BONFIGLIOLI Active cube Operation Manual
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BONFIGLIOLI Active cube Operation Manual

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ACTIVE CUBE
Modbus/TCP
Communication module CM-Modbus/TCP
Frequency inverter 230 V / 400 V

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Summary of Contents for BONFIGLIOLI Active cube

  • Page 1 ACTIVE CUBE Modbus/TCP Communication module CM-Modbus/TCP Frequency inverter 230 V / 400 V...

  • Page 3: Table Of Contents

    CONTENTS GENERAL INFORMATION ABOUT THE DOCUMENTATION This document Warranty and liability Obligation Copyright Storage GENERAL SAFETY INSTRUCTIONS AND INFORMATION ON USE Terminology Designated use Misuse 2.3.1 Explosion protection Residual risks Safety and warning signs on the frequency inverter Warning information and symbols used in the user manual 2.6.1 Hazard classes 2.6.2...
  • Page 4 INTRODUCTION Supported configurations Initialization time FIRST COMMISSIONING ASSEMBLY/DISASSEMBLY OF COMMUNICATION MODULE Assembly Disassembly MODBUS/TCP INTERFACE Communication modules 6.1.1 Installation instructions Setup 6.2.1 TCP/IP configuration 6.2.2 TCP/IP address & Subnet settings 6.2.3 Modbus/TCP Timeout settings Operating behavior in the case of a communication error PROTOCOL Telegram structure Supported function codes...
  • Page 5 EXAMPLE MESSAGES MODBUS/TCP 16-bit access 9.1.1 Function code 3, read 16-bit parameter 9.1.2 Function code 6, write 16-bit parameter 9.1.3 Function code 16, write 16-bit parameter 32-bit access 9.2.1 Function code 3, read 32-bit parameter 9.2.2 Function code 16, write 32-bit parameter 9.2.3 Function code 100 (=0x64), read 32-bit parameter 9.2.4...
  • Page 6 ACTUAL VALUES 12.1 Actual values Motion Control Interface / Motion Control Override PARAMETER LIST 13.1 Actual values (Menu “Actual”) 13.2 Parameters (Menu “Para”) APPENDIX 14.1 List of control words 14.2 Overview of status words 14.3 Warning messages 14.4 Application warning messages 14.5 Error messages 14.6...

  • Page 7: General Information About The Documentation

    WARNING Compliance with the documentation is required to ensure safe operation of the frequen- cy inverter. BONFIGLIOLI VECTRON GmbH shall not be held liable for any damage caused by any non-compliance with the documentation. In case any problems occur which are not covered by the documentation sufficiently, please contact the manufacturer.

  • Page 8: Warranty And Liability

    Warranty and liability BONFIGLIOLI VECTRON GmbH would like to point out that the contents of this user manual do not form part of any previous or existing agreement, assurance or legal relationship. Neither are they intended to supplement or replace such agreements, assurances or legal relationships. Any obligations of the manufacturer shall solely be based on the relevant purchase agreement which also includes the complete and solely valid warranty stipulations.

  • Page 9: General Safety Instructions And Information On Use

    General safety instructions and information on use The chapter "General safety instructions and information on use" contains general safety instructions for the Operator and the Operating Staff. At the beginning of certain main chapters, some safety in- structions are included which apply to all work described in the relevant chapter. Special work-specific safety instructions are provided before each safety-relevant work step.

  • Page 10: Designated Use

    Designated use The frequency inverter is designed according to the state of the art and recognized safety regulations. The frequency inverters are electrical drive components intended for installation in industrial plants or machines. Commissioning and start of operation is not allowed until it has been verified that the ma- chine meets the requirements of the EC Machinery Directive 2006/42/EC and DIN EN 60204-1.

  • Page 11: Residual Risks

    Residual risks Residual risks are special hazards involved in handling of the frequency inverter which cannot be elim- inated despite the safety-compliant design of the device. Remaining hazards are not obvious and can be a source of possible injury or health damage. Typical residual hazards include: Electrical hazard Danger of contact with energized components due to a defect, opened covers or enclosures or im-...

  • Page 12: Warning Information And Symbols Used In The User Manual

    Warning information and symbols used in the user manual 2.6.1 Hazard classes The following hazard identifications and symbols are used to mark particularly important information: DANGER Identification of immediate threat holding a high risk of death or serious injury if not avoided.

  • Page 13: Recycling

    2.6.5 Recycling Symbol Meaning Recycling, to avoid waste, collect all materials for reuse 2.6.6 Grounding symbol Symbol Meaning Ground connection 2.6.7 ESD symbol Symbol Meaning ESD: Electrostatic Discharge (can damage com- ponents and assemblies) 2.6.8 Information signs Symbol Meaning Tips and information making using the frequency inverter easier.

  • Page 14: Operator's/Operating Staff's Responsibilities

    2.10.2 Use in combination with third-party products Please note that BONFIGLIOLI VECTRON GmbH will not accept any responsibility for compatibility • with third-party products (e.g. motors, cables or filters). In order to enable optimum system compatibility, BONFIGLIOLI VECTRON GmbH offers compo- •...

  • Page 15: Transport And Storage

    2.10.3 Transport and Storage The frequency inverters must be transported and stored in an appropriate way. During transport • and storage the devices must remain in their original packaging. The units may only be stored in dry rooms which are protected against dust and moisture and are •...

