BONFIGLIOLI Active Cube User Manual
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BONFIGLIOLI Active Cube User Manual

Frequency inverter 230 v/400 v
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See also: Instruction Manual , Operating Manual
I
P
NDUSTRY
ROCESS
A
S
AND
UTOMATION
OLUTIONS
E
xpansion
Module EM-ABS-01
Frequency Inverter 230 V / 400 V
ACTIVE Cube
GB

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  • Page 1 NDUSTRY ROCESS UTOMATION OLUTIONS xpansion Module EM-ABS-01 Frequency Inverter 230 V / 400 V ACTIVE Cube...

  • Page 3: Table Of Contents

    TABLE OF CONTENTS General Information about the Documentation ................ 7     Instructions ......................7     Pictograms and signal words used ................8     Copyright ......................... 8     General Safety Instructions and Information on Use ..............9  ...
  • Page 4 System bus interface ......................44     Bus termination ..................... 44     Cables ........................45     Control terminal X410B ..................45     Baud rate setting/line lengths ................46     Setting the node address ..................46    ...
  • Page 5 8.1.4 Scaling ........................88     8.1.5 Tolerance Band and Hysteresis ................89     8.1.6 Error and warning behavior ..................90     8.1.7 Adjustment ......................91     8.1.8 Filter time constant ....................91     Digital outputs EM-S1OUTD and EM-S2OUTD ............92  ...
  • Page 6 10.2.1 Module Firmware 1.0.1.0 ..................124     10.2.2 Module-Firmware 2.0.1.0 ..................124     10.3 Error messages ....................125     Index ............................. 128   EM-ABS-01 for ACU 03/12...

  • Page 7: General Information About The Documentation

    If you require further information or if you meet with specific problems which are not dealt with in sufficient detail in the documentation, contact your local BONFIGLIOLI agent. We would also like to point out that the contents of this documentation do not form part of any pre- vious or existing agreement, assurance or legal relationship.

  • Page 8: Pictograms And Signal Words Used

    Pictograms and signal words used The following pictograms and signal words are used in the documentation: Danger! Danger refers to an immediate threat. Non-compliance with the precaution described may result in death, serious injury or material damage. Warning! Warning refers to a possible threat. Non-compliance with the warning may result in death, serious injury or material damage.

  • Page 9: 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 10: Transport And Storage

    Transport and Storage The frequency inverters must be transported and stored in an appropriate way. During transport and storage the devices must remain in their original packaging. The units may only be stored in dry rooms which are protected against dust and moisture and are exposed to little temperature deviations only.

  • Page 11: Information On Use

    2.6.1 Operation with products from other manufacturers Please note that Bonfiglioli Vectron will not accept responsibility for compatibility with products from other manufacturers (e.g. motors, cables, filters, etc.). In order to achieve optimum system compatibility, Bonfiglioli Vectron offers components which ensure easy commissioning and are perfectly adjusted to one another in operation.

  • Page 12: Introduction

    Introduction This document describes the possibilities and the properties of the EM-ABS-01 exten- sion module for the frequency inverters of the ACU series of devices. Note: This document exclusively describes EM-ABS-01 extension module. It is not to be understood as fundamental information for the operation of the frequency inverters of the ACU series of devices.

  • Page 13: Restrictions For Operation Of Standard Functions

    The extension module is assembled simply by plugging on without tools being needed thanks to the modular set-up of the frequency inverters of the ACU series of devices. Caution! Carry out the assembly of the extension module before the frequency inverter is put into operation, and only in a voltage-free state.

  • Page 14: Range Of Applications Of Encoders

    Range of applications of encoders Depending on the motor and encoder type used there are restrictions as to usability in applications. The following sections describe the range of applications. Note: The EM-ABS-01 module supports, in the case of EnDat 2.1 encoders, a baud rate of 100 kBit/s.

  • Page 15: Technical Data

    The PTC input is not insulated. Only PTCs which feature a safe isolation from the motor winding as per EN61800-5-1 may be connected. Note: BONFIGLIOLI servo motors of types BCR and BTD are provided with safe isolation to the motor winding. Note: BONFIGLIOLI VECTRON recommends connecting an external power supply to the voltage input of the control terminal.
  • Page 16 Technical data of control terminals Digital inputs (X410B.2) … (X210B.4): Low Signal: DC 0 V …3 V, High Signal: DC 12 V … 30 V, input resistance: 2.3 kΩ, PLC compatible Sample Times: 1 ms in configurations x40 (“Positioning”) 4 ms in all other configurations Frequency signal: DC 0 to 30 V, 10 mA at DC 24 V, f = 150 kHz Digital outputs (X410A.3), (X410A.4):...

  • Page 17: Installation

    Installation General The mechanical and electrical installation of the EM-ABS-01 extension module must be carried out by qualified personnel according to the general and regional safety and installation directives. For a safe operation of the frequency inverter it is necessary that the documentation and the device specifications be complied with during installa- tion and commissioning.
  • Page 18 The EM-ABS-01 extension module is supplied in a housing for assembly on the lower slot of the frequency inverter. • Remove the lower cover (1) of the frequency inverter. The slot for the EM-ABS-01 extension module becomes accessible. Caution! The EM-ABS-01 (2) extension module is pre-fitted in a housing. The PCB visible on the back may not be touched, as modules can be damaged by this.

