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Related Manuals for BONFIGLIOLI actice
Summary of Contents for BONFIGLIOLI actice
- Page 1 ACTIVE and ACTIVE Cube Expansion Module EM-ENC-03 Frequency Inverter 230V / 400V...
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Page 3: Installation Instructions
As a complement of the brief instructions and the operating instructions, the installa- tion instructions describe the installation and use of devices. The documentation and additional information can be requested via your local repre- sentation of the company BONFIGLIOLI. The following pictograms and signal words are used in the documentation: Danger! means a directly threatening danger. -
Page 4: Table Of Contents
TABLE OF CONTENTS General safety and application information ..............4 General information....................4 Proper use........................ 4 Transport and storage ..................... 5 Handling and positioning..................5 Electrical connection....................5 Operation information ..................... 5 Maintenance and service ..................5 Introduction ........................6 Installation of the EM-ENC-03 expansion module............ - Page 5 TABLE OF CONTENTS 4.10 Communication channels, SDO1/SDO2.............. 26 4.10.1 SDO telegrams (SDO1/SDO2) ................. 26 4.10.2 Communication via field bus connection (SDO1) ............28 4.10.2.1 Profibus-DP ....................28 4.10.2.2 RS232/RS485 with VECTRON bus protocol ............28 4.11 Process data channels, PDO ................30 4.11.1 Identifier assignment process data channel..............
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Page 6: General Safety And Application Information
General information Warning! BONFIGLIOLI VECTRON frequency inverters have high voltage levels dur- ing operating, depending on their protection class, drive moving parts and have hot surfaces. -
Page 7: Transport And Storage
Transport and storage Transport and storage are to be done in an appropriate in the original packing. Store the units only in dry rooms, which are protected against dust and moisture and are subjected to little temperature deviations only. Observe the climatic conditions ac- cording to EN 50178 and the marking on the packaging. -
Page 8: Introduction
Introduction This document describes the possibilities and the properties of the EM-ENC-03 expan- sion module for the frequency inverters of the ACT and ACU device series. Note: This document exclusively describes the EM-ENC-03 expansion module. It does not provide basic information on the operation of the ACT and ACU series frequency inverters. -
Page 9: Installation Of The Em-Enc-03 Expansion Module
Installation of the EM-ENC-03 expansion module General The mechanical and electrical installation of the EM-ENC-03 expansion module is to be carried out by qualified personnel according to the general and regional safety and installation directives. Safe operation of the frequency inverter requires that the documentation and the device specification be complied with in installation and start of operation. - Page 10 The EM-ENC-03 expansion module is supplied in a housing for assembly on the lower slot of the frequency inverter. • Remove the lower cover (1) of the frequency inverter. The slot for the EM-ENC-03 expansion module becomes accessible. Caution! The EM-ENC-03 expansion module (2) is pre-fitted in a housing. Do NOT touch the PCB visible on the back, as modules may be damaged.
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Page 11: Electrical Installation
Electrical installation Danger! If the following instructions are not complied with, there is direct danger with the possible consequences of death or severe injury by electrical current. Further, failure to comply can lead to destruction of the fre- quency inverter and/or of the expansion module. •... -
Page 12: Sockets
3.3.2 Sockets The control and software functionality can be freely configured for economical opera- tion with a safe function. Expansion module EM-ENC-03 Wieland DST85 / RM3,5 0.14 … 1.5 mm AWG 30 … 16 0.14 … 1.5 mm AWG 30 … 16 0.25 …... -
Page 13: System Bus Interface
System bus interface The CAN connection of the system bus is physically designed according to ISO-DIS 11898 (CAN High Speed). The bus topology is the line structure. In the default version, the frequency inverter support a CAN protocol controller, which may exist in either the CM-CAN communication module with CANopen interface OR in an expansion module for the system bus, such as the EM-ENC-03 expansion module. -
Page 14: Cables
Cables For the bus line, use a twisted cable with harness shield (no foil shield). Attention! The control and communication lines are to be laid physically separate from the power lines. The harness screen of the data lines is to be con- nected to ground (PE) on both sides on a large area and with good con- ductivity. -
Page 15: Baud Rate Setting/Line Length
Baud rate setting/line length The setting of the baud rate must be identical in all nodes on the system bus. The maximum possible baud rate is based on the necessary overall line length of the sys- Baud-Rate tem bus. The baud rate is set via the parameter 903 and thus defines the possible line length. -
Page 16: Functional Overview
Functional overview The system bus connects different frequency inverters physically. Logical communica- tion channels are established via this physical medium. These channels are defined via the identifiers. As CAN is not defined with a node-oriented, but a message-oriented addressing via the identifiers, these identifiers can be used to define the logical chan- nels. -
Page 17: Sdo Channels (Parameter Data)
4.7.1 SDO channels (parameter data) Each frequency inverter possesses two SDO channels for the exchange of parameter data. In a slave device, these are two server SDO's, in a device defined as a master a client SDO and a server SDO. Attention must be paid to the fact that only one master for each SDO channel may exist in a system. -
Page 18: Master Functionality
Master functionality An external control or a frequency inverter defined as a master (node ID = 0) can be used as a master. The fundamental tasks of the master are controlling the start of the network (boot-up sequence), generating the SYNC telegram and evaluating the emer- gency messages of the slaves. - Page 19 Power on Initialization any state Pre-Operational Stopped Operational After Power On and initialization, the slaves are in the Pre-Operational state. The transition (2) is automatic. The system bus master (frequency inverter or PLC/PC) triggers the transition (3) to Operational state. The transitions are controlled via NMT telegrams.
