BONFIGLIOLI ACTIVE Manual
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BONFIGLIOLI ACTIVE Manual

Canopen communication module cm-can, 230v/400v
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ACTIVE
CANopen Communication module CM-CAN
Frequency Inverter 230 V / 400 V

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Summary of Contents for BONFIGLIOLI ACTIVE

  • Page 1 ACTIVE CANopen Communication module CM-CAN Frequency Inverter 230 V / 400 V...
  • Page 3 The documentation and additional information can be requested via your local representation of the firm of BONFIGLIOLI. The following pictograms and signal words are used for the purposes of the present documentation: Danger! means a directly threatening danger.

  • Page 4: Table Of Contents

    Table of Content General safety and application information ..............4 General information....................4 Proper use........................ 4 Transport and storage ..................... 5 Handling and positioning..................5 Electrical connection....................5 Operation information ..................... 5 Maintenance and service ..................5 Introduction ........................6 Assembly of the CANopen communication module CM-CAN .........
  • Page 5 Table of Content Device control objects (6nnn) ................20 8.4.1 0x6060/0 modes of operation (integer 8)..............20 8.4.2 0x6061/0 modes of operation display (integer 8)............. 20 8.4.3 0x6040/0 control word (unsigned 16) ..............20 8.4.4 0x6041/0 status word (unsigned 16) ..............21 Velocity mode objects (0x6nnn)................

  • Page 6: General Safety And Application Information

    General information Warning! BONFIGLIOLI VECTRON frequency inverters have high voltage levels during operating, depending on their protection class, drive moving parts and have hot surfaces. In the event of inadmissible removal of the necessary covers, improper use, wrong installation or operation, there is the risk of serious damage to persons or property.

  • Page 7: Transport And Storage

    Transport and storage Transport and storage are to be done in an adequate way in the original packaging. Storage shall be in dry rooms protected against dust and moisture with slight temperature fluctuations. Please observe the climatic conditions according to EN 50178 and the marking on the packaging.

  • Page 8: Introduction

    Introduction This document describes the possibilities and the properties of the CANopen communication module CM-CAN for the frequency inverters of the ACT series. The frequency inverter must be extended by the CANopen communication module CM-CAN for the CAN connection. The CM-CAN CANopen module is enclosed with the frequency inverter as a separate component and must be fitted by the user.
  • Page 9 The implementation of CANopen is based on Version 4.01 of DS301. The differences to older implementations based on Version 2.0 are shown in the following table. Object Version 2.0 Version 4.01 Emergency object without Heartbeat object with data Boot-up message data byte (content = 0) Identifier 128 + NodeID...

  • Page 10: Assembly Of The Canopen Communication Module Cm-Can

    Assembly of the CANopen communication module CM-CAN The CANopen communication module CM-CAN is supplied in a housing for assembly in a card slot of the frequency inverter. The scope of delivery additionally includes a PE spring for a PE connection (shielding) of the communication module. Caution! Before assembly of the CM-CAN CANopen communication module, the frequency inverter must be switched free of voltage.

  • Page 11: Plug Occupancy/Bus Connection/Line

    Plug occupancy/bus connection/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 12: Baud Rate Setting/Line Lengths

    Baud rate setting/line lengths The transmission speed of the CANopen communication module CM-CAN can be set CAN Baud rate via the parameter 385. 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 signal running time of the CANopen protocols.

  • Page 13: Operational Behaviour If The Bus Connection Fails

    Operational behaviour if the bus connection fails The operational behaviour if the bus connection fails due to bus OFF, guarding or heartbeat error can be parameterised. The required behaviour is set with the CAN Error Behaviour parameter 388. Operation mode Function 0 -No reaction Operating point is maintained...

  • Page 14: Objects

    Objects The available objects are marked via Index/Subindex and are to be addressed via this identification. Communication Objects (0x1nnn) 8.1.1 0x1000/0 Device Type (unsigned 32) The device identification is done at the start of the network. The information on the device type and the functionality (type) are prescribed by the CANopen protocol in a mandatory way.

