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SKS Sweden Bonfiglioli Vectron Agile Communications Manual

Frequency inverter 230v / 400v
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CANopen Communication manual
Frequency inverter 230V / 400V

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  • Page 1 Agile CANopen Communication manual Frequency inverter 230V / 400V...

  • Page 3: Table Of Contents

    General Information on the Documentation CONTENTS General Information on the Documentation..............6 Instruction Manuals....................6 Used Pictograms and Signal Words ................. 7 General Safety Instructions and Information on Use ............ 8 General Information ....................8 Purpose of the Frequency Inverters ................ 8 Transport and Storage.....................
  • Page 4 General Information on the Documentation Emergency Function ....................25 SYNC ........................25 NMT Functions ....................... 26 8.7.1 NMT Statemachine....................26 8.7.2 Boot-Up Message....................27 8.7.3 NMT Commands ....................27 Guarding ........................ 28 Heartbeat....................... 29 8.10 OS Synchronization .................... 30 Objects ......................... 32 Tabular Object Overview ..................
  • Page 5 General Information on the Documentation 9.5.4 0x6041/0 Status Word ................... 75 9.5.5 0x6042/0 Target Velocity..................76 9.5.6 0x6043/0 Target velocity demand (Ramp Output) ............ 77 9.5.7 0x6044/0 Control effort (current Speed) ..............77 9.5.8 0x6046/n Velocity min max amount................. 78 9.5.9 0x6048/n Velocity acceleration................

  • Page 6: General Information On The Documentation

    General Information on the Documentation General Information on the Documentation Agile This documentation describes the communication with device series frequency inverters using the CANopen protocol. The modular hardware and software structure allows the user-friendly custo- mization of the frequency inverters. Applications, which demand high functionality and dynamics can be comfortably implemented.

  • Page 7: Used Pictograms And Signal Words

    General Information on the Documentation We would also point out that the contents of this documentation are not part of a previous or existing agreement, assurance or legal relationship and are not intended to amend the same. All obligations of the manufacturer result from the underlying purchase contract, which also contains the complete and solely valid warranty regulation.

  • Page 8: General Safety Instructions And Information On Use

    General Safety Instructions and Information on Use General Safety Instructions and Information on Use Warning! The specifications and instructions contained in the documentation must be complied with strictly during installation and commissioning. Before starting the relevant activity, read the documentation carefully and comply with the safety instructions. The term "Qualified Staff" refers to anybody who is familiar with the installation, assembly, commissioning and opera- tion of the frequency inverter and has the proper qualification for the job.

  • Page 9: Handling And Installation

    General Safety Instructions and Information on Use Handling and Installation Warning! Damaged or destroyed components must not be put into operation because they may be a health hazard. The frequency inverters are to be used in accordance with the documentation as well as the applica- ble directives and standards.

  • Page 10: Information On Use

    General Safety Instructions and Information on Use Information on Use Warning! The frequency inverter may be connected to power supply every 60 s. This must be consi- dered when operating a mains contactor in jog operation mode. For commissioning or after an emergency stop, a non-recurrent, direct restart is permissible.

  • Page 11: Communication Option

    Communication Option Communication Option Interface Control Terminals for CAN-Connection Instructions for Systembus or CANopen® CM-CAN X21 Communication Interface Instructions for VABus or Modbus. CM-232 Instructions for VABus or Modbus. CM-485 Instructions for VABus or Modbus. CM-PDPV1 Instructions for Profibus DP-V1. Combinations of Systembus and CANopen®...

  • Page 12: Vplus Pc-Software

    Communication Option VPlus PC-Software The USB-Interface of a PC can be connected to the X21 Communication Interface via an optional USB adapter. This enables parameterization and monitoring with the help of the VPlus PC-Software. VPlus RJ45 X21 (RJ45) Adapter CANopen Agile 06/2010...

  • Page 13: Installation Of An Optional Communication Module

    Installation of an optional Communication Module Installation of an optional Communication Module Assembly The communication module is pre-assembled in a casing. Additionally, a PE spring is enclosed for PE connection (shield). Caution! The frequency inverter must be disconnected from the power supply before installation of the communication module.

  • Page 14: Disassembly

    Connection Disassembly • Remove the cover of the module slot. • Loosen the screw (1) on the communication module. • Using a small screwdriver, firstly unlock the right and then the left snap-in hook (2). • Remove the communication module from the slot. •...
  • Page 15 Connection Module Connection The X310 (9-pin D-Sub) bus plug has been designed according to DS102 Version 2.0 (Bus node, option A). Details can be seen from the following table on the occupancy of the bus plug. The bus termination necessary on a phase in the physically first X310 and last subscriber can be activated via DIP switch S1 on the communication module.