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Page 20: Sync Telegram, Generation
4.8.2 SYNC telegram, generation If synchronous PDO’s have been created on the system bus, the master must send the SYNC telegram cyclically. If a frequency inverter has been defined as a system bus master, the latter must generate the SYNC telegram. The interval for the SYNC tele- gram of a frequency inverter defined as the system bus master is adjustable. -
Page 21: Emergency Message, Reaction
4.8.3 Emergency message, reaction If a slave on the system bus enters a fault state, it transmits the emergency telegram. The emergency telegram marks the node ID for the identification of the failed node via its identifier and the existing fault message via its data contents (8 bytes). After a fault has been acknowledged on the slave, the latter again transmits an emer- gency telegram with the data content zero. -
Page 22: Client Sdo (System Bus Master)
4.8.4 Client SDO (system bus master) Each node on the system bus can be addressed via the SDO channels. In this way, each node can be addressed and parameterized by one master via its client SDO1. All the parameters of the data types uint/int/long are accessible. String parameters cannot be processed. -
Page 23: Slave Functionality
Slave functionality 4.9.1 Implement boot-up sequence, network management 4.9.1.1 Boot-up message After the initialization, each slave on the system bus transmits its boot-up message (heartbeat message). Note: The boot-up telegram has the identifier 1792 + node ID and a data byte with contents = 0x00. -
Page 24: Process Sync Telegram
4.9.2 Process SYNC telegram If synchronous PDO’s have been created in a frequency inverter, their processing is synchronized with the SYNC telegram. The SYNC telegram is generated by the system bus master and is a telegram without data. The identifier is 128 according to the Predefined Connection Set. If a PC or PLC is used as a master, the identifier of the SYNC telegrams can be adapted by parameterization on the frequency inverter. -
Page 25: Emergency Message, Fault Switch-Off
4.9.3 Emergency message, fault switch-off As soon as a fault switch-off occurs in a slave frequency inverter, the emergency tele- gram is transmitted. The emergency telegram marks the node ID for the identification of the failed node via its identifier and the existing fault message via its data contents (8 bytes). -
Page 26: Server Sdo1/Sdo2
4.9.4 Server SDO1/SDO2 The communication channel for the exchange of parameter data is the SDO channel. Communication works according to the client/server model. The server is the node holding the data (here the frequency inverter), the client is the node requesting or wanting to alter the data (PLC, PC or frequency inverter as system bus master). - Page 27 If a PC or a PLC is used as a master, the identifiers of the Rx/Tx-SDO1 can be adapted by parameterization on the frequency inverter. Attention! In free assignment of identifiers, there may not be any double occu- pancy! The identifier range 129...191 may not be used as the emergency tele- grams can be found there.
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Page 28: Communication Channels, Sdo1/Sdo2
4.10 Communication channels, SDO1/SDO2 4.10.1 SDO telegrams (SDO1/SDO2) The service used for the exchange of parameter data is SDO Segment Protocol Expedited. The data (of type uint, int, long) are exchanged in a telegram. Access to the parameters in the frequency inverters with a statement of parameter number and data set is displayed via the addressing defined for object access pursuant to the specifications of CANopen via Index/Sub-Index. - Page 29 Reading parameters: Client Server SDO Upload (expedited) Ctrl. byte Parameter number Data set Data 0x40 0xnn Server Client Upload Response Reading process free of errors Ctrl. byte Parameter number Data set Data 0x42 0xnn uint/int 0x00 0x00 long Server Client Abort SDO Transfer Reading process faulty Ctrl.