  • Page 16: Maintenance And Service/Troubleshooting

    Some components, e.g. the heat sink or brake resistor, may be hot even some time after the ma-  chine/plant was shut down. Don't touch any surfaces directly after shutdown. Wear safety gloves where necessary. The frequency inverter may hold dangerous voltage levels until the capacitor in the DC link is dis- ...

  • Page 17: Introduction

    Introduction The present document describes the Modbus/TCP protocol for the CM-Modbus/TCP and CM- Modbus/TCP-2P (switch function integrated) communication modules. After connecting Modbus/TCP to the PLC, you can use an additional logic connection from CM-Modbus/TCP to the VPlus software running on a terminal connected via an Ethernet network. For Modbus/TCP connection, the frequency inverter must be equipped with the CM-Modbus/TCP or CM-Modbus/TCP-2P communication module.
  • Page 18 [1] PLC [2] PC for commissioning or diagnosis (connected temporarily or permanently) [3] ACU with CM-Modbus/TCP or CM-Modbus/TCP-2P (2nd port not connected) [4] ACU with CM-Modbus/TCP-2P 10/13 Modbus/TCP...

  • Page 19: Supported Configurations

    Supported configurations ACTIVE Cube frequency inverters support various types of control and reference point input • Standard (without positioning functions) • Positioning via contacts (or remote contacts) • Positioning via Motion Control Interface (MCI) via Field Bus Configuration 30 = x40 (e.g. 240) is A configuration with position control is selected when parameter set.

  • Page 20: Initialization Time

    Initialization time When the frequency inverter is turned on, the communication module must be initialized in addition to the frequency inverter. The initialization can take up to 20 seconds. Wait until the initialization phase is complete before starting the communication (RUN LED).

  • Page 21: Assembly/Disassembly Of Communication Module

    Assembly/disassembly of communication module Assembly The CM-Modbus/TCP and CM-Modbus/TCP-2P communication modules are pre- assembled in a case and are ready for installation. In addition, a PE-spring is supplied for PE-connection (shield). CAUTION Danger of destruction of frequency inverter and/or communication module •...

  • Page 22: Disassembly

    Disassembly • Disconnect the frequency inverter from power supply and protect it against being energized unintentionally. • Remove covers (1) and (2) of the frequency inverter, see Chapter 5.1 “Assembly”. • Loosen the M2 screw at the communication module. • Unplug the communication module from Slot B (4) by unlocking the locking hooks (9) on the right and left side of the module from the case of the frequency inverter using a small screwdriver.

  • Page 23: Modbus/Tcp Interface

    Modbus/TCP interface The frequency inverter can be controlled by a PLC or another master device via an Ethernet interfaces using the Modbus/TCP protocol. When a Modbus/TCP or Modbus/TCP-2P communication module is used, you can also access the fre- quency inverter using the VPlus software via Ethernet. VPlus can be used in parallel with a PLC with Modbus/TCP communication.

  • Page 24: Communication Modules

    Communication modules CM-Modbus/TCP The CM-Modbus/TCP communication module features an active RJ45 port. CM-Modbus/TCP-2P The CM-Modbus/TCP-2P communication module features two active RJ45 ports with integrated switching function. This enables easy linking (daisy chain) of frequency inverters which are connected to a PLC. 10/13 Modbus/TCP...

  • Page 25: Installation Instructions

    6.1.1 Installation instructions The Modbus/TCP module is connected to the PLC or other devices using standard CAT cables and RJ45 connectors: Ethernet standard: IEEE 802.3, 100Base-TX (fast Ethernet) Cable type: S/FTP (cable with braided shield, (ISO/IEC 11801 or EN 50173, Straight Through or Cross Over) Setup By default, the parameters of the CM-Modbus/TCP and CM-Modbus/TCP-2P communication modules...

  • Page 26: Tcp/Ip Address & Subnet Settings

    6.2.2 TCP/IP address & Subnet settings For proper identification, each frequency inverter is assigned a TCP/IP address which must be unique in the system. 6.2.2.1 Network without DHCP server: 1432. In addition, the subnet mask 1433 must The address is set via parameter IP-Address -Netmask be entered properly for the local network.

  • Page 27: Operating Behavior In The Case Of A Communication Error

    Operating behavior in the case of a communication error The operating behavior in the case of errors in Modbus/TCP communication can be parameterized. 388. The required behavior can be set via parameter Bus Error Behaviour Function Bus Error Behaviour 0 - no response Operating point is maintained.

  • Page 28: Protocol

    Protocol The Modbus/TCP communication protocol is a Client/Server based protocol. Modbus/TCP communica- tion will always be initialized by the client (e.g. PLC). The server nodes (frequency inverters) do not communicate with one another. Modbus/TCP communication will be established by the client via the TCP/IP-Port #502 on the side of the Modbus/TCP server.

  • Page 29: Supported Function Codes

    Supported function codes The Modbus definitions for writing and reading of data are not directly compatible with parameter access by a frequency inverter (irrespective of the manufacturer of the frequency inverter). Modbus is designed for reading bits and captures data in a different way. Data access is limited to a bit width of In order to meet the requirements of Modbus, data access is defined in the frequency inverters by the following function codes.