  • Page 16: Commissioning Via The Operator Panel

    Commissioning via the Operator Panel Commissioning via the Operator Panel A communication interface can be set up in the "Setup" menu of the operator panel. Further commu- nication parameters can be set in the "Para" menu. Menu for setting up the Communication The communication interface can be set up quickly and simple via the Operator Panel.

  • Page 17: Select The Protocol

    Commissioning via the Operator Panel Select the Protocol • Select CANopen. Display Select the "Setup" menu using the arrow keys.  Using the arrow keys select: Setting up a Communication Interface (Bus Configuration)  Select a protocol using the arrow keys: CANopen ...

  • Page 18: Set The Protocol For The Terminals And Communication Module

    Commissioning via the Operator Panel Set the Protocol for the Terminals and Communication Module 276 CAN Interface (CM-CAN/X12)  CAN Interface (CM-CAN/X12) With Parameter 276 the terminals of the frequency inverter and an optional Communication Module (CM) can be set to a communication protocol. In the factory setting (1 - CANopen/CAN-Systembus) the terminals of the frequency inverter are set to CAN-Systembus.

  • Page 19: Canopen

    CANopen CANopen ® CANopen is used in a wide range of applications and is an especially favored communication system ® for motion control applications. The CANopen based standard DS402 "drives and motion control" describes and defines the necessary objects and functions for motion control systems. The available objects are subdivided into: Communication Objects (0x1nnn) according to DS301 V4.02...

  • Page 20: Setting The Node Address

    CANopen CANopen Interface Operation Mode Function max. Line Length 1 - 10 kBaud Transmission rate 10 kBaud 5000 Meter 2 - 20 kBaud Transmission rate 20 kBaud 2500 Meter 3 - 50 kBaud Transmission rate 50 kBaud 1000 Meter 4 - 100 kBaud Transmission rate 100 kBaud 500 Meter 5 - 125 kBaud...
  • Page 21 CANopen The functional behavior of the frequency inverter is described in detail in Chapter 9.5.1 "0x6007/0 Abort Connection option code". The error and warning behavior of the frequency inverter can be parameterized in various ways. If a CAN Error Behavior failure of the bus system occurs in the setting 388 = 1, 4 or 5, the frequency inverter reports one of the following errors:...

  • Page 22: Protocol

    Protocol Protocol The CANopen® standard DS301 describes the basic communication functions in principle. This chap- ter will give a short overview of the different functions based on DS301. Detailed information on the CAN physical layer and CANopen® DS301 functions can be found in the respective literature (e.g. "Controller Area Network"...

  • Page 23: Read Access

    Protocol The error codes are listed in chapter 9.5.2 "0x603F/0 Error Code". 8.3.1 Read Access Client  Server, Upload Request COB-ID 0x600 + Node-ID index sub- index data data data data 0x40 Server  Client, Upload Response COB-ID 0x580 + Node-ID index sub- index data...

  • Page 24: Pdo Function

    Protocol Error Codes Abort-code Abort-code CANopen Product-Specific high Description Allocation 0x0601 0x0000 Unsupported access to an ob- Parameter cannot be written or read ject 0x0602 0x0000 Object does not exist Parameter does not exist. 0x0604 0x0047 General internal incompatibility Data Sets differ in the device 0x0606 0x0000...

  • Page 25: Emergency Function

    Protocol Predefined Identifiers (COB-ID): Decimal Hexadecimal TxPDO1 384 + Node-ID 180 + Node-ID RxPDO1 512 + Node-ID 200 + Node-ID TxPDO2 640 + Node-ID 280 + Node-ID RxPDO2 798 + Node-ID 300 + Node-ID TxPDO3 896 + Node-ID 380 + Node-ID RxPDO3 1024 + Node-ID 400 + Node-ID...

  • Page 26: Nmt Functions

    Protocol NMT Functions The NMT (Network management) functions describe the NMT state machine and NMT error control functions. The NMT state machine is controlled by NMT commands. The error control functions guard- ing and heartbeat are set up by associated communication objects and controlled by special protocols. Node-State The NMT-State is displayed via the actual value parameter 1290.

  • Page 27: Boot-Up Message

    Protocol 8.7.2 Boot-Up Message Identifier Byte 0x700 (=1792)+ Node-ID The Boot-Up message is sent automatically when the device is powered on or reset (i.e. fault re- set). This helps the PLC recognizing to switch on a device (i.e. after a power failure and recovery) reliable during operation without Node guarding.