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Page 30: Communication Via Field Bus Connection (Sdo1)
4.10.2 Communication via field bus connection (SDO1) If a frequency inverter has been defined as the system bus master and equipped with a field bus interface, access to the parameterization of all the nodes on the system bus is possible via this field bus interface and the first SDO channel (SDO1). An extension has been created in the protocol frame of the field buses for this purpose. - Page 31 Display of node ID system bus in the VECTRON bus protocol: System bus Node-ID System bus (ASCII-) HEX value System bus (ASCII-) HEX value address character address character 06/05 06/05...
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Page 32: Process Data Channels, Pdo
4.11 Process data channels, PDO 4.11.1 Identifier assignment process data channel The process channel for the exchange of process data under CANopen is the PDO channel. Up to three PDO channels with differing properties can be used in one device. The PDO channels are defined via identifiers according to the Predefined Connection Set to CANopen: Identifier 1. -
Page 33: Operation Modes Process Data Channel
4.11.2 Operation modes process data channel The transmit/receive behavior can be time controlled or controlled via a SYNC tele- gram. The behavior can be parameterized for each PDO channel. Tx-PDO’s can work time controlled or SYNC controlled. A time controlled TxPDO transmits its data at the interval of time set. -
Page 34: Timeout Monitoring Process Data Channel
4.11.3 Timeout monitoring process data channel Each frequency inverter monitors its received data for whether they are updated within a defined time window. The monitoring is done onto the SYNC telegram and the RxPDO channels. Monitoring SYNC / RxPDO‘s Parameter Setting Description Min. -
Page 35: Communication Relationships Of The Process Data Channel
4.11.4 Communication relationships of the process data channel Regardless of the process data to be transmitted, the communication relationships of the process data channels must be defined. The connection of PDO channels is done via the assignment of the identifiers. The identifiers of Rx-/Tx-PDO must match in each case. -
Page 36: Virtual Links
4.11.5 Virtual links A PDO telegram according to CANopen contains 0 ...8 data bytes. A mapping for any kind of objects can be done in these data bytes. For the system bus, the PDO telegrams are firmly defined with 8 data bytes. The map- ping is not done via mapping parameters as with CANopen, but via the method of sources and links. - Page 37 For the system bus, the input data of the TxPDO’s are also displayed as input parame- ters and the output data of the RxPDO’s as sources. Example 2: TxPDO Function A Inverter 1 Inverter 1 Parameter 977 Source-No. 27 system bus Function B Inverter 1 Parameter 972...
- Page 38 The virtual links with the possible sources are related to the Rx/TxPDO channels. For this purpose, the eight bytes of the Rx-/TxPDO’s are defined structured as inputs and sources. This exists for each of the three PDO channels. Each transmit PDO and receive PDO can be occupied as follows: 4 Boolean variables 4 uint/int variables 2 long variables...
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Page 39: Input Parameters Of The Txpdo's For Data To Be Transmitted
4.11.5.1 Input parameters of the TxPDO’s for data to be transmitted The listed parameters can be used to stipulate the data that are to be transported there for each position in the TxPDO telegrams. The setting is done in such a way that a source number is entered for the required data in the parameters. - Page 40 With this method, there are up to three possibilities for a meaning of the contents of the individual bytes. Each byte may only be used for one possibility. To ensure this, the processing of the input links is derived from the setting. If an input link has been set to the fixed value of zero, it is not processed.
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Page 41: 4.11.5.2 Source Numbers Of The Rxpdo's For Received Data
4.11.5.2 Source numbers of the RxPDO’s for received data Equivalent to the input links of the TxPDO’s, the received data of the RxPDO’s are mapped to sources or source numbers. The sources existing in this way can be used in the frequency inverter via the local input links for the data targets. -
Page 42: 4.11.5.3 Examples Of Virtual Links
4.11.5.3 Examples of virtual links Example 1: Frequency inverter 1 Frequency inverter 2 Source Input link TxPDO1 RxPDO1 Source Target - No. Byte Byte - No. Control word Control input, Control word Output ref- Ramp input, erence fre- Line set value quency channel 62 Parameter 950 = Source-No. -
Page 43: Control Parameters
4.12 Control parameters For the monitoring of the system bus and the display of the internal states, two con- trol parameters are provided. There is a report of the system bus state and a report of the CAN state via two actual value parameters. Node-State The parameter 978 provides information about the Pre-Operational, Op-... -
Page 44: Handling Of The Parameters Of The System Bus
4.13 Handling of the parameters of the system bus As soon as the system bus expansion module EM-SYS exists in a frequency inverter, the actual value parameters for system state and bus state are activated and can be monitored in the actual value menu VAL of the control unit KP500 or with the VPlus PC program in the menu Actual values \ Systembus. - Page 45 TxPDO-Function 930TxPDO1 Function 931TxPDO1 Time 932TxPDO2 Function 933TxPDO2 Tome 934TxPDO3 Function 935TxPDO3 Time RxPDO-Function 936RxPDO1 Function 937RxPDO2 Function 938RxPDO3 Function Timeout 939SYNC Timeout 941RxPDO1 Timeout 942RxPDO2 Timeout 945RxPDO3 Timeout TxPDO1 Objects 946TxPDO1 Boolean1 947TxPDO1 Boolean2 948TxPDO1 Boolean3 949TxPDO1 Boolean4 950TxPDO1 Word1 951TxPDO1 Word2 952TxPDO1 Word3 953TxPDO1 Word4...
