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BONFIGLIOLI Vectron ACTIVE CUBE Manual

BONFIGLIOLI Vectron ACTIVE CUBE Manual

Profinet communication module cm-profinet frequency inverter 230 v / 400 v
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PROFINET
Communication module CM-PROFINET
Frequency inverter 230 V / 400 V

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Summary of Contents for BONFIGLIOLI Vectron ACTIVE CUBE

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

  • Page 3: Table Of Contents

    TABLE OF CONTENTS General Information about the Documentation ............6 This document ......................7 Warranty and liability ....................7 Obligation ........................ 8 Copyright ......................... 8 Storage ........................8 General safety instructions and information on use ............9 Terminology ......................9 Designated use ......................
  • Page 4 Disassembly ......................22 Description of module and commissioning ..............23 Connector assignment ................... 23 LED status indicators ..................... 23 Setting the station address ................... 23 Alarm messages ..................... 24 Operating behavior in the case of bus connection failure ........25 Setting the process data ....................
  • Page 5 11 Control of frequency inverter ..................63 11.1 Control via contacts/remote contacts ..............64 11.1.1 Device state machine....................66 11.2 Control via state machine ................... 67 11.2.1 State machine diagram .....................69 11.3 Configurations without Motion Control .............. 72 11.3.1 Behavior in the case of a quick stop ................72 11.3.2 Behavior in the case of transition 5 (disable operation) ..........73 11.3.3...

  • Page 6: 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. The present manual was created in the German language. The German manual is the original version. Other language versions are translations. Quick Start Guide The “Quick Start Guide”...

  • Page 7: 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 8: 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 This 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 9: General Safety Instructions And Information On Use

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

  • Page 10: Designated Use

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

  • Page 11: Residual Risks

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

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

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

  • Page 13: Personal Safety Equipment

    2.6.4 Personal safety equipment Symbol Meaning Wear body protection 2.6.5 Recycling Symbol Meaning Recycling, to avoid waste, collect all materials for reuse 2.6.6 Grounding symbol Symbol Meaning Ground connection 2.6.7 ESD symbol Symbol Meaning ESD: Electrostatic Discharge (can damage components and assemblies) 2.6.8 Information signs Symbol...

  • Page 14: 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 15: 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 offers compo- •...

  • Page 16: 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. Take appropriate measures to prevent re-connection 3. Check isolation 4. Earth and short-circuit 5. Cover or shield neighboring live parts. 2.10.6 Safe operation •...

  • Page 17: 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 18: Introduction

    Introduction The present document describes the possibilities and properties of the PROFINET communication module CM-PROFINET for the frequency inverters of the series of devices. Specification: PROFINET IO device, real-time class 1, conformance class A. For a PROFINET connection, the frequency inverter must be equipped with the CM- PROFINET communication module.

  • Page 19: 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 30 = x40 (in example 240). To...

  • Page 20: Initialization Time

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

  • Page 21: Assembly/Disassembly Of The Communication Module

    Assembly/disassembly of the communication module Assembly The CM-PROFINET communication module is delivered in a case for assembly. In ad- dition, a PE-spring is supplied for PE-connection (shield). CAUTION Danger of destruction of frequency inverter and/or communication mod- • Before installation of the communication module, the frequency inverter must be disconnected from power supply.

  • Page 22: Disassembly

    Disassembly • Disconnect the frequency inverter from power supply and protect it against be- ing energized unintentionally. Remove the covers (1) and (2) of the frequency inverter, see Chapter 5.1 • “Assembly”. Loosen the M2 screw (7) on the communication module •...

  • Page 23: Description Of Module And Commissioning

    Description of module and commissioning Connector assignment The CM-PROFINET module is connected to the PLC or switch using RJ45 connectors (LAN). LED status indicators The green RUN LED indicates the current status of the module. LED Status Module status Module is off. Module is on and running.

  • Page 24: Alarm Messages

    Start the TCP-IP configuration in VPlus and enter the device name as the “Host • name”. The IP settings must also be made again. Alarm messages In the case of a frequency inverter fault, CM-PROFINET sends an alarm message. This function can be deactivated via parameter Profibus/PROFINET Diagnostic/Alarm 1444.

  • Page 25: Operating Behavior In The Case Of Bus Connection Failure

    Operating behavior in the case of bus connection failure The operating behavior in the case of failure of the PROFINET systems can be param- 388. eterized. The required behavior can be set via parameter Bus Error behavior Function Bus Error behavior 0 - no response Operating point is maintained.

