BONFIGLIOLI Vectron Active Cube Manuals

BONFIGLIOLI Vectron Active Cube Manuals

Manuals and User Guides for BONFIGLIOLI Vectron Active Cube. We have 1 BONFIGLIOLI Vectron Active Cube manual available for free PDF download: User Manual

BONFIGLIOLI Vectron Active Cube User Manual

BONFIGLIOLI Vectron Active Cube User Manual (240 pages)

CANopen Communication Module CM-CAN Frequency Inverter 230 V / 400 V

Brand: BONFIGLIOLI | Category: DC Drives | Size: 8 MB

Table of Contents

Table of Contents
3
1 General Information about the Documentation

8
- This Document
  9
- Warranty and Liability
  9
- Obligation
  10
- Copyright
  10
- Storage
  10
2 General Safety Instructions and Information on Use

11
- Terminology
  11
- Designated Use
  12
- Misuse
  12
  - Explosion Protection
    12
- Residual Risks
  13
- Safety and Warning Signs at Frequency Inverter
  13
- Warning Information and Symbols Used in the User Manual
  14
  - Hazard Classes
    14
  - Hazard Symbols
    14
  - Prohibition Signs
    14
  - Personal Safety Equipment
    14
  - Recycling
    14
  - Grounding Symbol
    15
  - ESD Symbol
    15
  - Information Signs
    15
- Directives and Guidelines to be Adhered to by the Operator
  16
- Operator's General Plant Documentation
  16
- Operator's/Operating Staff's Responsibilities
  16
  - Selection and Qualification of Staff
    16
  - General Work Safety
    16
- Organizational Measures
  17
  - General
    17
  - Use in Combination with Third-Party Products
    17
  - Transport and Storage
    17
  - Handling and Installation
    17
  - Electrical Connections
    17
    
    The Five Safety Rules
    18
  - Safe Operation
    18
  - Maintenance and Service/Troubleshooting
    19
  - Final Decommissioning
    19
3 Introduction

20
- Supported Configurations
  22
4 First Commissioning

23
5 Installation/Disassembly of the Communication Module

24
- Installation
  24
- Disassembly
  25
6 Connector Pin Assignment/Bus Termination/Line

26
7 Baud Rate Setting/Line Lengths

27
8 Setting the Node Number

27
9 Assigning the Canopen Interface

28
10 Operational Behavior on Bus Failure

29
11 Canopen Overview

30
- Communication Objects
  30
- Application Objects
  30
- SDO Function
  31
  - Read Access
    32
  - Write Access
    32
  - Error Code Table
    33
  - Segmented Transfer
    34
    
    Reading „Segmented Transfer
    34
    
    Writing Segmented Transfer
    35
- PDO Function
  37
- Emergency Function
  37
- Sync
  38
- NMT Functions
  39
  - NMT State Machine
    39
  - Boot-Up Message
    40
  - NMT Commands
    40
- Guarding
  41
- Heartbeat
  42
- OS Synchronization
  42
- Fault Reset
  44
12 Objects

45
- Objects Tabular Overview
  45
  - Communication Objects
    45
  - Manufacturer Objects
    48
  - Device Profile Objects
    50
- Communication Objects (0X1Nnn)
  55
- Manufacturer Objects (0X2Nnn) - Parameter Access
  75
  - Handling of Data Sets/Cyclic Writing of the Parameters
    75
    
    SDO Examples (Expedited Transfer Only)
    76
    
    Examples of Writing Parameters
    77
    
    Examples of Reading Parameters
    78
    
    Example to Write Parameters Via Segmented Transfer
    79
    
    Examples to Read Parameters Via Segmented Transfer
    81
  - Handling of Index Parameters/Cyclic Writing
    83
    