  • Page 30: Function Code 3, Reading 16-Bit Or 32-Bit Parameters

    7.2.1 Function code 3, reading 16-bit or 32-bit parameters This function code is used for reading 16-bit or 32-bit values from the frequency inverter. Request Read 16-bit parameter: Function code 1 byte 0x03 Start address (dataset / para. no.) 2 bytes 0x0000 –...

  • Page 31: Function Code 6, Write 16-Bit Parameter

    Example: A current value of 10.3 A is transferred. The actually transferred numerical value is 103, i.e. 0x67 in the hexadecimal system. Exception condition code The following exception condition codes are possible: INVALID DATA ADDRESS • Value of register number field is not 1 •...
  • Page 32 Start address This field is used for saving the parameter number and dataset number. The parameter number is in the range between 0 and 1599 and is saved in the 12 least significant bits. The dataset number is in the range between 0 and 9 and is saved in the 4 most significant bits. Example: Parameter 372 (hex.

  • Page 33: Function Code 16, Write 16-Bit Parameter

    7.2.3 Function code 16, write 16-bit parameter Function code 16 can be used for writing 16-bit values into the frequency inverter. Request Write 16-bit parameter: MBAP header 7 bytes Address 1 byte 1 – 0xF7 (=247) Function code 1 byte 0x10 Start address (dataset / para.

  • Page 34: Function Code 16, Write 32-Bit Parameter

    Exception condition code The following exception condition codes are possible: INVALID DATA ADDRESS • Parameter unknown INVALID DATA VALUE • Number of bytes in data field too small or too high SLAVE DEVICE ERROR • Error when writing parameters For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”. For an example of a Modbus RTU telegram, refer to Chapter 9.1.3.

  • Page 35: Function Code 100 (=0X64), Read 32-Bit Parameter

    Register value This field is used for saving the 32-bit parameter value. Parameter values with decimal places are transferred without decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or 1000. Example: A frequency value of 123.45 Hz is to be transferred. The actually transferred numerical value is 12345, i.e.

  • Page 36: Function Code 101 (=0X65), Write 32-Bit Parameter

    Number of registers This field is used for saving the 32-bit parameter values. Parameter values with decimal places are transferred without decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or 1000. Example: A frequency value of 100.25 Hz is to be transferred.
  • Page 37 Example: Parameter 372 (hex. 0x174), dataset 2 (hex. 0x2) is saved as hex. 0x2174. Start address Data set Parameter number Bits For the above example: Hex. Bin. Register value This field is used for saving the 32-bit parameter value. Parameter values with decimal places are transferred without decimal point. Depending on the number of decimal places, the values are multiplied by 10, 100 or 1000.

  • Page 38: Function Code 8, Diagnosis

    7.2.7 Function code 8, diagnosis This function code is used for accessing the Modbus diagnosis counter of the frequency inverter. Each counter can be accessed via a sub-function code and a counter number. Each counter can be deleted by entering the hexadecimal sub-function code 0x0A. The following sub-function codes are supported.
  • Page 39 Exception condition code INVALID FUNCTION CODE • Sub-function is not supported INVALID DATA VALUE • Number of bytes in data field too small or too high • “Data field” not 0x0000 SLAVE DEVICE ERROR • Error while executing the function. For a description of the exception condition codes, refer to Chapter 7.2.9 “Exception condition codes”.

  • Page 40: Exception Condition Responses

    7.2.8 Exception condition responses The master device expects a normal response when it sends a request to the frequency inverter. A request by the master can result in one of four reactions: • If the frequency inverter receives the request without any transmission errors, it can process it and send a normal response.

  • Page 41: Exception Condition Codes

    7.2.9 Exception condition codes The frequency inverter generates the following exception condition codes: Code Modbus name Reason of generation by frequency inverter INVALID FUNCTION • Function code unknown • Sub-function code unknown (diagnosis function) INVALID DATA AD- • Wrong number of registers (must always be 0x01) DRESS •...

  • Page 42: Modbus/Tcp Mode Of Transmission

    7.2.10 Modbus/TCP mode of transmission The usable contents of Modbus/TCP is basically structured like Modbus RTU. 7.2.10.1 Modbus RTU message telegram Modbus messages are added by a sending device into a telegram which has a defined start and end point. The TCP/IP frame enables receiving devices to identify the beginning and end of the message. Incomplete messages must be detected and result in an error.

  • Page 43: Parameter Access

    Parameter access Handling of datasets / cyclic writing of parameters The parameter values are accessed based on the parameter number and the required dataset. There are parameters the values of which are present once (dataset 0) as well as parameters the values of which are present four times (dataset 1...4).

  • Page 44: Handling Of Index Parameters / Cyclic Writing

    Handling of index parameters / cyclic writing Index parameters are used for various ACU functions. Here, 16 or 32 indexes are used instead of the 4 data sets. For each function, the individual indexes are addressed separately via an index access parameter.

  • Page 45: Example: Writing Of Index Parameters

    The values are entered automatically in the EEPROM of the controller. However, only a limited number of write cycles is permissible for the EEPROM (approx. 1 million cycles). When this number is exceeded, the EEPROM will be destroyed. Values which are written cyclically at a high repetition rate should be written to ...

  • Page 46: Example Messages Modbus/Tcp

    Example messages Modbus/TCP This chapter describes some examples of telegrams for Modbus/TCP. 16-bit access 9.1.1 Function code 3, read 16-bit parameter Example 1: Reading of parameter 372 (0x0174) in data set 2 from the frequency inverter with ad- Rated speed dress 1.

