BONFIGLIOLI Vectron Active Cube User Manual

Canopen communication module cm-can frequency inverter 230 v / 400 v

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ACTIVE CUBE

CANopen

Communication module CM-CAN

Frequency inverter 230 V / 400 V

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Summary of Contents for BONFIGLIOLI Vectron Active Cube

Page 1 ACTIVE CUBE CANopen Communication module CM-CAN Frequency inverter 230 V / 400 V...
Page 3: Table Of Contents
Contents General Information about the Documentation ............8 This document ......................9 Warranty and liability ....................9 Obligation ......................10 Copyright ....................... 10 Storage ........................10 General safety instructions and information on use ............ 11 Terminology ......................11 Designated use ...................... 12 Misuse ........................
Page 4 Connector pin assignment/bus termination/line ............26 Baud rate setting/line lengths ..................27 Setting the node number ..................... 27 Assigning the CANopen interface ................. 28 10 Operational behavior on bus failure ................29 11 CANopen Overview ...................... 30 11.1 Communication Objects ..................30 11.2 Application Objects ....................
Page 5 12.2.15 0x1017/0 Producer Heartbeat Time ..............64 12.2.16 0x1018/n Identity Object ..................65 12.2.17 0x1029/n Error Behavior ..................65 12.2.18 0x1200/n SDO Server Parameter ................. 66 12.2.19 0x1400/n, 0x1401/n, 0x1402/n RxPDO Communication Parameters ......66 12.2.20 0x1600/n, 0x1601/n, 0x1602 RxPDO Mapping Parameters ........68 12.2.21 0x1800/n, 0x1801/n, 0x1802/n TxPDO Communication Parameters ......
Page 6 12.5.14 0x6064/0 Position actual value ................125 12.5.15 0x6065/0 Following error window ..............126 12.5.16 0x6066/0 Following error time out ..............127 12.5.17 0x6067/0 Position window ................. 128 12.5.18 0x6068/0 Position window time ................. 129 12.5.19 0x606C/0 Velocity actual value [u/s] ..............129 12.5.20 0x606D/0 Velocity Window ................
Page 7 14.4.1 Velocity mode [rpm] .................... 178 14.4.1.1 Example Sequence ..................181 14.4.2 Profile Velocity mode [u/s] ................... 183 14.4.2.1 Example Sequence ..................186 14.4.3 Profile position mode ................... 187 14.4.3.1 Example Sequence ..................193 14.4.4 Interpolated position mode ................... 195 14.4.4.1 Example Sequence ..................
Page 8: General Information About The Documentation
General Information about the Documentation For better clarity, the documentation of the frequency inverter is structured according to the custom- er-specific requirements. This documentation was written in German language. The German documentation is the original one. Other language versions are translated. Quick Start Guide The “Quick Start Guide”...
Page 9: This Document
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 10: Obligation
Copyright In accordance with applicable law against unfair competition, this user manual is a certificate. Any copyrights relating to it shall remain with BONFIGLIOLI VECTRON GmbH Europark Fichtenhain B6 47807 Krefeld Germany These user manual is intended for the operator of the frequency inverter. Any disclosure or copying of this document, exploitation and communication of its contents (as hardcopy or electronically) shall be forbidden, unless permitted expressly.
Page 11: 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 12: 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 13: 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. Residual risks are not obviously identifiable and can be a potential source of injury or health hazard. Typical residual hazards include: Electrical hazard Danger of contact with energized components due to a defect, opened covers or enclosures or im-...
Page 14: 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 15: Grounding Symbol
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 components and assemblies) 2.6.8 Information signs Symbol Meaning Tips and information making using the frequency inverter easier.
Page 16: Directives And Guidelines To Be Adhered To By The Operator
Directives and guidelines to be adhered to by the operator The operator must follow the following directives and regulations: Ensure that the applicable workplace-related accident prevention regulations as well as other ap- • plicable national regulation are accessible to the staff. An authorized person must ensure, before using the frequency inverter, that the device is used in •...
Page 17: Organizational Measures
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 office compo- nents facilitating commissioning and providing optimum synchronization of the machine/plant parts in operation.
Page 18: The Five Safety Rules
2.10.5.1 The five safety rules When working on/in electrical plants, always follow the five safety rules: 1. Isolate 2. Secure to prevent restarting 3. Check isolation 4. Earth and short-circuit, 5. Cover or shield neighboring live parts. 2.10.6 Safe operation During operation of the frequency inverter, always comply with the applicable national and inter- •...
Page 19: Maintenance And Service/Troubleshooting
2.10.7 Maintenance and service/troubleshooting Visually inspect the frequency inverter when carrying out the required maintenance work and • inspections at the machine/plant. Perform the maintenance work and inspections prescribed for the machine carefully, including the • specifications on parts/equipment replacement. Work on the electrical components may only be performed by a qualified electrician according to •...
Page 20: Introduction
NOTE CM-CAN offers decoupled drivers, while EM modules have coupled drivers. BONFIGLIOLI VECTRON recommends using the CM-CAN module, especially in envi- ronments with critical EMC behavior. For reasons of better readability, in the following chapters CM-CAN module is used ®...
Page 21 The available objects are sub-divided according to: Communication objects (0x1nnn) to DS301 V4.01 Manufacturer objects (0x2nnn) Standardized objects (0x6nnn) to DS402 V1.1 The functions and objects are described as far as necessary in these instructions. For further information, reference is made here to the Draft Standards of the CiA ®...
Page 22: Supported Configurations
Supported Configurations ACTIVE CUBE inverters support different types of control and reference values: Standard (without Positioning functions) • • Positioning via contacts (or remote contacts) • Positioning via Motion Control Interface (MCI) via field bus Motion control configurations are set when parameter 30 = x40 (in example 240).
Page 23: First Commissioning
First Commissioning For the first commissioning you should acquaint yourself with the following steps and the described functions: − Installation of the Module Chapter 5.1 − Check and set Terminating resistor Chapter 6 − Setting of the Baudrate Chapter 7 −...
Page 24: Installation/Disassembly Of The Communication Module
Installation/Disassembly of the communication module Installation The communication module CM-CAN is pre-assembled in a case. Additionally, a PE spring is enclosed for PE connection (shield). Caution! Danger of desytroying the frequency inverter and/or the communication module The frequency inverter must be disconnected from the power supply before •...
Page 25: Disassembly
Disassembly • Disconnect the frequency inverter from mains voltage and protect it against being energized unintentionally. Remove covers (1) and (2) of the frequency inverter. • Loosen the M2 screw (7) on the communication module • Unplug the communication module from Slot B (4) by unlocking the locking hooks •...
Page 26: Connector Pin Assignment/Bus Termination/Line
Connector pin assignment/bus termination/line The CAN connection is physically designed according to the ISO 11898 standards (CAN High-Speed). The X310 (9-pole Sub-D) bus plug has been designed according to DS102 Version 2.0 (Bus node, option A). Details can be seen from the following table on the occupancy of the bus plug.
Page 27: Baud Rate Setting/Line Lengths
Baud rate setting/line lengths ® The transmission speed of the CANopen communication module CM-CAN can be set 385. via the parameter CAN Baud rate Parameter Setting Description Min. Max. Fact. sett. 385 CAN Baud rate The transmission rate is a function of a variety of application-specific parameters. The line length of the communication network limits the transmission speed due to the ®...
Page 28: Assigning The Canopen Interface
Assigning the CANopen interface ® Normally a CANopen connection is set up using the CM-CAN module. As an alterna- ® tive for special applications, the CANopen connection can be switched to an EM- 276. The inter- module with a CAN driver connection via parameter CAN-Interface 900 of the system bus is set to face can only be changed when parameter...
Page 29: Operational Behavior On Bus Failure
10 Operational behavior on bus failure ® The operational behavior if the CANopen system fails due to BusOff, guarding, heartbeat, SYNC error, RxPDO length error or NMT state change (leaving NMT state operational) can be parameterized. The required behavior is set with parameter 388.
Page 30: Canopen Overview
11 CANopen Overview ® CANopen is used in a wide range of applications and is an especially favoured com- ® munication system for motion control applications. The CANopen based standard DS402 “drives and motion control” describes and defines the necessary objects and functions for motion control systems.
Page 31: Sdo Function