  • Page 19: Electrical Installation

    Electrical Installation Danger! If the following instructions are not complied with, there is direct danger with the possible consequences of death or severe injury by electrical current. Further, failure to comply can lead to destruction of the frequency inverter and/or of the extension module. •...
  • Page 20 Voltage input, connection for external power supply of encoder Input voltage range DC 24 V ±10%, U = DC 30 V, Rated input current: max. DC 1.0 A (typical DC 0.45 A), Peak inrush current: typical: < DC 20 A, External fuse: standard fuse elements for rated current, characteristic: slow, Safety: Safety extra low voltage (SELV) according to EN 61800-5-1 Digital outputs EM-S1OUTD, EM-S2OUTD...

  • Page 21: Control Terminals

    5.3.2 Control terminals The control and software functionality can be configured as required to ensure a reli- able and economical operation. Extension module EM-ABS-01 Wieland DST85 / RM3,5 0.14 … 1.5 mm AWG 30 … 16 0.14 … 1.5 mm AWG 30 …...
  • Page 22 Female connector X412 Encoder and PTC input X412 (female connector HD-Sub-D) Function Contact Sin/Cos Hiperface EnDat 2.1 Housing PE Clock- Clock- Clock+ Clock+ Cos- Cos- B- / Cos- (optionally B- / Cos-) Cos+ Cos+ B+ / Cos+ (optionally B- / Cos-) –...

  • Page 23: Cable Assembly Sincos

    • Install encoder cable separate from motor cable. • Connect the shield of the encoder line properly on both sides. • BONFIGLIOLI VECTRON recommends using the pre-assembled cables for syn- chronous motors types BCR and BTD. 03/12 EM-ABS-01 for ACU...

  • Page 24: Cable Assembly Endat 2.1

    • Install encoder cable separate from motor cable. • Connect the shield of the encoder line properly on both sides. • BONFIGLIOLI VECTRON recommends using the pre-assembled cables for syn- chronous motors types BCR and BTD. EM-ABS-01 for ACU 03/12...

  • Page 25: Cable Assembly Hiperface

    • Install encoder cable separate from motor cable. • Connect the shield of the encoder line properly on both sides. • BONFIGLIOLI VECTRON recommends using the pre-assembled cables for syn- chronous motors types BCR and BTD. 03/12 EM-ABS-01 for ACU...

  • Page 26: Power Supply

    5.3.3 Power supply Encoder power supply can be effected in different ways. Depending on the consumers connected, there are different encoder power supply possibilities or requirements. Generally, there are three different application types: • Low power demand (< 0.5 W) and power supply ≤ 12 V: Internal power supply.

  • Page 27: Looping Via Terminals X410A

    An external DC 24 V power supply can be connected to terminals X410A.1 (DC 24 V) and X410A.2 (ground). Via this power supply, a connected encoder can be powered. BONFIGLIOLI VECTRON recommends connecting an external power supply. Requirements to be met by external power supply Input voltage range DC 24 V ±10%...

  • Page 28: Direct Connection Of External Power Supply To The Encoder

    Voltage input and voltage outputs for encoder power supply Terminal X410A.1: DC 24 V input Terminal X410A.2: DC 24 V ground Terminal X410A.5 and X412.6: DC 5…12 V output Terminal X410A.5 and X412.15: DC 5…12 V ground Connect a maximum load of 2 W ! 5.3.3.3 Direct connection of external power supply to the encoder Encoders with high power demand (>...

  • Page 29: Commissioning The Encoder

    2 W for all consumers connected. In the case of a higher power demand, connect an external DC 24 V supply to X410A.1 (DC 24 V voltage input) and X410A.2 (GND). BONFIGLIOLI VECTRON recommends connecting an external power supply. Refer to chapter 5.3.3 “Power supply”.

  • Page 30: Information On Use

    6.1.1 Information on use After mains on, an initialization may have to be performed depending on the encoder type. This may take up to 5 seconds, depending on the encoder type. This time can be eliminated by powering the basic device and the encoder using an external DC 24 V supply.

  • Page 31: Sincos Encoders

    Step 4: Turn the frequency inverter off. Step 5: Connect the SinCos Geber to the EM-ABS-01. Bonfiglioli Vectron recommends the use of pre-assembled cables (see chapter 5.3.2.1).

  • Page 32: Hiperface Encoders

    Step 4: Turn the frequency inverter off. Step 5: Connect the Hiperface Geber to the EM-ABS-01. Bonfiglioli Vectron recom- mends the use of pre-assembled cables (see chapter 5.3.2.3).

  • Page 33: Endat 2.1 Encoders

    Chapter 8.4.4), in the case of EnDat 2.1 encoders, the value is typically 5.0V. • Adjust 1186 according to the connections (see chapter 8.4.3). Power supply Bonfiglioli Vectron recommends evaluating the sense line (settings: “5-intern, Sense” or “6-Via X410A, Sense”). Attention: Always set the 1187 first and then set Supply voltage Power 1186.