  • Page 26: Setting The Process Data

    GSD file. Once the GSD file is installed, the frequency inverter will appear on level: PROFINET IO\ Additional Field Devices \Drives\Bonfiglioli Vectron\ PROFINET IO Connection From this position, a frequency inverter BV Drive can be connected to the PROFINET system (drag &...
  • Page 27 The two possible objects PKW and PZD are available in the BV Drive menu. The required object can be assigned to the frequency inverter (drag & drop). The screen shot of the STEP7 hardware configurator shows a frequency inverter configured with 3 PZD objects connected to the PROFINET IO system. •...

  • Page 28: Available Objects

    Restrictions for user-defined configuration settings: • The PKW object is allowed only once at slot 1. At least one PZD object must be configured. • • The total number of bytes must be less than or equal to 24 bytes (12 words).

  • Page 29: Handling Of Objects

    Handling of objects Parameter access via communication channel PKW The communication channel (PKW range) has the following structure: Designa- PKW range tion PWE-high PWE-low Parameter ID Index Parameter value Parameter value Contents high word low word High High High High Byte Byte Byte...

  • Page 30: Order Id

    8.1.1 Order ID Structure of order ID AK (in output data set, Master  Slave) Order ID AK Data type Function no order int/uint , long read parameter value int/uint write int/uint parameter value long write long parameter value int/uint , long array read array parameter value int/uint array write int/uint array parameter value...

  • Page 31: Error Message

    8.1.3 Error message Encoding of error messages in response data set PWE-Low/Low-Byte in byte 7 (Slave  Master): Error no. (decimal) Meaning according to PROFIDRIVE non-permissible parameter number PNU Parameter value cannot be edited lower or upper parameter value limit exceeded faulty data set no data set switchable parameter wrong data type...

  • Page 32: Communication Procedure

    8.1.4 Communication procedure An order from the master will always be answered by a slave response. Each parameter request or response can only accept one order/response at a time. For this reason, a defined handshake procedure must be followed between the master and slave. In the initial situation, the order and response ID must be = 0.

  • Page 33: Parameters, Data Set Selection And Cyclic Writing

    8.1.5 Parameters, data set selection and cyclic writing For the parameters to be set, refer to the Operating Instructions according to the chosen configuration. The parameter list specifies if a parameter is switchable (Data set/INDEX = 1 through 4) or is available once only (Data set/INDEX = 0). The parameter list also provides information about the display format of a parame- ter and its type (int/uint/long).

  • Page 34: Communication Examples

    8.1.5.1 Communication examples Parameters Settings Description Type Write/ Format Min. Max. Factory read settings Switching fre- quency Fixed P[I]-D xxxx.xx -999.00 999.00 5.00 frequency 1 Example 1 Parameter 400 is a type int word (P-W), is not data set switchable and is to be read. Order from master: = 1 (order code = read parameter value) = 400 (= 0x190)
  • Page 35 Order from master: = 8 (order code = write long array parameter value) = 480 (= 0x1E0) PWEh = 0xFFFF PWEl = 0x8AD0 PKW range Designa- PWE-high PWE-low tion Contents Parameter Index Parameter value Parameter value high word low word High High High...

  • Page 36: Handling Of Index Parameters / Cyclic Writing

    8.1.6 Handling of index parameters / cyclic writing Index parameters are used for various ACU functions. Here, 16 or 32 indexes are used instead of the 4 data sets. For each function, the individual indexes are ad- dressed separately via an index access parameter. Via the indexing parameter, you can select if the data is to be written to EEPROM or RAM.

  • Page 37: Example: Writing Of Index Parameters

    1) When the indexing parameter = 0, all indexes will be written upon parameter access in EEPROM. 17 (for 16 indexes) or 33 (for 32 indexes) will write all indexes in RAM. The values are entered automatically in the EEPROM of the controller. However, only a limited number of write cycles is permissible for the EEPROM (approx.
  • Page 38 PKW range Designation PWE-high PWE-low Contents Parameter Index Parameter Parameter code value value high word low word High High High High Byte Byte Byte Byte Byte Byte Byte Byte 0x14 0xB0 0x00 0x00 0x00 0x22 Byte no. Second step: Set value of target position Order from master: = 3 (order code = write long parameter value) = 1202 (=0x4B2)

  • Page 39: Example: Reading Of Index Parameters

    8.1.6.2 Example: Reading of index parameters In order to read an index parameter, you will have to set the indexing parameter to the relevant index first, then you can read the parameter. Reading of Parameter 1202 (type long), in Index 1 with Target position/distance parameter value 123000.