11.3 SDO Function The SDO (Service Data Objects) messages are used for reading and writing the ob- jects located in the object dictionary. Objects with up to four bytes of data are trans- ferred with an expedited SDO transfer that uses one request and one response mes- sage.
Page 32: Read Access
11.3.1 Read Access Client  Server, Upload Request COB-ID 0x600 + Node-ID index sub- index data data data data 0x40 Server  Client, Upload Response COB-ID 0x580 + Node-ID index sub- index data data data data 0x4x data01 data02 data03 data04 The amount of valid data bytes is coded in the response of the command specifier.
Page 33: Error Code Table
11.3.3 Error code table If an error occurs in reading or writing, the server SDO of the frequency inverter re- plies with the SDO abort message. This message contains the index/subindex and appropriate error code. Server  Client Abort SDO Transfer COB-ID 0x580 + Node-ID index...
Page 34: Segmented Transfer
11.3.4 Segmented Transfer For data lengths > 4 Bytes the so called Segmented Transfer is used – the expedited Transfer only supports lengths up to 4 Bytes. In the first “Initiate” Telegram the overall amount of used data of the following se- quence telegrams is defined.
Page 35: Writing Segmented Transfer
The following sequence of telegrams results: Initiate SDO Upload COB-ID Request Client  0x600 + Index Subidx Daten Server Node-ID 0x40 Response Server  0x580 + Index Subidx Daten Client Node-ID 0x41 … … Segment Upload, first and odd segments COB-ID Request Client ...
Page 36 The Command Specifier have the following setup: Initiate Download Command Specifier: Request: Response: Download SDO Segment Command Specifier: Request: Response: Abbreviation Description Values Client command Specifier 1 = Initiate download request 0 = Download sequence request Server command Specifier 3 = Initiate download request 1 = Download sequence response Only valid if e =1 AND s = 1, If valid: Amount of data bytes, that con-...
Page 37: Pdo Function
Segment Upload, last segment COB-ID Request Client  0x600 + Daten Server Node-ID 0xnn Response Server  0x580 + Daten Node-ID Client 0x10 … … … … … oder 0x20 11.4 PDO Function The PDO (Process Data Objects) messages are messages with up to eight bytes of process data.
Page 38: Sync
11.6 SYNC The SYNC message has two meanings. The SYNC message is necessary for Rx/TxPDO with transmission type synchronous. The SYNC message synchronizes the different devices to communicate with data from the same (defined) time. As soon as the SYNC telegram is received, the data of all devices are “frozen”...
Page 39: Nmt Functions
11.7 NMT Functions The NMT (Network management) functions describe the NMT state machine and NMT error control functions. The NMT state machine is controlled by NMT commands. The error control functions guarding and heartbeat are set up by associated commu- nication objects and controlled by special protocols.
Page 40: Boot-Up Message
11.7.2 Boot-Up message Identifier Byte 0 0x700 (=1792) + Node-ID The Boot-Up message is sent automatically when the device is powered on or reset (i.e. fault reset). This helps the PLC recognizing to switch on a device (i.e. after a power failure and recovery) reliable during operation without Nodeguarding.
Page 41: Guarding
11.8 Guarding Guarding response: The inverter responds to every guarding request of the PLC. This is used by some PLCs when powering on to search for available devices. This response is done always Guard Time Lifetime independent of the settings of objects 0x100C/0 0x100D/0 Factor.
Page 42: Heartbeat
11.9 Heartbeat The heartbeat uses the producer/consumer method. The inverter as heartbeat con- sumer can monitor up to three heartbeat producers. The inverter can also send the heartbeat message (as heartbeat producer). The heartbeat contains the NMT state of the producer. Consumer Heartbeat The heartbeat consumer function is set by object 0x1016/n...
Page 43 1452 OS_SyncSource Operation mode Function 0 - Auto The synchronization source is selected automatically by the inverter. The OS is synchronized via CANopen. Factory setting. 1 - CANopen 2 - Systembus The OS is synchronized via Systembus. 99 - off The OS is not synchronized with other devices.
Page 44: Fault Reset
11.11 Fault Reset Depending on the settings and the operating status of the device a fault reset can be done like described: 412 = Statemachine: − When using control via parameter Local/Remote Set bit 7 in 0x6040 Control word = 0x0080. −...
Page 45: Objects
12 Objects The available objects are marked via Index/Subindex and are to be addressed via this identification. This chapter describes all available objects. 12.1 Objects tabular overview The objects are displayed in the next tables. The following definitions apply: Access type Read only The PLC is only allowed to read the data from the ACU.
Page 46 Index SubIndex Name SDO Access Data type PDO-mapping 0x1011 Restore default parameters Highest sub-index supported Read only Unsigned8 Restore all default parame- Read/write Unsigned32 ters Restore communication Read/write Unsigned32 default parameters Restore application default Read/write Unsigned32 parameters 0x1014 COB-ID emergency object Read/write Unsigned32 0x1016...
Page 47 0x1601 RxPDO2 mapping parameter No. of mapped objects Read/write Unsigned8 1. mapped obj. Read/write Unsigned32 2. mapped obj. Read/write Unsigned32 3. mapped obj. Read/write Unsigned32 4. mapped obj. Read/write Unsigned32 5. mapped obj. Read/write Unsigned32 6. mapped obj. Read/write Unsigned32 7.
Page 48: Manufacturer Objects
0x1A02 TxPDO3 mapping parameter No. of mapped objects Read/write Unsigned8 1. mapped obj. Read/write Unsigned32 2. mapped obj. Read/write Unsigned32 3. mapped obj. Read/write Unsigned32 4. mapped obj. Read/write Unsigned32 5. mapped obj. Read/write Unsigned32 6. mapped obj. Read/write Unsigned32 7.
Page 49 Index Sub- Designation SDO Ac- Data type PDO- Factory Min…Max Belonging. index cess map- setting Param. ping 0x5F12 Phasing 2 Highest sub-index Read only Unsigned8 supported Offset Read/write Integer32 0x0001.0000 0x8000.0000 p.1125 DS2 … 0x7FFF.FFFF Speed Read/write Unsigned32 0x0005.0000 1… p.1126 DS2 0x7FFF.FFFF Acceleration...
Page 50: Device Profile Objects
12.1.3 Device profile objects Index Sub- Designation SDO Ac- Data type PDO- Factory Min…Max Belong- index cess map- setting ing. ping Param. Abort connection 0x6007 Read/write Integer16 -2…3 p.388 option code 0x603F Error code Read only Unsigned16 0x6040 Control word Read/write Unsigned16 p.410...
Page 51 Index Sub- Designation SDO Ac- Data type PDO- Factory Min…Max Belong- index cess map- setting ing. ping Param. Following error win- 0… 0x6065 Read/write Unsigned32 0xFFFF.FFFF p.1105 0xFFFF.FFFF Following error time 0x6066 Read/write Unsigned16 0…65535 p.1119 0… 0x6067 Position window Read/write Unsigned32 0xFFFF.FFFF...
Page 52 Index Sub- Designation SDO Ac- Data type PDO- Factory Min…Max Belong- index cess map- setting ing. ping Param. Homing acceleration 1… 0x609A Read/write Unsigned32 0x0005.0000 p.1134 0x7FFF.FFFF Interpolation data 0x60C1 record Highest sub-index Read only Unsigned8 supported 0x8000.0000 Interpolation data Read/write Integer32 …...
Page 53 Effect of the “save” command (Object 0x1010) (sequences of writing parameters and objects, examples) VPlus VPlus KP500 KP500 1) P 419 = 48 Hz 2) Power OFF & ON 3) P 419 = 48 Hz CANopen VPlus VPlus KP500 KP500 0x6046 = 1140 rpm 1) P 419 = 48 Hz 2) P 419 = 38 Hz...
Page 54 Value of a parameter is set via KP500 or VPlus. No “save” command. 419 = 48 Hz at KP500 or in VPlus. Setting of Maximum Frequency Power OFF and ON. The value of KP500/VPlus is active (48 Hz). ® No “save” command. The value of the CANopen object is overwritten.
Page 55: Communication Objects (0X1Nnn)
12.2 Communication Objects (0x1nnn) The communication objects 0x1nnn contain all parameters for the communication. For easier usage, the objects are summarized by a table in each paragraph. This table is marked additional by color. Orange color = Read Only object Green color = Read and Write object Blue color...
Page 56: 0X1001/0 Error Register
Up to Firmware 5.2.0 (including) “Type” depends on the setting of parameter Con- figuration 30=x40) sets type = 42 “servo A motion control configuration ( Configuration drive”. Other configurations set type = 41 “frequency converter”. Firmware 5.3.0 always sets type = 42 “servo drive”. Example: COB ID CB Index...
Page 57: 0X1005/0 Cob-Id Sync Message
12.2.3 0x1005/0 COB-ID SYNC Message Index Sub-index Meaning Data type Access Map Def.-Val 0x1005 COB-ID SYNC Message Unsigned 32 COB-ID SYNC message Object 0x1005 defines the identifier for the SYNC message as ® well as whether the CANopen device generates the SYNC. The default value of this object is 128 (identifier = 128, SYNC message not generat- ed).
Page 58 The inverter can only process the SYNC mechanism in multiples of milliseconds. For communication cycle period this reason the allowed values for object 0x1006/0 multiples of milliseconds. E.g.: 0x1006/0 = 4000 = 4 ms communication cycle period If the is NOT set (0x1006/0 = 0), the inverter measures the time distance between the SYNC messages over the first 11 messages.
Page 59: 0X1007/0 Synchronous Window Length
12.2.5 0x1007/0 Synchronous window length Index Sub-index Meaning Data type Access Map Def.-Val 0x1007 Synchronous window length Unsigned 32 See Text Synchronous window length is the time span after a SYNC message in which the in- verter is supposed to update its data from receive PDOs and to send transmit PDOs. If either of these actions is not possible in the specified time an emergency message is sent and all remaining synchronous PDOs are discarded until the next SYNC message.
Page 60: 0X100A/0 Manufacturer Software Version