  • Page 34: Ssi Encoders

    Step 4: Turn the frequency inverter off. Step 5: Connect the EnDat 2.1 Geber to the EM-ABS-01. Bonfiglioli Vectron recom- mends the use of pre-assembled cables (see chapter 5.3.2.1). Step 6: Turn the frequency inverter on. Step 7: Check the encoder for proper function.
  • Page 35 • Adjust 1186 according to the connections (see chapter 8.4.3). Power supply Bonfiglioli Vectron recommends evaluating the sense line (settings: “5-intern, Sense” or “6-Via X410A, Sense”), if available and connected. • Set the number of 1271 according to the encoder data sheet (see Bits/Turn chapter 8.4.7).

  • Page 36: Commissioning Of Linear Encoders

    Note: For the calculations described in this chapter, an Excel worksheet was pre- pared by Bonfiglioli. Please contact your local sales agent. This Excel work- sheet will help you to carry out the calculations required for commissioning linear encoders with ACTIVE CUBE frequency inverters.
  • Page 37 Required data: The following data is needed for commissioning of the linear encoder: Gear transmission [] or input speed / output speed [rpm/rpm] Encoder resolution [bits] Running wheel diameter [m] Required accuracy [m] or resolution [increments/m] 1st step: Identify gear values reference system: The input speed (motor speed) will determine the setting for parameter Gear Box: 1117, the output speed will determine the setting for para-...
  • Page 38 4th step: Determine the encoder resolution: First determine the number of user units per encoder increment. If, for example, the encoder features a resolution of 1 mm and 0.01 is to be used as the “user unit”, β = 100. β...
  • Page 39 With the example values, the following results are obtained: Preliminary Numerator = 32. Preliminary Denominator = 27.7336. The values calculated in this way can be used directly for parameters EC2 Gear Fac- 513 and 514. To increase accuracy, tor Numerator EC2 Gear Factor Denominator the following intermediate “Optimization”...
  • Page 40 − Error Distance_a Distance ⎡ ⎤ ⋅ − ⎢ ⎥ Error Distance_a Accuracy Distance ⎣ ⎦ The error can be reduced by increasing the accuracy of the gear factors. By using the 2 decimal places of parameters 513 and EC2 Gear Factor Numerator EC2 Gear 514 and the optimization described in the previous step (“8 Factor Denominator...

  • Page 41: Checking The Settings

    6.6.1 Checking the settings Upon completion of the setup, check the system for proper function. Danger! Wrong setup of the linear encoder can result in incorrect movements or direction of movement. The following requirements must be met when it comes to testing the linear encoder: •...
  • Page 42 Note: When the position controlled is deactivated, rounding errors may result in a minor continuous increase in the contouring error. In most cases howev- er, this is small enough to be distinguishable. As soon as the settings have been checked for correctness, repeat the tests using sources 1002/ 1006 (resolution 10 times higher than sources 1007/1011), then using 1001 / 1005 and then using 1000 and 1004.

  • Page 43: Initialize Counting Direction

    6.6.2 Initialize counting direction First check if the counting direction of the user units meets the requirements. You can change the counting direction by inverting the parameter EC2 Gear Factor Numera- 513 (e.g. by inverting parameter 513 from 200.00 EC2 Gear Factor Numerator to -200.00).

  • Page 44: System Bus Interface

    System bus interface The CAN connection of the system bus is physically designed according to ISO-DIS 11898 (CAN High Speed). The bus topology is the line structure. In the default version, the ACU series of frequency inverters supports a CAN protocol controller.

  • Page 45: Cables

    Cables For the bus line, use twisted a cable with harness shield (no foil shield). Atten- Control and communication cables must be kept physically separate from tion: the power cables. The braided shield of the communication cable is to be connected to ground (PE) on both sides on a large area and with good conductivity.

  • Page 46: Baud Rate Setting/Line Lengths

    Baud rate setting/line lengths The Baud rate settings must be the same in all subscribers. The maximum Baud rate depends on the necessary total cable length of the system bus. The Baud rate is set up via parameter 903 and defines the available cable length. Baud-Rate Operation mode Function...

  • Page 47: Functional Overview

    Functional overview The system bus produces the physical connection between the frequency inverters. Logical communication channels are produced via this physical medium. These chan- nels are defined via the identifiers. As CAN does not possess a subscriber-oriented, but a message-oriented addressing via the identifiers, the logical channels can be displayed via it.

  • Page 48: Sdo Channels (Parameter Data)

    7.7.1 SDO channels (parameter data) Each frequency inverter possesses two SDO channels for the exchange of parameter data. In a slave device, these are two server SDOs, in a device defined as a master a client SDO and a server SDO. Attention must be paid to the fact that only one master for each SDO channel may exist in a system.

  • Page 49: Master Functionality

    For synchronous PDOs, the master (PC, PLC or frequency inverter) generates the SYNC telegram. The identifier assignment for the SYNC telegram is done by default according to the Predefined Connection Set. This assignment can be altered by pa- rameterization. Master functionality An external control or a frequency inverter defined as a master (node ID = 0) can be used as a master.
  • Page 50 Power on Initialization any state Pre-Operational Stopped Operational After Power On and the initialization, the slaves are in the Pre-Operational state. The transition (2) is automatic. The system bus master (frequency inverter or PLC/PC) triggers the transition (3) to Operational state. The transitions are controlled via NMT telegrams.