  • Page 40: Parameter Access Through Reading/Writing Of Data Sets

    PKW range Designation PWE-high PWE-low Contents Parameter Index Parameter Parameter code value value high word low word High High High High Byte Byte Byte Byte Byte Byte Byte Byte 0x34 0xB2 0x00 0x00 0x00 0x00 Byte no. Response from slave: = 2 (order code = transmit long parameter value) = 1202 (=0x4B2) PWEh...
  • Page 41 Data set access messages for parameter access are special PROFINET messages which are sent only if a parameter is required. Unlike in the case of PKW objects, data access messages can access all parameter types, including string type parame- ters. The S7 PLC uses two special functions, SFC58 WR_REC and SFC59 RD_REC, for data set access.

  • Page 42: Process Data Channel

    Process data channel This chapter describes how to handle the PZD objects. For a description of the re- quired process data objects PZD1/2, refer to Chapters 11.1 “Control via con- tacts/remote contacts”, 11.2 “Control via state machine” and 11.3.3 “Reference val- ue/actual value”.
  • Page 43 Word data type “Torque” A device-internal standardization conversion is performed for the torque. The stand- ardization of a reference torque corresponds to that of a reference current (see “Word data type: Current”). If the machine is operated with a rated flux value, a reference torque corresponds to a reference current.

  • Page 44: Profinet Output Sources (Out-Pzd X)

    8.3.2 PROFINET output sources (OUT-PZD x) In the table below, the available output sources of the PZD-Out objects are listed. The content of the sources depends on the application. For the different data types, the relevant sources must be linked to the input parameters of the frequency invert- •...

  • Page 45: Profinet Input Parameters (In-Pzd X)

    8.3.3 PROFINET input parameters (IN-PZD x) In the table below, the available input parameters of the PZD In objects are listed. The content of the sources depends on the application. For the different data types, the relevant input parameters must be linked to the sources of the frequency inverter. Availability of input sources depends on the number of configured PZD objects.
  • Page 46 When an object is set to a certain source number, it must be ensured that the • relevant objects have the preset values at the same place. This method is the same as is the one used in the case of objects for Systembus transmission (transmit objects).

  • Page 47: Frequency Conversion Pdp-Word To Internal Representation

    Frequency conversion PDP-Word to internal representation If the frequency inverter is equipped with a PROFINET module CM-PROFINET or an Convert PDP/internal extension module with Systembus, the function will be availa- It converts frequency values with Profibus representation to frequency values with device-internal representation and vice versa, see Chapter 11.3.3 “Reference value/actual value”.

  • Page 48: Resetting Errors

    Resetting errors Depending on the settings and operating state of the device, errors can be reset in various ways: When using control via parameter 412 = Statemachine: • Local/Remote Set bit 7 of control word PZD1 = 0x8000. By pressing the stop button of the control panel. •...

  • Page 49: Operation Without Motion Control

    8 – Cyclic sync position mode (not for PROFINET as field bus) 9 – Cyclic sync velocity mode (not for PROFINET as field bus) • • Bonfiglioli Vectron specific mode -1 (or 0xFF) – Table Travel record mode • •...

  • Page 50: Object And Parameter Relationships

    10.1 Object and parameter relationships Depending on the selected mode of operation, various objects and parameters are used. The various objects and parameters must be set specifically for the different modes of operation. Use of “Deceleration” and “Quick Stop” depends on the modes of operation, control commands and behavior in the case of communication errors (see Bus Error Behav- 388).
  • Page 51 Mode Profile Positioning mode 1)2) Modes of Operation Target position 1293 S. target position Speed 1294 S. Pos.speed. Limitation Minimum frequency Maximum Frequency Acceleration 1295 S. Acceleration Deceleration 1296 S. Deceleration 1179 Emergency stop Emergency stop ramp Quick Stop 1) The mode of operation is set via 1292 S.
  • Page 52 Mode Table travel record Move away from limit Electronic gear - Slave mode switch Modes of 1)2) Operation Target posi- 1202 Target position tion 1203 1132 1285 Speed Speed Fast speed S.reference speed pv 1133 Creep speed [u/s] Limitation Minimum frequency Minimum frequency Minimum frequency Maximum Frequen-...
  • Page 53 Relationships between objects, parameters and conversions Velocity [vl]  Velocity mode [rpm] Velocity [pv]  Profile Velocity mode [u/s] The graphical overview shows the most important objects which are used. Other ob- jects are available in the different modes; for additional information, refer to the de- scriptions of the objects and modes.

  • Page 54: Functions Of The Motion Control Interface (Mci)

    The Motion Control Interface is a defined interface of the ACU devices for position con- trol. This interface is typically used in combination with a field bus such as PROFINET. The source “125-Abs. current value” uses the device-internal standardization, see Chapter 8.3.1 “Data types of OUT/IN objects”.