12.2.8 0x100A/0 Manufacturer Software Version Index Sub-index Meaning Data type Access Map Def.-Val 0x100A Manufacturer Software version Visible string See Text The software version is displayed as a sequence of ASCII characters. Example : "5.3.0" The object 0x100A/0 supports the segmented SDO transfer. Check for descriptions and examples chapter 11.3.4.1 and 12.3.1.5.
Page 61: 0X1010/N Store Parameters
12.2.11 0x1010/n Store Parameters Index Sub-index Meaning Data type Access Map Def.-Val 0x1010 Highest sub-index supported Unsigned8 Store all parameters Unsigned32 See text Store communication parameters Unsigned32 See text Store application parameters Unsigned32 See text With object 0x1010/n parameter/object settings can be stored to non-volatile memory.
Page 62: 0X1011/N Restore Default Parameters
12.2.12 0x1011/n Restore default Parameters Index Sub-index Meaning Data type Access Map Def.-Val 0x1011 Highest sub-index supported Unsigned8 Restore all parameters Unsigned32 See text Restore communication parame- Unsigned32 See text ters Restore application parameters Unsigned32 See text With object 0x1011/n parameters/objects can be set to their default values. This ob- ject supports 3 sub-indexes with different functions.
Page 63: 0X1014/0 Cob-Id Emergency Message
12.2.13 0x1014/0 COB-ID Emergency Message Index Sub-index Meaning Data type Access Map Def.-Val 0x1014 COB-ID Emergency Message Unsigned32 See text The identifier and thus the definition of the priority for the emergency message can be set with object 0x1014/0. The default value of the identifier is 128 + Node ID (valid). Object 0x1014/0 Bit 31 Bit 30...
Page 64: 0X1016/N Consumer Heartbeat Time
12.2.14 0x1016/n Consumer Heartbeat Time Index Sub-index Meaning Data type Access Map Def.-Val 0x1016 Highest sub-index supported Unsigned8 Consumer Heartbeat Time 1 Unsigned32 See text Consumer Heartbeat Time 2 Unsigned32 See text Consumer Heartbeat Time 3 Unsigned32 See text Up to three heartbeat producers can be monitored with object 0x1016/n (controlled via sub-indexes n = 1 ...
Page 65: 0X1018/N Identity Object
See text Revision number Unsigned32 See text Serial number Unsigned32 See text The vendor ID "0xD5" identifies the manufacturer Bonfiglioli Vectron GmbH. This ® vendor ID has been assigned by the CANopen users' organization “CAN in Automa- ® www.can-cia.org tion” (CiA...
Page 66: 0X1200/N Sdo Server Parameter
12.2.18 0x1200/n SDO Server Parameter Index Sub-index Meaning Data type Access Map Def.-Val 0x1200 Highest sub-index supported Unsigned8 COB-ID client  server (Rx) Unsigned32 See text COB-ID server  client (Tx) Unsigned32 See text Object 0x1200 defines the SDO server parameters. The values are read-only and pre defined according to the device node address.
Page 67 Object 0x1400/0x1401/0x1402 COB-ID Bit 31 Bit 30 Bit 29 Bit 11 ... 28 Bit 0 … 10 valid frame 11 bit CAN-ID Bit 31: 0 = PDO existent/valid 1 = PDO non-existent/not valid Bit 29: 0 = 11 Bit ID 1 = 29 Bit ID NOT ALLOWED Bit 0 …...
Page 68: 0X1600/N, 0X1601/N, 0X1602 Rxpdo Mapping Parameters
12.2.20 0x1600/n, 0x1601/n, 0x1602 RxPDO Mapping Parameters Index Sub-index Meaning Data type Access Map Def.-Val 0x1600 Number of mapped objects Unsigned8 0x1601 0x1602 mapped obj. Unsigned32 See text mapped obj. Unsigned8 See text mapped obj. Unsigned8 See text mapped obj. Unsigned8 See text mapped obj.
Page 69 Example*: COB ID CB Index Data Read Request 00 16 00 00 00 00 Reply 00 16 10 00 40 60 Write Access 00 16 Reply * 00 16 00 00 CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x Note, that Object 1400/1 Highest bit has to be deactivated first for the correct Write access for Object 1600/n.
Page 70: 0X1800/N, 0X1801/N, 0X1802/N Txpdo Communication Parameters
Resulting mapping Target velocity Control word Modes of operation (0x6042) (0x6040) (0x6060) 00 00 00 00 This example shows the necessary telegrams with the according responses of the device. The mapping is only stored in RAM and therefore are lost after a power restart. To store the mapping into EEPROM (power-fail safe) refer to chapter 12.2.11.
Page 71 Object 0x1800/0x1801/0x1802 transmission type value meaning description Update TxPDO data and send on SYNC only when Synchronous data has changed 1 … 240 Synchronous Update TxPDO data and send on each “n” SYNC 241 … 251 Reserved Value not allowed synchronous/RTR Update TxPDO data on SYNC and send on following asynchronous/RTR Update TxPDO data and send on RTR asynchronous...
Page 72 Example Event time & Inhibt time: The actual speed value is transferred via TxPDO. The value is updated after the inhibit time has elapsed. At time A, the value remains constant. During this time, the value is updated after the Event time has elapsed. At time B, the value changes and is trans- mitted via TxPDO.
Page 73: 0X1A00/N, 0X1A01/N, 0X1A02/N Txpdo Mapping Parameters
12.2.22 0x1A00/n, 0x1A01/n, 0x1A02/n TxPDO Mapping Parameters Index Sub-index Meaning Data type Access Map Def.-Val 0x1A00 Number of mapped objects Unsigned8 0x1A01 0x1A02 mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj.
Page 74 Example*: COB ID CB Index Data Read Request 00 1A 00 00 00 00 Reply 00 1A 10 00 41 60 Write Access 00 1A Reply * 00 1A CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x Note, that Object 1400/1 Highest has to be deactivated first for the correct Write access for Object 1600/n.
Page 75: Manufacturer Objects (0X2Nnn) - Parameter Access
12.3 Manufacturer objects (0x2nnn) – Parameter access For direct write/read access to inverter parameters via the SDO channel, a parameter is addressed via index and sub-index. Index and sub-index are used as follows for accessing the inverter parameters: Index = Parameter number + 0x2000 Sub-index = required data set (0, 1 ...
Page 76: Sdo Examples (Expedited Transfer Only)
12.3.1.1 SDO examples (expedited transfer only) Writing parameters: Client  Server SDO Download (expedited) COB ID Control byte Index Subindex Data 0xnn 0x2B uint/int 0x23 long Server  Client Download Response  writing process free of errors COB ID Control byte Index Subindex Data...
Page 77: Examples Of Writing Parameters
12.3.1.2 Examples of writing parameters Example 1 Write parameter 372 (type: uint) in data set 2 with the parameter value Rated Speed 2980. Index = 372 + 0x2000 = 0x2174, value = 2980 = 0x0BA4 Client  Server SDO Download (expedited) COB ID Control byte Index Subindex...
Page 78: Examples Of Reading Parameters
12.3.1.3 Examples of reading parameters Example 1 Read parameter 372 (type: uint) in data set 2 with the current parame- Rated speed ter value 1460. Index = 372 + 0x2000 = 0x2174, value = 1460 = 0x05B4 Client  Server SDO Upload (expedited) COB ID Control byte Index...
Page 79: Example To Write Parameters Via Segmented Transfer
12.3.1.4 Example to Write parameters via Segmented Transfer 029 (Type String), in data set 0 with the parameter val- Write Parameter User Name ue “Bonfiglioli Vectron CANopen” (= 27 characters = 0x1B characters). Index = 29 + 0x2000 = 0x201D ASCII Hexadec-...
Page 80 1st Segment Server  Client Upload Segment Request (bytes 1…7) COB ID Control byte Daten 0x601 0x00 0x42 0x6F 0x6E 0x66 0x69 0x67 0x6C Server  Client Upload Segment Response (bytes 1…7) COB ID Control byte Daten 0x20 0x581 0x00 0x00 0x00 0x09...
Page 81: Examples To Read Parameters Via Segmented Transfer
12.3.1.5 Examples to Read parameters via Segmented Transfer Example 1 Read Parameter 012 (Type String), in data set 0 with the Inverter Software Version actual parameter value “5.2.0 STO”. Index = 12 + 0x2000 = 0x200C, Value = “5.2.0 STO” ASCII (blank) S Hexadec-...
Page 82 Example 2 Reading of Parameter 029 (Type String), in data set 0 with the actual User name parameter value “CANopen device”. Index = 29 + 0x2000 = 0x201D, Wert = “CANopen device” ASCII Hexadec- 0x43 0x41 0x4E 0x6F 0x70 0x65 imal ASCII (blank)
Page 83: Handling Of Index Parameters/Cyclic Writing
12.3.2 Handling of index parameters/cyclic writing Index Parameters are used for different ACU functionalities. Instead of the 4 data sets 16 or 32 indexes are used with these parameters. The ad- dressing of the individual index is done via an index access parameter separated by the functionality.
Page 84: Example Writing An Index Parameter
NOTE The values are entered automatically into the EEPROM on the controller. If values are to be written cyclically, there must be no entry into the EEPROM, as it only has a limited number of admissible writing cycles (about 1 million cycles). If the number of admissible writing cycles is exceeded, the EEPROM is destroyed.
Page 85: Manufacturer Objects (0X3000
12.4 Manufacturer objects (0x3000 … 0x5FFF) In addition to the device profile objects the following manufacturer specific objects are implemented. 12.4.1 0x3000/0 SYNC Jitter Index Sub-index Meaning Data type Access Map Def.-Val 0x3000 SYNC Jitter Unsigned16 See Text DS301 does not include an object for monitoring the jittering of the SYNC message. SYNC ACTIVE CUBE inverters monitor SYNC message jittering with object 0x3000/0 Jitter...
Page 86: 0X3001/0 Digital In Actual Value
Example: COB ID CB Index Data Read Request 00 30 00 00 Reply 00 30 00 00 Write Access 00 30 10 00 Reply 00 30 00 00 CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x SYNC Jitter Object 0x3000 is located in the application object area and is saved by...
Page 87: 0X3003/0 Digital Out Set Values
12.4.4 0x3003/0 Digital Out set values Index Sub-index Meaning Data type Access Map Def.-Val 0x3003 Digital Out set values Unsigned8 Via object 0x3003 there are 5 digital sources available for use with parameters, which require digital values. Object 0x3003 Source no. Source name Operation mode Digital output...
Page 88: 0X3004/0 Boolean Mux