  • Page 51: Sync Telegram, Generation

    7.8.2 SYNC telegram, generation If synchronous PDO’s have been created on the system bus, the master must send the SYNC telegram cyclically. If a frequency inverter has been defined as a system bus master, the latter must generate the SYNC telegram. The interval for the SYNC telegram of a frequency inverter defined as the system bus master is adjustable.

  • Page 52: Emergency Message, Reaction

    7.8.3 Emergency message, reaction If a slave on the system bus suffers a fault, it transmits the emergency telegram. The emergency telegram marks the node ID for the identification of the failed node via its identifier existing fault message data contents (8 bytes).

  • Page 53: Client Sdo (System Bus Master)

    7.8.4 Client SDO (system bus master) Each subscriber on the system bus can be addressed via the SDO channels. In this way, each subscriber can be addressed and parameterized by one master via its client SDO1. All the parameters of the data types uint/int/long are accessible. String parameters cannot be processed.

  • Page 54: Slave Functionality

    Slave functionality 7.9.1 Implement boot-up sequence, network management 7.9.1.1 Boot-up message After the initialization, each slave on the system bus transmits its boot-up message (heartbeat message). Note: The boot-up telegram has the identifier 1792 + node ID and a data byte with contents = 0x00.

  • Page 55: Process Sync Telegram

    7.9.2 Process SYNC telegram If synchronous PDO’s have been created in a frequency inverter, their processing is synchronized with the SYNC telegram. The Sync event can either by a SYNC telegram or a RxPDO telegram and is set up via 1180 synchronization.
  • Page 56 1452 OS_SyncSource Operation mode Function 0 - Auto The synchronization source is selected automatically by the frequency inverter. 1 - CANopen The operating system is synchronized via CANopen. Factory setting. 2 - System bus The operating system is synchronized via system bus. 3 - Off The operating system is not synchronized.

  • Page 57: Settings For Electronic Gear In Configuration X40

    “1 – controlled by SYNC” in order to syn- RxPDO1 Function chronize the master position with the OS in the slave. Although this setting is option- al, BONFIGLIOLI VECTRON recommends setting this parameter accordingly. 7.9.3.2 Scope sources...

  • Page 58: Emergency-Message, Fault Shutdown

    7.9.4 Emergency-Message, fault shutdown As soon as a fault shutdown occurs in a slave frequency inverter, the emergency telegram is transmitted. The emergency telegram marks the node ID for the identifi- cation of the failed node via its identifier and the existing fault message via its data contents (8 bytes).

  • Page 59: Server-Sdo1/Sdo2

    7.9.5 Server-SDO1/SDO2 The communication channel for the exchange of parameter data is the SDO channel. Communication works according to the client/server model. The server is the sub- scriber holding the data (here the frequency inverter), the client the subscriber re- questing or wanting to alter the data (PLC, PC or frequency inverter as system bus master).
  • Page 60 If a PC or a PLC is used as a master, the identifiers of the Rx/Tx-SDO1 can be adapted by parameterization on the frequency inverter. Atten- Identifiers may only be assigned once, i.e. no double assignments. tion: The identifier range 129...191 may not be used as the emergency tele- grams can be found there.

  • Page 61: Communication Channels, Sdo1/Sdo2

    7.10 Communication channels, SDO1/SDO2 7.10.1 SDO telegram (SDO1/SDO2) The service used for the exchange of parameter data is SDO Segment Protocol Expedited. The data (type uint, int, long) are exchanged in a telegram. Access to the parameters in the frequency inverters with a statement of parameter number and data set is displayed via the addressing defined for object access pur- suant to the specifications of CANopen via Index/Sub-Index.
  • Page 62 Reading parameters: Client Server SDO Upload (expedited) Control Parameter number Data Set Data byte 0x40 0xnn Server Client Upload Response reading process without errors Control Parameter number Data Set Data byte 0x42 0xnn uint/int 0x00 0x00 long Server Client Abort SDO Transfer reading process faulty Control Parameter number...

  • Page 63: Communication Via Field Bus Actuation (Sdo1)

    7.10.2 Communication via field bus actuation (SDO1) If a frequency inverter has been defined as the system bus master and equipped with a field bus interface, access to the parameterization of all the subscribers in existence on the system bus is possible by means of this field bus interface via the first SDO channel (SDO1).
  • Page 64 Display of node ID system bus in the BONFIGLIOLI VECTRON bus protocol: System bus Node-ID System bus (ASCII) HEX value System bus (ASCII) cha- HEX value address charac- address racter EM-ABS-01 for ACU 03/12...

  • Page 65: Process Data Channels, Pdo

    7.11 Process data channels, PDO 7.11.1 Identifier assignment process data channel The process channel for the exchange of process data under CANopen is the PDO channel. Up to three PDO channels with differing properties can be used in one de- vice.

  • Page 66: Operation Modes Process Data Channel

    7.11.2 Operation modes process data channel The sending/receiving behavior can be time-controlled or controlled via a SYNC tele- gram. The behavior can be parameterized for each PDO channel. Tx-PDOs can work time-controlled or SYNC-controlled. Time-controlled TxPDO sends its data at the set time intervals. A SYNC-controlled TxPDO will send its data once a SYNC-telegram is received.