  • Page 55: Modes Of Operation

    10.2.2 Modes of operation Modes of operation , you can define the operation mode of the frequency inverter. The available options depend on the set frequency inverter configuration. Modes of operation must be assigned, via Parameter 1292, to S.Modes of Operation an OUT-PZD.
  • Page 56 The position controller evaluates the positioning operation (target/actual position) and tries to control the drive such that it comes as close as possible to the specifications. For this purpose, an additional frequency is calculated for compensation of position deviations. By setting the corresponding parameter, this frequency can be limited. The parameter settings of the position controller determine how quick and to what extent position deviations are to be compensated.

  • Page 57: Profile Position Mode

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

  • Page 58: Profile Velocity Mode Pv

    Acceleration: Parameters The acceleration [Hz/s] for velocity mode vl is set via parameters Acceleration 420 and (clockwise) Acceleration anticlockwise Deceleration: Parameters The deceleration [Hz/s] for velocity mode vl is set via parameters Deceleration 421 and (clockwise) Deceleration anticlockwise Parameters Ramp times - acceleration and deceleration: The ramp times for the acceleration and deceleration ramps [ms] are set, for velocity mode vl, via parameters 430,...

  • Page 59: Table Travel Record Mode

    Acceleration and Deceleration: Parameters The acceleration and deceleration during homing are set via parameter Accelera- 1134 tion Parameters Ramp times - acceleration and deceleration: The ramp times of the acceleration and deceleration ramps for homing are set via parameter 1135 Ramp Rise time Start position after homing: Parameters...

  • Page 60: Motion Control Mapping For Profinet

    10.4 Motion Control Mapping for PROFINET With the Motion Control Interface, the user can edit the sources which the Motion Con- ® trol Interface accesses. By default, the sources are set to CANopen . For PROFINET, they will have to be changed. The following table shows recommended settings for transmission direction PLCACU.

  • Page 61: Motion Control Override

    The following graph shows the parameters (P) and sources (S) which are used for de- fining the Motion Control Interface. 10.5 Motion Control Override The Motion Control Override feature can be used for specifying a travel profile via seri- al communication (VABus or Modbus). This enables testing of a travel profile in the VPlus user software for Windows when the controller has not yet been completely pro- grammed.
  • Page 62 Based on the recommended settings of the Motion Control Interface (parameters 1292…1297) as described in Chapter 10.4 “Motion Control Mapping for PROFINET” the override parameters and PZD objects are used as follows: 1454 PZD11 Modes of Operation Override Modes Of Operation 1455 PZD3/4 Target Position Override Target Position...

  • Page 63: Control Of Frequency Inverter

    11 Control of frequency inverter The master sends its control commands (control word) via the output object PZD1 to the frequency inverter and receives feedback about its status via a status word (sta- tus word). The frequency inverter can generally be controlled via three operation modes. The operation modes can be selected via the data set switchable parameter 412.

  • Page 64: Control Via Contacts/Remote Contacts

    11.1 Control via contacts/remote contacts In PZD1, the master sends its control words, via the output data set, to the frequency inverter and receives information about the frequency inverter (status words) via the input data set. In operation mode “Control via contacts” or “Control via remote contacts” (Parameter 412 = 0 or 2), the frequency inverter is controlled directly via digital Local/Remote inputs S1IND (STOA and STOB), S2IND through EM-S3IND or via the individual bits of...
  • Page 65 “Speed vl” ( = “velocity mode”). ACTIVE CUBE frequency inverters support an external 24 V power supply for the fre- quency inverter control electronics. Even when mains voltage is disconnected, com- munication between the controller (PLC) and the frequency inverter is still possible.

  • Page 66: Device State Machine

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

  • Page 67: Control Via State Machine

    11.2 Control via state machine In the operation mode “Control via state machine ( 412 = 1), the fre- Local/Remote quency inverter is controlled via the control word of the state machine. Transition 4 to status “Operation enabled” is only possible: 30 = x40), the −...
  • Page 68 Control configurations (Parameter 30 = x40). Configuration ACTIVE CUBE frequency inverters support an external 24 V power supply for the in- verter control electronics. Even when mains voltage is disconnected, communication between the controller (PLC) and the frequency inverter is still possible.

  • Page 69: State Machine Diagram

    11.2.1 State machine diagram State machine: 10/13 CM-PROFINET...
  • Page 70 Control word: The device control commands are triggered by the following bit patterns in the Con- trol word. Control word Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Fault reset Enable Quick Enable Start Transitions operation stop voltage (Low Command active)
  • Page 71 Status word: The status word indicates the current operating state. Status word Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Switch on Quick Fault Operation Switche Ready to disabled stop enabled d on switch on (Low State active) Switch on disabled...