  • Page 28: Guarding

    Protocol Guarding Guarding response: The inverter responds to every guarding request of the PLC. This is used by some PLCs when po- wering on to search for available devices. This response is done always independent of the settings 0x100C/0 Guard Time 0x100D/0 Lifetime Factor of objects Guarding activation:...

  • Page 29: Heartbeat

    Protocol Heartbeat The heartbeat uses the producer/consumer method. The inverter as heartbeat consumer can moni- tor up to three heartbeat producers. The inverter can also send the heartbeat message (as heart- beat producer). The heartbeat contains the NMT state of the producer. 0x1016/n Consumer Heartbeat Time The heartbeat consumer function is set by object .

  • Page 30: Os Synchronization

    Protocol 8.10 OS Synchronization The operating System (OS) of the frequency inverter can be synchronized to the PLC or other devic- es. 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 calcu- lations are done at the same time.
  • Page 31 Protocol 1180 Operation Mode (Synchronization)  Operation Mode Function 1180 0 - Aus No evaluation of SYNC-Telegrams. 1 - RxPDO1 RxPDO1 used as SYNC-Telegram. 2 - RxPDO2 RxPDO2 used as SYNC-Telegram. 3 - RxPDO3 RxPDO3 used as SYNC-Telegram. 10 - SYNC SYNC used as SYNC-Telegram.

  • Page 32: Objects

    Objects Objects The available objects are marked via Index/Subindex and are to be addressed via this identification. This chapter describes all available objects. Tabular Object Overview The objects are displayed in the tables below. The following definitions apply: Access Type Read only The PLC is only allowed to read the data from the frequency inverter.
  • Page 33 Objects Index Sub-Index Name SDO Access Data Type PDO-Mapping 0x1014 COB-ID emergency object Read/Write Unsigned32 0x1016 Consumer heartbeat time Read only Unsigned8 Highest Sub-Index supported Consumer heartbeat time 1 Read/Write Unsigned32 Consumer heartbeat time 2 Read/Write Unsigned32 Consumer heartbeat time 3 Read/Write Unsigned32 0x1017...
  • Page 34 Objects Index Sub-Index Name SDO Access Data Type PDO-Mapping 0x1602 RxPDO3 mapping parameter Read/Write Unsigned8 No. of mapped objects 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 35: Manufacturer Objects

    Objects 9.1.2 Manufacturer Objects Index Sub-Index Name SDO Access Data Type PDO-Mapping Manufacturer specific 0, 1, … 9 Direct access to inverter parameters 0x2nnn Read/write access by SDO transfer only 0x3000 Sync Jitter Read/Write Unsigned16 0x3001 Digital In actual values Read only Unsigned16 0x3002...
  • Page 36 Objects Note: ® The notations of CANopen objects and parameters can be different (refer to the corresponding object description). Attention! ® Some of the above listed CANopen objects have corresponding inverter parameters. ® These objects are handled in a special way. If one of these CANopen objects has been written by 0x1010 SDO followed by a "save"...
  • Page 37 Objects Value of a parameter is set via the Operator Panel or VPlus. No "Save" command. Maximum Frequency Setting of 419 = 48 Hz on Operator Panel or in VPlus. Power OFF and ON. The value of the Operator Panel/VPlus is active (48 Hz). ®...

  • Page 38: Communication Objects (0X1Nnn)

    Objects Communication Objects (0x1nnn) The communication objects 0x1nnn contain all parameters for the communication. Note: For easier use, the objects are summarized by a table in each paragraph. This table is addition- ally marked by color. Orange = Read Only object Green = Read and Write object Blue...

  • Page 39: 0X1001/0 Error Register

    Objects 9.2.2 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. Object 0x1001/0 General error Current...

  • Page 40: 0X1005/0 Cob-Id Sync Message

    Objects 9.2.3 0x1005/0 COB-ID SYNC Message Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1005 COB-ID SYNC Message Unsigned 32 COB-ID SYNC message Object 0x1005 defines the identifier for the SYNC message as well as ® whether the CANopen device generates the SYNC. The default value of this object is 128 (identifier = 128, SYNC message not generated).

  • Page 41: 0X1007/0 Synchronous Window Length

    Objects Note: The time distance between two consecutive SYNC messages is monitored. communication cycle period If object 0x1006/0 is set to a value other than zero, then a communica- tion error event is triggered whenever the time defined by 0x1006/0 is exceeded by more than 50%. After SYNC telegram "A", SYNC telegram "B"...

