
Parameter 5-11 Terminal 19 Digital Input [10] Reversing
Parameter 5-40 Function Relay [36/37] Control word bit 11/12
Parameter 8-03 Control Word Timeout Time 1s
Parameter 8-04 Control Word Timeout Function [2] Stop
Parameter 8-10 Control Word Profile [0] FC Profile
Parameter 8-50 Coasting Select [1] Bus
Parameter 8-51 Quick Stop Select [1] Bus
Parameter 8-52 DC Brake Select [1] Bus
Parameter 8-53 Start Select [1] Bus
Parameter 8-54 Reversing Select [2] Logic AND
Parameter 8-55 Set-up Select [1] Bus
Parameter 8-56 Preset Reference Select [1] Bus

Table 8.2 Programming of Frequency Converter

8 8

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 45

 Application Examples MCA 123 POWERLINK

8.2 Example: Simple Control Word, Reference, Status Word and Main Actual Value
This example shows how the control word telegram relates to the controller and the frequency converter, using FC Control
Profile.

The control word telegram is sent from the PLC to the frequency converter. Standard Telegram 1 is used in the example to
demonstrate the full range of modules. All the values shown are arbitrary, and are provided for demonstration purposes
only.

PCD
0 1 2 3
CTW MRV PCD PCD
04 7C 20 00

PQW: 256 258 260 262

CTW MRV

Bit no.: 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 1 0 0 0 1 1 1 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 4 7 C 2 0 0 0

Table 8.3 Standard Telegram 1 Example

Table 8.3 indicates the bits contained within the control word, and how they are presented as process data in Standard
Telegram 1 for this example.

Table 8.4 indicates which bit functions, and which corresponding bit values are active for this example.

8 8
Bit Bit value=0 Bit value=1 Bit value
00 Reference value External selection lsb 0
01 Reference value External selection msb 0
C
02 DC brake Ramp 1
03 Coasting Enable 1
04 Quick stop Ramp 1
05 Freeze output Ramp enable 1
7
06 Ramp stop Start 1
07 No function Reset 0
08 No function Jog 0
09 Ramp 1 Ramp 2 0
4
10 Data not valid Valid 1
11 No function Relay 01 active 0
12 No function Relay 02 active 0
13 Parameter set-up Selection lsb 0
0
14 Parameter set-up Selection msb 0
15 No function Reversing 0

Function active

Function inactive

Table 8.4 Bit Functions

46 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Application Examples Operating Instructions

8 8

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 47

 Troubleshooting MCA 123 POWERLINK

9 Troubleshooting

9.1 LED Status

Illustration 9.7 S/E LED Status - Single Green Flash

130BD146.11
1 2

A B
Port 1 Port 2
MCA123 Option A
3 S/E LED
POWERLINK 130B1489 Illustration 9.8 S/E LED Status - Red (B)/Green (A) Flash
4 L/C LED P1
MAC 00-1B-08-00-00-00
5 L/C LED P2
Address
ON
SW. ver. TM. ver.
8 7 6 5 4 3 2 1 OFF

Illustration 9.9 S/E LED Status - Double Green Flash

6
Illustration 9.1 LED Status

Item # Description Illustration 9.10 S/E LED Status - Tripple Green Flash

1 POWERLINK port 1
2 POWERLINK port 2
3 Status/error
4 Link/collision port 1
9 9 5 Link/collision port 2 Illustration 9.11 S/E LED Status - Yellow Flash
6 Node ID dip switches

Table 9.1 Legend to Illustration 9.1 LED flash Powerlink option state Description
pattern
Power OFF NMT_GS, No power supplied
Illustration 9.2 S/E LED Status - Power OFF or State
or init State NMT_GS_INITIALISATION to drive or
NMT_CS_NOT_ACTIVE, Initialising
Flickering Basic Ethernet mode POWERLINK
Green interface is in basic
A B Ethernet mode
Solid green POWERLINK
Illustration 9.3 S/E LED Status - Green (A)/Red (B) Flash
interface is on
operational state
Blinking NMT_CS_Stopped PLC has stopped
greed the Network
Illustration 9.4 S/E LED Status - Flickering Green Single green NMT_CS_PRE_OPERATIONAL_1 POWERLINK
flash interface is in Pre-
operation mode
state 1
Red/green NMT_CS_PRE_OPERATIONAL_1 Communication to
flash PLC lost
Illustration 9.5 S/E LED Status - Solid Green
Double NMT_CS_PRE_OPERATIONAL_2 POWERLINK
green flash interface is in Pre-
operation mode
state 2
Illustration 9.6 S/E LED Status - Blinking Red Tripple NMT_CS_READY_TO_OPERATE POWERLINK
green flash interface is