  • Page 47: Function Code 6, Write 16-Bit Parameter

    9.1.2 Function code 6, write 16-bit parameter Example 1: 376 (0x0178) in dataset 4 of frequency inverter with ad- Writing of parameter Rated Mech. Power dress 3. The rated mechanical power is to be set to 1.5 kW. Parameter 376 has one dec- Rated Mech.

  • Page 48: Function Code 16, Write 16-Bit Parameter

    9.1.3 Function code 16, write 16-bit parameter Example 1: 376 (0x0178) in dataset 4 of frequency inverter with ad- Writing of parameter Rated Mech. Power dress 1. The rated mechanical power is to be set to 1.5 kW. Parameter 376 has one dec- Rated Mech.

  • Page 49: 32-Bit Access

    32-bit access 9.2.1 Function code 3, read 32-bit parameter Example 1: 481 (0x01E1) in dataset 1 of frequency inverter with ad- Reading of parameter Fixed Frequency 2 dress 1. Request: Master  frequency inverter MBAP Unit Func. DSet/ No. regis- Field: ParNo.

  • Page 50: Function Code 16, Write 32-Bit Parameter

    9.2.2 Function code 16, write 32-bit parameter Example 1: 482 (0x01E2) in dataset 9 (= RAM for dataset 4) of frequen- Writing of parameter Fixed Frequency 3 cy inverter with address 1. The fixed frequency is to be set to 44.50 Hz. Parameter 482 has two decimal Fixed Frequency 3 places.

  • Page 51: Function Code 100 (=0X64), Read 32-Bit Parameter

    9.2.3 Function code 100 (=0x64), read 32-bit parameter Example 1: 481 in dataset 0 of frequency inverter with address 1. Reading of parameter Fixed Frequency 2 Request: Master  frequency inverter Field MBAP Unit ID Func. DSet/ Par.No. Transaction ID Protocol ID Length Response: Frequency inverter ...

  • Page 52: Function Code 101 (=0X65), Write 32-Bit Parameter

    9.2.4 Function code 101 (=0x65), write 32-bit parameter Example 1: 375 (0x0177) in dataset 2 of frequency inverter with address Writing of parameter Rated Frequency The Rated Frequency is to be set to 10.00 Hz. Parameter 375 has two decimal plac- Rated Frequency es.

  • Page 53: Function Code 8, Diagnosis

    9.2.5 Function code 8, diagnosis Example 1a: Deleting of all diagnosis counters (sub-function 0x0A) in frequency inverter with address 1. Request: Master  frequency inverter MBAP Field: Unit ID Func. Sub-function Data Transaction ID Protocol ID Length Response: Frequency inverter  Master MBAP Field: Unit ID...

  • Page 54: Motion Control Interface (Mci) / Motion Control Override (Mco)

    (not available when MCO is used) • 9 – Cyclic sync velocity mode (not available when MCO is used) Bonfiglioli Vectron specific mode -1 (or 0xFF) – Table Travel record mode • -2 (or 0xFE) – Move Away from Limit Switch •...

  • Page 55: Motion Control Override

    10.1 Motion Control Override The Motion Control Override feature can be used for specifying a travel profile via serial communication (VABus or Modbus as well as VABus/TCP or Modbus/TCP). This enables testing a travel profile in the VPlus user software for Windows when the controller has not been programmed completely yet.
  • Page 56 Depending on the selected mode of operation, various objects and parameters are used. The various objects and parameters must be set specifically for the different modes of operation. Use of “Deceleration” and “Quick Stop” depends on the modes of operation, control commands and behavior in the case of communication errors (see Bus Error Behav- 388).
  • Page 57 Mode Profile Positioning mode 1454 Override Modes Of Operation Target position 1455 Override Target Position Speed 1456 Override Profile Velocity Limitation Minimum frequency Maximum Frequency Acceleration 1456 Override Acceleration Deceleration 1458 Override Deceleration 1179 Emergency stop Emergency stop ramp Quick Stop 418 and 419.
  • Page 58 Mode Table travel record Move away from limit Electronic gear - Slave mode switch 1454 Over- ride Modes Of Operation 1202 Target posi- Target position tion Speed 1203 1132 1460 Speed Fast speed Override Target Ve- 1133 Creep speed locity pv [u/s] Limitation Minimum frequency Minimum frequency...
  • Page 59 Relationships between objects, parameters and conversions Velocity [vl]  Velocity mode [rpm] Velocity [pv]  Profile Velocity mode [u/s] The graphical overview shows the most important objects which are used. Other ob- jects are available in the different modes; for additional information, refer to the de- scriptions of the objects and modes.

  • Page 60: Functions Of Motion Control Interface (Mci)

    10.2 Functions of Motion Control Interface (MCI) Via the Motion Control Interface, numerous positioning functions can be addressed by a PLC directly. 10.2.1 Reference system In many modes, the Motion Control Interface uses user units [u]. These user units [u] 373.

  • Page 61: Current Position And Contouring Errors

    10.2.3 Current position and contouring errors 1108 returns the actual position in user units. Parameter Act. Position 1109 returns the actual contouring error. Parameter Act. Contouring Error The contouring error can be monitored internally in order to trigger a device error once a threshold is reached.