  • Page 67: Timeout Monitoring Process Data Channel

    7.11.3 Timeout monitoring process data channel Each frequency inverter monitors its received data for whether they are updated within a defined time window. The monitoring is done onto the SYNC telegram and the RxPDO channels. Monitoring SYNC / RxPDOs Parameters Settings Description Min.

  • Page 68: Communication Relationships Of The Process Data Channels

    7.11.4 Communication relationships of the process data channels Regardless of the process data to be transmitted, the communication relationships of the process data channels must be defined. The connection of PDO channels is done via the assignment of the identifiers. The identifiers of Rx-/Tx-PDO must match in each case.

  • Page 69: Virtual Links

    7.11.5 Virtual links A PDO telegram contains 0 ...8 data bytes according to CANopen. A mapping for any kind of objects can be done in these data bytes. For the system bus, the PDO telegrams are firmly defined with 8 data bytes. The mapping is not done via mapping parameters as with CANopen, but via the method of sources and links.
  • Page 70 For the system bus, the input data of the TxPDOs are also displayed as input para- meters and the output data of the RxPDOs as sources. Example 2: Function A TxPDO Inverter 1 Inverter 1 Source-No. 27 Parameter 977 system bus Function B Inverter 1 Parameter 972...
  • Page 71 The virtual links with the possible sources are related to the Rx/TxPDO channels. For this purpose, the eight bytes of the Rx-/TxPDOs are defined structured as inputs and sources. This exists for each of the three PDO channels. Each transmit PDO and receive PDO can be occupied as follows: 4 Boolean variables 4 uint/int variables 2 long variables...

  • Page 72: Input Parameters Of The Txpdos For Data To Be Transmitted

    7.11.5.1 Input parameters of the TxPDOs for data to be transmitted The listed parameters can be used for determining the data that are to be trans- ported there for each position in the TxPDO telegrams. The setting is done in such a way that a source number is entered for the required data in the parameters.
  • Page 73 With this method, there are up to three possibilities for a meaning of the contents of the individual bytes. Each byte may only be used for one possibility. To ensure this, the processing of the input links is derived from the setting. If an input link has been set to the fixed value of zero, it is not processed.

  • Page 74: Source Numbers Of The Rxpdos For Received Data

    7.11.5.2 Source numbers of the RxPDOs for received data Equivalent to the input links of the TxPDOs, the received data of the RxPDOs are displayed via sources or source numbers. The sources existing in this way can be used in the frequency inverter via the local input links for the data targets. RxPDO1 Source no.

  • Page 75: Examples Of Virtual Links

    7.11.5.3 Examples of virtual links Example 1: Frequency inverter 1 Frequency inverter 2 Source Input link TxPDO1 RxPDO1 Source
 Target Byte Byte - No. Control Control in- word put, Control word Output Ramp input, reference Line set frequency value 137 channel 62 Parameter 950 = Source-No.

  • Page 76: Control Parameters

    7.12 Control parameters For the monitoring of the system bus and the display of the internal states, two con- trol parameters are provided. There is a report of the system bus state and a report of the CAN state via two actual value parameters. 978 parameter gives information about the Pre-Operational, Opera- Node State tional, Stopped state.

  • Page 77: Handling Of The Parameters Of The System Bus

    7.13 Handling of the parameters of the system bus As soon as the system bus extension module EM-SYS exists in a frequency inverter, the actual value parameters for system state and bus state are activated and can be observed in the actual value menu VAL of the control unit KP500 or with the VPlus PC program in the menu Actual values \ System bus.
  • Page 78 The display of the parameters when using the XPI file is according to the following structure: System bus Basic Settings 900 Node-ID 903 Baud rate Master Functions 904 Boot-up delay 919 SYNC-Time SYNC identifier 918 SYNC identifier SDO1-Identifier 921 RxSDO1 identifier 922 TxSDO1 identifier SDO2 Set Active 923 SDO2 Set Active...

  • Page 79: Ancillaries

    7.14 Ancillaries For the planning of the system bus according to the drive tasks in question, there are ancillaries in the form of tables. The planning of the system bus is done in three steps: 1. Definition of the communication relationships 2.

  • Page 80: Definition Of The Communication Relationships

    7.14.1 Definition of the communication relationships The communication relationships are planned and documented with the help of the table. The table is available as a Microsoft Word document "kbl.doc" on the VECTRON product CD or upon request. EM-ABS-01 for ACU 03/12...

  • Page 81: Production Of The Virtual Links

    7.14.2 Production of the virtual links The virtual links are planned and documented with the help of the table. The table is available as a Microsoft Word document "vvk.doc" on the VECTRON product CD or upon request. 03/12 EM-ABS-01 for ACU...

  • Page 82: Capacity Planning Of The System Bus

    7.14.3 Capacity planning of the system bus Each PDO telegram possesses a constant useful data content of 8 Bytes. According to worst case, this results in a maximum telegram length of 140 bits. The maximum telegram run time of the PDOs is thus stipulated via the set baud rate. Capacity planning Baud rate Telegram runtime...
  • Page 83 The capacity planning are planned and documented with the help of the table. The work sheet is available as a Microsoft Excel document "Load_Systembus.xls" on the VECTRON product CD or by request. Load system bus Baud rate [kBaud]: 1000 50, 100, 125, 250, 500, 1000 Frequency TxPDO Workload...