48 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Troubleshooting Operating Instructions

LED flash Powerlink option state Description Check 1: Is the cabling correct?
pattern Check that the cable is mounted correctly. Check if the
Yellow flash Wink command Node Identification corresponding L/C LED shows link activity.
activated from
MCT10 Check 2: Does the hardware configuration match?
Check that parameter 12-60 Node ID is configured to the
Table 9.2 S/E LED Pattern
same value in the PLC. For correct function, the Node ID
must be set correctly. This parameter can also be set from
the DIP switches. If the DIP switches are set, they have
Illustration 9.12 L/C LED Status - Power OFF or No Link
priority over the parameter.

Check 3: Is the correct XDD file installed?

Download the correct XDD file from
Illustration 9.13 L/C LED Status - Link www.danfoss.com/BusinessAreas/DrivesSolutions/. Check that
the process data matches the active profile in the drive.

Check 4: What is the value of parameter 12-69 Ethernet

PowerLink Status?
A B Parameter 12-69 Ethernet PowerLink Status contains 32 bits,
which each is linked to internal information. The different
Illustration 9.14 L/C LED Status - Power-up Green (A)/Red (B)
bits give an overview over possible errors.

Bit Description Value=[0] Value=[1] Comment

no.
A B 0 Initialisation NMT_GS_INITIL Mapped to
State ASATION Object 1F8Ch
Illustration 9.15 L/C LED Status - Collision Red (B)/Green (A)
1 Not Active NMT_CS_NOT_ Mapped to
State ACTIVE Object 1F8Ch 9 9
2 Basic NMT_CS_BASIC Mapped to
Ethernet _ETHERNET Object 1F8Ch
State
Illustration 9.16 L/C LED Status - Yellow Flash 3 Pre- NMT_CS_PRE_ Mapped to
Operational 1 OPERATIONAL_ Object 1F8Ch
State 1
LED flash Powerlink option state Description 4 Pre- NMT_CS_PRE_ Mapped to
pattern Operational 2 OPERATIONAL_ Object 1F8Ch
Power OFF or NMT_GS, No power supplied to State 2
no link NMT_GS_INITIALISATION drive or Initialising 5 Ready to NMT_CS_OPER Mapped to
NMT_CS_NOT_ACTIVE Operate State ATIONAL Object 1F8Ch
Link NMT_GS_INITIALISATION Only shown once at 6 Operational NMT_CS_STOP Mapped to
power up State PED Object 1F8Ch
Power up Various states Link established 7 Stopped Value shall be
Collision State read as 0
Yellow flash Wink command Node Identification 8 Reserved Value shall be
activated from MCT 10 read as 0
Set-up Software 9 Reserved Value shall be
read as 0
Table 9.3 L/C LED Pattern 10 Reserved Value shall be
read as 0
9.2 Communication Problems 11 Reserved Value shall be
read as 0
9.2.1 No Communication with the 12 Reserved Value shall be
Frequency Converter read as 0
13 Reserved Value shall be
If there is no communication with the frequency converter, read as 0
proceed with the following checks:

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 49

 Troubleshooting MCA 123 POWERLINK

Bit Description Value=[0] Value=[1] Comment Check 1: Is the control word valid?
no. If bit 10=0 in the control word, the frequency converter
14 Reserved Value shall be does not accept the control word.
read as 0
Check 2: Is the relationship between bits in the control
15 Reserved Value shall be word and the terminal I/Os correct?
read as 0 Check the logical relationship in the frequency converter.
16 Reserved Value shall be
Define the desired logical relationship in
read as 0
parameter 8-50 Coasting Select to parameter 8-56 Preset
17 Reserved Value shall be
Reference Select according to the following range of
read as 0
options. Select the FC control mode, digital input and/or
18 Reserved Value shall be
serial communication, using parameter 8-50 Coasting Select
read as 0
to parameter 8-56 Preset Reference Select.
19 Reserved Value shall be
read as 0 If parameter 8-01 Control Site is set to digital only, the
20 Physical link No link Link present Mapped to frequency converter does not react on commands sent via
on Port 1 present on Port 1 object 1030h the control word.
on Port 1 subindex 7 Table 9.5 to Table 9.12 show a coast command's effect
21 Physical link No link Link present Mapped to upon the frequency converter for the full range of
on Port 2 present on Port 2 object 1030h parameter 8-50 Coasting Select settings.
on Port 2 subindex 7
The effect of control mode upon the function of
22 Reserved Value shall be
parameter 8-50 Coasting Select, parameter 8-51 Quick Stop
read as 0
Select, and parameter 8-52 DC Brake Select is as follows:
23 Reserved Value shall be
read as 0 If [0] Digital input is selected, the terminals control the
coast and DC brake functions.
24 W34 source Mapped to
No Op State object 178Ch NOTICE
25 W34 source Mapped to
9 9 Alarm Alarm Word
Coasting, quick stop, and DC brake functions are active
for logic 0.
and Alarm
Word 1
Terminal Bits 02/03/04 Function
26 W34 source IP address
0 0 Coast/DC brake/Q-Stop
IP Address conflict
0 1 Coast/DC brake/Q-Stop
Conflict detection in
Basic Ethernet 1 0 No Coast/DC brake/Q-Stop
mode 1 1 No Coast/DC brake/Q-Stop
27 W34 source Value read
Table 9.5 [0] Digital Input
Invalid Node from DIP
ID switch
If [1] Serial communication is selected, commands are
28 W34 source Set on
activated only when given via serial communication.
Incorrect incorrect Tx or
PDO Rx PDO
Terminal Bits 02/03/04 Function
mapping mapping
0 0 Coast/DC brake/Q-Stop
29 Reserved Value shall be
0 1 No Coast/DC brake/Q-Stop
read as 0
1 0 Coast/DC brake/Q-Stop
30 Reserved Value shall be
1 1 No Coast/DC brake/Q-Stop
read as 0
31 Reserved Value shall be Table 9.6 [1] Serial Communication
read as 0
If [2] Logic AND is selected, both signals must be activated
Table 9.4 POWERLINK Bits
to perform the function.
If the master is in stop mode, Warning 34 appears. Check
that the master is in run mode. If the frequency converter
is not in operational state, Warning 34 will appear (60 s
after power up or immediately if the frequency converter
has been in operational state).

50 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Troubleshooting Operating Instructions

Terminal Bits 02/03/04 Function If [3] Logic OR is selected, activation of one signal activates
0 0 Coast/DC brake/Q-Stop the function.
0 1 No Coast/DC brake/Q-Stop
1 0 No Coast/DC brake/Q-Stop Terminal Bits 02/03/04 Function
1 1 No Coast/DC brake/Q-Stop 0 0 Stop/Counterclockwise
0 1 Start/Clockwise
Table 9.7 [2] Logic AND
1 0 Start/Clockwise
1 1 Start/Clockwise
If [3] Logic OR is selected, activation of one signal activates
the function. Table 9.12 [3] Logic OR

Terminal Bits 02/03/04 Function The effect of control mode upon the function of
0 0 Coast/DC brake/Q-Stop parameter 8-55 Set-up Select and parameter 8-56 Preset
0 1 Coast/DC brake/Q-Stop Reference Select:
1 0 Coast/DC brake/Q-Stop
1 1 No Coast/DC brake/Q-Stop If [0] Digital input is selected, the terminals control the set-
up and preset reference functions.
Table 9.8 [3] Logic OR

Terminal Bits 00/01, Function

The effect of control mode upon the function of
13/14
parameter 8-53 Start Select and parameter 8-54 Reversing
Msb Lsb Msb Lsb Preset ref. set-up number
Select:
0 0 0 0 1
0 0 0 1 1
If [0] Digital input is selected, the terminals control the start
0 0 1 0 1
and reversing functions
0 0 1 1 1
0 1 0 0 2
Terminal Bits 06/15 Function
0 1 0 1 2
0 0 Stop/Counterclockwise
0 1 1 0 2
9 9
0 1 Stop/Counterclockwise
0 1 1 1 2
1 0 Start/Clockwise
1 0 0 0 3
1 1 Start/Clockwise
1 0 0 1 3
Table 9.9 [0] Digital input 1 0 1 0 3
1 0 1 1 3
If [1] Serial communication is selected, commands are 1 1 0 0 4
activated only when given via serial communication. 1 1 0 1 4
1 1 1 0 4
Terminal Bits 02/03/04 Function 1 1 1 1 4
0 0 Stop/Counterclockwise
Table 9.13 [0] Digital Input
0 1 Start/Clockwise
1 0 Stop/Counterclockwise
If [1] Serial communication is selected, commands are
1 1 Start/Clockwise
activated only when given via serial communication.
Table 9.10 [1] Serial Communication

If [2] Logic AND is selected, both signals must be activated

to perform the function.