12.4.5 0x3004/0 Boolean Mux Index Sub-index Meaning Data type Access Map Def.-Val 0x3004 Boolean Mux Unsigned16 Via object 0x3004 up to 16 boolean values can be transferred from the ACU to a PLC in a compressed manner. Each bit in 16 bit object 0x3004 displays the actual value of the connected boolean source.
Page 89: 0X3005/0 Boolean Demux
12.4.6 0x3005/0 Boolean DeMux Index Sub-index Meaning Data type Access Map Def.-Val 0x3005 Boolean DeMux Unsigned16 Via object 0x3005 up to 16 boolean values can be written in a compressed manner. These values are available as sources which can be chosen by the selection of Obj 0x3005 Demux Out 1…16 832 …...
Page 90: 0X3006/0 Percentage Set Value
12.4.7 0x3006/0 Percentage set value Index Sub-index Meaning Data type Access Map Def.-Val 0x3006 Percentage set value Unsigned16 Via object 0x3006 it is possible to write to a percentage source like parameter S. Ref- 056. erence Value The value of object 0x3006 is available as source which can be chosen by the selec- tion of “815 - Obj 0x3006 Reference Percentage”...
Page 91: 0X3007/0 Percentage Actual Value 1
12.4.8 0x3007/0 Percentage actual value 1 Index Sub-index Meaning Data type Access Map Def.-Val 0x3007 Percentage actual value 1 Unsigned16 Object 0x3007 displays the value of a percentage source which is selectable via pa- ® 1423. rameter CANopen Percentage Actual Value Source Default source is 52 –...
Page 92: 0X3008/0 Percentage Actual Value 2
12.4.9 0x3008/0 Percentage actual value 2 Index Sub-index Meaning Data type Access Map Def.-Val 0x3008 Percentage actual value 2 Unsigned16 Object 0x3008 displays the value of a percentage source which is selectable via pa- ® rameter 1414. CANopen Percentage Actual Value Source 2 Default source is 52 –...
Page 93: 0X3011/0 Actual Value Word 1
12.4.10 0x3011/0 Actual value Word 1 Index Sub-index Meaning Data type Access Map Def.-Val 0x3011 Actual value Word 1 Unsigned16 Object 0x3011 displays the value of a word source which is selectable via parameter 1415. CANopen Actual. Value Word 1 Default source is 52 –...
Page 94: 0X3012/0 Actual Value Word 2
12.4.11 0x3012/0 Actual value Word 2 Index Sub-index Meaning Data type Access Map Def.-Val 0x3012 Actual value Word 2 Unsigned16 Object 0x3012 displays the value of a word source which is selectable via parameter ® 1416. CANopen Actual Value Word 2 Default source is 52 –...
Page 95: 0X3021/0 Actual Value Long 1
12.4.12 0x3021/0 Actual value Long 1 Index Sub-index Meaning Data type Access Map Def.-Val 0x3021 Actual value Long 1 Unsigned32 Object 0x3021 displays the value of a Long source which is selectable via parameter ® 1417. CANopen Actual Value Long 1 Default source is 9 –...
Page 96: 0X3022/0 Actual Value Long 2
12.4.13 0x3022/0 Actual value Long 2 Index Sub-index Meaning Data type Access Map Def.-Val 0x3022 Actual value Long 2 Unsigned32 Object 0x3022 displays the value of a Long source which is selectable via parameter ® 1418. CANopen Actual Value Long 2 Default source is 9 –...
Page 97: 0X3111/0 Ref. Value Word 1
12.4.14 0x3111/0 Ref. Value word 1 Index Sub-index Meaning Data type Access Map Def.-Val 0x3111 Ref. Value word 1 Unsigned16 Via object 0x3111 it is possible to write to a Word source like parameter TxPDO1 950 of the Systembus. Word 1 The value of object 0x3111 is available as source which can be chosen by the selec- tion of “762 - CANopen 0x3111 Ref.
Page 98: 0X3112/0 Ref. Value Word 2
12.4.15 0x3112/0 Ref. Value word 2 Index Sub-index Meaning Data type Access Map Def.-Val 0x3112 Ref. Value word 2 Unsigned16 Via object 0x3112 it is possible to write to a Word source like parameter TxPDO1 950 of the Systembus. Word 1 The value of object 0x3112 is available as source which can be chosen by the selec- tion of “763 - CANopen 0x3112 Ref.
Page 99: 0X3121/0 Ref. Value Long 1
12.4.16 0x3121/0 Ref. Value long 1 Index Sub-index Meaning Data type Access Map Def.-Val 0x3121 Ref. Value long 1 Unsigned32 Via object 0x3121 it is possible to write to a Word source like parameter TxPDO1 954 of the Systembus. Long 1 The value of object 0x3121 is available as source which can be chosen by the selec- tion of “764 - CANopen 0x3121 Ref.
Page 100: 0X3122/0 Ref. Value Long 2
12.4.17 0x3122/0 Ref. Value long 2 Index Sub-index Meaning Data type Access Map Def.-Val 0x3122 Ref. Value long 2 Unsigned32 Via object 0x3122 it is possible to write to a Word source like parameter TxPDO1 954 of the Systembus. Long 1 The value of object 0x3122 is available as source which can be chosen by the selec- tion of “765 - CANopen 0x3122 Ref.
Page 101: 0X5F10/0 Gear Factor
12.4.18 0x5F10/0 Gear factor Index Sub-index Meaning Data type Access Def.-Val 0x5F10 Highest sub-index supported Unsigned8 Numerator Integer16 Denominator Unsigned16 Resync on change Integer16 Object works in: Object doesn’t work in: Motion Control: Motion Control: • • Electronic Gear: Slave Profile Positioning mode Table Travel...
Page 102: 0X5F11/N
Alternatively the parameters 1123, 1124 and 1142 can be used instead of the Objects. Usage of the Objects will write the parameters in RAM (data set 5). Object Parameter 0x5F10/1 Gear factor Numerator 1123 Gear Factor Numerator 0x5F10/2 Gear factor Denominator 1124 Gear Factor Denominator 0x5F10/3 Gear factor Resync on change 1142...
Page 103 The values of Objects 0x5F11/n…0x5F14/n are limited as follows: Object Setting Object Min. Max. 0x5F11/1 0x5F12/1 -2147483647 2147483647 Phasing: Offset 0x5F13/1 (= 0x8000 0000) (= 0x7FFF FFFF) 0x5F14/1 0x5F11/2 0x5F12/2 2147483647 Phasing: Speed 0x5F13/2 (= 0x7FFF FFFF) 0x5F14/2 0x5F11/3 0x5F12/3 2147483647 Phasing: Acceleration 0x5F13/3...
Page 104 Via Objects 0x5F11, 0x5f12, 0x5F13 and 0x5F14 four different Phasing profile can be created. The Phasing Profile is selected via Control word bits 12 and 13. Phasing select Phasing Profile Bit 13 Bit 12 1 (0x5F11) 2 (0x5F12) 3 (0x5F13) 4 (0x5F14) Alternatively the parameters 1125, 1126 and 1127 can be used instead of the Objects.
Page 105: 0X5F15/0 In Gear Threshold
12.4.20 0x5F15/0 In Gear Threshold Index Sub-index Meaning Data type Access Def.-Val 0x5F15 In Gear Threshold Unsigned32 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Table Travel record mode Profile Positioning mode Electronic Gear: Slave Velocity mode Profile Velocity mode Homing mode...
Page 106: 0X5F16/0 In Gear Time
12.4.21 0x5F16/0 In Gear Time Index Sub-index Meaning Data type Access Def.-Val 0x5F16 In Gear Time Unsigned16 Object works in: Object doesn’t work in: Motion Control: Motion Control: • • Table Travel record mode Profile Positioning mode Electronic Gear: Slave Velocity mode Profile Velocity mode Homing mode...
Page 107 Maximum speed* Limitation missioning. Chapter 16.6 contains conversion formulas between Hz, rpm and u/s. Bonfiglioli Vectron recommends: • to 90 % of the mechanical rated speed and Maximum speed* 1118 of the Position Controller to the value corresponding to 10 % of Limitation the Maximum frequency.
Page 108: 0X5Ff0/0 Active Motion Block
Controller block diagram In order to avoid oscillations of the drive while it is at standstill, amplification is re- duced to 50 % of the parameterized value for small position deviations Amplification [%] Control deviation -0.25 0.00 0.25 0.50 -0.50 of position [°] The following behavior may indicate that the controller parameters are not config- ured properly:...
Page 109 Object works in: Object doesn’t work in: Motion Control: Motion Control: • • Table Travel record mode Profile Positioning mode Velocity mode Profile Velocity mode Homing mode Interpolated mode Move away from Limit Switch Electronic Gear: Slave Non motion Control (conf. ≠ x40) •...
Page 110: 0X5Ff1/0 Motion Block To Resume
12.4.24 0x5FF1/0 Motion block to resume Index Sub-index Meaning Data type Access Map Def.-Val 0x5FF1 Motion block to resume Unsigned8 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Table Travel record mode Profile Positioning mode Velocity mode Profile Velocity mode Homing mode...
Page 111: Device Profile Objects (0X6Nnn)
12.5 Device Profile Objects (0x6nnn) 12.5.1 0x6007/0 Abort Connection option code Index Sub-index Meaning Data type Access Def.-Val 0x6007 Abort Connection option code Integer16 abort connection option code Object specifies the operational behavior of the frequen- cy inverter if the bus connection fails due to BusOff, guarding, heartbeat, SYNC error, RxPDO length error or NMT state change (leaving NMT state operational).
Page 112 388 or writing object 0x6007 has the same effect. Writing Bus Error behavior If object 0x6007 was written and then a save parameters command (object 0x1010) processed, the value of 0x6007 is stored in non volatile memory. After the next power on of the inverter the previously set value for 0x6007 is reactivated and overwrites the setting of 388.
Page 113 Typical recovery sequence after CAN error: CAN error error reaction as defined by object 0x6007 abort connection option code NMT change ? (defined by object 0x1029) NMT state = Stopped or Pre-Operational Set NMT state Operational RxPDO Length Error ? Guarding/Heartbeat Error ? Send one RxPDO with Restart Guarding/Heartbeat...
Page 114: 0X603F/0 Error Code
12.5.2 0x603F/0 Error code Index Sub-index Meaning Data type Access Map Def.-Val 0x603F Error code Unsigned16 error code The object is used to store the last error that occurred. In DS402, a large number of possible error codes are specified. The following list shows the relationship between the error code displayed internally by the frequency error code inverter and on the KP500 control unit, and the error secured in object...
Page 115: 0X6040/0 Control Word
12.5.3 0x6040/0 Control word Index Sub-index Meaning Data type Access Map Def.-Val 0x6040 Control word Unsigned16 Control word Object 0x6040/0 is relevant to the inverter remote state machine when- ever parameter 412 is set to 1 (remote state machine). LocalRemote Control word 15 14 13 12 11 10 9 0 Bit...