  • Page 84: Control Inputs And Outputs

    Control inputs and outputs Analog input EM S1INA 8.1.1 General The analog input of the EM-ABS-01 extension module can be used as a voltage input. Parameterization of the input signal is done via the definition of a linear characteristic and assignment as −...

  • Page 85: Operation Modes

    8.1.3 Operation modes The operation modes of the analog input characteristic enable application-related scal- ing as a supplement to the characteristic points mentioned above. One of the four linear types of characteristic is selected for the signal adaptation for the analog input signal via parameter 562.

  • Page 86: Em-Abs-01 For Acu

    Operation mode "11 – unipolar" In operation mode "11 – unipolar“, the characteristic points are displaced to the origin of the characteristics with a negative value for the X axis. Point 1: X1 = -70.00% · 10 V = -7.00 V (X2=80% / Y2=85%) Y1 = -50.00% ·...
  • Page 87 Operation mode “21 – unipolar 2-10V/4-20mA” This operation mode limits the input characteristic to the area between 20% and 100% of the analog signal. If the value for a characteristic point of the X axis is out- side 0%, it is mapped to the characteristic point (2 V / 0 Hz). The characteristic point on the X axis is calculated according to the following formula: Kennlinien punkt X...

  • Page 88: Scaling

    Operation mode "101 – bipolar Amount" The operation mode "101 – bipolar Amount“ maps the bipolar analog signal onto a unipolar input characteristic. The formation of the absolute amount takes the charac- teristic into account comparable to the "bipolar" operation mode, but the characteristic points are reflected on the X axis with a negative value for the Y axis.

  • Page 89: Tolerance Band And Hysteresis

    8.1.5 Tolerance Band and Hysteresis The analog input characteristic with change of sign of the reference value can be adapted by the parameter 560 of the application. The tolerance band Tolerance band to be defined extends the zero crossing of the speed relative to the analog control signal.

  • Page 90: Error And Warning Behavior

    8.1.6 Error and warning behavior The monitoring of the analog input signal necessary according to the application is configured via the parameter 563 . Error/Warning Behavior Function Error/warning behavior 0 - Off The input signal is not monitored. If the input signal is lower than 1 V, a warning 1 - Warning <...

  • Page 91: Adjustment

    8.1.7 Adjustment Due to component tolerance, it can be necessary to adjust the analog input. This is done via parameter 568 . Adjustment Function Adjustment 0 - No adjustment Standard operation Adjustment of the measurement with an analog signal 1 - Adjustment 0 V of 0 V.

  • Page 92: Digital Outputs Em-S1Outd And Em-S2Outd

    Digital outputs EM-S1OUTD and EM-S2OUTD 8.2.1 General Parameterization of the digital outputs permits a linking to a variety of functions. The selection of the functions depends on the parameterized configuration. 8.2.2 Operation modes The operation mode of digital output EM-S1OUTD (Terminal X410A.3) is done via pa- rameter 533 .

  • Page 93: Digital Inputs Em-Sxind

    Digital inputs EM-SxIND The EM-ABS-01 extension module has three digital inputs. The assignment of the con- trol signals to the available software functions can be adapted to the application in question. Depending on the 30 selected, the default assignment or the Configuration selection of the operation mode differ.

  • Page 94: Encoder Input Em-Abs-01

    Encoder input EM-ABS-01 The encoder input is used for evaluating the position information from the encoder. Depending on the encoder system used, certain parameters need to be set up. The following table describes the use of the individual parameters for the encoder systems. Parameters Encoder system Description...

  • Page 95: Tracks/Protocol

    8.4.2 Tracks/Protocol Via parameter 1184 , you can specify the type-specific number of Tracks/Protocol analog Tracks/Protocol of the encoder and evaluation of a reference track. Key of Tracks/Protocol: Note: The identifiers of track A/B and Sin/Cos are typically ambivalent and can be set to A = Sin and B = Cos.
  • Page 96 1184 Function Tracks/Protocol Evaluation of data and clock tracks with the SSI protocol Gray code SSI, Gray code, (without TTL or SinCos track). The data track is transmitted at 5001 141 kBit/s 140.625 kBaud in Gray code. This function is currently be- ing prepared ! SSI, Gray code, Like 5001.
  • Page 97 1184 Function Tracks/Protocol SSI+TTL, binary Like 6901. The data track is transmitted at 562.25 kBaud in 6905 code, 563 kBit/s binary code. SSI+TTL, binary Like 6901. The data track is transmitted at 1125 kBaud in bi- 6911 code, 1125 kBit/s nary code.

  • Page 98: Power Supply

    8.4.3 Power supply Via parameter 1186 , you can choose the encoder power supply source. Power supply Depending on the power demand of the encoder, you can connect an external power supply to terminals X410A.1 and X410A.2 (see Chapter 5.3.3 “Power supply”). In this case, parameter 1186 must be set to “2 –...
  • Page 99 Note: In the case of Hiperface encoders, the sense line (settings “5-intern, Sense” or “6-Via X410A, sense“) is typically not used, as it is not defined in the Hiperface standard Speci- fication. Thus, using the sense line is not required in the case of Hiperface encoders. Note: The maximum voltage of the power supply is DC 12 V.
  • Page 100 Note: BONFIGLIOLI VECTRON recommends connecting an external power supply to the voltage input of the control terminal. This auxiliary voltage enables powering an encoder via the voltage output of the control terminal. Refer to the encoder manufacturer's power specifi- cations.

