Page 1 ACTIVE CUBE EtherCAT Communication module CM-EtherCAT 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 Disassembly ......................24 Connector assignment ....................25 RUN-LED ........................26 Cable lengths ........................ 26 Setting the node address ..................... 26 10 Operational behaviour on bus failure ................26 ® 11 EtherCAT overview ..................... 27 11.1 Communication Objects ..................27 11.2 Application Objects ....................
Page 5 12.4.6 0x3006/0 Percentage set value ................. 54 12.4.7 0x3007/0 Percentage Actual Value Source 1 .............. 55 12.4.8 0x3008/0 Percentage Actual Value Source 2 .............. 55 12.4.9 0x3011/0 Actual Value Word 1 .................. 56 12.4.10 0x3012/0 Actual Value Word 2 ................56 12.4.11 0x3021/0 Actual Value Long 1 ................
Page 6 12.5.39 0x609A/0 Homing acceleration................102 12.5.40 0x60C1/1 Interpolation data record ..............103 12.5.41 0x60F4/0 Following error actual value ..............105 12.5.42 0x60F8/0 Max Slippage [u/s] ................106 12.5.43 0x60FF/0 Target Velocity [u/s] ................106 13 Motion Control Interface (MCI) ................. 107 13.1 Parameter dependencies in Motion Control .............
Page 7 15.2 Parameter ......................187 16 Annex ......................... 188 16.1 Control Word/Status word Overview ............... 189 16.1.1 Control Word overview (without Sync Modes) ............189 16.1.2 Status Word overview (without Sync modes) ............190 16.1.3 Control Word overview for Sync Modes ..............191 16.1.4 Status Word overview for Sync modes ..............
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: 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 14: Recycling
2.6.5 Recycling Symbol Meaning Recycling, to avoid waste, collect all materials for reuse 2.6.6 Grounding symbol Symbol Meaning Ground connection 2.6.7 ESD symbol Symbol Meaning ESD: Electrostatic Discharge (can damage components and assemblies) 2.6.8 Information signs Symbol Meaning Tips and information making using the frequency inverter easier.
Page 15: 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 16: Use In Combination With Third-Party Products
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- •...
Page 17: 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 18: 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 19: Introduction
Introduction ® The present document describes the possibilities and properties of EtherCAT com- munication for the frequency inverters of the ACU series of devices. ® EtherCAT communication (as described in this manual) requires software version 5.3.0 or higher. “Cyclic Synchronous Positioning” mode and “Cyclic Synchronous Positioning” mode is Supported with software version 5.4.0 or higher.
Page 20 In this document, the hardware circuitry, relevant parameters and the available ob- jects are described. The available objects are divided by: Communication objects (0x1nnn) Manufacturer objects (0x2nnn) Standardized objects (0x6nnn) The functions and objects are described in this manual to the extent necessary. For more information, refer to the standards of EtherCAT Technology Group (ETG).
Page 21: 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 22: 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 23: 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 destroying the frequency inverter and/or the communication module • The frequency inverter must be disconnected from the power supply before installation of the communication module.
Page 24: 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 •...
Page 25: Connector Assignment
Connector assignment ® The EtherCAT module is connected to the PLC and/or other devices using standard Ethernet cables with RJ45 connectors. Ethernet standard: IEEE 802.3, 100Base-TX (fast Ethernet) Cable type: S/FTP (cable with braided shield, (ISO/IEC 11801 or EN 50173, Straight Through or Cross Over) Connections from the POC are connected to “IN”.
Page 26: Run-Led
RUN-LED ® The green RUN LED indicates the current status of the CM-EtherCAT LED Status Module status INITIALISATION Blinking PRE-OPERATIONAL Single Flash SAFE-OPERATIONAL OPERATIONAL Cable lengths The cable length is restricted by the Ethernet specifications, cables must not exceed a length of 100 m.
Page 27: Ethercat ® Overview
® 11 EtherCAT overview ® EtherCAT is used in a wide range of occasions, preferably as a communication sys- ® ® tem for positioning applications. EtherCAT supports the CANopen -based standard DS402 “drives and motion control” (drives and positioning controls). This standard describes and defines the required objects and functions for positioning controllers.
Page 28: Function Sdo
11.3 Function SDO The SDO (Service Data Objects) messages are used for reading and writing the objects located in the object dictionary. 11.3.1 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.