  • Page 62: Position Controller

    10.2.5 Position Controller The position controller evaluates the positioning operation (target/actual position) and tries to control the drive such that it comes as close as possible to the specifica- tions. For this purpose, an additional frequency is calculated for compensation of position deviations.

  • Page 63: Homing

    The following behavior may indicate that the controller parameters are not config- ured properly: drive is very loud  drive vibrates  frequent contouring errors  inexact control  For the setting options of other control parameters, e.g. speed controller and accel- eration pilot control, refer to the operating instructions of the frequency inverter.

  • Page 64: Move Away From Hardware Limit Switches

    10.2.7 Move away from Hardware limit switches When a hardware limit switch is triggered, an error message will be triggered depend- 1143 and the relevant direction of ing on the settings of parameter Fault reaction rotation will be disabled. After an error reset, it is possible to move in the direction that is still enabled. General- ly, any mode of operation can be used for clearing, as long as the travel command has the enabled direction.

  • Page 65: 11 Control Of Frequency Inverter

    11 Control of frequency inverter The frequency inverter can generally be controlled via three operation modes. The operation modes can be selected via the data set switchable parameter Local/Remote 412. Parameters Settings Description Min. Max. Factory set- ting 412 Local/Remote ®...

  • Page 66: Control Via Contacts/Remote Contacts

    11.1 Control via contacts/remote contacts In operation mode “Control via contacts" or “Control via remote contacts” (Parameter 412 = 0 or 2), the frequency inverter is controlled directly via digital Local/Remote inputs S1IND (STOA and STOB), S2IND through EM-S3IND or via the individual bits of the virtual digital signals in the control word.
  • Page 67 = “velocity mode”. ACTIVE CUBE frequency inverters support an external 24 V power supply for the fre- quency inverter control electronics. Even when mains voltage is disconnected, com- munication between the controller (PLC) and the frequency inverter is still possible.

  • Page 68: Device State Machine

    11.1.1 Device state machine State machine: not ready to switch on 0x00 quitt fault switched on fault 0x23 0x08 stop drive start drive operation enabled 0x37 Status word Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Switched on Operation enabled Fault...

  • Page 69: Control Via State Machine

    11.2 Control via state machine 412 = 1), the fre- In the operation mode “Control via state machine ( Local/Remote quency inverter is addressed via the control word of the state machine. Transition 4 to status “Operation enabled” is only possible: If, in a configuration for positioning control (parameter 30 = x40), −...
  • Page 70 30 = x40). trol configurations (Parameter Configuration ACTIVE CUBE frequency inverters support an external 24 V power supply for the in- verter control electronics. Even when mains voltage is disconnected, communication between the controller (PLC) and the frequency inverter is still possible.

  • Page 71: Statemachine Diagram

    11.2.1 Statemachine diagram State machine: 10/13 Modbus/TCP...
  • Page 72 Control word: The device control commands are triggered by the following bit patterns in the status word. Control word Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Fault reset Enable Quick Enable Switch Transitions operation stop voltage (Low Command active Shutdown...
  • Page 73 Status word: The status word indicates the current operating state. Status word Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Switch on Quick Fault Operation Switched Ready to disabled stop (Low enabled switch on State active) Switch on disabled Ready to switch on Switched on...

  • Page 74: Configurations Without Motion Control

    11.3 Configurations without Motion Control 30 ≠ x40) In configurations without positioning control ( Configuration Override 1454 is set permanently to “2 - velocity mode ”. This setting Modes Of Operation cannot be changed. Relevant parameters: Control word Status word 1459 Override Target velocity vl [rpm] Actual speed...

  • Page 75: Behavior In The Case Of Transition 5 (Disable Operation)

    11.3.2 Behavior in the case of transition 5 (disable operation) The behavior in transition 5 from “Operation enabled” to “Switched On” can be con- figured via parameter 392. State transition 5 Parameters Settings Description Min. Max. Factory set- ting 392 State transition 5 Operation mode Function Immediate transition from “Operation enabled”...

  • Page 76: Reference Value/Actual Value

    11.3.3 Reference value/actual value Depending on the settings of Local/Remote as well as Modes of Operations, the con- troller (PLC) can define the reference frequency for the frequency inverter via param- eter 484 or 1459 Reference frequency RAM [Hz] Override Target Velocity vl [rpm] and receive the actual value via parameter 240.

  • Page 77: Example Sequence

    434 = 2 (reference line value only), this reference line value is lim- Ramp Setpoint ited to fmin. The sign in front of fmin with reference value = 0 is derived from the sign in front of the last reference line value which was not 0. After Mains On, the reference line value is limited to +fmin.

  • Page 78: Motion Control Configurations

    11.4 Motion control configurations WARNING Dangerous state due to new mode! 1454 is changed during operation (control word = Override Modes Of Operation 0xnnnF), a dangerous state may occur in the new mode. Before changing 1454 check the status word •...