  • Page 101: Supply Voltage

    8.4.4 Supply voltage Via parameter 1187 , you can select the voltage level for encoder Supply voltage power supply. The SinCos encoder can be powered as follows: via control terminals X410A.5 (5 … 12 VDC) and X410A.7 (GND) or − via contacts X412.6 (V ) and X412.15 (0VL) of the female HD-Sub-D connector.

  • Page 102: Speed Filter

    8.4.5 Speed filter Via parameter 1189 , you can filter high frequency Abs. Encoder: Filter time constant of the encoder signals and limit the control band width. Parameters Settings Description Min. Max. Factory set- ting 1189 Abs. Encoder: Filter time constant 125 µs 8000 µs 125 µs...
  • Page 103 • Set parameter 728 of the speed controller to a lower current val- Current limit ue (e. g. 10% of rated motor current). In this way it is made sure that there are no excessive currents of the offset is set incorrectly. •...

  • Page 104: Bits/Turn

    − The motor turns and accelerates until it reaches the Frequency Switch-Off 417: limit • Check the encoder lines and check the encoder connection contacts. • In the case of fault message “Overfrequency” F1100: increase the parameter value for 1188 by 180°, divided by the no. of motor pole pairs. Offset −...

  • Page 105: Bits Multiturn

    Parameters Settings Description Min. Max. Factory set- ting 1271 Bits/Turn 0 bits/t 32 bits/t 13 bits/t Note: The internal resolution of one motor revolution is 16 bit. The resolution of 1271 is converted to the internal resolution if the encoder is Bits/Turn used as a motor encoder.

  • Page 106: Ssi: Error/Additional Bits

    8.4.9 SSI: error/additional bits If SSI encoders are used, the available error/additional bits of the encoder can be masked for evaluation. Many encoders use one or more bits for error signaling. In some cases, the bits are also used for transmitting additional information not required for encoder evaluation in the frequency inverter.

  • Page 107: Example 1

    8.4.9.1 Example 1 Additional bits (High) Multiturn Singleturn bits Additional bits (Low) bits Total 1 to be evaluated. “High” is an error situa- tion. 1270 = “-” SSI: Error-/Extra-Bits (High) 1272 = 8 Bits Multiturn. 1271 = 16 Bits/Turn 1269 = “-” SSI: Error-/Extra-Bits (Low) 8.4.9.2 Example 2...

  • Page 108: Ssi: Sampling Interval

    8.4.10 SSI: Sampling interval SSI frequency encoders often use a sampling rate in the millisecond range. In order for the evaluation in the device to work correctly, the sampling rate of the SSI absolute value encoder must be set up. If the sampling rate of the encoder cannot be adjusted, use the next higher, available setting.

  • Page 109: Example

    8.4.11.1 Example On a linear axis, the motor is flange-connected via a gear (transmission ratio 8:1) and the application connector is flange-connected via a second gear (transmission ratio 3:1). 1 motor revolution = 1/8 turn on output side = 1/8x3 encoder turn Revolution Motor shaft...

  • Page 110: Instructions On Positioning (Configuration X40)

    8.4.13 Instructions on positioning (configuration x40) If positioning (configuration x40) and an absolute value encoder are used, a distinction is made for parameterization between “motor encoders” and “application encoders”. The motor encoder is always needed for speed control and can also be used for posi- tion control in the case of no-slip systems.

  • Page 111: Example

    Parameters Settings Description Min. Max. Factory set- ting 1115 Feed constant 1 u/U -1 u/U 65536 u/U Gear Box: Driving Shaft Revolu- 1116 65 535 tions 1117 Gear Box: Motor Shaft Revolutions 65 535 For application encoders, a gear transmission between the application encoder and motor must be parameterized via a gear factor (see chapter 8.4.11 “Gear factor speed sensor 2”).

  • Page 112: Homing

    8.4.13.2 Homing When it comes to positioning, homing may be required or recommended, depending on the application. If no absolute value encoder is used, homing to a known point (e.g. reference cam or limit switch) will typically be performed first upon restoration of mains supply.

  • Page 113: Act. Speed Source

    8.4.15 Act. speed source The rotary encoder is selected via 766. If the encoder is to deliv- Actual Speed Source er the actual value signal for the speed controller, rotary encoder 2 must be selected as the source. In the basic setting, rotary encoder 1 is used as the source of actual speed. Function Actual speed source The actual speed source is speed sensor 1 of the...

  • Page 114: Reference Frequency And Percentage Value Channel

    Reference frequency and percentage value channel The various functions for the statement of the reference figures are connected in the various configurations by the reference frequency or percentage value channel. The 475 and the 476 deter- Reference Frequency Source Reference Percentage Source mine the additive connection of the available reference sources as a function of the installed hardware.

  • Page 115: Absolute Value Encoder - Raw Data

    8.6.1 Absolute value encoder - raw data For diagnosis, you can check the value transmitted by the absolute value encoder via parameter 1267. Abs. Encoder Raw Data Depending on the encoder technology used, the actual value parameter is built up as follows: Hiperface Position...