Page 29: Pdo Function
11.4 PDO Function The PDO (Process Data Objects) messages are messages with up to eight bytes of process data. The process data objects are mapped to the Rx/Tx-PDO’s with the help of communication objects (communication/mapping parameter). Active Cube inverters support 3 RxPDO’s (PLC  inverter) and 3 TxPDO’s (inverter  PLC). Process data objects are directly linked to application functions of the inverter.
Page 30: Nmt Functions
11.7 NMT Functions The NMT (Network management) function describes the NMT state machine and NMT error control functions. 1443. The NMT-State is displayed via the actual value parameter NMTNode-State 11.7.1 NMT Statemachine ® On start up each EtherCAT slave passes through the NMT state machine. Possible NMT state changes: NMT-State Description...
Page 31: Os Synchronization
11.8 OS Synchronization The operating System (OS) of the frequency inverter can be synchronized to the PLC or other devices. The synchronization of the OS enhances the performance of the complete plant. Synchronization is used to eliminate phase deviations of the CPUs between master and slave devices, so that calculations are done at the same time.
Page 32: Fault Reset
For the VPlus Scope Function the following sources are available for diagnosis: Operation mode Function B: Sync. OS <-> Sysbus Ok 1 = Synchronization OS to Systembus OK, 731 - 0 = Synchronization OS to Systembus not OK SysBus SYNC time [us] Shows the Synchronization cycle.
Page 33: 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. ® ® ® EtherCAT offers the possibility to use CANopen -Objects via CoE (CANopen over ® EtherCAT ).
Page 34 Index SubIndex Name SDO Access Data type PDO-mapping 0x1011 Restore default parameters Highest Sub-index supported Read Only Unsigned8 Restore all default parameters Read/Write Unsigned32 Restore communication default Read/Write Unsigned32 parameters Restore application default Read/Write Unsigned32 parameters 0x1018 Identity object Highest Sub-index supported Read Only Unsigned8 Vendor ID...
Page 35: Manufacturer Objects
Index SubIndex Name SDO Access Data type PDO-mapping 0x1A01 TxPDO2 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.
Page 36 Index Sub- Designation SDO Ac- Data type PDO- Factory Min…Max Belonging. index cess map- setting Param. ping 0x7FFF.FFFF Acceleration Read/write Unsigned32 0x0005.0000 1… p.1127 DS1 0x7FFF.FFFF 0x5F12 Phasing 2 Highest sub-index Read only Unsigned8 supported Offset Read/write Integer32 0x0001.0000 0x8000.0000 p.1125 DS2 …...
Page 37: 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 38 Index Sub- Designation SDO Ac- Data type PDO- Factory Min…Max Belong- index cess map- setting ing. ping Param. 0x8000.0000 0x607C Home offset Read/write Integer32 … p.1131 0x7FFF.FFFF 1… 0x6081 Profile velocity p) i) u) Read/write Unsigned32 0x0005.0000 0x7FFF.FFFF Profile acceleration 1…...
Page 39 ® The notations of CANopen objects and parameters can be different (refer to the corresponding object description). NOTE ® Some of the above listed CANopen objects have corresponding inverter parame- ters. ® These objects are handled in a special way. If one of these CANopen objects has been written by SDO followed by a “save”...
Page 40 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 41: 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 colour. Orange colour = Read Only object Green colour = Read and Write object Blue colour...
Page 42: 0X1001/0 Error Register
12.2.2 0x1001/0 Error Register Index Sub-index Meaning Data type Access Def.-Val 0x1001 Error Register Unsigned 8 Object 0x1001/0 is the error register for internal errors of the frequency inverter. The status error-free (0x1001/0 = 0) or error exists (0x1001/0 ≠ 0) is displayed. Detailed information about the current device fault can be checked VPlus with pa- ®...
Page 43: 0X1008/0 Manufacturer Device Name
12.2.3 0x1008/0 Manufacturer Device Name Index Sub-index Meaning Data type Access Map Def.-Val 0x1008 Manufacturer Device name Visible string See Text The device name is displayed as a sequence of ASCII characters. Example: “ACTIVE CUBE” 12.2.4 0x1009/0 Manufacturer Hardware Version Index Sub-index Meaning Data type...
Page 44: 0X1011/N Restore Default Parameters
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 ®...
Page 45: 0X1600/N, 0X1601/N, 0X1602/N, Rxpdo Mapping Parameter
12.2.9 0x1600/n, 0x1601/n, 0x1602/n, RxPDO Mapping Parameter 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 46: 0X1A00/N, 0X1A01/N, 0X1A02/N, Txpdo Mapping Parameter
12.2.10 0x1A00/n, 0x1A01/n, 0x1A02/n, TxPDO Mapping Parameter 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 47: 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 48: 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 49: Example Writing An Index Parameter