Page 116: 0X6041/0 Status Word
12.5.4 0x6041/0 Status word Index Sub-index Meaning Data type Access Def.-Val 0x6041 Status word Unsigned16 Status word Object 0x6041/0 displays the actual state of the inverter. Object 0x6041/0 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault...
Page 117: 0X6042/0 Target Velocity [Rpm]
12.5.5 0x6042/0 Target velocity [rpm] Index Sub-index Meaning Data type Access Def.-Val 0x6042 Target velocity Integer16 Object works in: Object doesn’t work in: Motion Control: Motion Control: • • Velocity mode Table Travel record mode Profile Positioning mode Non motion Control (conf. ≠ x40) Profile Velocity mode •...
Page 118: 0X6043/0 Target Velocity Demand
Example: COB ID CB Index Data Read Request 42 60 00 00 Reply 42 60 00 00 Write Access 42 60 DC 05 Reply 42 60 00 00 CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x 12.5.6 0x6043/0 Target velocity demand Index Sub-index...
Page 119: 0X6046/N Velocity Min Max Amount
12.5.8 0x6046/n Velocity min max amount Index Sub-index Meaning Data type Access Def.-Val 0x6046 Highest sub-index supported Unsigned8 Velocity min amount (RPM) Unsigned32 See text Velocity max amount (RPM) Unsigned32 See text Object works in: Object doesn’t work in: • Motion Control: All modes Non motion Control (conf.
Page 120 If objects 0x6046/1 or 0x6046/2 were written and then a save parameters command (object 0x1010) processed, the object values are stored in non volatile memory. After the next power on of the inverter, the previously set values are reactivated and over- 418 and write the settings of parameters Minimum Frequency...
Page 121: 0X6048/N Velocity Acceleration
12.5.9 0x6048/n Velocity acceleration Index Sub-index Meaning Data type Access Map Def.-Val 0x6048 Highest sub-index supported Unsigned8 Delta speed (RPM) Unsigned32 0x96 Delta time (sec) Unsigned16 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Velocity mode Table Travel record mode Profile Positioning mode Non motion Control (conf.
Page 122: 0X6049/N Velocity Deceleration
12.5.10 0x6049/n Velocity deceleration Index Sub-index Meaning Data type Access Map Def.-Val 0x6049 Highest sub-index supported Unsigned8 Delta speed (RPM) Unsigned32 0x96 Delta time (sec) Unsigned16 Object works in: Object doesn’t work in: Motion Control: Motion Control: • • Velocity mode Table Travel record mode Profile Positioning mode Profile Velocity mode...
Page 123: 0X604A/N Velocity Quick Stop
12.5.11 0x604A/n Velocity quick stop Index Sub-index Meaning Data type Access Map Def.-Val 0x604A Highest sub-index supported Unsigned8 Delta speed (RPM) Unsigned32 0x96 Delta time (sec) Unsigned16 Object works in: Object doesn’t work in: Motion Control: Motion Control: • • Velocity mode Table Travel record mode Profile Positioning mode...
Page 124: 0X6060/0 Modes Of Operation
12.5.12 0x6060/0 Modes of operation Index Sub-index Meaning Data type Access Map Def.-Val 0x6060 Modes of operation Integer8 Object works in: Object doesn’t work in: Motion Control: Non motion Control (conf. ≠ x40) • • All modes modes of operation With object , the designated operation mode of the inverter is set.
Page 125: 0X6061/0 Modes Of Operation Display
12.5.13 0x6061/0 Modes of operation display Index Sub-index Meaning Data type Access Map Def.-Val 0x6061 Modes of operation display Integer8 Object works in: Object doesn’t work in: • Motion Control: Non motion Control (conf. ≠ x40): • All modes Value always “2” modes of operation display Object 0x6061 acknowledges the previously set value of...
Page 126: 0X6065/0 Following Error Window
12.5.15 0x6065/0 Following error window Index Sub-index Meaning Data type Access Def.-Val 0x6065 Following error window Unsigned32 0xFFFF FFFF Object works in: Object doesn’t work in: Non motion Control (conf. ≠ x40) • Motion Control: • All modes following error window Object 0x6065 is used to set the threshold of a device warning when the following error becomes too big.
Page 127: 0X6066/0 Following Error Time Out
12.5.16 0x6066/0 Following error time out Index Sub-index Meaning Data type Access Def.-Val 0x6066 Following error time out Unsigned16 (=10) Object works in: Object doesn’t work in: Non motion Control (conf. ≠ x40) • Motion Control: • All modes following error window When a following error (Object 0x6065 ) occurs longer than the...
Page 128: 0X6067/0 Position Window
12.5.17 0x6067/0 Position window Index Sub-index Meaning Data type Access Def.-Val 0x6067 Position window Unsigned32 0xFFFF FFFF Object works in: Object doesn’t work in: Motion Control: Non motion Control (conf. ≠ x40) • • All modes The signal “target position reached” can be changed in accuracy with Object 0x6067 position window for the modes which use Status Word Bit 10 “Target reached”...
Page 129: 0X6068/0 Position Window Time
12.5.18 0x6068/0 Position window time Index Sub-index Meaning Data type Access Def.-Val 0x6068 Position window time Unsigned16 (=10) Object works in: Object doesn’t work in: Non motion Control (conf. ≠ x40) • Motion Control: • All modes position window position When the actual position is within the during the defined window time...
Page 130: 0X606D/0 Velocity Window
0, bit 10 “Target reached” of the Status word is only set with the exact equality of actual speed and reference speed. Bonfiglioli Vectron recommends to set the value large enough to get a reliable status information of Bit 10 “Target reached”.
Page 131: 0X606E/0 Velocity Window Time
12.5.21 0x606E/0 Velocity Window Time Index Sub-index Meaning Data type Access Def.-Val 0x606E Velocity Window time Unsigned16 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Velocity mode Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch...
Page 132: 0X606F/0 Velocity Threshold
12.5.22 0x606F/0 Velocity Threshold Index Sub-index Meaning Data type Access Def.-Val 0x606F Velocity Threshold Unsigned16 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Velocity mode Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch Electronic Gear: Slave...
Page 133: 0X6070/0 Velocity Threshold Time
12.5.23 0x6070/0 Velocity Threshold Time Index Sub-index Meaning Data type Access Def.-Val 0x6070 Velocity Threshold Time Unsigned16 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Velocity mode Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch...
Page 134: 0X6071/0 Target Torque
12.5.24 0x6071/0 Target Torque Index Sub-index Meaning Data type Access Def.-Val 0x6071 Target Torque Integer16 The value transmitted via Object 0x6071 is selectable as source Q.808 for various parameters (e.g. 1381). FT Input buffer percentage It is also available as operation mode 95 or inverted as 195 (e.g. for parameter Refer- 476 in configurations with torque control ence Percentage Source...
Page 135: 0X6078/0 Current Actual Value
12.5.26 0x6078/0 Current actual value Index Sub-index Meaning Data type Access Def.-Val 0x6078 Torque actual value Integer16 Current actual value Object 0x6078 displays the current actual value (see parameter 211). R.m.s current A value of 0x3E8 (=1000) corresponds to the rated motor current (100.0 %). The 371.
Page 136: 0X607A/0 Target Position
12.5.28 0x607A/0 Target position Index Sub-index Meaning Data type Access Def.-Val 0x607A Target position Integer32 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Positioning mode Table Travel record mode Velocity mode Profile Velocity mode Homing mode Interpolated mode Move away from Limit Switch...
Page 137: 0X607C/0 Home Offset
12.5.29 0x607C/0 Home offset Index Sub-index Meaning Data type Access Def.-Val 0x607C Target position Integer32 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Homing mode Table Travel record mode Profile Positioning mode Velocity mode Profile Velocity mode Interpolated mode Move away from Limit Switch Electronic Gear: Slave...
Page 138: 0X6081/0 Profile Velocity [U/S]
12.5.30 0x6081/0 Profile velocity [u/s] Index Sub-index Meaning Data type Access Def.-Val 0x6081 Profile velocity Unsigned32 0x5 0000 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Velocity mode Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch...
Page 139: 0X6083/0 Profile Acceleration
12.5.31 0x6083/0 Profile acceleration Index Sub-index Meaning Data type Access Def.-Val 0x6083 Profile acceleration Unsigned32 0x5 0000 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Velocity mode Velocity mode Profile Positioning mode Homing mode Interpolated mode Table Travel record mode Electronic Gear: Slave...
Page 140: 0X6084/0 Profile Deceleration
12.5.32 0x6084/0 Profile deceleration Index Sub-index Meaning Data type Access Def.-Val 0x6084 Profile deceleration Unsigned32 0x5 0000 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Velocity mode Velocity mode Profile Positioning mode Homing mode Interpolated mode Table Travel record mode Electronic Gear: Slave...
Page 141: 0X6085/0 Quick Stop Deceleration
12.5.33 0x6085/0 Quick stop deceleration Index Sub-index Meaning Data type Access Def.-Val 0x6085 Quick stop deceleration Unsigned32 0xA 0000 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Positioning mode Velocity mode Profile Velocity mode Homing mode Non motion Control (conf.
Page 142: 0X6086/0 Motion Profile Type
12.5.34 0x6086/0 Motion profile type Index Sub-index Meaning Data type Access Def.-Val 0x6086 Motion profile type Integer16 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Positioning mode Table Travel record mode Profile Velocity mode Velocity mode Interpolated mode Homing mode...
Page 143: 0X6091/N Gear Ratio