Terminal Bits 02/03/04 Function

0 0 Stop/Counterclockwise
0 1 Stop/Counterclockwise
1 0 Stop/Counterclockwise
1 1 Start/Clockwise

Table 9.11 [2] Logic AND

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 51

 Troubleshooting MCA 123 POWERLINK

Terminal Bits 00/01, Function Terminal Bits 00/01, Function

13/14 13/14
Msb Lsb Msb Lsb Preset ref. set-up number Msb Lsb Msb Lsb Preset ref. set-up number
0 0 0 0 1 0 0 0 0 1
0 0 0 1 2 0 0 0 1 2
0 0 1 0 3 0 0 1 0 3
0 0 1 1 4 0 0 1 1 4
0 1 0 0 1 0 1 0 0 2
0 1 0 1 2 0 1 0 1 2
0 1 1 0 3 0 1 1 0 4
0 1 1 1 4 0 1 1 1 4
1 0 0 0 1 1 0 0 0 3
1 0 0 1 2 1 0 0 1 4
1 0 1 0 3 1 0 1 0 3
1 0 1 1 4 1 0 1 1 4
1 1 0 0 1 1 1 0 0 4
1 1 0 1 2 1 1 0 1 4
1 1 1 0 3 1 1 1 0 4
1 1 1 1 4
Table 9.16 [3] Logic OR
Table 9.14 [1] Serial Communication
9.2.2 Endless Power-down - Power-up Cycle
If [2] Logic AND is selected, both signals must be activated
to perform the function. Check 1: Is the frequency converter set to Controlled Node
= ON in the Automation Studio?
Terminal Bits 00/01, Function The PLC can force the frequency converter into an endless
13/14
9 9 Msb Lsb Msb Lsb Preset ref. set-up number
power-down - power-up cycle. Set the value to OFF.

0 0 0 0 1 Is the XDD file correct?

0 0 0 1 1 Check that the correct XDD file and firmware of the option
0 0 1 0 1 are used. See chapter 4.1 Importing the XDD File for more
0 0 1 1 1 information.
0 1 0 0 1
0 1 0 1 2
9.3 Warnings and Alarms
0 1 1 0 1 9.3.1 Alarm and Warning Words
0 1 1 1 2
1 0 0 0 1 Alarm word, Warning word, and POWERLINK Status word
1 0 0 1 1 are shown in the display in Hex format. If there is more
1 0 1 0 3 than one warning or alarm, a sum of all warnings or
1 0 1 1 3 alarms is shown. Alarm word, warning word, and
1 1 0 0 1 POWERLINK Status word can also be displayed using the
1 1 0 1 2 serial bus in parameter 16-90 Alarm Word,
1 1 1 0 3 parameter 16-92 Warning Word, and
1 1 1 1 4 parameter 12-69 Ethernet PowerLink Status.

Table 9.15 [2] Logic AND

If [3] Logic OR is selected, activation of 1 signal activates

the function.

52 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Troubleshooting Operating Instructions

Bit (Hex) Unit Alarm word Alarm no. Bit (Hex) Unit Warning word Alarm no.
diagnose (parameter 16-90 Alarm diagnose (parameter 16-92 Warning
bit Word) bit Word)
00000001 48 Brake check 28 00000001 112 Brake check 28
00000002 49 Power card over 29 00000002 113 Power card over 29
temperature temperature
00000004 50 Earth fault 14 00000004 114 Earth fault 14
00000008 51 Control card over 65 00000008 115 Control card 65
temperature 00000010 116 Control word timeout 18
00000010 52 Control word timeout 18 00000020 117 Over current 13
00000020 53 Over current 13 00000040 118 Torque limit 12
00000040 54 Torque limit 12 00000080 119 Motor thermistor over 11
00000080 55 Motor thermistor over 11 temp.
temp. 00000100 104 Motor ETR over 10
00000100 40 Motor ETR over 10 temperature
temperature 00000200 105 Inverter overloaded 9
00000200 41 Inverter overloaded 9 00000400 106 DC link under voltage 8
00000400 42 DC link under voltage 8 00000800 107 DC link over voltage 7
00000800 43 DC link over voltage 7 00001000 108 DC link voltage low 6
00001000 44 Short circuit 16 00002000 109 DC link voltage high 5
00002000 45 Inrush fault 33 00004000 110 Mains phase loss 4
00004000 46 Mains phase loss 4 00008000 111 No motor 3
00008000 47 AMA not OK 50 00010000 96 Live zero error 2
00010000 32 Live zero error 2 00020000 97 10 V low 1
00020000 33 Internal fault 38 00040000 98 Brake overload 26
00040000 34 Brake overload 26 00080000 99 Brake resistor short circuit 25
00080000
00100000
35
36
Motor phase U is missing
Motor phase V is missing
30
31
00100000
00200000
100
101
Brake chopper fault
Speed limit
27
49
9 9
00200000 37 Motor phase W is missing 32 00400000 102 Fieldbus comm. fault 34
00400000 38 Fieldbus comm. fault 34 00800000 103 24 V supply fault 47
00800000 39 24 V supply fault 47 01000000 88 Mains failure 36
01000000 24 Mains failure 36 02000000 89 Current limit 59
02000000 25 1.8 V supply fault 48 04000000 90 Low temperature 66
04000000 26 Brake resistor short circuit 25 08000000 91 Voltage limit 64
08000000 27 Brake chopper fault 27 10000000 92 Encoder loss 61
10000000 28 Option change 67 20000000 93 Output frequency limit 62
20000000 29 Drive initialisation 80 40000000 94 Unused -
40000000 30 Safe stop 68 80000000 95 Warning word 2 (ext. stat. -
80000000 31 Mechanical brake low 63 word)