1) If the index access parameter is set = 0, all indexes are accessed to write into EEPROM. Selection 17 and 33 respectively, write all indexes into RAM. 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).
Page 50: 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 0x3001/0 Digital In actual value Index Sub-index Meaning Data type Access Map Def.-Val 0x3001 Digital In actual value Unsigned16 Digital In actual value Object 0x3001 displays the current state of the digital inputs...
Page 51: 0X3003/0 Digital Out Set Values
12.4.3 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 52: 0X3004/0 Boolean Mux
12.4.4 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 53: 0X3005/0 Boolean Demux
12.4.5 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 54: 0X3006/0 Percentage Set Value
12.4.6 0x3006/0 Percentage set value Index Sub-index Meaning Data type Access 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 55: 0X3007/0 Percentage Actual Value Source 1
12.4.7 0x3007/0 Percentage Actual Value Source 1 Index Sub-index Meaning Data type Access Map Def.-Val 0x3007 Percentage Actual Value Source 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 56: 0X3011/0 Actual Value Word 1
12.4.9 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 57: 0X3021/0 Actual Value Long 1
12.4.11 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 58: 0X3111/0 Ref. Value Word 1
12.4.13 0x3111/0 Ref. Value Word 1 Index Sub-index Meaning Data type Access 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 59: 0X3121/0 Ref. Value Long 1
12.4.15 0x3121/0 Ref. Value Long 1 Index Sub-index Meaning Data type Access 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 60: 0X5F10/N Gear Factor
12.4.17 0x5F10/n 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 61: 0X5F11/N
12.4.18 0x5F11/n…0x5F14/n Phasing 1…4 Index Sub-index Meaning Data type Access Def.-Val 0x5F11 Highest sub-index supported Unsigned8 Offset Integer32 0x1 0000 Speed Unsigned32 0x5 0000 Acceleration Unsigned32 0x5 0000 Object works in: Object doesn’t work in: Motion Control: Motion Control: • •...
Page 62 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 Ob- jects.
Page 63: 0X5F15/0 In Gear Threshold
12.4.19 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 64: 0X5F16/0 In Gear Time
12.4.20 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 65: 0X5F17/N Position Controller
Maximum speed* Limitation missioning. Chapter 16.5 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 66 Example: Position deviates by 1 motor shaft revolution, time constant is set to 1 ms. The posi- tion controller will increase the motor frequency by 1000 Hz in order to compensate 1118 must be set accordingly. the position deviation. Parameter Limitation Controller block diagram In order to avoid oscillations of the drive while it is at standstill, amplification is re-...
Page 67: 0X5F18/0 M/S Synchronization Offset
12.4.22 0x5F18/0 M/S Synchronization Offset Index Sub- Meaning Data type Access Map Def.-Val index 0x5F18 M/S Synchronization Offset Integer32 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...
Page 68: 0X5Ff0/0 Active Motion Block
12.4.23 0x5FF0/0 Active motion block Index Sub-index Meaning Data type Access Def.-Val 0x5FF0 Active motion block 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 Interpolated mode Cyclic Sync Position mode...
Page 69: 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 behaviour of the fre- quency 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 70 Object Min. Max. 0x6007/0 Abort Connection option code (=0xFFFE) 388 0x6007 Bus Error behaviour 388 or writing object 0x6007 has the same effect. Writing Bus Error behaviour If object 0x6007 was written and then a save parameters command (object 0x1010) processed, the value of 0x6007 is stored in non-volatile memory.
Page 71: 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 72: 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 whenev- 412 is set to 1 (remote state machine). er parameter Local/Remote Control word (Control word) 15 14 13 12 11 10 9 0 Bit...
Page 73: 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 74: 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 Velocity mode Non motion Control (conf. ≠ x40) Profile Positioning mode •...
Page 75: 0X6043/0 Target Velocity Demand [Rpm]
12.5.6 0x6043/0 Target velocity demand [rpm] Index Sub-index Meaning Data type Access Def.-Val 0x6043 Target velocity demand Integer16 target velocity demand Object is the output value of the ramp function in RPM. The target velocity object has the same notation as the object and can be read as an actual target velocity demand value.
Page 76 Object Min. Max. 32767 0x6046/1 Velocity min amount (RPM) (= 0x7FFF) 32767 0x6046/2 Velocity max amount (RPM) (= 0x7FFF) Output Velocity max amount Velocity min amount Input Velocity min amount Velocity max amount 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.