  • Page 72: Configurations Without Motion Control

    11.3 Configurations without Motion Control Modes of opera- In configurations without Motion Control ( 30 ≠ x40) Configuration tion velocity mode Modes of operation is set permanently to “2 - ” (velocity mode vl). display velocity mode will also be “2 - ”...

  • Page 73: Behavior In The Case Of Transition 5 (Disable Operation)

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

  • Page 74: Reference Value/Actual Value

    11.3.3 Reference value/actual value In PZD2, the master sends its reference value to the frequency inverter in its output data set and receives information about the actual value in its input data set. The use of the reference/actual value channel depends on the set configuration (con- trol method).
  • Page 75 ramp set point operation mode 434 refer to note internal set point frequency fmin ramp line fmax set point The internal reference value from the reference frequency channel and the reference line value can be fed to the ramp individually or as an added variable. The operation mode of the ramp function is set via the data set switchable parameter Ramp set- 434.

  • Page 76: Sequence Example

    11.3.4 Sequence example 30 ≠ x40), the PLC must In configurations without Motion Control ( Configuration send the correct sequence: Control word = 0x0000 Disable voltage Control word = 0x0006 Shut down Control word = 0x0007 Switch On Control word = 0x000F Enable operation Control word =...

  • Page 77: Motion Control Configurations

    If the mode of operation ‘modes of operation’ is changed during operation (control word = 0xnnnF), a dangerous state may occur in the new mode. • BONFIGLIOLI VECTRON recommends checking the status word before changing the mode of operation (e.g. for status 0xnn33). Motion Control Definition For the full function of the Motion Control Interface, you will have to set 412 = “1-Control via state machine”.

  • Page 78: Velocity Mode [Rpm]

    11.4.1 Velocity mode [rpm] Velocity mode modes of operation = 2. [rpm] can be selected via In velocity mode, the operation mode specific of the control word control the ramp generator (RFG – Ramp Function Generator). The block diagram illustrates the func- tion.
  • Page 79 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (low active) Switch on disabled Warning Remote Target reached (not used) Internal limit value active Warning2 Block diagram Bit 5 / rfg unlock Run_RFG...
  • Page 80 Bit 4/rfg enable Rfg enable = 0 the reference speed comes from a manufacturer-specific special func- tion. Rfg enable = 1 The reference speed corresponds to the ramp output. The special function is evaluated only if 1299 ≠ “9- S. Special Function Generator Zero”.

  • Page 81: Sequence Example

    11.4.1.1 Sequence example In order to start “velocity mode”, the correct sequence must be sent by the PLC. Preparation: 420 to the required value Acceleration (clockwise) (factory setting: 5 Hz/s) 421 to the required value Deceleration (clockwise) (factory setting: -0.01 Hz/s) →...
  • Page 82 = 0xnnnF), a dangerous state may occur in the new mode. • BONFIGLIOLI VECTRON recommends checking the status word before changing the mode of operation (e.g. for status 0xnn33). Once the sequence of the first four status words has been processed correctly, the ACU is ready for operation (dark table area).

  • Page 83: Profile Velocity Mode [U/S]

    11.4.2 Profile Velocity mode [u/s] Modes of operation The profile velocity mode is selected via object In profile velocity mode the inverter receives a reference speed in [u/s]. OUT-PZD1 Control word IN-PZD1 Status word OUT-PZD11 Modes of operation IN-PZD11 Modes of operation display OUT-PZD5/6 Profile velocity P.
  • Page 84 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (low active) Switch on disabled Warning Remote Target reached Internal limit active Velocity Max Slippage Warning 2 The Profile Velocity Mode is used to set the reference speed in user units [u/s].
  • Page 85 Via parameter 1276 and 1277 Bit 10 “Tar- Velocity Window Velocity Window Time get reached” of the status word is set. Via parameter 1278 and 1279 Bit 12 Threshold Window Threshold Window Time “Velocity” of the status word is set. Via parameter 1275 a slip monitoring via Bit 13 “Max Slippage”...

  • Page 86: Example Sequence

    If the mode of operation ‘modes of operation’ is changed during operation (control word = 0xnnnF), a dangerous state may occur in the new mode. BONFIGLIOLI VECTRON recommends checking the status word before changing • the mode of operation (e.g. for status 0xnn33).