  • Page 79: Velocity Mode [Rpm]

    11.4.1 Velocity mode [rpm] “Velocity mode” can be selected via parameter Override Modes Of Opera- 1454 = 2. tion In velocity mode, the mode-specific bits of the control word control the ramp generator (RFG – Ramp Function Generator). The block diagram illustrates the function. Relevant parameters: Control word Status word...
  • Page 80 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (low active) Switch on disabled Warning Remote Target reached (not used) Internal limit value active Warning2 Block diagram Bit 5 / rfg unlock Run_RFG...
  • Page 81 Bit 4:rfg enable Rfg enable = 0 The reference speed comes from a manufacturer-specific special function. Rfg enable = 1 The reference speed corresponds to the ramp output. The special function will only be evaluated if 1299 S. Special Function Generator not “9-zero”.
  • Page 82 11.4.1.1 Example sequence In order to start “velocity mode”, the correct sequence must be sent by the PLC. 1 Control word = 0x0000 Disable voltage 1 Status word = 0x0050 Switch On Disabled 2 Modes of operation = 2 (Velocity mode) 3 Control word = 0x0006 Shutdown...
  • Page 83 WARNING Dangerous state due to new mode! 1454 is changed during operation (control word = Override Modes Of Operation 0xnnnF), a dangerous state may occur in the new mode. Before changing 1454 check the status word • Override Modes Of Operation (e.g.

  • Page 84: Profile Velocity Mode [U/S] (Pv)

    11.4.2 Profile Velocity mode [u/s] (pv) 1454 “Profile velocity mode” (pv) can be selected via Override Modes Of Operation = 3. In “Profile velocity mode” (pv), the frequency inverter receives a target speed in user units per second [u/s]. Relevant parameters: 1279 Control word Threshold Window Time...
  • Page 85 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (low active) Switch on disabled Warning Remote Target reached Internal limit active Velocity Max Slippage Warning 2 Profile velocity mode enables setting of a reference speed in units per second [u/s].
  • Page 86 1276 and 1277 Bit 10 “Target Via parameter Velocity Window Velocity Window Time reached” of the status word is set. 1278 and 1279 Bit 12 “Ve- Via parameter Threshold Window Threshold Window Time locity” of the status word is set. 1275 a slip monitoring via Bit 13 “Max Slippage”...
  • Page 87 11.4.2.1 Example sequence In order to start “Profile velocity mode”, the correct sequence must be sent by the PLC. Control word = 0x0000 Disable voltage Status word = 0x0050 Switch On Disabled Modes of Profile Velocity mode Operation = Control word = 0x0006 Shutdown Status word =...

  • Page 88: Profile Position Mode

    11.4.3 Profile position mode “Profile position mode” can be selected via 1454 = 1. Override Modes Of Operation In profile position mode, the frequency inverter receives a target position, followed by the command to travel to this target. Relevant parameters: 1455 Control word Override Target Position...
  • Page 89 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (Low active) Switch on disabled Warning Remote Target reached Internal limit active Set-point acknowledge Following error Warning 2 10/13 Modbus/TCP...
  • Page 90 Control word Change on Change set-point New set- Description set-point immediately point Bit 9 Bit 5 Bit 4 0  1 Positioning operation to be com- pleted (target reached) before the next one is started. 0  1 Next positioning operation to be started immediately.
  • Page 91 Example: Individual reference value Control bit “Switch at reference value” = 0 Control bit “Change reference value immediately” = 0 Once a reference value has been transmitted to the drive, the controller signals a per- missible value in the control work by a rising signal edge for the bit “New reference value”...
  • Page 92 Example: single set-point change on set-point control bit change set immediately control bit A new reference value is confirmed by the control bit “New reference value” (rising edge) while a reference value is being processed. The new reference value is pro- cessed immediately.
  • Page 93 Example: set of set-points change on set-point = 0/1 control bit change set immediately control bit The travel profile is changed during an active positioning operation. Change on set point = 0 The current target position is approached with a Stop. Once the position has been reached, the new reference value is set.
  • Page 94 11.4.3.1 Example sequence In order to start “Profile position mode”, the correct sequence must be sent by the PLC. 1 Control word = 0x0000 Disable voltage 1 Status word = 0x0050 Switch On Disabled 2 Modes of (Profile Position mode) Operation = 3 Control word = 0x0006...
  • Page 95 WARNING Dangerous state due to new mode! 1454 is changed during operation (control word = Override Modes Of Operation 0xnnnF), a dangerous state may occur in the new mode. • Before changing 1454 check the status word Override Modes Of Operation (e.g.

  • Page 96: Homing Mode

    11.4.4 Homing mode “Homing mode” can be selected via parameter 1454. Override Modes Of Operation In homing mode, the frequency inverter moves the drive to a reference position. The method used for this movement is defined by parameter 1130. Homing mode Relevant parameters: 1130 Control word...
  • Page 97 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (Low Ac- tive) Switch on disabled Warning Remote Target reached Internal limit active Homing attained Homing error Warning 2 Control word Identification...
  • Page 98 Status word Identification Value Description Target reached Halt = 0: Home position (still) not reached. Bit 10 Halt = 1: Axis decelerated. Halt = 0: Home position reached. Halt = 1: Axis has speed 0. Homing attained Homing not completed yet. Bit 12 Homing completed successfully.