Page 77: 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 (min 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 78: 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 (min 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 79: 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 (min 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 80: 0X6060/0 Modes Of Operation
12.5.12 0x6060/0 Modes of operation Index Sub-index Meaning Data type Access 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 81: 0X6061/0 Modes Of Operation Display
12.5.13 0x6061/0 Modes of operation display Index Sub-index Meaning Data type Access Def.-Val 0x6061 Modes of operation display Integer8 Object works in: Object doesn’t work in: Non motion Control (conf. ≠ x40): • Motion Control: • All modes Value always “2” Object 0x6061 modes of operation display acknowledges the previously set value of...
Page 82: 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 83: 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 84: 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 85: 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 win- When the actual position is within the during the defined dow time...
Page 86: 0X606D/0 Velocity Window
12.5.20 0x606D/0 Velocity Window Index Sub-index Meaning Data type Access Def.-Val 0x606D Velocity Window Unsigned16 1000 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Profile Velocity mode Profile Positioning mode Velocity mode Homing mode Interpolated mode Cyclic Sync Position mode Cyclic Sync Velocity mode Table Travel record mode...
Page 87: 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 Cyclic Sync Position mode Cyclic Sync Velocity mode...
Page 88: 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 Cyclic Sync Position mode Cyclic Sync Velocity mode Table Travel record mode...
Page 89: 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 Cyclic Sync Position mode Cyclic Sync Velocity mode...
Page 90: 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 808 for various param- eters (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 p.30 = x30).
Page 91: 0X6079/0 Dclink Circuit Voltage
12.5.27 0x6079/0 DClink circuit voltage Index Sub-index Meaning Data type Access Def.-Val 0x6079 DClink circuit voltage Integer32 DC link circuit voltage Object 0x6079 displays the actual value of the DC link voltage in mV (see parameter 222). DC-Link Voltage A value of 0x0001 86A0 (=100 000) corresponds to 100.000 V (three decimal points). 12.5.28 0x607A/0 Target position Index Sub-index Meaning...
Page 92: 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 Profile Positioning mode Velocity mode Profile Velocity mode Interpolated mode Cyclic Sync Position mode Cyclic Sync Velocity mode Table Travel record mode...
Page 93: 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 Cyclic Sync Position mode Cyclic Sync Velocity mode...
Page 94: 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 Cyclic Sync Position mode Electronic Gear: Slave...
Page 95: 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 96: 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 Velocity mode Profile Velocity mode Homing mode Interpolated mode Cyclic Sync...
Page 97: 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: Motion Control: Non motion Control (conf. ≠ x40) • •...
Page 98: 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 99: 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 Cyclic Sync Position mode Cyclic Sync Velocity mode...
Page 100 Hom ing M ethod 0x6098/0 Function Pos. Lim.-Sw., Ref.-Sig. left of Homing to home switch with detection of encoder left Edge of Home-Sw. ref. signal. Homing direction positive (clockwise). Reversal of direction of rotation when positive HW Pos. Lim.-Sw., Ref.-Sig. right of limit switch is reached.
Page 101: 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 102: 0X609A/0 Homing Acceleration
12.5.39 0x609A/0 Homing acceleration Index Sub-index Meaning Data type Access Def.-Val 0x609A Homing acceleration Unsigned32 0x5 0000 Object works in: Object doesn’t work in: • Motion Control: • Motion Control: Homing mode Profile Positioning mode Move away from Limit Switch Profile Velocity mode Electronic Gear: Slave Velocity mode...
Page 103: 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 Profile Positioning mode Profile Velocity mode Velocity mode Homing mode...
Page 104 interpolation data record 1 Mapping of object 0x60C1/1 is not via a selection list. If a subindex were selected via a selection list, conformity inconsistencies in the test speci- fication would be the result. interpolation data record 1 Mapping of object 0x60C1/1 is done manually.
Page 105: 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 106: 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 Profile Positioning mode Velocity mode Homing mode Interpolated mode Cyclic Sync Position mode Cyclic Sync Velocity mode Table Travel record mode...