    Example Writing an Index Parameter
    84
    
    Example Reading an Index Parameter
    84
- Manufacturer Objects (0X3000
  85
  - 0X3000/0 SYNC Jitter
    85
  - 0X3001/0 Digital in Actual Value
    86
  - 0X3002/0 Digital out Actual Value
    86
  - 0X3003/0 Digital out Set Values
    87
  - 0X3004/0 Boolean Mux
    88
  - 0X3005/0 Boolean Demux
    89
  - 0X3006/0 Percentage Set Value
    90
  - 0X3007/0 Percentage Actual Value 1
    91
  - 0X3008/0 Percentage Actual Value 2
    92
  - 0X3011/0 Actual Value Word 1
    93
  - 0X3012/0 Actual Value Word 2
    94
  - 0X3021/0 Actual Value Long 1
    95
  - 0X3022/0 Actual Value Long 2
    96
  - 0X3111/0 Ref. Value Word 1
    97
  - 0X3112/0 Ref. Value Word 2
    98
  - 0X3121/0 Ref. Value Long 1
    99
  - 0X3122/0 Ref. Value Long 2
    100
  - 0X5F10/0 Gear Factor
    101
  - 0X5F11/N
    102
  - 0X5F15/0 in Gear Threshold
    105
  - 0X5F16/0 in Gear Time
    106
  - 0X5F17/N Position Controller
    106
  - 0X5Ff0/0 Active Motion Block
    108
  - 0X5Ff1/0 Motion Block to Resume
    110
- Device Profile Objects (0X6Nnn)
  111
  - 0X6007/0 Abort Connection Option Code
    111
  - 0X603F/0 Error Code
    114
  - 0X6040/0 Control Word
    115
  - 0X6041/0 Status Word
    116
  - 0X6042/0 Target Velocity [Rpm]
    117
  - 0X6043/0 Target Velocity Demand
    118
  - 0X6044/0 Control Effort
    118
  - 0X6046/N Velocity Min Max Amount
    119
  - 0X6048/N Velocity Acceleration
    121
  - 0X6049/N Velocity Deceleration
    122
  - 0X604A/N Velocity Quick Stop
    123
  - 0X6060/0 Modes of Operation
    124
  - 0X6061/0 Modes of Operation Display
    125
  - 0X6064/0 Position Actual Value
    125
  - 0X6065/0 Following Error Window
    126
  - 0X6066/0 Following Error Time out
    127
  - 0X6067/0 Position Window
    128
  - 0X6068/0 Position Window Time
    129
  - 0X606C/0 Velocity Actual Value [U/S]
    129
  - 0X606D/0 Velocity Window
    130
  - 0X606E/0 Velocity Window Time
    131
  - 0X606F/0 Velocity Threshold
    132
  - 0X6070/0 Velocity Threshold Time
    133
  - 0X6071/0 Target Torque
    134
  - 0X6077/0 Torque Actual Value
    134
  - 0X6078/0 Current Actual Value
    135
  - 0X6079/0 Dclink Circuit Voltage
    135
  - 0X607A/0 Target Position
    136
  - 0X607C/0 Home Offset
    137
  - 0X6081/0 Profile Velocity [U/S]
    138
  - 0X6083/0 Profile Acceleration
    139
  - 0X6084/0 Profile Deceleration
    140
  - 0X6085/0 Quick Stop Deceleration
    141
  - 0X6086/0 Motion Profile Type
    142
  - 0X6091/N Gear Ratio
    143
  - 0X6092/N Feed Constant
    145
  - 0X6098/0 Homing Method
    146
  - 0X6099/N Homing Speeds
    148
  - 0X609A/0 Homing Acceleration
    149
  - 0X60C1/1 Interpolation Data Record
    150
  - 0X60F4/0 Following Error Actual Value
    151
  - 0X60F8/0 Max Slippage [U/S]
    152
  - 0X60Ff/0 Target Velocity
    153
13 Motion Control Interface (MCI)

154
- Object and Parameter Dependencies
  155
- Reference System
  159
- Homing
  160
  - Start Position after Homing
    160
  - Flying Homing
    160
- Position Controller
  160
- Move Away from Hardware Limit Switches
  161
- Motion Control Interface for Experts
  162
- Motion Control Override
  163
14 Inverter Control

164
- Control Via Digital Inputs/Remote Digital Inputs
  165
  - Device State Machine
    167
- Control Via State Machine
  168
  - Statemachine Diagram
    170
- Non Motion Control Configurations
  173
  - Behavior in Quick Stop
    173
  - Behavior in Transition 5 (Disable Operation)
    174
  - Reference Value / Actual Value
    175
  - Example Sequence
    176
- Motion Control Configurations
  177
  - Velocity Mode [Rpm]
    178
    
    Example Sequence
    181
  - Profile Velocity Mode [U/S]
    183
    
    Example Sequence
    186
  - Profile Position Mode
    187
    
    Example Sequence
    193
  - Interpolated Position Mode
    195
    
    Example Sequence
    199
  - Homing Mode
    200
    
    Example Sequence
    202
  - Table Travel Record
    203
    
    Example Sequence
    210
  - Move Away from Limit Switches
    211
    
    Example Sequence
    214
  - Electronic Gear: Slave
    215
    
    Example Sequence
    222
15 Parameter List

224
- Actual Values
  224
- Parameters
  224
16 Annex

227
- Control Word Overview
  227
- Status Word Overview
  228
- Warning Messages
  229
- Warning Messages Application
  230
- Fault Messages
  231
- Conversions
  232
- Object Support in the Software Versions and EDS Files
  233
17 Motion-Control-Interface for Profibus Connection

236
Index

237

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