  • Page 15: 0X1008/0 Manufacturer Device Name (Visible String)

    8.1.3 0x1008/0 Manufacturer Device Name (visible string) The device name is stated as a number of ASCII characters (visible string). This object enables device identification within the network. "ACT 10" Example : 8.1.4 0x1009/0 Manufacturer Hardware Version (visible string) The device version is stated as a number of ASCII characters (visible string). The device version can be read via object 0x1009/0.

  • Page 16: 0X1016/N Consumer Heartbeat Time (Unsigned 32)

    8.1.9 0x1016/n Consumer Heartbeat Time (unsigned 32) Up to three heartbeat producers can be monitored with the object 0x1016/n (controlled via the subindices n = 1 ... 3). Setting of the object "Consumer Heartbeat Time" = 0 means no monitoring. Node ID identifies the subscriber to be monitored.

  • Page 17: Process Data / Service Data Objects

    Process data / service data objects 8.2.1 Process data objects (PDO) 8.2.1.1 First Receive PDO The first receive PDO is defined according to receive PDO No. 1 (DS402). Receive-PDO No. 1 Index Subindex Meaning Value 1400 Number of entries COB ID 512 + Node ID Transmission type Mapping Parameter...

  • Page 18: First Transmit Pdo

    8.2.1.3 First Transmit PDO The first Transmit PDO is defined according to Transmit PDO No. 1 (DS402). Transmit-PDO No. 1 Index Subindex Meaning Value 1800 Number of entries COB ID 384 + Node ID Transmission type Inhibit time Reserved Event time Mapping Parameter Index Subindex Meaning...

  • Page 19: Service Data Object Sdo

    In the default setting, TxPDO2 is transmitted when a change in the contents of the status word takes place or the value of control effort changes. An inhibit time of 50 ms is effective. Without a change in the value, the TxPDO2 is transmitted at an interval of 1000 ms (event time).

  • Page 20: Common Objects (0X6Nnn)

    Common objects (0x6nnn) 8.3.1 0x6007/0 abort connection option code (unsigned 8) The object abort connection option code specifies the operational behaviour of the frequency inverter if the bus connection fails. This is recognised via the CAN controller (bus OFF), guarding or heartbeat. Object 0x6007/0 Operation mode Function...

  • Page 21: 0X603F/0 Error Code (Integer 16)

    8.3.2 0x603F/0 error code (integer 16) In the object error code, the last error which has occurred is stored. According to DS402, a large number of possible error reports have been specified. The following list shows the interconnection between the error code displayed internally by the frequency inverter and displayed on control unit KP500 and the error secured in the object error code.

  • Page 22: Device Control Objects (6Nnn)

    Device control objects (6nnn) 8.4.1 0x6060/0 modes of operation (integer 8) With the object modes of operation, the operation mode of the frequency inverter is stipulated. The frequency inverter supports the velocity mode (0x6060 = 2) operation mode. Other settings are not possible and are ignored. 8.4.2 0x6061/0 modes of operation display (integer 8) Under the object modes of operation display, the mode of operation set under modes...

  • Page 23: 0X6041/0 Status Word (Unsigned 16)

    Control word The object status word is written onto the parameter product-internally. Object 0x6041/0 Meaning Ready to switch on Switched on Release operation Error Voltage blocked Quick stop Switch-on block Warning Remote Reference value reached Limit value active Warning2 06/05 06/05...

  • Page 24: Velocity Mode Objects (0X6Nnn)

    Velocity mode objects (0x6nnn) 8.5.1 0x604D/0 pole number (integer 8) The object pole number states the number of poles (not pole pairs) of the connected machine. This variable is needed in order to convert the reference value object target velocity from RPM into the corresponding internal reference frequency and also the internal actual frequency from a frequency into the actual value object control effort with the unit RPM.