  • Page 99: Table Travel Record

    11.4.5 Table travel record “Table travel record mode” can be selected via parameter Override Modes Of Opera- 1454. In “Table travel record mode”, the drive moves to successive positions tion automatically. “Table travel record mode” uses pre-defined positions. Each target posi- tion is defined by a motion block.
  • Page 100 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (Low Active) Switch on disabled Warning Motion block in progress Remote Target reached Internal limit active In gear Following error Warning 2...
  • Page 101 Motion block select Control word select Halt Motion block Start motion block = motion block select +1 Motion block select Resulting start mo- tion block Status word Identification Value Description Motion block in Single motion: Motion block complete. progress Automatic sequence: Sequence complete.
  • Page 102 Basic functions Automatic sequence The control bit “Automatic sequence” defines if a single motion ( Automatic sequence = 0) or and automatic motion block sequence ( = 1) is to be exe- cuted. In both cases, the selection of the required motion block (motion block number of single motion or start motion block number of automatic sequence) is calculated by Start motion block”...
  • Page 103 Examples: “ single motion block ” sequence mode (control bit 4) = 0 2 motion blocks 7 + 10 start motion block (control bit 9) Drive motion block in progress (status bit 8) target reached (status bit 10) position active motion block 10/13 Modbus/TCP...
  • Page 104 “ motion block sequence ” sequence mode (control bit 4) = 1 sequence = motion block 4, 5, 6 start motion block (control bit 9) Drive motion block in progress (status bit 8) target reached (status bit 10) position active motion block 10/13 Modbus/TCP...
  • Page 105 Interrupted motion blocks sequence Automatic sequence (control bit 4) = 1, Sequence = Motion block 4, 5, 6 Motion block 5 interrupted start motion block (control bit 9) resume (controlbit 6) Drive motion block in progress (status bit 8) target reached (status bit 10) position active...
  • Page 106 11.4.5.1 Example sequence In order to start “Table travel record mode”, the correct sequence must be sent by the PLC. Control word = 0x0000 Disable voltage Status word = 0x0050 Switch On Disabled Modes of operation = -1 (Table travel record mode) Control word = 0x0006 Shutdown...

  • Page 107: Move Away From Limit Switch Mode

    11.4.6 Move away from limit switch mode “Move away from limit switch mode” can be selected via Override Modes Of Opera- 1454 = -2. tion In “Move away from limit switch mode”, the drive moves back from a triggered limit switch to the permissible travel range.
  • Page 108 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (Low ac- tive) Switch on disabled Warning Remote Target reached Internal limit active Warning 2 NOTE “Move away from limit switch mode”...
  • Page 109 Control word Identification Value Description Move away from Do not start or stop movement. limit switch mode Start (or resume) movement from limit switch to travel Bit 4 range. Halt Execute command from bit 4 “Move away from limit Bit 8 switch”.
  • Page 110 11.4.6.1 Example sequence In order to clear the limit switches, the correct sequence must be sent by the PLC. 1 Control word = 0x0000 Disable voltage 1 Status word = 0x0050 Switch On Disabled 2 Modes of operation = -2 (Move away from limit switch) 3 Control word = 0x0006...

  • Page 111: Electronic Gear: Slave

    11.4.7 Electronic gear: Slave The mode “Electronic gear: Slave” can be selected via parameter Override Modes Of 1454 =-3. Operation In operation mode “Electronic gear: Slave”, the drive follows a master drive as a slave drive. Relevant parameters: 1126 Control word Phasing: Speed 1127 Status word...
  • Page 112 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (low active) Switch on disabled Warning Phasing Done M/S Correction Done Remote Target reached / In gear Internal limit active M/S Position Correction successful...
  • Page 113 Control word Identification Value Description Start electronic Stop drive at ramp Override Profile Deceleration gear 1458 Bit 4 Start electronic gear at reference master speed at ramp 1457 Override Profile Acceleration Start M/S Correction not started. M/S Correction Start Master/Slave Position correction. Bit 5 See chapter 11.4.7.1 “Master/Slave Position Correc- tion”.
  • Page 114 Basic functions Mode “-3 Electronic gear: Slave” implements a mode for a slave drive in the electronic gear to a master drive. The master of the electronic gear must be connected to the slave via signal cables or System Bus (recommended). The master input is selected in the Slave via parameter 1122.
  • Page 115 Synchronization between several drives must be performed at high updating rates in order to guarantee optimum results. In the transmitter of the TxPDO object, set a low 931). If you use the SYNC function of System value for the time (e.g. TxPDO1 Time 919 to a lower value.
  • Page 116 “Target reached/In Gear” is set when the electronic gear function is used and electronic gear synchronous running is reached. Halt “ Setting 1” will stop a currently executed movement. The axis is stopped at ramp 1458. “Target reached” is set to “0” to start the decel- Override Profile Deceleration eration and to “1”...
  • Page 117 Function with direct synchronization The drive accelerates the master speed with the ramps parameterized in the motion block. When the motion block is started, the drive is synchronized with the master drive directly. The master position is processed directly by the position controller. The acceleration and deceleration for synchronizations follow an S-curve.
  • Page 118 11.4.7.1 Master/Slave Position Correction NOTE When using this functionality master drive and slave drive have to use the same mechanical characteristics (i.e. gear transmission ratios) and use the same reference system. The Master/Slave Position Correction offers as part of the Electronic Gear the possibil- ity to synchronize the absolute Position of the Slave to the absolute Position of the master.
  • Page 119 Starting of Master/Slave Position Correction in Slave drive To start the Master/Slave Position correction at first Bit 4 and then Bit 5 have to be set in the Control word. Bit 5 is only allowed to be set when Bit 10 In Gear is shown in the Status word.
  • Page 120 11.4.7.2 Example sequence In order to start “Electronic Gear: Slave mode”, the correct sequence must be sent by the PLC. 1 Control word = 0x0000 Disable voltage 1 Status word = 0x0050 Switch On Disabled 2 Modes of operation = -3 (Electronic Gear: Slave mode) 3 Control word = 0x0006...
  • Page 121 WARNING Dangerous state due to new mode! 1454 is changed during operation (control word = Override Modes Of Operation 0xnnnF), a dangerous state may occur in the new mode. Before changing 1454 check the status word • Override Modes Of Operation (e.g.