  • Page 42: 0X1008/0 Manufacturer Device Name

    Objects Example: COB ID CB Index Data Read Request 07 10 00 00 00 00 Response 07 10 00 00 00 00 Write Access 07 10 D0 07 00 00 Response 07 10 00 00 00 00 CB: Control byte SI: Sub-Index All values in hexadecimal without leading "0x"...

  • Page 43: 0X100C/0 Guard Time

    Objects 9.2.9 0x100C/0 Guard Time Index Sub-Index Meaning Data Type Access Map Def.-Val 0x100C Guard time Unsigned 16 uard time lifetime The response monitoring time is calculated by the multiplication of the objects g factor . Object 0x100C/0 defines the guard time in units of one millisecond.

  • Page 44: 0X1010/N Store Parameters

    Objects 9.2.11 0x1010/n Store Parameters Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1010 Highest sub-index supported Unsigned8 Store all parameters Unsigned32 See text Store Unsigned32 See text communication parameters Store application parameters Unsigned32 See text With object 0x1010/n parameter/object settings can be stored to non-volatile memory. This object supports 3 sub-indexes with different functions.

  • Page 45: 0X1011/N Restore Default Parameters

    Objects 9.2.12 0x1011/n Restore default Parameters Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1011 Highest sub-index supported Unsigned8 Restore all parameters Unsigned32 See text Restore Unsigned32 See text communication parameters Restore application parameters Unsigned32 See text With object 0x1011/n parameters/objects can be set to their default values. This object supports 3 sub-indexes with different functions.

  • Page 46: 0X1014/0 Cob-Id Emergency Message

    Objects 9.2.13 0x1014/0 COB-ID Emergency Message Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1014 COB-ID Emergency Message Unsigned32 See text The identifier and thus the definition of the priority for the emergency message can be set with object 0x1014/0. The default value of the identifier is 128 + Node ID (valid) Object 0x1014/0 Bit 31 Bit 30...

  • Page 47: 0X1016/N Consumer Heartbeat Time

    Objects 9.2.14 0x1016/n Consumer Heartbeat Time Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1016 Highest sub-index supported Unsigned8 Consumer Heartbeat Time 1 Unsigned32 See text Consumer Heartbeat Time 2 Unsigned32 See text Consumer Heartbeat Time 3 Unsigned32 See text Up to three heartbeat producers can be monitored with object 0x1016/n (controlled via sub-indexes n = 1 ...

  • Page 48: 0X1018/N Identity Object

    Objects 9.2.16 0x1018/n Identity Object The identity object provides information on the device manufacturer as well as the device itself. Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1018 Highest Sub-Index supported Unsigned8 Vendor ID Unsigned32 See text Product code Unsigned32 See text Revision number...

  • Page 49: 0X1200/N Sdo Server Parameter

    Objects 9.2.18 0x1200/n SDO Server Parameter Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1200 Highest sub-index supported Unsigned8 COB-ID client  server (Rx) Unsigned32 See text COB-ID server  client (Tx) Unsigned32 See text Object 0x1200 defines the SDO server parameters. The values are read-only and pre-defined according to the device node address.

  • Page 50: 0X1400/N, 0X1401/N, 0X1402/N Rxpdo Communication Parameter

    Objects 9.2.19 0x1400/n, 0x1401/n, 0x1402/n RxPDO Communication Parameter Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1400 Highest sub-index supported Unsigned8 0x1401 0x1402 COB ID Unsigned32 See text Transmission type Unsigned8 See text Inhibit time Unsigned16 See text Event time Unsigned16 See text RxPDO Communication Parameters...
  • Page 51 Objects Event time: The event time is used as monitoring function for RxPDOs. If during the set time no RxPDO is re- ceived, one of the following faults is triggered: 202A RxPDO1 Fault 202B RxPDO2 Fault 202C RxPDO3 Fault Example*: COB ID CB Index Data...

  • Page 52: 0X1600/N, 0X1601/N, 0X1602/N, Rxpdo Mapping Parameters

    Objects 9.2.20 0x1600/n, 0x1601/n, 0x1602/n, RxPDO Mapping Parameters Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1600 Number of mapped objects Unsigned8 0x1601 0x1602 mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj.
  • Page 53 Objects Example*: COB ID CB Index Data Read Request 00 16 00 00 00 00 Response 00 16 10 00 40 60 Write Access 00 16 Response * 00 16 00 00 CB: Control byte SI: Sub-Index All values in hexadecimal without leading "0x" Note, that the highest bit in Object 1400/1 has to be deactivated first, in order to enable the correct write-access to Object 1600/n.