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Page 46: Utilities
4.14 Utilities For the planning of the system bus according to the drive tasks in question, there are utilities in the form of tables. The planning of the system bus is done in three steps: 1. Definition of the communication relationships 2. -
Page 47: Definition Of The Communication Relationships
4.14.1 Definition of the communication relationships The communication relationships are planned and documented with the help of the table. The table is available as a Microsoft Word document "kbl.doc" on the BONFIGLIOLI VECTRON product CD or upon request. 06/05 06/05... -
Page 48: Creating Virtual Links
4.14.2 Creating virtual links The virtual links are planned and documented with the help of the table. The table is available as a Microsoft Word document "vvk.doc" on the BONFIGLIOLI VECTRON product CD or upon request. 06/05 06/05... -
Page 49: Capacity Planning Of The System Bus
4.14.3 Capacity planning of the system bus Each PDO telegram contains 8 Bytes of usable data. According to the worst case, this results in a maximum telegram length of 140 bits. The maximum telegram run time of the PDO’s is thus stipulated via the set baud rate. Capacity planning Baud rate / Telegram run time / μs... - Page 50 The capacity planning are planned and documented with the help of the table. The work sheet is available as a Microsoft Excel document "Load_Systembus.xls" on the BONFIGLIOLI VECTRON product CD or by request. System bus load Baud rate [kBaud]: 1000...
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Page 51: Control Inputs And Outputs
Control inputs and outputs Speed sensor input EM-ENC The four speed sensor inputs of the EM-ENC-03 expansion module can be set via the Operation mode Speed sensor 2 parameter 493 and selection of the corresponding operation mode for the evaluation of a unipolar 24V two-channel speed sensor (incre- mental speed sensor). -
Page 52: Division Marks
assignment of the inputs: Socket X410A Terminal input (1): X410A.1 Speed sensor input EM-ENC track A+ (2): X410A.2 Speed sensor input EM-ENC track A- (3): X410A.3 Speed sensor input EM-ENC track B+ (4): X410A.4 Speed sensor input EM-ENC track B- X410A X410B 5.1.2... -
Page 53: Actual Speed Source
5.1.4 Actual speed source If speed sensor 2 of the expansion module is to deliver the actual value signal for the speed controller, speed sensor 2 must be selected as the source. Switch-over is ef- Actual Speed Source fected via parameter 766. -
Page 54: Parameter List
Parameter list The parameter list is structured according to the menu branches of the control unit. For better clarity, the parameters are marked with pictograms: The parameter is available in the four data sets. The parameter value is set by the SETUP routine. This parameter cannot be written in the operation of the frequency inverter. - Page 55 System bus Description Unit Setting range Chapter 938 RxPDO3 Function Selection 4.11.2 939 SYNC Timeout 0 ... 60000 4.11.3 941 RxPDO1 Timeout 0 ... 60000 4.11.3 942 RxPDO2 Timeout 0 ... 60000 4.11.3 945 RxPDO3 Timeout 0 ... 60000 4.11.3 946 TxPDO1 Boolean1 Selection 4.11.5.1...
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Page 56: Annex
Annex Error messages The various control functions and methods and the hardware of the frequency inverter contain functions which continuously monitor the application. As a supplement to the messages documented in these operating instructions, the following failure keys are activated by the EM-ENC-03 expansion module. Control connections 02 Reference value signal on analog input EM-S1INA faulty, check signal 30 Speed sensor signal is faulty, check connections... - Page 60 Bonfiglioli has been designing and developing innovative and reliable power transmission and control solutions for industry, mobile machinery and renewable energy applications since 1956. www.bonfiglioli.com Bonfiglioli Riduttori S.p.A. VEC 222 R1 tel: +39 051 647 3111 fax: +39 051 647 3126 Via Giovanni XXIII, 7/A bonfiglioli@bonfiglioli.com...
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