12.5.35 0x6091/n Gear ratio Index Sub-index Meaning Data type Access Def.-Val 0x6091 Highest sub-index supported Unsigned8 Motor shaft revolutions Unsigned32 Driving shaft revolutions Unsigned32 Object works in: Object doesn’t work in: Non motion Control (conf. ≠ x40) • Motion Control: •...
Page 144 The values of Object 0x6091/1 and 6091/2 are limited as follows: Parameter Setting Object Min. Max. 65535 0x6091/1 Motor shaft revolutions (= 0x0000 FFFF) 65535 0x6091/2 Driving shaft revolutions (= 0x0000 FFFF) Example: COB ID CB Index Data Read Request 91 60 00 00 00 00 Reply...
Page 145: 0X6092/N Feed Constant
12.5.36 0x6092/n Feed constant Index Sub-index Meaning Data type Access Def.-Val 0x6092 Highest sub-index supported Unsigned8 Feed Unsigned32 0x1 0000 (Driving) shaft revolutions Unsigned32 Object works in: Object doesn’t work in: Non motion Control (conf. ≠ x40) • Motion Control: •...
Page 146: 0X6098/0 Homing Method
12.5.37 0x6098/0 Homing method Index Sub-index Meaning Data type Access Def.-Val 0x6098 Homing method Integer8 Object works in: Object doesn’t work in: • Motion Control x40: • Motion Control x40: Homing mode Profile Positioning mode Profile Velocity mode Velocity mode Interpolated mode Table Travel record mode Move away from Limit Switch...
Page 147 Function 0x6098/0 Homing Method Pos. Lim.-Sw., Ref.-Sig. right of Reversal of direction of rotation when positive HW left Edge of Home-Sw. limit switch is reached. Home position is the first encoder ref. signal to the Pos. Lim.-Sw., Ref.-Sig. left of left or right of the left or right edge of the home right Edge of Home-Sw.
Page 148: 0X6099/N Homing Speeds
12.5.38 0x6099/n Homing speeds Index Sub-index Meaning Data type Access Def.-Val 0x6099 Highest sub-index supported Unsigned8 speed during search for switch Unsigned32 0x5 0000 speed during search for zero Unsigned32 0x2 0000 Object works in: Object doesn’t work in: Motion Control: Motion Control x40: •...
Page 149: 0X609A/0 Homing Acceleration
Example: COB ID CB Index Data Read Request 99 60 00 00 00 00 Reply 99 60 00 00 05 00 Write Access 99 60 B0 AD 01 00 Reply 99 60 00 00 00 00 CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x 12.5.39 0x609A/0 Homing acceleration Index Sub-index Meaning...
Page 150: 0X60C1/1 Interpolation Data Record
12.5.40 0x60C1/1 Interpolation data record Index Sub-index Meaning Data type Access Def.-Val 0x60C1 Highest sub-index supported Unsigned8 Interpolation data record 1 Integer32 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Interpolated mode Table Travel record mode Profile Positioning mode Profile Velocity mode Velocity mode...
Page 151: 0X60F4/0 Following Error Actual Value
12.5.41 0x60F4/0 Following error actual value Index Sub-index Meaning Data type Access Def.-Val 0x60F4 Following error actual value Integer32 Object works in: Object doesn’t work in: Non motion Control (conf. ≠ x40) • Motion Control: • All modes In the application manual “Positioning”, the term “Contouring error” is used instead of ®...
Page 152: 0X60F8/0 Max Slippage [U/S]
12.5.42 0x60F8/0 Max Slippage [u/s] Index Sub-index Meaning Data type Access Def.-Val 0x60F8 Max Slippage Integer32 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Velocity mode Table Travel record mode Profile Positioning mode Velocity mode Homing mode Interpolated mode Move away from Limit Switch...
Page 153: 0X60Ff/0 Target Velocity
12.5.43 0x60FF/0 Target Velocity Index Sub-index Meaning Data type Access Def.-Val 0x60FF Target Velocity Integer32 Object works in: Object doesn’t work in: Motion Control: Motion Control: • • Profile Velocity mode Profile Positioning mode Velocity mode Homing mode Interpolated mode Table Travel record mode Move away from Limit Switch Electronic Gear: Slave...
Page 154: Motion Control Interface (Mci)
3 – Profile Velocity mode [u/s] • 6 – Homing • 7 – Interpolated mode Bonfiglioli Vectron defined modes -1 (or 0xFF) – Table Travel record mode • -2 (or 0xFE) – Move Away from Limit Switch • -3 (or 0xFD) – Electronic Gear: Slave •...
Page 155: Object And Parameter Dependencies
13.1 Object and parameter dependencies Depending on the object 0x6060 Modes of Operation the used objects and parame- ters differ. Because the different objects and parameters are used they can and must be set individually. Using the Deceleration and Quick Stop is depends on the actual mode of operation, control commands and error reaction to communication errors (see object 0x6007/0 abort connection option code...
Page 156 Mode Profile Positioning mode Interpolated position mode Modes of 1)2) Operation Target Posi- 0x60C1/1 interpolation data 1293 , S.Target Pos. tion record Default: 802 - Obj. 0x607A Target Position Speed 1294 , S.Profile Vel. Default: 803 - Obj. 0x6081 Profile Velocity Limitation Obj.
Page 157 Mode Table Travel Record Move away from limit Electronic Gear: Slave mode switches Modes of 1)2) Operation Target Posi- 1202 Target Position tion 1203 1285 Speed Obj. 0x6099/1 & /2 Homing Target Speed S.Target velocity Speeds pv [u/s] 1132 & 1133 ...
Page 158 Correlation of objects, parameters and value conversion: Velocity [vl]  Velocity mode [rpm] Velocity [pv]  Profile Velocity mode [u/s] CM-CAN ACU 04/13...
Page 159: Reference System
The graphical overview contains the most significant objects used. Further objects might apply to the different modes; check the descriptions of the objects and modes for further details. The Motion Control Interface (MCI) is a defined interface of the ACU device for posi- tioning control.
Page 160: Homing
13.3 Homing When the drive is started, a defined starting position must be specified for absolute positioning modes. In a homing operation, the point of reference of the positioning operation is determined. All positioning data relates to this point of reference. Once the homing operation is started, the drive moves until it reaches a home switch or limit switch and stops there.
Page 161: Move Away From Hardware Limit Switches
13.5 Move away from Hardware limit switches If a hardware limit switch was activated, depending on parameter setting 1143 Fault a fault message is triggered and the direction of rotation is disabled. reaction After a fault reset the still enabled direction of rotation can be used for a motion. For the moving away all operating modes can be used in general as long as the drive command executes the movement in the enabled direction.
Page 162: Motion Control Interface For Experts
13.6 Motion Control Interface for Experts The Motion Control Interface offers the experienced user the possibility to change the sources which will be used by the Motion Control Interface. By default, these are set ® to CANopen . Experienced users can change these in example to Systembus sources. Parameter Setting Description...
Page 163: Motion Control Override
13.7 Motion Control Override The Motion Control Override Function can be used to transmit the motion profile via serial communication (VABus or Modbus). Therefore in the User software VPlus for Windows a motion profile can be used when a control is not finished programming during commissioning.
Page 164: Inverter Control
14 Inverter Control The control of the frequency inverter can, in principle, be carried out using three op- eration modes. These are set via the data set change-over capable parameter 412. cal/Remote Parameter Setting Description Min. Max. Fact. sett. 412 Local/Remote ®...
Page 165: Control Via Digital Inputs/Remote Digital Inputs
14.1 Control via digital inputs/remote digital inputs In the operation mode Control via Contacts or Control via Remote-Contacts (parame- 412 = 0 or 2), the frequency inverter is controlled via the digital Local/Remote inputs S1IND (STOA AND STOB), S2IND to EM-S3IND directly, or by digital input Control word emulation with help of the individual bits in the .
Page 166 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 Warning 2 When using the control mode control via remote digital inputs, the digital inputs STOA Control word AND STOB at X210A.3/X210B.2 must be set AND bit 0 of must be set in...
Page 167: Device State Machine
14.1.1 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 Stateword Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Switched on Operation enabled Fault Bits marked “x”...
Page 168: Control Via State Machine
14.2 Control via state machine In the operation mode “control via state machine” (parameter 412 = Local/Remote Control word 1), the frequency inverter is controlled via the State transition 4 to state “Operation enabled” is only possible when: 30 = x40) digital input −...
Page 169 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 Manufacturer specific Remote Target reached Internal limit active Operation mode specific Operation mode specific Manufacturer specific Manufacturer specific...
Page 170: Statemachine Diagram
14.2.1 Statemachine diagram State machine: Control word: Control The device control commands are triggered by the following bit pattern in the word Control word Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Fault Enable Quick Enable Switch on Command Transitions reset...
Page 171 State transition 3 (command “Switch on” [0x07]) is only processed if bit no. 4 “Volt- age enabled” of the Status word is set. State transition 4 (command “Enable operation” [0x0F]) is only processed if the re- lease is set via hardware contacts STO. If the hardware release via STO is not set, the frequency inverter remains in state “Switched On”...
Page 172 Bit 10, Target reached, is set whenever the specified reference value has been reached. In non motion control configurations (p.30 ≠ x40), target reached is related to the target velocity reference speed object 0x6042 . In the special case of power failure regulation, the bit is also set if the power failure regulation has reached the frequency 0 Hz (see operating instructions).
Page 173: Non Motion Control Configurations