  • Page 54: 0X1800/N, 0X1801/N, 0X1802/N, Txpdo Communication Parameters

    Objects Mapping Result Target velocity Control word Modes of operation 0x6042 0x6040 0x6060 00 00 00 00 The example above shows the necessary telegrams with the corresponding responses of the device. The mapping is only stored in RAM and is therefore lost after a power restart or power failure. In or- der to store the mapping to EEPROM (power-fail safe), see Chapter 9.2.11.
  • Page 55 Objects Object 0x1800/0x1801/0x1802 Transmission Type Value Meaning Description Synchronous Update TxPDO-data and send on SYNC, only when data has changed. th" 1 … 240 Synchronous Update TxPDO-data and send on every "n SYNC. 241 … Reserved Value not allowed. synchronous/RTR Update TxPDO-data and send on following RTR. asynchronous/RTR Update TxPDO-data and send on RTR.
  • Page 56 Objects Example*: COB ID CB Index Data Read Request 00 18 Response 00 18 Read Request 00 18 Response 00 18 81 01 00 00 Write Access 00 18 81 01 00 80 Response * 00 18 00 00 00 00 Write Access 00 18 Response *...

  • Page 57: 0X1A00/N, 0X1A01/N, 0X1A02/N, Txpdo Mapping Parameters

    Objects 9.2.22 0x1A00/n, 0x1A01/n, 0x1A02/n, TxPDO Mapping Parameters Index Sub-Index Meaning Data Type Access Map Def.-Val 0x1A00 Number of mapped objects Unsigned8 0x1A01 0x1A02 mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj. Unsigned32 See text mapped obj.
  • Page 58 Objects Mapping Procedure The mapping procedure requires five steps: 0x1800 Step 1: Set PDO to "not valid" ( , Subindex 1, Bit 31 = 1) Step 2: Set Subindex 0 to 0 (deactivate current mapping, 0x1A00, Subindex 0 = 0) Step 3: Set Subindex 1 …...

  • Page 59: Manufacturer Objects (0X2Nnn) - Parameter Access

    Objects 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: Command = According to the type of access and the length specifier of the selected parameter Index...

  • Page 60: Sdo Examples ("Expedited" Transfer Only)

    Objects 9.3.2 SDO Examples ("expedited" transfer only) Write Parameter: Client  Server SDO Download (expedited) COB ID Control Byte Index Sub-Index Data 0xnn 0x2B uint/int 0x23 long Server  Client Download Response  Write process error-free COB ID Control Byte Index Sub-Index Data...

  • Page 61: Examples Of Writing Parameters

    Objects 9.3.3 Examples of Writing Parameters Rated Speed Write Parameter 372 (type uint) in Data Set 2 with parameter value 2980. Index = 372 + 0x2000 = 0x2174, Value = 2980 = 0x0BA4 Client  Server SDO Download (expedited) COB ID Control Byte Index Sub-Index Data...

  • Page 62: Examples Of Reading Parameters

    Objects 9.3.4 Examples of Reading Parameters Rated Speed Read Parameter 372 (type uint) in Data Set 2 with the current parameter value 1460. Index = 372 + 0x2000 = 0x2174, Value = 1460 = 0x05B4 Client  Server SDO Upload (expedited) COB ID Control Byte Index Sub-Index...
  • Page 63 Objects Fixed Frequency 1 Reading Parameter 480 (Type long) in Data Set 3 with the actual Parameter Value -10,00 Hz. Index = 480 + 0x2000 = 0x21E0, Value = -1000 = 0xFFFFFC18 Client  Server SDO Upload (expedited) COB ID Control Byte Index Sub-Index Data...

  • Page 64: Manufacturer Objects (0X3000

    Objects Manufacturer Objects (0x3000 … 0x5FFF) In addition to the device profile objects the following manufacturer specific objects are implemented. 9.4.1 0x3000/0 SYNC Jitter Index Sub-Index Meaning Data Type Access Map Def.-Val 0x3000 SYNC Jitter Unsigned16 See Text DS301 does not include an object for the monitoring of SYNC messages. The frequency inverters SYNC Jitter monitor SYNC message jittering with Object 0x3000/0 (given in multiples of microse-...