  • Page 122: Actual Values

    12 Actual values Actual values Description Function Modbus or VABus error register. VABus SST error register See chapter 7.2.9 “Exception condition codes”. Bus reference frequency Reference value from serial interface / Modbus TCP. Ramp reference frequency Reference value from reference frequency channel. Status word.

  • Page 123: Parameter List

    13 Parameter List The parameter list is sorted numerically. For better overview, the parameters are marked with pictograms: The parameter is available in the four data sets. The parameter value is set by the SET-UP routine This parameter cannot be written when the frequency inverter is in operation. 13.1 Actual values (Menu “Actual”) Actual value parameter...

  • Page 124: Parameters (Menu "Para")

    13.2 Parameters (Menu “Para”) Parameters Description Unit Setting range Chapter Modbus/TCP Bus Error Behaviour 0 … 5 Bus control State Transition 5 Selection 11.3.2 Control word 0 … 0xFFFF 11.2 Local/Remote Selection Data set switching Data set selection 0 … 4 Frequency ramps Acceleration (Clockwise) Hz/s...
  • Page 125 MCI: Homing Description Unit Setting range Chapter 1130 Homing Mode 0 … 35 1132 Fast Speed 1 … 2147483647 10.2.6 1133 Creep Speed 1 … 2147483647 11.4.4 1134 Acceleration 1 … 2147483647 1135 Ramp Rise Time 0 … 2000 MCI: Electronic gear 1142 Resync.

  • Page 126: Appendix

    14 Appendix 14.1 List of control words The tables on this page provide an overview of the functions of the control word bits. Standard (no posi- Positioning without MCI: MCI: Profile Veloci- MCI: Profile Posi- tioning) Velocity Mode ty Mode tion Mode Switch On Switch On...

  • Page 127: Overview Of Status Words

    14.2 Overview of status words The tables on this page provide an overview of the functions of the status word bits. Standard (no posi- Positioning without MCI: MCI: Profile Ve- MCI: Profile Posi- tioning) Velocity Mode locity Mode tion Mode Ready to Switch On Ready to Switch On Ready to Switch On Ready to Switch On Ready to Switch On Switched On Switched On...

  • Page 128: Warning Messages

    14.3 Warning messages The different control methods and the hardware of the frequency inverter include functions for con- tinuous monitoring of the application. In addition to the messages documented in the frequency in- verter user manual, further warning messages are activated by the Field Bus module. The bit-coded 270 according to the following pattern: Parame- warning reports are issued via parameter Warnings...

  • Page 129: Application Warning Messages

    14.4 Application warning messages When the highest bit of the warning message is set, an “Application warning message” is present. The application warning messages are bit-encoded as per the following pattern via parameter Appli- 274. Parameter 273 indicates the warnings as plain text in cation warnings Application warnings the control panel and the VPlus PC control software.

  • Page 130: Error Messages

    14.5 Error messages The error code stored following a fault comprises the error group FXX (high-byte, hexadecimal) and the code YY (low-byte, hexadecimal). Communication error Meaning Motion Control deviation position controller Control Pos. SW limit switch Interface Neg. SW limit switch Pos.

  • Page 131: Conversions

    14.6 Conversions The speeds/frequencies can be converted to other speed formats using the formulas in this chapter: Frequency [Hz] into speed [1/min] See Chapter 14.6.2 Speed into user units per second See Chapter 14.6.4 [u/s] Speed [1/min] in Frequency [Hz] See Chapter 14.6.1 Speed into user units per second See Chapter 14.6.6...

  • Page 132: Index

    Index Write ............. 43 Acknowledging error messages ....40 Index parameters Act. Position ..........59 Read ............43 Actual values ..........120 Installation ..........13 Application warning messages ....127 Application warnings ......... 127 Local/Remote ..........63 Assembly Communication module ......19 Maintenance ..........
  • Page 133 Fax +90 (0) 232 328 04 14 www.bonfiglioli.de - info@bonfiglioli.de www.bonfiglioli.com.tr info@bonfiglioli.com.tr Bonfiglioli España Bonfiglioli United Kingdom TECNOTRANS BONFIGLIOLI S.A. Industrial Solutions Pol. Ind. Zona Franca sector C, calle F, n°6 08040 Barcelona Unit 7, Colemeadow Road Tel. (+34) 93 4478400 - Fax (+34) 93 3360402 North Moons Moat - Redditch, www.tecnotrans.com - tecnotrans@tecnotrans.com...
  • Page 134 Bonfiglioli has been designing and developing innovative and reliable power transmission and control solutions for industry, mobile machinery and renewable energy applicacations since 1956. Bonfiglioli Riduttori S.p.A. tel: +39 051 647 3111 COD. VEC 1047 R0 fax: +39 051 647 3126 Via Giovanni XXIII, 7/A bonfiglioli@bonfiglioli.com...

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