14.3 Non motion control configurations In non motion control configurations (Parameter 30 ≠ x40), object Configuration modes of operation velocity mode modes of 0x6060 is fixed to “2” . Object 0x6061 operation display velocity mode is always “2” . This cannot be changed. Related objects: 0x6040 Control word...
Page 174: Behavior In Transition 5 (Disable Operation)
14.3.2 Behavior in transition 5 (Disable operation) behavior in transition 5 from "Operation enabled" to "Switched on" can be pa- rameterized. The behavior is set via parameter 392. State transition 5 Parameter Setting Description Min. Max. Fact. sett. 392 State transition 5 Operation mode Function immediate transition from "Operation enabled“...
Page 175: Reference Value / Actual Value
14.3.3 Reference value / actual value target The PLC gives its reference value to the frequency inverter via object 0x6042/0 velocity in the RxPDO used and receives the information on its actual value back via control effort object 0x6044/0 in the TxPDO used. The use of the reference/actual value channel depends on the set configuration (con- trol system).
Page 176: Example Sequence
434 = 2 (only reference line value), then this reference line value is Ramp set-point limited to fmin. Please remember that the sign in front of fmin at reference value = 0 is derived from the sign in front of the last reference line value ≠ 0. After Power On, the reference line value is limited to +fmin! 434 = 3, the sign in front of the overall reference value results Ramp set-point...
Page 177: Motion Control Configurations
14.4 Motion control configurations WARNING Dangerous state due to new mode! modes of operation 0x6060 is changed during operation (control word = 0xnnnF), a dangerous state may occur in the new mode. modes of operation Before changing 0x6060 , check the status word (e.g. for •...
Page 178: Velocity Mode [Rpm]
14.4.1 Velocity mode [rpm] Modes of operation The velocity mode is selected via object 0x6060/0 = 2. Control word In velocity mode the "operation mode specific" bits of the control the ramp function generator “rfg”. The function is explained in the block diagram. Related objects: 0x6040 Control word...
Page 179 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 active Warning 2 Block diagram Bit 5 / rfg unlock Run_RFG...
Page 180 The special function generator is only evaluated, if 1299 Q. Special Function Genera- is set unequal to “9 –Zero”. If 1299 is set to “9-Zero”, the value of the ramp out- Q. Special Function Generator put is always used. If Special function generator 1299 is set unequal to Q.
Page 181: Example Sequence
14.4.1.1 Example Sequence To start the velocity mode, the correct sequence has to be sent from the PLC. Control word = 0x0000 Disable voltage Status word = 0x0050 Switch On Disabled Modes of Operation = 2 (Velocity mode) Control word = 0x0006 Shutdown Status word =...
Page 182 WARNING Dangerous state due to new mode! Modes of Operation When 0x6060 is changed during operation (Control word = • 0xnnnF), a dangerous state can occur in the new mode. Modes of Operation • Checking the status word before changing 0x6060 (i.e.
Page 183: Profile Velocity Mode [U/S]
14.4.2 Profile Velocity mode [u/s] Modes of operation The profile velocity mode is selected via object 0x6060/0 In profile Velocity mode the inverter receives a reference speed in [u/s]. Related objects: 0x6040 Control word 0x606F Velocity Threshold 0x6041 Status word 0x6070 Velocity Threshold Time 0x6046...
Page 184 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 Speed Max Slippage Warning 2 The Profile Velocity Mode is used to set the reference speed in user units [u/s].
Page 185 Velocity Window Velocity Window time Via Objects 0x606D 0x606E Bit 10 “Target reached” of the status word is set. Velocity Threshold Velocity Threshold time Via Objects 0x606F 0x6070 Bit 12 „Velocity“ of the status word is set. Max Slippage Via Object 0x60F8 a slip monitoring via Bit 13 “Max Slippage”...
Page 186: Example Sequence
14.4.2.1 Example Sequence To start the Profile Velocity mode, the correct sequence has to be sent from 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 = 0x0031 Ready to switch on...
Page 187: Profile Position Mode
14.4.3 Profile position mode Modes of operation The profile position mode is selected via object 0x6060/0 In profile position mode the inverter receives a target position followed by a command to move to this position. Related objects: 0x6040 Control word 0x6041 Status word 0x6046...
Page 188 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 CM-CAN ACU 04/13...
Page 189 Control w ord Change on Change set-point New set-point Description set-point immediately Bit 9 Bit 5 Bit 4 0  1 Positioning shall be completed (tar- get reached) before the next one is started 0  1 Next position shall be started imme- diately 0 ...
Page 190 Example: single set-point change on set-point control bit control bit change set immediately After a set-point is sent to the drive, the control device signals set-point valid by a new set-point rising edge on bit in the Control word. The drive answers by setting bit set-point acknowledge and starts moving to the new target position.
Page 191 Example: single set-point change on set-point control bit control bit change set immediately When a set-point is in progress and a new set-point is validated by control bit set-point (rising edge), the new set-point is processed immediately. new set point (control bit 4) target position (set point)
Page 192 Example: set of set-points change on set-point = 0/1 control bit control bit change set immediately While a Positioning is in progress, the set point is changed. Change on set point = 0 Current target position will be stopped at. After the posi- tion is reached, the new set point is taken over.
Page 193: Example Sequence
14.4.3.1 Example Sequence To start the Profile position mode, the correct sequence has to be sent from the PLC. Control word = 0x0000 Disable voltage Status word = 0x0050 Switch On Disabled Modes of (Profile Positon mode) Operation = Control word = 0x0006 Shutdown Status word =...
Page 194 WARNING Dangerous state due to new mode! Modes of Operation When 0x6060 is changed during operation (Control word = • 0xnnnF), a dangerous state can occur in the new mode. Modes of Operation • Checking the status word before changing 0x6060 (i.e.
Page 195: Interpolated Position Mode
14.4.4 Interpolated position mode Modes of opera- The interpolated position mode is selected via object 0x6060/0 tion = 7. In interpolated position mode the inverter receives a target position at equi- distant time intervals. Related objects: 0x6040 Control word 0x6041 Status word 0x6046 Velocity min max amount...
Page 196 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 Ip-mode active Warning 2 interpolation submode Only linear interpolation is available (for this, object 0x60C0/0...
Page 197 Profile acceleration • 0x6083 is only used when the interpolated mode is acti- vated (rising edge of Bit 4 “enable ip-mode”).Then this acceleration is used to synchronize from the actual speed to the calculated speed of the interpolated trajectory. Profile deceleration 0x6084 is used when the interpolated mode is switched •...
Page 198 Sync 4 ms Enable_ip_mode Ip_mode_active Ref. Position Interpolation_data_record 1 ms Initial drive pos. Interpolated positions CM-CAN ACU 04/13...
Page 199: Example Sequence
14.4.4.1 Example Sequence To start the Interpolated position mode, the correct sequence has to be sent from the PLC. Control word = 0x0000 Disable voltage Status word = 0x0050 Switch On Disabled Modes of Operation = 7 (Interpolated Positon mode) Control word = 0x0006 Shutdown...
Page 200: Homing Mode
14.4.5 Homing mode Modes of operation The homing mode is selected via object 0x6060/0 = 6. In homing mode the inverter moves the drive to a reference position. The method used for this homing method movement is defined by object 0x6098 Related objects: 0x6040...
Page 201 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 Homing attained Homing error Warning 2 Control w ord Name...
Page 202: Example Sequence
Status w ord Name Value Description Target Halt = 0: home position not reached reached Halt = 1: axle decelerates Bit 10 Halt = 0: home position reached Halt = 1: axle has velocity 0 Homing at- Homing not yet completed tained Homing mode carried out successfully Bit 12...
Page 203: Table Travel Record
14.4.6 Table travel record Modes of opera- The table travel record mode is selected via object 0x6060/0 tion = 0xFF =-1. In table travel record mode the inverter moves the drive autono- mous to consecutive positions. The table travel record mode uses predefined sets of positions. Every target position is defined by one motion block.
Page 204 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 205 Control w ord Name Value Description Sequence mode Single motion block Bit 4 Sequence of motion blocks Resume Start motion block = motion block select Bit 6 Start motion block = last active motion block Halt Execute instruction of bit 4 “sequence Bit 8 mode”...
Page 206 Basic functions sequence mode The control bit decides between execution of one single motion block sequence mode = 0 ) and execution of a sequence of motion blocks ( sequence mode In both cases the selection of the desired motion block (motion block number of single motion block or start motion block number of motion block sequence) is done by cal- motion block select culating the motion block number from...
Page 207 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 04/13 CM-CAN ACU...
Page 208 “ 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 CM-CAN ACU 04/13...
Page 209 “interrupted motion block sequence” sequence mode (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 210: Example Sequence