  • Page 65: 0X3001/0 Digital In Actual Value

    Objects 9.4.2 0x3001/0 Digital In Actual Value Index Sub-Index Meaning Data Type Access Map Def.-Val 0x3001 Digital In actual value Unsigned16 Digital Inputs Digital In actual value Object 0x3001 displays, like Parameter 250, the current status Operation mode of the Digital Inputs and Multi-functional Input 1 (if Parameter 452 is set to "3 –...

  • Page 66: 0X3003/0 Digital Out Set Values (Sources For Digital Outputs)

    Objects 9.4.4 0x3003/0 Digital Out set values (Sources for Digital Outputs) Index Sub-Index Meaning Data Type Access Map Def.-Val 0x3003 Digital Out set values Unsigned8 With Object 0x3003 five digital sources are available for parameters, which demand an allocation of digital sources.

  • Page 67: 0X3004/0 Boolean Mux

    Objects 9.4.5 0x3004/0 Boolean Mux Index Sub-Index Meaning Data Type Access Map Def.-Val 0x3004 Boolean Mux Unsigned16 With object 0x3004 up to 16 boolean values can be read in a compressed manner. Each bit in 16 bit object 0x3004 displays the actual value of the connected boolean source. Note: The bit numbers 0 …...

  • Page 68: 0X3005/0 Boolean Demux

    Objects 9.4.6 0x3005/0 Boolean DeMux Index Sub-Index Meaning Data Type Access Map Def.-Val 0x3005 Boolean DeMux Unsigned16 Via Object 0x3005 up to 16 boolean values can be written in a compressed manner. These values are Obj 0x3005 Demux Out available as sources which can be chosen by the selection of 832 … 847 1…16 from a parameter's choice list.

  • Page 69: 0X3006/0 Percentage Set Value

    Objects 9.4.7 0x3006/0 Percentage set value Index Sub-Index Meaning Data Type Access Map Def.-Val 0x3006 Percentage set value Unsigned16 With Object 0x3006 a percentage source can be written. The percentage reference value passed over with Object Percentage Reference Source is set with the Reference Percentage help of selection "20 –...

  • Page 70: X3007/0 Percentage Actual Value

    Objects 9.4.8 x3007/0 Percentage actual value Index Sub-Index Meaning Data Type Access Map Def.-Val 0x3007 Percentage actual value Unsigned16 Object 0x3007 displays the actual value of the percentage source, which is selectable via Parameter CANopen Obj0x3007 Actual Percentage Value Source 1423.

  • Page 71: Device Profile Objects (0X6Nnn)

    Objects Device Profile Objects (0x6nnn) This chapter contains the descriptions of the available “Device profile objects” defined by the CANo- pen standard DS402. 9.5.1 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...
  • Page 72 Objects Example: COB ID CB Index Data Read Request 07 60 00 00 Response 07 60 01 00 Write Access 07 60 FE FF Response 07 60 00 00 CB: Control byte SI: Sub-Index All values in hexadecimal without leading "0x" Typical recovery sequence after a CAN-Error: Warning! With the setting of object 0x6007...

  • Page 73: 0X603F/0 Error Code

    Objects 9.5.2 0x603F/0 Error Code Index Sub-Index Meaning Data Type Access Map Def.-Val 0x603F Error code Unsigned16 error code 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 rela- tionship between the error code displayed internally by the frequency inverter and on the Operator error code Panel, and the error secured in object...

  • Page 74: 0X6040/0 Control Word

    Objects 9.5.3 0x6040/0 Control Word Index Sub-Index Meaning Data Type Access Map Def.-Val 0x6040 Controlword Unsigned16 Control Word Object 0x6040/0 is relevant to the inverter remote state machine whenever Parameter LocalRemote 412 is set to 1 (remote state machine). Controlword Control Word The Object 0x6040/0 is linked to the internal Parameter...

  • Page 75: 0X6041/0 Status Word

    Objects 9.5.4 0x6041/0 Status Word Index Sub-Index Meaning Data Type Access Def.-Val 0x6041 Statusword Unsigned16 Status Word Object 0x6041/0 displays the current state of frequency inverter. Status Word Status Word The Object 0x6041/0 is linked to the internal Parameter 411. Please check also chapters 10.2 ”Control via Statemachine”...

  • Page 76: 0X6042/0 Target Velocity

    Objects 9.5.5 0x6042/0 Target Velocity Index Sub-Index Meaning Data Type Access Def.-Val 0x6042 Target velocity Integer16 target velocity Target Object is the speed reference value for the frequency inverter in velocity mode. velocity is interpreted as a speed with the unit RPM. The inverter's internal reference frequency is No.