Page 107: Motion Control Interface (Mci)
7 – Interpolated mode • 8 – Cyclic sync position mode • 9 – Cyclic sync velocity mode Bonfiglioli Vectron defined modes -1 (or 0xFF) – Table Travel record mode • • -2 (or 0xFE) – Move Away from Limit Switch •...
Page 108: Parameter Dependencies In Motion Control
13.1 Parameter dependencies in Motion Control Depending on the object 0x6060 Modes of Operation the used objects and parameters 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 109 Mode Profile Positioning mode Modes of 1)2) Operation Target Posi- 1293 , S.Target Pos. tion Default: 802 - Obj. 0x607A Target Position Speed 1294 , S.Profile Vel. Default: 803 - Obj. 0x6081 Profile Velocity Limitation Obj. 0x6046/1 & /2 Velocity min max amount = 418 &...
Page 110 Mode Interpolated position Cyclic Sync Position mode Cyclic Sync Velocity mode mode Modes of 1)2) Operation Target Posi- 0x60C1/1 interpolation 1293 , S.Target Pos. tion data record Default: 802 - Obj. 0x607A Target Position 1285 Speed S.Target velocity pv [u/s] Default: 816 - Obj.
Page 111 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 112 Correlation of objects, parameters and value conversion: Velocity [vl]  Velocity mode [rpm] Velocity [pv]  Profile Velocity mode [u/s] CM-EtherCAT 07/13...
Page 113: 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 modes “Cyclic synchronous position mode” and “Cyclic synchronous velocity mode” are not shown for reasons of better readability. Please refer when using these modes to the tables and the corresponding chapters.
Page 114: 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 115: 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 116: 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 117: 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 118: 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 119: 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 120 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 121: Device State Machine
14.1.1 Device State machine Statemachine: 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 Bits marked “x”...
Page 122: 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 123 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 124: Statemachine Diagram
14.2.1 Statemachine diagram Statemachine: CM-EtherCAT 07/13...
Page 125 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 operation stop voltage Shutdown 2, 6, 8...
Page 126 Status word: Status word displays the current operation state. Status word Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Switch on Quick Fault Operation Switched Ready to disabled stop enabled switch on state Switch on disabled Ready to switch on Switched on Operation enabled...
Page 127: 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 128: Behaviour In Transition 5 (Disable Operation)
14.3.2 Behaviour in transition 5 (Disable operation) behaviour in transition 5 from "Operation enabled" to "Switched on" can be pa- rameterized. The behaviour 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 129: 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 130: 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.
Page 131: 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 state 0xnn33).
Page 132: Velocity Mode [Rpm]
14.4.1 Velocity mode [rpm] Modes of operation = 2. The velocity mode is selected via object 0x6060/0 In velocity mode the "operation mode specific" bits of the Control word control the ramp function generator “rfg”. The function is explained in the block diagram. Related objects: 0x6040 Control word...
Page 133 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 134 Bit 4:rfg enable Rfg enable = 0 The Reference speed from the manufacturer specific special function generator is used Rfg enable = 1 The Reference speed from the ramp output is used The special function generator is only evaluated, if 1299 Q.
Page 135: 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 136 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 137: 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 position 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 138 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 139 Max Slippage Via Object 0x60F8 a slip monitoring via Bit 13 “Max Slippage” of the status word can be set up. Status word Bit 10: Target reached Target reached = 0  The actual velocity doesn’t match the reference velocity. Target reached = 1 ...
Page 140: 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 141: 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 0x607A Target position 0x6041...
Page 142 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-EtherCAT 07/13...