  • Page 87: Profile Position Mode

    11.4.3 Profile position mode Profile position mode modes of operation = 1. can be selected via In profile position mode, the frequency inverter receives a target position, followed by the command to travel to this target. Relevant objects: OUT-PZD1 Control word IN-PZD1 Status word OUT-PZD11...
  • Page 88 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-PROFINET 10/13...
  • Page 89 Control word Change on Change set- New set- Description set-point point imme- point Bit 9 diately Bit 5 Bit 4 0  1 Positioning operation to be complet- ed (target reached) before the next one is started. 0  1 Next positioning operation to be started immediately.
  • Page 90 Example: single set-point change on set-point control bit change set immediately control bit Once a reference value has been transmitted to the drive, the controller signals a permissible value in the control word by a rising signal edge for the bit “New reference value”.
  • Page 91 Example: single set-point change on set-point control bit change set immediately control bit A new reference value is confirmed by the control bit “New reference value” (rising edge) while a reference value is being processed. The new reference value is pro- cessed immediately.
  • Page 92 Example: set of set-points change on set-point = 0/1 control bit change set immediately control bit The travel profile is changed during an active positioning operation. Change on set point = 0 The current target position is approached with a Stop. Once the position has been reached, the new reference value is set.

  • Page 93: Sequence Example

    11.4.3.1 Sequence example In order to start “Profile position mode”, the correct sequence must be sent by the PLC. r) *) PZD1 PZD11 PZD3/4 Control word Modes of Op. Target position Remark Status word M. Of. Op. Displ. 0x0000 Disable voltage 0x0050 Activation disabled 0x0000...
  • Page 94 = 0xnnnF), a dangerous state may occur in the new mode. • BONFIGLIOLI VECTRON recommends checking the status word before changing the mode of operation (e.g. for status 0xnn33). Once the sequence of the first four status words has been processed correctly, the ACU is ready for operation (dark table area).

  • Page 95: Homing Mode

    11.4.4 Homing mode Homing mode modes of operation = 6. can be selected via In homing mode, the frequency inverter moves the drive to a reference position. The 1130. method used for this movement is defined by parameter Homing mode Relevant objects: OUT-PZD1 Control word...
  • Page 96 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 Identification...
  • Page 97 Status word Identification Value Description Target reached Stop = 0: Home position (still) not reached. Bit 10 Stop = 1: Axle decelerated. Stop = 0: Home position reached. Stop = 1: Axle has speed 0. Homing attained Homing not completed yet. Bit 12 Homing completed successfully.

  • Page 98: Sequence Example

    If the mode of operation ‘modes of operation’ is changed during operation (control word = 0xnnnF), a dangerous state may occur in the new mode. BONFIGLIOLI VECTRON recommends checking the status word before chang- • ing the mode of operation (e.g. for status 0xnn33).

  • Page 99: Table Travel Record Mode

    11.4.5 Table travel record mode Table travel record mode modes of operation = 0xFF = -1. can be selected via Table travel record mode used pre-defined positions. Each target position is defined by a motion block. Several motion blocks can be defined. For a description of motion blocks, refer to the “Positioning”...
  • Page 100 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (Low Active) Switch on disabled Warning Motion block in progress Remote Target reached Internal limit active In gear Following error Warning 2...
  • Page 101 Control word Identification Value Description Sequence mode Single motion Bit 4 Automatic sequence Resume Start motion block = motion block switching Bit 6 Start motion block = last active motion block Halt Execute command from bit 4 “Sequence mode” Bit 8 Stop axis with ramp of current motion block The fre- quency inverter remains in “Operation –...
  • Page 102 In both cases, the selection of the required motion block (motion block number of single motion or start motion block number of automatic sequence) is calculated by Start motion block” the motion block switching feature with the rising edge of “ “Motion block is being processed”...
  • Page 103 Examples: “ single motion block ” sequence mode (control bit 4) = 0 2 motion blocks 7 + 10 start motion block (control bit 9) Drive motion block in progress (status bit 8) target reached (status bit 10) position active motion block 10/13 CM-PROFINET...
  • Page 104 “ motion block sequence ” sequence mode (control bit 4) = 1 sequence = motion block 4, 5, 6 start motion block (control bit 9) Drive motion block in progress (status bit 8) target reached (status bit 10) position active motion block CM-PROFINET 10/13...
  • Page 105 Interrupted motion blocks sequence Automatic sequence (control bit 4) = 1, Sequence = Motion block 4, 5, 6 Motion block 5 interrupted start motion block (control bit 9) resume (controlbit 6) Drive motion block in progress (status bit 8) target reached (status bit 10) position active...

  • Page 106: Sequence Example

    If the mode of operation, ‘modes of operation,’ is changed during operation (control word = 0xnnnF), a dangerous state may occur in the new mode. BONFIGLIOLI VECTRON recommends checking the status word before chang- • ing the mode of operation (e.g. for status 0xnn33).
  • Page 107 Once the sequence of the first four status words has been processed correctly, the ACU is ready for operation (dark table area). In state “operation enabled” (0xnnnF), the state of the Motion Control can be changed (white table area). Bit 9 “Start motion block” must be active during positioning. If bit 9 is reset to “0”, the positioning operation is interrupted.