  • Page 25: 0X6046/N Velocity Min Max Amount

    8.5.5 0x6046/n Velocity min max amount The object velocity min max amount comprises the subindex 01 = velocity min amount and subindex 02 = velocity max amount. Velocity min max amount Index Subindex Meaning Value 0x6046 Number of entries (unsigned 8) Velocity min amount (RPM) (unsigned 32) Velocity max amount (RPM)

  • Page 26: 0X6048/N Velocity Acceleration

    8.5.6 0x6048/n Velocity acceleration The alteration of the speed and run-up time are set with the object velocity acceleration. The object velocity acceleration defines the value delta speed via subindex 1 in the same notation (RPM) as the object target velocity and the value delta time in seconds via subindex 2.

  • Page 27: 0X6049/N Velocity Deceleration

    8.5.7 0x6049/n Velocity deceleration The change of speed and deceleration time are set with the object velocity deceleration. The object velocity deceleration defines the value delta speed in the same notation (RPM) as the object target velocity via subindex 1 and the value delta time in seconds via subindex 2.

  • Page 28: Manufacturer Object (0X2000/N)

    Manufacturer object (0x2000/n) The object 0x2000 is defined as a manufacturer object, via which the parameterization of the frequency inverter can be done. With the help of the object, an "internal“ communication channel, via which all the parameters and values are accessible, is implemented. In this way, creation of more than 600 objects, which would be necessary to map all the product-internal parameters under the CANopen communication protocol, is no longer necessary.

  • Page 29: Error Code List

    2. Reading from sub-index Subindex (Read) Byte Parameter number + Parameter figure Contents data set x 1000 Error code undefined After parameter number, data set and parameter value have been written per SDO Write, the corresponding sub-index is read back with SDO Read. In the reply in the reading of sub-index, the frequency inverter states whether the writing process was successful (ACK) or whether an error occurred (NAK).

  • Page 30: Handling Of The Data Sets / Cyclic Writing

    8.6.3 Handling of the data sets / cyclic writing Access to the parameter values is done on the basis of the parameter number and the required data set. Parameters, the values of which exist once (data set 0), and also parameters, the value of which exist four times (data set 1...4), exist.

  • Page 31: Subindex 02, Long Parameters

    8.6.5 Subindex 02, long parameters The parameters of the long data type have a length of 4 bytes. The long parameters always have a sign in front. Subindex 02 has a data length of 8 bytes. Subindex 02 Byte Contents high high Parameter number +...
  • Page 32 Writing parameters: Client Server SDO Download (expedited) Control byte Index Subindex Data 0xnn 0x22 uint/int long Server Client Download Response writing process free of errors Control byte Index Subindex Data 0xnn 0x60 Server Client Abort SDO Transfer writing process with error Control byte Index Subindex...
  • Page 33 Error code table: If an error occurs in reading or writing, the server SDO of the frequency inverter replies with the abort telegram. In it, the index/subindex and an error code are reported back. Server Client Abort SDO Transfer Control byte Index Subindex abort code low...
  • Page 34 Fixed frequency 1 Writing of the parameter 480 (type: long) in data set 1 with the parameter value 100.00 Hz. Index = 480 + 0x2000 = 0x2174, value = 10000 = 0x00002710 Client Server SDO Download (expedited) Control byte Index Subindex Data 0x74...
  • Page 35 Fixed Frequency 1 Reading of the parameter 480 (type: long) in data set 1 with the current parameter value 75.00 Hz. Index = 480 + 0x2000 = 0x2174, value = 7500 = 0x00001D4C Client Server SDO Upload (expedited) Control byte Index Subindex Data...

  • Page 36: Control / Reference Value

    414 Data set selection Data set selection With 414 = 0, the data set switch-over via contact inputs is active. Data set selection 414 has been set to 1, 2, 3, or 4, the data set selected in this way has been activated. The data set switch-over via the contact inputs is then deactivated.