  • Page 77: 0X6043/0 Target Velocity Demand (Ramp Output)

    Objects 9.5.6 0x6043/0 Target velocity demand (Ramp Output) 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 object has the target velocity target same notation as the object and can be read as an actual value.

  • Page 78: 0X6046/N Velocity Min Max Amount

    Objects 9.5.8 0x6046/n Velocity min max amount Index Sub-Index Meaning Data Type Access Def.-Val 0x6046 Highest sub-index supported Unsigned8 Velocity min amount (RPM) Unsigned32 See text Velocity max amount (RPM) Unsigned32 See text velocity min max amount velocity min amount Object comprises the Sub-Index 01 = und Sub-Index...

  • Page 79: 0X6048/N Velocity Acceleration

    Objects 9.5.9 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 velocity acceleration velocity accelera- The acceleration in velocity mode is set with object .

  • Page 80: 0X6049/N Velocity Deceleration

    Objects 9.5.10 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 velocity deceleration velocity decelera- The deceleration in velocity mode is set with object .

  • Page 81: 0X604A/N Velocity Quick Stop

    Objects 9.5.11 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 velocity quick stop velocity The quick stop deceleration in velocity mode is set with object .

  • Page 82: 0X6060/0 Modes Of Operation

    Objects 9.5.12 0x6060/0 Modes of operation Index Sub-Index Meaning Data Type Access Def.-Val 0x6060 Modes of operation Integer8 modes of operation Object is set fixed to "2 - velocity mode". M odes of operation 2 – velocity mode Refer to Chapter 10 "Frequency Inverter Control" for further information. Example: COB ID CB Index...

  • Page 83: 0X6071/0 Target Torque

    Objects 9.5.14 0x6071/0 Target Torque Index Sub-Index Meaning Data Type Access Def.-Val 0x6071 Target Torque Integer16 The value transmitted via Object 0x6071 is selectable as source Q.808 for various parameters (e.g. FT Input buffer percentage 1381). Reference Percentage Source It is also available as Operation Mode 95 (e.g. for Parameter 476) in configurations with torque control.

  • Page 84: 0X6078/0 Current Actual Value

    Objects 9.5.16 0x6078/0 Current actual value Index Sub-Index Meaning Data Type Access Def.-Val 0x6078 Current actual value Integer16 Current actual value Object 0x6078 displays the current actual value. A value of 0x3E8 (=1000) corresponds to the rated motor current (100,0%). Example: COB ID CB Index...

  • Page 85: Frequency Inverter Control

    Frequency Inverter Control Frequency Inverter Control 412 Local/Remote  In principle, the frequency inverter can be controlled with three operation modes. The operation modes Local/Remote can be selected with the data set changeable Parameter 412. Parameter Setting Description Min. Max. Factory Setting 412 Local/Remote Only operation modes 0, 1 and 2 are relevant for operation with CANopen.

  • Page 86: Control Via Contacts/Remote-Contacts

    Frequency Inverter Control 10.1 Control via Contacts/Remote-Contacts In the operation mode "Control via Contacts" or "Control via Remote-Contacts" (Parameter cal/Remote 412 = 0 or 2), the frequency inverter is controlled directly via the digital inputs or via the Control Word individual bits of the virtual signals in the .
  • Page 87 Frequency Inverter Control Status Word 15 14 13 12 11 10 9 0 Bit Ready to Switch On Switched On Operation enabled Error Voltage enabled Quick Stop Switch On disabled Warning Remote Reference value reached Limit value reached Warning 2 Note If operation mode "Control via Remote-Contacts"...

  • Page 88: Device State Machine

    Frequency Inverter Control 10.1.1 Device state machine Statemachine: Status Word Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Switched On Operation enabled Error Note: "x" means any value. Bit 7, Warning, can be set at any time. It indicates a device-internal warning message. The evalua- Warnings tion of the present warning is carried out by reading out the warning status with Parameter 270.

  • Page 89: Control Via Statemachine

    Frequency Inverter Control 10.2 Control via Statemachine Local/Remote In the operation mode "Control via Statemachine" ( 412 = 1) the frequency inverter is controlled via the Control Word of the Statemachine. Transition 4 to state "Operation enabled" is only possible if the Controller Release via STOA and STOB and one of the digital inputs for Start Right or Start Left is set.
  • Page 90 Frequency Inverter Control Status Word 15 14 13 12 11 10 9 0 Bit Ready to Switch On Switched On Operation enabled Error Voltage enabled Quick Stop Switch On disabled Warning no function Remote Reference value reached Limit value reached no function no function no function...