Table 9.17 Alarm Word Bits Table 9.18 Warning Word Bits

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 53

 Troubleshooting MCA 123 POWERLINK

Bit (Hex) Comm. option STW (parameter 16-84 Comm.

Option STW)
00000001 parameterization ok
00000002 configuration ok
00000004 clearmode active
00000008 baudrate search
00000010 waiting for parameterization
00000020 waiting for configuration
00000040 in data exchange
00000080 not used
00000100 not used
00000200 not used
00000400 not used
00000800 MCL2/1 connected
00001000 MCL2/2 connected
00002000 MCL2/3 connected
00004000 data transport active
00008000 not used

Table 9.19 Status Word Bits

NOTICE
Parameter 16-84 Comm. Option STW is not part of
extended diagnosis.

There is a clear distinction between alarms and warnings.

9 9 An alarm make the frequency converter enter a fault
condition. After the cause for the alarm has been cleared,
the master will have to acknowledge the alarm message
before the frequency converter can start operating again.
A warning condition triggers a warning which disappears
when condition returns to normal, without interfering with
the process.

Warnings
A single bit within a warning word represents warnings
within the frequency converter. Bit status [0] False means
no warning, while bit status [1] True means warning. Any
bit change in the warning word is notified by a change of
bit 7 in the status word.
Alarms
Following an alarm message, the frequency converter
enters fault condition. When the fault has been removed
and the controller has acknowledged the alarm message
by setting bit 7 in the control word, the frequency
converter resumes operation. A single bit within an alarm
word represents alarms within the frequency converter. Bit
status [0] False means no fault, while bit status [1] True
means fault.

54 Danfoss A/S © Rev. 2013-02-11 All rights reserved. MG92C202

Index Operating Instructions

Index
P
A Parameter.................................................................................................. iv
Abbreviations........................................................................................... 4 Parameters.............................................................................................. 10
Alarm word............................................................................................. 52 PDO Communication.......................................................................... 15
Assumptions............................................................................................. 3 Process Control Data........................................................................... 15
Process control operation.................................................................. 16
B Process Status Data.............................................................................. 15
Background Knowledge....................................................................... 3 Profibus....................................................................................................... 3

C R
Cabling..................................................................................................... 41 Reference................................................................................................... 4
Configuration...................................................................... 4, 34, 36, 39
Control Profile........................................................................................ 17 S
Safety.......................................................................................................... iii
D
DC Back-up................................................................................................ 3 T
DeviecNet.................................................................................................. 3 Topology.................................................................................................... 7

E V
EMC Precautions...................................................................................... 8 VLT Parameters...................................................................................... 10
EtherCAT..................................................................................................... 3
Ethernet........................................................................................ 8, 39, 40
W
Warning word........................................................................................ 52
H
Hardware.............................................................................................. iii, 3

I
I/O................................................................................................................. 4
Installation....................................................................................... iii, 3, 5
IP Settings................................................................................................ 10
IP21/Type 1................................................................................................ 3

L
LED............................................................................................................... 4
LED Status............................................................................................... 48
Literature.................................................................................................... 3

N
Network............................................................................................. 3, 5, 8
No communication.............................................................................. 49
No response to control signals........................................................ 50

O
Overview.................................................................................................... 6

MG92C202 Danfoss A/S © Rev. 2013-02-11 All rights reserved. 55

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

*MG92C202*
130R0387 MG92C202 Rev. 2013-02-11