  • Page 37: Control Via Contacts

    Active data set Via the parameter 249 the data set currently selected can be read out. Active data set 249 states the activated data set with the value 1, 2, 3 or 4. This is independent of whether the data set change-over has been done via control inputs or Data set selection 414.

  • Page 38: Control Via State Machine

    549 (see operating instructions). The bit Limit value active "Bit No. 11" displays that an internal limit is active. This can, for example, be the present current limit, the torque limit or the overvoltage limit. All the functions lead to the reference value being quit or not reached.
  • Page 39 State machine: Fault reaction activ Switched off (Initialising) Fault 0x08 0x80 Switch-on inhibit 0x00 0x40 0x06 0x00 0x06 Ready to switch-on 0x21 0x00 0x00 or internal 0x07 0x06 Ready 0x23 0x07 Operation enabled Quick-stop (Drive running) 0x02 0x07 0x27 Control word Control word Bit No.
  • Page 40 549 (see operating instructions). The bit Limit value active "Bit No. 11" displays that an internal limit is active. This can, for example, be the present current limit, the torque limit or the over-voltage limit. All the functions lead to the reference value being quit or not reached.

  • Page 41: Behavior In Quick Stop

    9.2.1 Behavior in quick stop Switch-off threshold Holding time In this, the parameters 637 (percent of fmax) and 638 (holding time after falling short of the switch-off threshold) are relevant. In a Emergency stop quick stop, the drive is shutdown via the emergency stop ramps ( clockwise Emergency stop anti-clockwise 424 or...
  • Page 42 State transition 5 Note: The default value for the parameter 392 is operation mode "2 – Ramp". For configurations with torque control, the default value is operation mode "0 - Coast to stop". In a switch-over of the State transition 5 configuration, the setting value for 392 is also altered if necessary.

  • Page 43: Control Via Remote Contacts

    Control via remote contacts Local/Remote In the operation mode 412 = "2 - Control via remote contacts" the frequency inverter is controlled via the control word, with the bits 0 to 5 corresponding to the contact inputs S1IND to S6IND. In addition, two virtual contact inputs S7IND and S8IND are available.
  • Page 44 549 (see operating instructions). The bit Limit value active "Bit No. 11" displays that an internal limit is active. This can, for example, be the present current limit, the torque limit or the overvoltage limit. All the functions lead to the reference value being quit or not reached.

  • Page 45: Reference Value / Actual Value

    Reference value / actual value The control gives its reference value to the frequency inverter via the object 0x6042/0 target velocity in the RxPDO used and receives the information about its actual value back via the object 0x6044/0 control effort in the TxPDO used. The use of the reference/actual value channel depends on the set configuration (control system).
  • Page 46 Ramp set-point 434 = 2 (only reference line value), this reference line Note: value is limited to fmin. Please consider that the sign in front of fmin at reference value = 0 is derived from the sign in front of the last reference line value ≠...

  • Page 47: 10 Parameter List

    Actual values of the frequency inverter Description Unit Display range Chapter 228 Internal reference frequency -1000.00 ... 1000.00 249 Active data set 1 ... 4 250 Digital inputs 0 ... 255 260 Current error 0 ... 0xFFFF 8.3.2 270 Warnings 0 ...

  • Page 48: 11 Annex

    11 Annex 11.1 Warning messages The various control functions and methods and the hardware of the frequency inverter contain functions that continuously monitor the application. In addition ones to the messages documented in the manual the following fault messages are activated by the CANopen communication module CM-CAN.
  • Page 50 Bonfiglioli has been designing and developing innovative and reliable power transmission and control solutions for industry, mobile machinery and renewable energy applications since 1956. www.bonfiglioli.com Bonfiglioli Riduttori S.p.A. VEC 227 R1 tel: +39 051 647 3111 fax: +39 051 647 3126 Via Giovanni XXIII, 7/A bonfiglioli@bonfiglioli.com...

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