  • Page 108: Control Word

    11.4.6 Move away from limit switch mode Move away from limit switch mode modes of opera- can be selected via tion = 0xFE = -2. Move away from limit switch mode , the drive moves back from a triggered limit switch to the permissible travel range.

  • Page 109: Bit

    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 “Move away from limit switch mode” will always work with hardware limit switches. In the case of software limit switches, the mode will only work if a software limit 1144 with error stop was selected.

  • Page 110: Halt Bit

    Control word Identification Value Description Move away from Do not start or stop movement. limit switch mode Start (or resume) movement from limit switch to travel Bit 4 range. Halt Execute command from bit 4 “Move away from limit Bit 8 switch”.

  • Page 111: Sequence Example

    If the mode of operation, modes of operation, is changed during operation (control word = 0xnnnF), a dangerous state may occur in the new mode. BONFIGLIOLI VECTRON recommends checking the status word before chang- • ing the mode of operation (e.g. for status 0xnn33).

  • Page 112: Electronic Gear: Slave

    11.4.7 Electronic gear: Slave Electronic gear: Slave mode selected modes of operation = 0xFD = -3. Electronic gear slave mode the drive follows a master drive as a slave drive. Relevant objects: OUT-PZD1 Control word IN-PZD1 Status word IN-PZD5 Actual position OUT-PZD11 Modes of operation IN-PZD11...
  • Page 113 Status word 15 14 13 12 11 10 9 0 Bit Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop (low active) Switch on disabled Warning Phasing Done M/S Correction Done Remote Target reached / In gear Internal limit active M/S Position Correction successful...

  • Page 114: Target Position Reached

    Control word Identification Value Description Start electronic Stop drive with ramp 1296 S.Deceleration gear Start electronic gear with master speed reference value Bit 4 with ramp 1295 S.Acceleration Start M/S Correction not started. M/S Correction Start Master/Slave Position correction. Bit 5 See chapter 11.4.7.1 “Master/Slave Position Correction”.
  • Page 115 Basic functions Mode “-3 Electronic gear: Slave” implements a mode for a slave drive in the electronic gear to a master drive. The master of the electronic gear must be connected to the slave via signal cables or System Bus (recommended). The master input is selected in the Slave via parameter 1122.
  • Page 116 Synchronization between several drives must be performed at high updating rates in order to guarantee optimum results. In the transmitter of the TxPDO object, set a 931). If you use the SYNC function of low value for the time (e.g. TxPDO1 Time 919 to a lower value.
  • Page 117 Function without direct synchronization (“Standard Synchronization“) The drive accelerates the master speed with the ramps parameterized in the motion block. As soon as the master speed is reached for the first time, the drive is synchro- nized with the master drive. The slave is engaged at the current position and operates at a synchronous angle to the master.
  • Page 118 Function with direct synchronization The drive accelerates the master speed with the ramps parameterized in the motion block. When the motion block is started, the drive is synchronized with the master drive directly. The master position is processed directly by the position controller. The acceleration and deceleration for synchronizations follow an S-curve.

  • Page 119: Master/Slave Position Correction

    11.4.7.1 Master/Slave Position Correction NOTE When using this functionality master drive and slave drive have to use the same mechanical characteristics (i.e. gear transmission ratios) and use the same reference system. The Master/Slave Position Correction offers as part of the Electronic Gear the possibil- ity to synchronize the absolute Position of the Slave to the absolute Position of the master.
  • Page 120 Starting of Master/Slave Position Correction in Slave drive To start the Master/Slave Position correction at first Bit 4 and then Bit 5 have to be set in the Control word. Bit 5 is only allowed to be set when Bit 10 In Gear is shown in the Status word.

  • Page 121: Sequence Example

    11.4.7.2 Sequence example In order to start “Electronic Gear: Slave mode”, the correct sequence must be sent by the PLC. PZD1 PZD11 Control word Modes of operation Remark Status word Mod. Of. Op. Displ. 0x0000 Disable voltage 0x0050 any Switch On Disabled 0xFFFD (=-3) (Electronic Gear: Slave mode) 0xFFFD (=-3)
  • Page 122 If the mode of operation, modes of operation, is changed during operation (control word = 0xnnnF), a dangerous state may occur in the new mode. BONFIGLIOLI VECTRON recommends checking the status word before chang- • ing the mode of operation (e.g. for status 0xnn33).