  • Page 91: Statemachine Diagram

    Frequency Inverter Control 10.2.1 Statemachine diagram Statemachine: Control Word: The device control commands are triggered by the following bit combinations in the Control Word. Control Word Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Reset Enable Quick Enable Switch Transitions Fault...
  • Page 92 Frequency Inverter Control Quick Stop 7, 10, 11 Disable Operation Enable Operation Reset Fault 0  1 "X" means any value. Note: Transition 3 (Command "Switch On") is only processed if Bit 4 "Voltage enabled" in the Status Word is set. Note: •...

  • Page 93: Operation Mode Velocity Mode

    Frequency Inverter Control 10.3 Operation Mode Velocity Mode 0x6060/0 Modes of operation velocity mode 0x6061/0 Modes of opera- Object is fixed to "2 – ". Object tion display velocity mode" is always "2 – . These settings cannot be changed. Related Objects: 0x6040 Controlword...

  • Page 94: Behavior In Transition 5 (Disable Operation)

    Frequency Inverter Control 10.3.2 Behavior in Transition 5 (Disable Operation) 392 state-transition 5  state- The behavior in transition 5 (from "Operation released" to "Switched On") can set via parameter tr ansition 5 392. Parameter Setting Description Min. Max. Factory Setting 392 state-transition 5 Operation Mode Function...

  • Page 95: Reference Value / Actual Value

    Frequency Inverter Control 10.3.3 Reference Value / Actual Value 0x6042/0 Target Velocity The PLC gives its reference value to the frequency inverter via Object in the 0x6044/0 Control effort RxPDO used and receives the information on its actual value back via Object (current Speed) in the TxPDO used.

  • Page 96: Parameter List

    Parameter List Parameter List The parameter list is structured according to the menu branches of the Operator Panel. 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 11.1 Actual Values Description...
  • Page 97 Parameter List Description Unit Value Range Fact. Setting Chapter 9.5.11, 424 Emergency Stop Clockwise Hz/s 0,01 ... 9999,99 5,00 10.3.1 9.5.11, 425 Emergency Stop Anticlockwise Hz/s 0,01 ... 9999,99 5,00 10.3.1 Digital Outputs 549 Reference Value Reached: 0,01 ... 20,00 5,00 10.1, 10.2 Stopping Behavior...

  • Page 98: Appendix

    Appendix Appendix 12.1 Control Word Overview The following table provides an overview of the functions of the bits in the Control Word used when Local/Remote the drive is used in Control via Statemachine ( 412 = "1 - Control via Statemachine"). AGL Control w ord Switch On Enable Voltage...

  • Page 99: Warning Messages

    Appendix 12.3 Warning Messages The various control functions and methods as well as the hardware of the frequency inverter contain functions that continuously monitor the application. In addition to the messages documented in the ® manual, the following warning messages are activated by the CANopen communication module CM- Warnings CAN.

  • Page 100: Warning Messages Application

    Appendix 12.4 Warning Messages Application When the highest bit in the Warning messages is set, a “Warning Message Application” is present. Application Warnings The Application warning messages are given via parameter 274, bit-coded according to the following scheme. Application Warnings Parameter 273 shows the warnings in clear text on the operator panel and the PC software tool VPlus.

  • Page 101: Error Messages

    Appendix 12.5 Error Messages The error code that is stored after an error occurs is made up of the error group FXX (high-Byte, hex- adecimal) followed by the code number XX (low-Byte, hexadecimal). Communication Error Code Meaning CAN Bus-OFF CAN Guarding Error state SYNC error (SYNC timing) CAN NMT Error...

  • Page 102: Index

    Index Index Application Objects........22 Manufacturer objects ......... 35 Application Warnings ....... 100 Manufacturer Objects ........ 64 Assembly Monitoring ..........28 Communication Module ......13 NMT............26, 27 Baud rate ..........19 Node number..........20 Boot-Up............ 27 Bus Termination........15 Operation Mode Synchronisation....31 OS Synchronisation ........
  • Page 104 Bonfiglioli has been designing and developing innovative and reliable power transmission and control solutions for industry, mobile machinery and renewable energy applications since 1956. www.bonfiglioli.com Bonfiglioli Riduttori S.p.A. VEC 676 R0 tel: +39 051 647 3111 fax: +39 051 647 3126 Via Giovanni XXIII, 7/A bonfiglioli@bonfiglioli.com 40012 Lippo di Calderara di Reno...

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