  • Page 116: Status Of Digital Signals

    Status of digital signals The status of the digital signals can be read (decimal coding) via parameter Digital 250, 243 and 254 . The display of inputs Digital inputs (hardware) Digital outputs the digital input signals enables checking of the various control signals and their as- signment to the corresponding software functions, in particular during commissioning.

  • Page 117: Motor Temperature

    Motor temperature The temperature monitoring is a part of the error and warning behavior which can be freely configured. The connected load can be monitored by the connection of a mea- surement resistor (motor PTC resistor / PTC ) with a temperature characteristic to DIN 44081 or with a bimetallic temperature sensor (NC contact).

  • Page 118: List Of Parameters

    List of parameters The parameter list is structured according to the menu branches of the control unit. For better clarity, the parameters have been marked with pictograms: The parameter is available in the four data sets. The parameter value is adjusted by the SETUP routine if a control method for a synchronous machine is selected for parameter Configuration This parameter cannot be written when the frequency inverter is in operation.
  • Page 119 Description Unit Setting range Chapter Speed controller 8.4.15 Actual Speed Source Selection System bus Node-ID -1 ... 63 Baud-Rate Selection Boot-Up Delay 3500 ... 50000 7.8.4 SYNC-Identifier 0 ... 2047 7.8.2 SYNC-Time 0 ... 50000 7.9.2 RxSDO1-Identifier 0 ... 2047 7.9.5 TxSDO1-Identifier 0 ...
  • Page 120 Description Unit Setting range Chapter 7.11.5.1 TxPDO3 Word3 Selection 7.11.5.1 TxPDO3 Word4 Selection 7.11.5.1 TxPDO3 Long1 Selection 7.11.5.1 TxPDO3 Long2 Selection 7.8.3 Emergency Reaction Selection Position controller 1115 Feed Constant 1 ... 2 1116 Gear Box: Driving Shaft Revolutions 1 ... 65535 1117 Gear Box: Motor Shaft Revolutions 1 ...

  • Page 121: Annex

    Owing to the great number of encoder types and special solutions not do- cumented publicly, Bonfiglioli Vectron will not accept any responsibility for the settings specified. When it comes to setup, always refer to the encoder manufacturer's data sheet.

  • Page 122: Hiperface Encoders

    8,0 V 9 Sick SEL52 3109 8,0 V 9 B.C. = Bonfiglioli Code used at motors of series BCR & BTD. 1) Please refer to chapter 8.4.3 for setup of parameter 1186. Power supply 2) Not evaluated due to the 1184 settings chosen.

  • Page 123: Ssi Encoders, Rotary

    1) Please refer to chapter 8.4.3 for setup of parameter 1186. Power supply Note: Owing to the great number of encoder types and special solutions not documented publicly, Bonfiglioli Vectron will not accept any responsibility for the settings specified. 10.1.5 SSI encoders, linear encoders: Encoder...

  • Page 124: Compatibility List

    10.2 Compatibility list The compatibility between Module Firmware and device Firmware is described in the following. EM-ABS-01 Firmware EM-ABS-01 Firmware Firmware 1.0.1.0 2.0.1.0 5.0.x Invalid Combination Invalid Combination 5.1.x Invalid Combination Invalid Combination 5.2.0 Possible combination Invalid Combination 5.3.0 Invalid Combination Possible combination The ACU Firmware can be read out via 012 and the Module Firmware via...

  • Page 125: Error Messages

    10.3 Error messages The various control methods and the hardware of the frequency inverter includes functions which continuously monitor the application. As a supplement to the messag- es documented in these operating instructions, the following failure keys are activated by the EM-ABS-01 extension module. Error messages and repair 00 Motor temperature too high or temperature evaluation connection defec- tive.
  • Page 126 Error messages and repair 90 EM-ABS-01: Fault correction C/D track. Error during evaluation of C/D track. Required measuring accuracy not reached. The offset and amplification error correction for the C/D track has reached its maximum. 91 EM-ABS-01: No R-track. Reference truck not found. −...
  • Page 127 In addition to fault messages mentioned, there are further fault messages. However these messages are only used for internal purposes and are not listed here. If you receive fault messages which are not listed here, please contact Bonfiglioli. 03/12 EM-ABS-01 for ACU...

  • Page 128: Index

    Index Gear Box A  Absolute value encoder - raw data .... 115 Driving Shaft Revolutions ...... 111 Act. speed source ........113 Gear factor speed sensor 2 ...... 108 Actual position ........115 I  Actual position source ......113 Information on Use ........11 Actual value display .........
  • Page 129 POLPACK Sp. z o.o. - Ul. Polna 129 - 87100 Torun BRASIL Tel. (+48) 56 6559235 to 37 - Fax (+48) 56 6559238 BONFIGLIOLI REDUTORES DO BRASIL INDÚSTRIA E COMÉRCIO LTDA. www.polpack.com.pl - polpack@polpack.com.pl Travessa Cláudio Armando 171 - Bloco 3 - CEP 09861-730 Bairro Assunção - São Bernardo do Campo - São Paulo (Brasil)
  • Page 130 NDUSTRY ROCESS UTOMATION OLUTIONS ACTIVE Cube w w w . b o n f i g l i o l i . c o m COD. VEC 760 R0a...

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