Page 143 Control word Change on Change set- New set- Description set-point point imme- point Bit 9 diately 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 144 Example: single set-point change on set-point control bit change set immediately control bit After a set-point is sent to the drive, the control device signals set-point valid by a rising edge on bit new set-point set-point acknowledge in the Control word. The drive answers by setting bit and starts new set-point moving to the new target position.
Page 145 Example: single set-point change on set-point control bit change set immediately control bit 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 146 Example: set of set-points change on set-point = 0/1 control bit change set immediately control bit 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 147: 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 Position mode) Operation = Control word = 0x0006 Shutdown Status word = 0x0031 Ready to switch on...
Page 148 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 149: 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 150 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 151 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 152 Sync 4 ms Enable_ip_mode Ip_mode_active Ref. Position Interpolation_data_record 1 ms Initial drive pos. Interpolated positions CM-EtherCAT 07/13...
Page 153: 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 154: 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 155 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 156: 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 157: Cyclic Synchronous Position Mode
14.4.6 Cyclic Synchronous position mode Modes of oper- The Cyclic Synchronous position mode is selected via object 0x6060/0 ation = 8. In Cyclic Synchronous position mode the inverter receives a target position at equidistant time intervals. Related objects: 0x6040 Controlword 0x6041 Statusword 0x6046...
Page 158 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 Internal limit active Target Position ignored Following error Warning 2 Status w ord Name Value...
Page 159: Example Sequence
14.4.6.1 Example Sequence To start “Cyclic synchronous 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 = 8 (Cyclic synchronous position mode) Control word = 0x0006 Shutdown...
Page 160: Cyclic Synchronous Velocity Mode
14.4.7 Cyclic Synchronous Velocity mode Modes of oper- The Cyclic Synchronous Velocity mode is selected via object 0x6060/0 ation = 9. In Cyclic Synchronous Velocity mode the inverter receives a reference speed in equidistant time intervals. Related objects: 0x6040 Controlword 0x6041 Statusword 0x6046...
Page 161 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 Internal limit active Drive follows reference value Warning 2 Status w ord Name Value...
Page 162: Example Sequence
14.4.7.1 Example Sequence To start “Cyclic Synchronous 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 = 9 (Cyclic Synchronous Velocity mode) Control word = 0x0006 Shutdown...
Page 163: Table Travel Record
14.4.8 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 164 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 165 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 166 Basic functions sequence mode The control bit decides between execution of one single motion block sequence mode = 0 sequence mode ) and execution of a sequence of motion blocks ( 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 167 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 07/13 CM-EtherCAT...
Page 168 “ 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-EtherCAT 07/13...
Page 169 “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 170: Example Sequence
14.4.8.1 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 171: Move Away From Limit Switches
14.4.9 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 172 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 173 Control w ord Name Value Description Move away from Don’t start or cancel movement limit switch Start or resume movement from limit switch into travel Bit 4 area Halt Execute instruction of bit 4 “Move away from limit Bit 8 switch”...
Page 174: Example Sequence
14.4.9.1 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 175: Electronic Gear: Slave
14.4.10 Electronic Gear: Slave Electronic Gear: Slave modes of operation mode is selected via Object 0x6060/0 = 0xFD = -3. Electronic Gear: Slave mode the drive follows as Slave a Master drive. Related objects: 0x6040 Control word 0x6064 Position actual value 0x6041 Status word 0x6065...
Page 176 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 177 Control w ord Name Value Description Start El. Gear Stop axle with ramp 0x6084 Bit 4 Start electronic gear with reference value master speed with ramp 0x6083 Start M/S Correc- M/S Correction not started. tion Start Master/Slave Position correction. Bit 5 See chapter 14.4.10.1.
Page 178 Basic functions Mode “-3 Electronic Gear: Slave” implements an operation mode for a slave drive in an electronic gear with a master drive. The master of the electronic gear has to be connected via signal cable or system bus (recommended) with the Slave. Via parame- 1122, the operation mode is selected.