  • Page 123: Motion Control Configurations

    11.4.8 Motion Control configurations For certain functions (e.g. “Technology Controller” or “Torque Reference value”) the reference percentage channel is required. Reference percentages are transmitted by PROFINET via OUT-PZD3. The following sources can be set for parameter 476, for example: Reference percentage source Absolute value Profibus OUT- PROFINET OUT-PZD3 is the reference value 96 -...

  • Page 124: Parameter List

    12 Parameter List The parameter list is structured according to the menu branches of the control unit. For better overview, the parameters are marked with pictograms: The parameter is available in the four data sets. The parameter value is set by the SETUP routine. This parameter cannot be written when the frequency inverter is in operation.

  • Page 125: Parameters

    12.2 Parameters PROFINET Description Unit Setting range Chapter Rated motor values 371 Rated current 8.3.3 373 No. of pole pairs 1 ... 24 10.2.1 375 Rated frequency 10.00 … 1000.00 11.3.3 PROFIBUS/PROFINET 388 Bus Error Behaviour 0 … 5 390 Profibus/PROFINET reference 0.00 …...
  • Page 126 Motion Control Interface: Profile position mode Description Unit Setting range Chapter 1175 Acceleration 1 … 2147483647 1176 Ramp time Accel. 0 … 2000 1177 Deceleration 1 … 2147483647 10.2.6, 10.4 1178 Ramp time Decel. 0 … 2000 1179 Emergency stop ramp 1 …...

  • Page 127: Appendix

    13 Appendix 13.1 Control Word overview The tables on this page provide an overview of the functions of the control word bits. Standard (No P ositioning M CI : M CI : P rofile Ve- M CI : P rofile P ositioning) w ithout M CI Velocity M ode...

  • Page 128: Status Word Overview

    13.2 Status Word overview The tables on this page list in an overview the functionality of the Status Word bits. Standard (No P ositioning 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 129: Warning Messages

    13.3 Warning messages The different control methods and the hardware of the frequency inverter include functions for continuous monitoring of the application. In addition to the messages documented in the frequency inverter Operating Instructions, further warning mes- sages are activated by the PROFINET communication module CM-PROFINET. The bit- 270 according to the fol- coded warning reports are issued via parameter Warnings...

  • Page 130: Application Warning Messages

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

  • Page 131: Error Messages

    13.5 Error messages The error code stored following a fault comprises the error group FXX (high-byte, hexadecimal) and the code YY (low-byte, hexadecimal). Communication error Meaning Motion Control Deviation Position Controller Control Pos. SW Limit Switch Interface Neg. SW Limit Switch Pos.

  • Page 132: Homing Modes

    13.6 Homing modes 1130 the following settings are available: For parameter Homing Mode Hom ing M ode 1130 Function Factory setting. No homing; the current position value is not changed. The current position value is 0 - No Homing Done the value saved upon last disconnection of power supply.
  • Page 133 Hom ing M ode 1130 Function Pos. Limit Sw., to the left of left Moving to home switch. Homing direction positive 23 - home switch edge (clockwise). Reversal of direction of rotation when positive HW limit switch is reached. Pos. Limit Sw., to the right of left 24 - Ref.

  • Page 134: Conversions

    13.7 Conversions The speeds/frequencies can be converted to other speed formats using the formulas in this chapter: Frequency [Hz] into speed [1/min] See Chapter 13.7.2 Speed into user units per second See Chapter 13.7.4 [u/s] Speed [1/min] in Frequency [Hz] See Chapter 13.7.1 Speed into user units per second See Chapter 13.7.6...

  • Page 135: Index

    Index Master/Slave Position Correction ....119 Acceleration ..........57 Mode of operation Acknowledging error messages ....48 Table travel record mode ....59, 99 Actual position value ........55 Modes of operation display ......55 Application warning messages ....130 Motion block ..........
  • Page 136 Velocity mode ..........78 Warning messages ........129 Warranty and liability ........7 CM-PROFINET 10/13...
  • Page 137 Bonfiglioli worldwide network. Bonfiglioli Australia Bonfiglioli New Zealand 2, Cox Place Glendenning NSW 2761 88 Hastie Avenue, Mangere Bridge, Auckland Locked Bag 1000 Plumpton NSW 2761 2022, New Zealand - PO Box 11795, Ellerslie Tel. (+ 61) 2 8811 8000 - Fax (+ 61) 2 9675 6605 Tel.
  • Page 138 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 1027 R0 fax: +39 051 647 3126 Via Giovanni XXIII, 7/A bonfiglioli@bonfiglioli.com 40012 Lippo di Calderara di Reno...

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