14.4.6.1 Example Sequence To start the Table travel record mode, the correct sequence has to be sent from 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 211: Move Away From Limit Switches
14.4.7 Move away from Limit switches Modes of The Move away from Limit switches mode is selected via object 0x6060/0 operation = 0xFE =-2. In the Move away from Limit switches mode the drive moves independently from a triggered limit switch back into the valid Travel area. Related objects: 0x6040 Control word...
Page 212 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 Warning 2 NOTE The mode “Move away from limit switch” works under normal conditions with hard- ware limit switches.
Page 213 Control w ord Name Value Description Move away from limit Don’t start or cancel movement switch Start or resume movement from limit Bit 4 switch into travel area Halt Execute instruction of bit 4 “Move away Bit 8 from limit switch” Stop axle with ramp of actual motion block, inverter remains in state “operation enabled”...
Page 214: Example Sequence
14.4.7.1 Example Sequence To move away from the limit switch, the correct sequence has to be sent from the PLC. Control word = 0x0000 Disable voltage Status word = 0x0050 Switch On Disabled Modes of Operation = -2 (Move away from limit switch) Control word = 0x0006 Shutdown...
Page 215: Electronic Gear: Slave
14.4.8 Electronic Gear: Slave Electronic Gear: Slave Modes of opera- mode is selected via object 0x6060/0 tion Electronic Gear: Slave = 0xFD =-3. In mode the drive follows as Slave drive a Master drive. Related objects: 0x6040 Control word 0x6064 Position actual value 0x6041 Status word...
Page 216 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 / In gear Internal limit active Following error Warning 2...
Page 217 Control w ord Name Value Description Start Gearing Stop axle with ramp 0x6084 Bit 4 Start electronic gear with reference value master speed with ramp 0x6083 Direct Sync Direct Synchronisation enabled. Bit 6 Direct Synchronisation disabled. Halt Execute instruction of bit 4 “Start Gear- Bit 8 ing”...
Page 218 Basic functions Mode “-3 Electronic Gear: Slave” implements a gearing operation for a slave drive to a master drive. The master of the Electronic gear must be connected to the Slave de- vice via wire or Systembus (recommended). The master input in the Slave device is 1122.
Page 219 The synchronization of several drives needs high refresh rates to assure optimum results. Set the corresponding time (i.e. 931) at the transmit side to TxPDO1 Time a low value. For the usage of the sync-function at the system bus set SYNC-Time 919 to a low value.
Page 220 Start Electronic Gear and Status bits Gearing operation is started by Control word bit 4 “Start Gearing”. The drive acceler- Profile acceleration ates according to 0x6083 . As soon as the slave speed is coupled to the master speed, Status word bit 10 “Target reached / Gear coupled” is set. The In gear threshold In gear coupling conditions are set with objects...
Page 221 Function with Direct Synchronization The drive accelerates the master speed at the ramps parameterized in the motion block. At the start of a motion block the drive is sychronised with the master drive directly. The master speed is processed by the position controller directly. The acceleration and deceleration for synchronization occurs according to the charac- teristic of an S-shaped curve.
Page 222: Example Sequence
14.4.8.1 Example Sequence To start the Electronic Gear: Slave mode, the correct sequence has to be sent from the PLC. Control word = 0x0000 Disable voltage Status word = 0x0050 Switch On Disabled Modes of Operation = -3 (Electronic Gear: Slave mode) Control word = 0x0006 Shutdown...
Page 223 WARNING Dangerous state due to new mode! Modes of Operation When 0x6060 is changed during operation (Control word = • 0xnnnF), a dangerous state can occur in the new mode. Modes of Operation • Checking the status word before changing 0x6060 (i.e.
Page 224: Parameter List
Parameter list The parameter list is structured according to the menu branches of the operating unit. For better clarity, the parameters have been 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.
Page 225 Description Unit Display range Factory setting Chapter 422 Acceleration (Anticlockwise) Hz/s -0.01 ... 9999.99 -0.01 12.5.9 12.5.10, 423 Deceleration (Anticlockwise) Hz/s -0.01 ... 9999.99 -0.01 12.5.11 12.5.11, 424 Emergency stop (Clockwise) Hz/s 0.01 ... 9999.99 5.00 14.3.1 12.5.11, 425 Emergency stop (Anticlockwise) Hz/s 0.01 ...
Page 226 Further parameters are described in the Operating instructions and the Application manual “Position- ing”. 1420 changes all Data in The setting “0” for CANopen Mux Input Index (write) EEPROM and. RAM. The parameter 414 is only accessible via the manufacturer objects Data set selection 0x2nnn.
Page 227: Annex
Annex 16.1 Control Word overview The tables on this page list in an overview the funcionality of the Control Word bits. Standard (No P ositionierung M CI : M CI : P rofile Ve- M CI : P rofile P ositioning) w ithout M CI Velocity M ode locity M ode...
Page 228: Status Word Overview
16.2 Status Word overview The tables on this page list in an overview the funcionality of the Status Word bits. Standard (No P ositionierung M CI : M CI : P rofile M CI : P rofile P o- P ositioning) w ithout M CI Velocity M ode Velocity M ode...
Page 229: Warning Messages
16.3 Warning messages The various control functions and methods as well as the hardware of the frequency inverter contain functions that continuously monitor the application. In addition to the messages documented in the manual, the following warning messages are activated by the communication module.
Page 230: Warning Messages Application
16.4 Warning Messages Application When the highest bit in the Warning messages is set, a “Warning Message Application” is present. 274, bit-coded The Application warning messages are given via parameter Application Warnings according to the following scheme. 273 shows the warnings in clear text on the operator panel and Parameter Application Warnings the PC software tool VPlus.
Page 231: Fault Messages
16.5 Fault messages The fault code that is stored after a fault occurs is made up of the fault group FXX (high Byte, hexadecimal) followed by the code number XX (low Byte, hexadecimal). Communication error Code Meaning Motion Control Deviation Position Controller Control Pos.
Page 232: Conversions
16.6 Conversions The speeds can be converted into other speed formats using the formulas in this chapter: Frequency [Hz] to Speed [rpm] See chapter 16.6.2 Speed in user units [u/s] See chapter 16.6.4 Speed [rpm] to Frequency [Hz] See chapter 16.6.1 Speed in user units [u/s] See chapter 16.6.6 Speed in user units [u/s]...
Page 233: Object Support In The Software Versions And Eds Files
16.7 Object support in the Software versions and EDS files The support of CANopen was extended in various steps in the firmware. The following table lists, which objects are supported with the different software versions and the corresponding EDS file. Ob- jects, that were added or where changes were made are marked in light blue color.
Page 234 Firmware 5.1.2+ 5.1.5+ 5.2.0+ 5.3.0+ BV_ACU.eds BV_ACU2.eds BVACU52.eds BVACU53.eds BVACU52m.eds 0x2nnn ACU parameter access 0x3000 Sync Jitter 0x3001 Digital In actual values 0x3002 Digital Out act. values 0x3003 Digital Out set values 0x3004 Boolean Mux 0x3005 Boolean DeMux 0x3006 Percentage Set value 0x3007 Percentage Act.
Page 235 Firmware 5.1.2+ 5.1.5+ 5.2.0+ 5.3.0+ BV_ACU.eds BV_ACU2.eds BVACU52.eds BVACU53.eds BVACU52m.eds 0x6007 Abort connect. option c. 0x603F Error code 0x6040 Control word 0x6041 Status word 0x6042 Target velocity 0x6043 Target velocity demand 0x6044 Control effort 0x6046 Velocity min max 0x6048 Velocity acceleration 0x6049 Velocity deceleration 0x604A...
Page 236: Motion-Control-Interface For Profibus Connection
17 Motion-control-interface for Profibus connection The motion control interface is the interface between the communication system and the motion control system. With factory setting the motion control interface is con- ® nected to the CANopen system. This connection can be changed to the Profibus sys- tem.
Page 237: Index
Index RxPDO Communication ......66 Acceleration TxPDO ..........73 Phasing ..........102 TxPDO Communication ......70 Acknowledge error messages ..... 44 Modes of operation ........124 Application objects ........30 Motion Control Interface (MCI) ....154 Application Warnings ....... 230 Object and Parameter dependencies ..
Page 238 Fax (+49) 02131 2988-100 Fax +90 (0) 232 328 04 14 www.bonﬁglioli.de - info@bonﬁglioli.de www.bonﬁglioli.com.tr info@bonﬁglioli.com.tr Bonﬁglioli España TECNOTRANS BONFIGLIOLI S.A. Bonﬁglioli United Kingdom Pol. Ind. Zona Franca sector C, calle F, n°6 Industrial Solutions 08040 Barcelona Unit 7, Colemeadow Road Tel.
Page 240 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 567 R1 fax: +39 051 647 3126 Via Giovanni XXIII, 7/A bonfiglioli@bonfiglioli.com...

BONFIGLIOLI Vectron Active Cube User Manual

1 General Information about the Documentation

2 General Safety Instructions and Information on Use

3 Introduction

4 First Commissioning

5 Installation/Disassembly of the Communication Module

6 Connector Pin Assignment/Bus Termination/Line

7 Baud Rate Setting/Line Lengths

8 Setting the Node Number

9 Assigning the Canopen Interface

10 Operational Behavior on Bus Failure

11 Canopen Overview

12 Objects

13 Motion Control Interface (MCI)

14 Inverter Control

15 Parameter List

16 Annex

17 Motion-Control-Interface for Profibus Connection

Index

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