Page 179 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 180 Halt The setting of to “1” interrupts the actual executed movement. The axle is stopped with 0x6084. “Target reached” is set at the beginning of the deceleration to “0” and is set to “1” when the speed reaches value 0. The drive remains in state “Op- Halt eration enabled”.
Page 181 Function with Direct Synchronisation The drive accelerates the master speed at the ramps parameterized in the motion block. At the start of a motion block the drive is synchronised 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 182: Master/Slave Position Correction
14.4.10.1 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 refer- ence system. Preparations Master drive The Master drive must be set up as follows: 927 = 640 (or a different not used Identifier) TxPDO2 Identifier 932 = 1 –...
Page 183 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 184: Sequence Example
14.4.10.2 Sequence Example 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 185 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 186: Parameter List
15 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 15.1 Actual values...
Page 187: Parameter
15.2 Parameter Description Unit Display range Chapter CAN Bus 388 Bus Error Behaviour Selection 1 - Error 10,12.5.1 Rated motor parameters 373 No. of Pole Pairs 1 ... 24 12.5 Bus control 392 State-transition 5 Selection 2 - Ramp 14.3.2 44 - Ctrl.
Page 188: Annex
Description Unit Display range Chapter 1451 OS Synctime 700…900 us 800 us 9.10 Selection 52 - Analog 1452 OS_SyncSource 11.8 Input MFI1A Motion Control Override 1454 Override Modes Of Operation Selection 13.7 1455 Override Target Position -1 u 13.7 1456 Override Profile Velocity -1 u/s 13.7 1457 Override Profile Acceleration...
Page 189: Control Word/Status Word Overview
16.1 Control Word/Status word Overview 16.1.1 Control Word overview (without Sync Modes) The tables on this page list in an overview the functionality 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...
Page 190: Status Word Overview (Without Sync Modes)
16.1.2 Status Word overview (without Sync modes) 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...
Page 191: Control Word Overview For Sync Modes
16.1.3 Control Word overview for Sync Modes The table on this page list in an overview the functionality of the Control Word bits. M CI : Sync Position M ode M CI : Sync Velocity M ode Switch On Switch On Enable Voltage Enable Voltage Quick Stop...
Page 192: Warning Messages
16.2 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 193: Warning Messages Application
16.3 Warning Messages Application The “Warning Message Application” is an additional information to the Warning bit. The Application 274, bit-coded according to the warning messages are given via parameter Application Warnings following scheme. 273 shows the warnings in clear text on the operator panel and Parameter Application Warnings the PC software tool VPlus.
Page 194: Fault Messages
16.4 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 fault Code Meaning Motion Control Deviation Position Controller Control Pos.
Page 195: Conversions
16.5 Conversions The speeds can be converted into other speed formats using the formulas in this chapter: Frequency [Hz] to Speed [rpm] See chapter 16.5.2 Speed in user units [u/s] See chapter 16.5.4 Speed [rpm] to Frequency [Hz] See chapter 16.5.1 Speed in user units [u/s] See chapter 16.5.6 Speed in user units [u/s]...
Page 196: Object Support In The Software Versions And Xml Files
16.6 Object support in the Software versions and XML 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 XML file for ®...
Page 197 Firmware 5.3.0 BVACU530_V2.xml 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 Velocity quick stop 0x6060 Modes of Operation 0x6061...
Page 198: Index
Index Modes of operation ........80 Acceleration Motion Control Interface (MCI) ....107 Phasing ..........61 Object and Parameter dependencies ..108 Acknowledge error messages ...... 32 Motion Control Interface (MCI) ....21 Application objects ........27 Application Warnings ........ 193 NMT ............30 Bus Failure behaviour .........
Page 199 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 200 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 1007 R1 fax: +39 051 647 3126 Via Giovanni XXIII, 7/A bonfiglioli@bonfiglioli.com 40012 Lippo di Calderara di Reno...

BONFIGLIOLI Vectron ACTIVE CUBE Series 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 Assignment

7 Run-Led

8 Cable Lengths

9 Setting the Node Address

10 Operational Behaviour on Bus Failure

11 Ethercat ® Overview

12 Objects

13 Motion Control Interface (MCI)

14 Inverter Control

15 Parameter List

16 Annex

Index

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